commit dd31cb03116dbce167f8826c09c1a84c1b7a1623
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Mon Mar 2 17:27:59 2020 +0100

    Documentation restructured and overhauled.

diff --git a/doc/classdiagrams/overview.svg b/doc/classdiagrams/overview.svg
index bf91af2..3b46513 100644
--- a/doc/classdiagrams/overview.svg
+++ b/doc/classdiagrams/overview.svg
@@ -1,163 +1,163 @@
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-class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="204" x="1411.285" y="1231.8594"/><ellipse cx="1464.035" cy="1247.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1464.8788,1254.6094 L1462.4256,1254.6094 L1462.4256,1244.3594 L1459.285,1244.3594 L1459.285,1242.2188 L1468.0194,1242.2188 L1468.0194,1244.3594 L1464.8788,1244.3594 L1464.8788,1254.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="1484.535" y="1252.0137">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1412.285" x2="1614.285" y1="1263.8594" y2="1263.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="1417.285" y="1294.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1412.285" x2="1418.785" y1="1278.2617" y2="1278.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="1418.785" y="1281.5698">URT_CFG_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1607.785" x2="1614.285" y1="1278.2617" y2="1278.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1417.285" y="1324.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1412.285" x2="1415.285" y1="1307.8711" y2="1307.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1415.285" y="1311.1792">URT_CFG_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1611.285" x2="1614.285" y1="1307.8711" y2="1307.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1417.285" y="1354.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1412.285" x2="1415.285" y1="1337.4805" y2="1337.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1415.285" y="1340.7886">URT_CFG_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1611.285" x2="1614.285" y1="1337.4805" y2="1337.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1417.285" y="1383.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1412.285" x2="1415.285" y1="1367.0898" y2="1367.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1415.285" y="1370.3979">URT_CFG_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1611.285" x2="1614.285" y1="1367.0898" y2="1367.0898"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]
-class urt_status_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="73.6094" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="1650.285" y="1273.8594"/><ellipse cx="1698.535" cy="1289.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1699.3788,1296.6094 L1696.9256,1296.6094 L1696.9256,1286.3594 L1693.785,1286.3594 L1693.785,1284.2188 L1702.5194,1284.2188 L1702.5194,1286.3594 L1699.3788,1286.3594 L1699.3788,1296.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="1719.035" y="1294.0137">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1651.285" x2="1829.285" y1="1305.8594" y2="1305.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="1656.285" y="1320.0698">URT_STATUS_OK = 0x0..0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="168" x="1656.285" y="1332.8745">URT_STATUS_ERROR = 0x8..0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1651.285" x2="1829.285" y1="1339.4688" y2="1339.4688"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]
-class urt_delay_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="99.2188" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1865.785" y="1261.3594"/><ellipse cx="1918.035" cy="1277.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1918.8788,1284.1094 L1916.4256,1284.1094 L1916.4256,1273.8594 L1913.285,1273.8594 L1913.285,1271.7188 L1922.0194,1271.7188 L1922.0194,1273.8594 L1918.8788,1273.8594 L1918.8788,1284.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="1938.535" y="1281.5137">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1866.785" x2="2045.785" y1="1293.3594" y2="1293.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1871.785" y="1324.3745">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1866.785" x2="1869.785" y1="1307.7617" y2="1307.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="1869.785" y="1311.0698">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2042.785" x2="2045.785" y1="1307.7617" y2="1307.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1871.785" y="1353.9839">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1866.785" x2="1869.785" y1="1337.3711" y2="1337.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="1869.785" y="1340.6792">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2042.785" x2="2045.785" y1="1337.3711" y2="1337.3711"/><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
-class urt_debug--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="653.785" y="1280.3594"/><ellipse cx="740.035" cy="1296.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M744.2694,1292.125 L738.9881,1292.125 L738.9881,1294.7969 L743.785,1294.7969 L743.785,1296.9531 L738.9881,1296.9531 L738.9881,1302.3594 L736.5506,1302.3594 L736.5506,1289.9688 L744.2694,1289.9688 L744.2694,1292.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="760.535" y="1300.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="654.785" x2="897.785" y1="1312.3594" y2="1312.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="654.785" x2="897.785" y1="1320.3594" y2="1320.3594"/><ellipse cx="664.785" cy="1331.3594" 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="673.785" y="1334.5698">urtDebugAssert(condition : bool) : void</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
-class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="9897.785" y="940.8594"/><ellipse cx="10066.535" cy="956.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10067.3788,963.6094 L10064.9256,963.6094 L10064.9256,953.3594 L10061.785,953.3594 L10061.785,951.2188 L10070.5194,951.2188 L10070.5194,953.3594 L10067.3788,953.3594 L10067.3788,963.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="10087.035" y="961.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9898.785" x2="10321.785" y1="972.8594" y2="972.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9898.785" x2="10321.785" y1="980.8594" y2="980.8594"/><ellipse cx="9908.785" cy="991.8594" 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="9917.785" y="995.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="9908.785" cy="1004.6641" 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="9917.785" y="1007.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="9908.785" cy="1017.4688" 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="9917.785" y="1020.6792">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
-class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="10358.285" y="934.3594"/><ellipse cx="10459.535" cy="950.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10460.3788,957.1094 L10457.9256,957.1094 L10457.9256,946.8594 L10454.785,946.8594 L10454.785,944.7188 L10463.5194,944.7188 L10463.5194,946.8594 L10460.3788,946.8594 L10460.3788,957.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="10480.035" y="954.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10359.285" x2="10655.285" y1="966.3594" y2="966.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10359.285" x2="10655.285" y1="974.3594" y2="974.3594"/><ellipse cx="10369.285" cy="985.3594" 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="10378.285" y="988.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="10369.285" cy="998.1641" 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="10378.285" y="1001.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="10369.285" cy="1010.9688" 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="10378.285" y="1014.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="10369.285" cy="1023.7734" 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="10378.285" y="1026.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
-class urt_streams--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="9653.785" y="946.8594"/><ellipse cx="9716.535" cy="962.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9720.7694,958.625 L9715.4881,958.625 L9715.4881,961.2969 L9720.285,961.2969 L9720.285,963.4531 L9715.4881,963.4531 L9715.4881,968.8594 L9713.0506,968.8594 L9713.0506,956.4688 L9720.7694,956.4688 L9720.7694,958.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="9737.035" y="967.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9654.785" x2="9861.785" y1="978.8594" y2="978.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9654.785" x2="9861.785" y1="986.8594" y2="986.8594"/><ellipse cx="9664.785" cy="997.8594" 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="9673.785" y="1001.0698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="9664.785" cy="1010.6641" 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="9673.785" y="1013.8745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
-class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="14417.285" y="1267.8594"/><ellipse cx="14463.535" cy="1283.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14467.6444,1289.8594 L14459.9256,1289.8594 L14459.9256,1277.4688 L14467.6444,1277.4688 L14467.6444,1279.625 L14462.3788,1279.625 L14462.3788,1282.2969 L14467.1444,1282.2969 L14467.1444,1284.4531 L14462.3788,1284.4531 L14462.3788,1287.7031 L14467.6444,1287.7031 L14467.6444,1289.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="14484.035" y="1288.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14418.285" x2="14686.285" y1="1299.8594" y2="1299.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="14423.285" y="1314.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="14423.285" y="1326.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="14423.285" y="1339.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14418.285" x2="14686.285" y1="1346.2734" y2="1346.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
-class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="14197.285" y="934.3594"/><ellipse cx="14497.535" cy="950.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14498.3788,957.1094 L14495.9256,957.1094 L14495.9256,946.8594 L14492.785,946.8594 L14492.785,944.7188 L14501.5194,944.7188 L14501.5194,946.8594 L14498.3788,946.8594 L14498.3788,957.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="14518.035" y="954.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14198.285" x2="14906.285" y1="966.3594" y2="966.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14198.285" x2="14906.285" y1="974.3594" y2="974.3594"/><ellipse cx="14208.285" cy="985.3594" 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="14217.285" y="988.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="14208.285" cy="998.1641" 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="14217.285" y="1001.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="14208.285" cy="1010.9688" 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="14217.285" y="1014.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="14208.285" cy="1023.7734" 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="14217.285" y="1026.9839">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(#f15k70rgxcyvdd)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="13628.285" y="1280.3594"/><ellipse cx="13699.035" cy="1296.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13699.8788,1303.1094 L13697.4256,1303.1094 L13697.4256,1292.8594 L13694.285,1292.8594 L13694.285,1290.7188 L13703.0194,1290.7188 L13703.0194,1292.8594 L13699.8788,1292.8594 L13699.8788,1303.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="13719.535" y="1300.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13629.285" x2="13913.285" y1="1312.3594" y2="1312.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13629.285" x2="13913.285" y1="1320.3594" y2="1320.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="13634.285" y="1334.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
-class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="13380.285" y="927.8594"/><ellipse cx="13725.035" cy="943.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13725.8788,950.6094 L13723.4256,950.6094 L13723.4256,940.3594 L13720.285,940.3594 L13720.285,938.2188 L13729.0194,938.2188 L13729.0194,940.3594 L13725.8788,940.3594 L13725.8788,950.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="13745.535" y="948.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13381.285" x2="14161.285" y1="959.8594" y2="959.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13381.285" x2="14161.285" y1="967.8594" y2="967.8594"/><ellipse cx="13391.285" cy="978.8594" 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="13400.285" y="982.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="13391.285" cy="991.6641" 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="13400.285" y="994.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="13391.285" cy="1004.4688" 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="13400.285" y="1007.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="13391.285" cy="1017.2734" 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="13400.285" y="1020.4839">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="13391.285" cy="1030.0781" 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="13400.285" y="1033.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
-class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="12594.785" y="1235.8594"/><ellipse cx="12630.935" cy="1251.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12631.7788,1258.6094 L12629.3256,1258.6094 L12629.3256,1248.3594 L12626.185,1248.3594 L12626.185,1246.2188 L12634.9194,1246.2188 L12634.9194,1248.3594 L12631.7788,1248.3594 L12631.7788,1258.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="12649.635" y="1256.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12595.785" x2="12790.785" y1="1267.8594" y2="1267.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="12600.785" y="1282.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="12600.785" y="1294.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="12600.785" y="1307.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="12600.785" y="1320.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="12600.785" y="1333.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="12600.785" y="1346.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="12600.785" y="1358.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="12600.785" y="1371.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12595.785" x2="12790.785" y1="1378.2969" y2="1378.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
-class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="13104.285" y="1280.3594"/><ellipse cx="13152.035" cy="1296.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13152.8788,1303.1094 L13150.4256,1303.1094 L13150.4256,1292.8594 L13147.285,1292.8594 L13147.285,1290.7188 L13156.0194,1290.7188 L13156.0194,1292.8594 L13152.8788,1292.8594 L13152.8788,1303.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="13172.535" y="1300.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13105.285" x2="13355.285" y1="1312.3594" y2="1312.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13105.285" x2="13355.285" y1="1320.3594" y2="1320.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="13110.285" y="1334.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
-class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="12827.285" y="1273.8594"/><ellipse cx="12849.035" cy="1289.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12853.1444,1295.8594 L12845.4256,1295.8594 L12845.4256,1283.4688 L12853.1444,1283.4688 L12853.1444,1285.625 L12847.8788,1285.625 L12847.8788,1288.2969 L12852.6444,1288.2969 L12852.6444,1290.4531 L12847.8788,1290.4531 L12847.8788,1293.7031 L12853.1444,1293.7031 L12853.1444,1295.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="12864.535" y="1294.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12828.285" x2="13068.285" y1="1305.8594" y2="1305.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="12833.285" y="1320.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="12833.285" y="1332.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12828.285" x2="13068.285" y1="1339.4688" y2="1339.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
-class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="12333.285" y="1241.8594"/><ellipse cx="12378.035" cy="1257.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12382.1444,1263.8594 L12374.4256,1263.8594 L12374.4256,1251.4688 L12382.1444,1251.4688 L12382.1444,1253.625 L12376.8788,1253.625 L12376.8788,1256.2969 L12381.6444,1256.2969 L12381.6444,1258.4531 L12376.8788,1258.4531 L12376.8788,1261.7031 L12382.1444,1261.7031 L12382.1444,1263.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="12398.535" y="1262.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12334.285" x2="12558.285" y1="1273.8594" y2="1273.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12339.285" y="1288.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="12339.285" y="1300.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="12339.285" y="1313.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="12339.285" y="1326.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="12339.285" y="1339.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="12339.285" y="1352.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="12339.285" y="1364.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12334.285" x2="12558.285" y1="1371.4922" y2="1371.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
-class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="376.1172" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="12333.285" y="795.8594"/><ellipse cx="12562.035" cy="811.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12562.8788,818.6094 L12560.4256,818.6094 L12560.4256,808.3594 L12557.285,808.3594 L12557.285,806.2188 L12566.0194,806.2188 L12566.0194,808.3594 L12562.8788,808.3594 L12562.8788,818.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="12582.535" y="816.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12334.285" x2="12892.285" y1="827.8594" y2="827.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="12339.285" y="842.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12339.285" y="854.8745">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="12339.285" y="867.6792">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="12339.285" y="880.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="12334.285" x2="12892.285" y1="887.0781" y2="887.0781"/><ellipse cx="12344.285" cy="898.0781" 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="12353.285" y="901.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12334.285" x2="12892.285" y1="907.8828" y2="907.8828"/><ellipse cx="12344.285" cy="918.8828" 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="12353.285" y="922.0933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="12344.285" cy="931.6875" 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="12353.285" y="934.8979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="12344.285" cy="944.4922" 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="12353.285" y="947.7026">urtThreadYield (void) : void</text><ellipse cx="12344.285" cy="957.2969" 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="12353.285" y="960.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="12344.285" cy="970.1016" 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="12353.285" y="973.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="12344.285" cy="982.9063" 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="12353.285" y="986.1167">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="12344.285" cy="995.7109" 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="12353.285" y="998.9214">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="12344.285" cy="1008.5156" 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="12353.285" y="1011.7261">urtThreadSleep (seconds : float) : void</text><ellipse cx="12344.285" cy="1021.3203" 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="12353.285" y="1024.5308">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="12344.285" cy="1034.125" 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="12353.285" y="1037.3354">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="12344.285" cy="1046.9297" 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="12353.285" y="1050.1401">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="12344.285" cy="1059.7344" 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="12353.285" y="1062.9448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="12344.285" cy="1072.5391" 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="12353.285" y="1075.7495">urtThreadExit (void) : void</text><ellipse cx="12344.285" cy="1085.3438" 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="12353.285" y="1088.5542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="12344.285" cy="1098.1484" 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="12353.285" y="1101.3589">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="12344.285" cy="1110.9531" 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="12353.285" y="1114.1636">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="12344.285" cy="1123.7578" 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="12353.285" y="1126.9683">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="12344.285" cy="1136.5625" 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="380" x="12353.285" y="1139.7729">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="12344.285" cy="1149.3672" 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="371" x="12353.285" y="1152.5776">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="12344.285" cy="1162.1719" 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="370" x="12353.285" y="1165.3823">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
-class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="10672.285" y="1280.3594"/><ellipse cx="10749.535" cy="1296.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10750.3788,1303.1094 L10747.9256,1303.1094 L10747.9256,1292.8594 L10744.785,1292.8594 L10744.785,1290.7188 L10753.5194,1290.7188 L10753.5194,1292.8594 L10750.3788,1292.8594 L10750.3788,1303.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="10770.035" y="1300.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10673.285" x2="10951.285" y1="1312.3594" y2="1312.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="10678.285" y="1326.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10673.285" x2="10951.285" y1="1333.1641" y2="1333.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
-class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="11393.285" y="1540.8594"/><ellipse cx="11408.285" cy="1556.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11409.1288,1563.6094 L11406.6756,1563.6094 L11406.6756,1553.3594 L11403.535,1553.3594 L11403.535,1551.2188 L11412.2694,1551.2188 L11412.2694,1553.3594 L11409.1288,1553.3594 L11409.1288,1563.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="11422.285" y="1561.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11394.285" x2="11542.285" y1="1572.8594" y2="1572.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11394.285" x2="11542.285" y1="1580.8594" y2="1580.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
-class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="10987.285" y="1267.8594"/><ellipse cx="11010.385" cy="1283.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11014.4944,1289.8594 L11006.7756,1289.8594 L11006.7756,1277.4688 L11014.4944,1277.4688 L11014.4944,1279.625 L11009.2288,1279.625 L11009.2288,1282.2969 L11013.9944,1282.2969 L11013.9944,1284.4531 L11009.2288,1284.4531 L11009.2288,1287.7031 L11014.4944,1287.7031 L11014.4944,1289.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="11026.185" y="1288.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10988.285" x2="11148.285" y1="1299.8594" y2="1299.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="10993.285" y="1314.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="10993.285" y="1326.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="10993.285" y="1339.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10988.285" x2="11148.285" y1="1346.2734" y2="1346.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
-class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="11221.285" y="1267.8594"/><ellipse cx="11396.535" cy="1283.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11397.3788,1290.6094 L11394.9256,1290.6094 L11394.9256,1280.3594 L11391.785,1280.3594 L11391.785,1278.2188 L11400.5194,1278.2188 L11400.5194,1280.3594 L11397.3788,1280.3594 L11397.3788,1290.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="11417.035" y="1288.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11222.285" x2="11714.285" y1="1299.8594" y2="1299.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11222.285" x2="11714.285" y1="1307.8594" y2="1307.8594"/><ellipse cx="11232.285" cy="1318.8594" 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="11241.285" y="1322.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="11232.285" cy="1331.6641" 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="11241.285" y="1334.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="11232.285" cy="1344.4688" 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="11241.285" y="1347.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
-class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="11750.785" y="1273.8594"/><ellipse cx="11955.535" cy="1289.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11956.3788,1296.6094 L11953.9256,1296.6094 L11953.9256,1286.3594 L11950.785,1286.3594 L11950.785,1284.2188 L11959.5194,1284.2188 L11959.5194,1286.3594 L11956.3788,1286.3594 L11956.3788,1296.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="11976.035" y="1294.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11751.785" x2="12296.785" y1="1305.8594" y2="1305.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11751.785" x2="12296.785" y1="1313.8594" y2="1313.8594"/><ellipse cx="11761.785" cy="1324.8594" 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="11770.785" y="1328.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="11761.785" cy="1337.6641" 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="11770.785" y="1340.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
-class urt_events--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="10691.285" y="940.8594"/><ellipse cx="11099.035" cy="956.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11103.2694,952.625 L11097.9881,952.625 L11097.9881,955.2969 L11102.785,955.2969 L11102.785,957.4531 L11097.9881,957.4531 L11097.9881,962.8594 L11095.5506,962.8594 L11095.5506,950.4688 L11103.2694,950.4688 L11103.2694,952.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11119.535" y="961.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10692.285" x2="11580.285" y1="972.8594" y2="972.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10692.285" x2="11580.285" y1="980.8594" y2="980.8594"/><ellipse cx="10702.285" cy="991.8594" 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="10711.285" y="995.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="10702.285" cy="1004.6641" 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="10711.285" y="1007.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="10702.285" cy="1017.4688" 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="10711.285" y="1020.6792">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(#f15k70rgxcyvdd)" height="281.6797" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="2729.785" y="110.8594"/><ellipse cx="2865.535" cy="126.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2865.0194,127.4219 Q2863.16,126.7188 2862.5038,125.9531 Q2861.8631,125.1719 2861.8631,123.8594 Q2861.8631,122.1719 2862.9413,121.2031 Q2864.0194,120.2344 2865.8944,120.2344 Q2866.7538,120.2344 2867.5975,120.4375 Q2868.4569,120.625 2869.3006,121.0156 L2869.3006,123.4063 Q2868.5194,122.8438 2867.6913,122.5625 Q2866.8788,122.2656 2866.0819,122.2656 Q2865.2069,122.2656 2864.7225,122.625 Q2864.2538,122.9844 2864.2538,123.6406 Q2864.2538,124.1563 2864.5975,124.5 Q2864.9413,124.8281 2866.035,125.2344 L2867.0975,125.6406 Q2868.5819,126.1875 2869.285,127.0938 Q2870.0038,128 2870.0038,129.375 Q2870.0038,131.25 2868.8944,132.1719 Q2867.785,133.0938 2865.535,133.0938 Q2864.6131,133.0938 2863.6913,132.875 Q2862.7694,132.6563 2861.91,132.2344 L2861.91,129.7031 Q2862.8788,130.3906 2863.8006,130.7344 Q2864.7225,131.0781 2865.6131,131.0781 Q2866.5194,131.0781 2867.0194,130.6719 Q2867.5194,130.25 2867.5194,129.5156 Q2867.5194,128.9531 2867.1756,128.5469 Q2866.8475,128.125 2866.2225,127.875 L2865.0194,127.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="2886.035" y="131.0137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2730.785" x2="3071.785" y1="142.8594" y2="142.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2737.785" y="150.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="2749.785" y="157.0698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2737.785" y="163.6641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="2749.785" y="169.8745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2737.785" y="176.4688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="2749.785" y="182.6792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2737.785" y="189.2734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="2749.785" y="195.4839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2737.785" y="218.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="2749.785" y="225.0933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2730.785" x2="2796.285" y1="208.4805" y2="208.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="2796.285" y="211.7886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3006.285" x2="3071.785" y1="208.4805" y2="208.4805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2737.785" y="248.4922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="2749.785" y="254.7026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2730.785" x2="2808.785" y1="238.0898" y2="238.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="2808.785" y="241.3979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2993.785" x2="3071.785" y1="238.0898" y2="238.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2730.785" x2="3071.785" y1="261.2969" y2="261.2969"/><ellipse cx="2740.785" 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="175" x="2749.785" y="275.5073">urtCoreInit (void) : urt_status_t</text><ellipse cx="2740.785" 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="215" x="2749.785" y="288.312">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="2740.785" 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="222" x="2749.785" y="301.1167">urtCoreStartNodes (void) : urt_status_t</text><ellipse cx="2740.785" cy="310.7109" 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="309" x="2749.785" y="313.9214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="2740.785" cy="323.5156" 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="317" x="2749.785" y="326.7261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="2740.785" cy="353.125" 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="273" x="2749.785" y="356.3354">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2730.785" x2="2796.285" y1="339.7227" y2="339.7227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="2796.285" y="343.0308">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3006.285" x2="3071.785" y1="339.7227" y2="339.7227"/><ellipse cx="2740.785" cy="382.7344" 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="313" x="2749.785" y="385.9448">urtCoreGetService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2730.785" x2="2808.785" y1="369.332" y2="369.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="2808.785" y="372.6401">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2993.785" x2="3071.785" y1="369.332" y2="369.332"/><!--MD5=[a7dea26996a1231aa68629b332780450]
-class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="7817.285" y="953.3594"/><ellipse cx="7963.035" cy="969.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7963.8788,976.1094 L7961.4256,976.1094 L7961.4256,965.8594 L7958.285,965.8594 L7958.285,963.7188 L7967.0194,963.7188 L7967.0194,965.8594 L7963.8788,965.8594 L7963.8788,976.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="7983.535" y="973.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7818.285" x2="8272.285" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7818.285" x2="8272.285" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="7823.285" y="1007.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
-class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="8308.285" y="953.3594"/><ellipse cx="8536.535" cy="969.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8537.3788,976.1094 L8534.9256,976.1094 L8534.9256,965.8594 L8531.785,965.8594 L8531.785,963.7188 L8540.5194,963.7188 L8540.5194,965.8594 L8537.3788,965.8594 L8537.3788,976.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="8557.035" y="973.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8309.285" x2="8921.285" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8309.285" x2="8921.285" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="8314.285" y="1007.5698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]
-class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="7264.285" y="953.3594"/><ellipse cx="7428.535" cy="969.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7429.3788,976.1094 L7426.9256,976.1094 L7426.9256,965.8594 L7423.785,965.8594 L7423.785,963.7188 L7432.5194,963.7188 L7432.5194,965.8594 L7429.3788,965.8594 L7429.3788,976.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="7449.035" y="973.5137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7265.285" x2="7781.285" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7265.285" x2="7781.285" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="7270.285" y="1007.5698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]
-class urt_node_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1586" x="7267.285" y="478.8594"/><ellipse cx="8022.535" cy="494.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8022.0194,495.4219 Q8020.16,494.7188 8019.5038,493.9531 Q8018.8631,493.1719 8018.8631,491.8594 Q8018.8631,490.1719 8019.9413,489.2031 Q8021.0194,488.2344 8022.8944,488.2344 Q8023.7538,488.2344 8024.5975,488.4375 Q8025.4569,488.625 8026.3006,489.0156 L8026.3006,491.4063 Q8025.5194,490.8438 8024.6913,490.5625 Q8023.8788,490.2656 8023.0819,490.2656 Q8022.2069,490.2656 8021.7225,490.625 Q8021.2538,490.9844 8021.2538,491.6406 Q8021.2538,492.1563 8021.5975,492.5 Q8021.9413,492.8281 8023.035,493.2344 L8024.0975,493.6406 Q8025.5819,494.1875 8026.285,495.0938 Q8027.0038,496 8027.0038,497.375 Q8027.0038,499.25 8025.8944,500.1719 Q8024.785,501.0938 8022.535,501.0938 Q8021.6131,501.0938 8020.6913,500.875 Q8019.7694,500.6563 8018.91,500.2344 L8018.91,497.7031 Q8019.8788,498.3906 8020.8006,498.7344 Q8021.7225,499.0781 8022.6131,499.0781 Q8023.5194,499.0781 8024.0194,498.6719 Q8024.5194,498.25 8024.5194,497.5156 Q8024.5194,496.9531 8024.1756,496.5469 Q8023.8475,496.125 8023.2225,495.875 L8022.0194,495.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="8043.035" y="499.0137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7268.285" x2="8852.285" y1="510.8594" y2="510.8594"/><ellipse cx="7278.285" cy="521.8594" 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="7287.285" y="525.0698">next : urt_node_t*</text><ellipse cx="7278.285" cy="534.6641" 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="7287.285" y="537.8745">thread : urt_osThread_t*</text><ellipse cx="7278.285" cy="547.4688" 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="7287.285" y="550.6792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="7278.285" cy="560.2734" 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="7287.285" y="563.4839">setupparams : void*</text><ellipse cx="7278.285" cy="573.0781" 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="7287.285" y="576.2886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="7278.285" cy="585.8828" 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="7287.285" y="589.0933">loopparams : void*</text><ellipse cx="7278.285" cy="598.6875" 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="281" x="7287.285" y="601.8979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="7278.285" cy="611.4922" 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="140" x="7287.285" y="614.7026">shutdownparams : void*</text><ellipse cx="7278.285" cy="624.2969" 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="136" x="7287.285" y="627.5073">stage : urt_nodestage_t</text><ellipse cx="7278.285" cy="637.1016" 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="178" x="7287.285" y="640.312">listener : urt_osEventListener_t</text><ellipse cx="7278.285" cy="666.7109" 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="88" x="7287.285" y="669.9214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7268.285" x2="7852.285" y1="653.3086" y2="653.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="7852.285" y="656.6167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8268.285" x2="8852.285" y1="653.3086" y2="653.3086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7268.285" x2="8852.285" y1="676.5156" y2="676.5156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7275.285" y="684.5156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="7287.285" y="690.7261">_main : urt_osThreadFunction_t</text><ellipse cx="7278.285" cy="700.3203" 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="1560" x="7287.285" y="703.5308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : urt_status_t</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
-class urt_message_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="2662.785" y="912.8594"/><ellipse cx="2838.035" cy="928.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2837.5194,929.4219 Q2835.66,928.7188 2835.0038,927.9531 Q2834.3631,927.1719 2834.3631,925.8594 Q2834.3631,924.1719 2835.4413,923.2031 Q2836.5194,922.2344 2838.3944,922.2344 Q2839.2538,922.2344 2840.0975,922.4375 Q2840.9569,922.625 2841.8006,923.0156 L2841.8006,925.4063 Q2841.0194,924.8438 2840.1913,924.5625 Q2839.3788,924.2656 2838.5819,924.2656 Q2837.7069,924.2656 2837.2225,924.625 Q2836.7538,924.9844 2836.7538,925.6406 Q2836.7538,926.1563 2837.0975,926.5 Q2837.4413,926.8281 2838.535,927.2344 L2839.5975,927.6406 Q2841.0819,928.1875 2841.785,929.0938 Q2842.5038,930 2842.5038,931.375 Q2842.5038,933.25 2841.3944,934.1719 Q2840.285,935.0938 2838.035,935.0938 Q2837.1131,935.0938 2836.1913,934.875 Q2835.2694,934.6563 2834.41,934.2344 L2834.41,931.7031 Q2835.3788,932.3906 2836.3006,932.7344 Q2837.2225,933.0781 2838.1131,933.0781 Q2839.0194,933.0781 2839.5194,932.6719 Q2840.0194,932.25 2840.0194,931.5156 Q2840.0194,930.9531 2839.6756,930.5469 Q2839.3475,930.125 2838.7225,929.875 L2837.5194,929.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="2858.535" y="933.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2663.785" x2="3112.785" y1="944.8594" y2="944.8594"/><ellipse cx="2673.785" cy="955.8594" 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="2682.785" y="959.0698">next : urt_message_t*</text><ellipse cx="2673.785" cy="968.6641" 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="2682.785" y="971.8745">payload : void*</text><ellipse cx="2673.785" cy="981.4688" 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="2682.785" y="984.6792">originTime : urt_osTime_t</text><ellipse cx="2673.785" cy="994.2734" 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="2682.785" y="997.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="2673.785" cy="1023.8828" 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="2682.785" y="1027.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2663.785" x2="2779.785" y1="1010.4805" y2="1010.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2779.785" y="1013.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2996.785" x2="3112.785" y1="1010.4805" y2="1010.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2663.785" x2="3112.785" y1="1033.6875" y2="1033.6875"/><ellipse cx="2673.785" cy="1044.6875" 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="2682.785" y="1047.8979">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
-class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="1914.785" y="529.8594"/><ellipse cx="2243.535" cy="545.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2243.0194,546.4219 Q2241.16,545.7188 2240.5038,544.9531 Q2239.8631,544.1719 2239.8631,542.8594 Q2239.8631,541.1719 2240.9413,540.2031 Q2242.0194,539.2344 2243.8944,539.2344 Q2244.7538,539.2344 2245.5975,539.4375 Q2246.4569,539.625 2247.3006,540.0156 L2247.3006,542.4063 Q2246.5194,541.8438 2245.6913,541.5625 Q2244.8788,541.2656 2244.0819,541.2656 Q2243.2069,541.2656 2242.7225,541.625 Q2242.2538,541.9844 2242.2538,542.6406 Q2242.2538,543.1563 2242.5975,543.5 Q2242.9413,543.8281 2244.035,544.2344 L2245.0975,544.6406 Q2246.5819,545.1875 2247.285,546.0938 Q2248.0038,547 2248.0038,548.375 Q2248.0038,550.25 2246.8944,551.1719 Q2245.785,552.0938 2243.535,552.0938 Q2242.6131,552.0938 2241.6913,551.875 Q2240.7694,551.6563 2239.91,551.2344 L2239.91,548.7031 Q2240.8788,549.3906 2241.8006,549.7344 Q2242.7225,550.0781 2243.6131,550.0781 Q2244.5194,550.0781 2245.0194,549.6719 Q2245.5194,549.25 2245.5194,548.5156 Q2245.5194,547.9531 2245.1756,547.5469 Q2244.8475,547.125 2244.2225,546.875 L2243.0194,546.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="2264.035" y="550.0137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1915.785" x2="2672.785" y1="561.8594" y2="561.8594"/><ellipse cx="1925.785" cy="572.8594" 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="1934.785" y="576.0698">topic : urt_topic_t*</text><ellipse cx="1925.785" cy="602.4688" 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="149" x="1934.785" y="605.6792">publishAttempts : uint64_t</text><ellipse cx="1925.785" cy="615.2734" 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="124" x="1934.785" y="618.4839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1915.785" x2="2185.785" y1="589.0664" y2="589.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2185.785" y="592.3745">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2402.785" x2="2672.785" y1="589.0664" y2="589.0664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1915.785" x2="2672.785" y1="625.0781" y2="625.0781"/><ellipse cx="1925.785" cy="636.0781" 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="617" x="1934.785" y="639.2886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1925.785" cy="648.8828" 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="733" x="1934.785" y="652.0933">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
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stroke-width: 1.5;" x1="2710.285" x2="3092.285" y1="502.3594" y2="502.3594"/><ellipse cx="2720.285" cy="513.3594" 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="101" x="2729.285" y="516.5698">next : urt_topic_t*</text><ellipse cx="2720.285" cy="526.1641" 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="2729.285" y="529.3745">id : urt_topicid_t</text><ellipse cx="2720.285" cy="538.9688" 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="113" x="2729.285" y="542.1792">lock : urt_osMutex_t</text><ellipse cx="2720.285" cy="551.7734" 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="186" x="2729.285" y="554.9839">evtSource : urt_osEventSource_t</text><ellipse cx="2720.285" cy="564.5781" 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="2729.285" y="567.7886">numHrtSubscribers : unsigned int</text><ellipse cx="2720.285" cy="577.3828" 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="212" x="2729.285" y="580.5933">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="2720.285" cy="590.1875" 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="2729.285" y="593.3979">hrtReleased : urt_osCondvar_t</text><ellipse cx="2720.285" cy="602.9922" 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="2729.285" y="606.2026">mandatoryMessage : urt_message_t</text><ellipse cx="2720.285" cy="615.7969" 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="2729.285" y="619.0073">latestMessage : urt_message_t*</text><ellipse cx="2720.285" cy="645.4063" 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="2729.285" y="648.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2710.285" x2="2768.785" y1="632.0039" y2="632.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2768.785" y="635.312">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3033.785" x2="3092.285" y1="632.0039" y2="632.0039"/><ellipse cx="2720.285" cy="675.0156" 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="2729.285" y="678.2261">numDiscardedMessages : uint64_t</text><ellipse cx="2720.285" cy="687.8203" 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="2729.285" y="691.0308">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2710.285" x2="2792.785" y1="661.6133" y2="661.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2792.785" y="664.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3009.785" x2="3092.285" y1="661.6133" y2="661.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2710.285" x2="3092.285" y1="697.625" y2="697.625"/><ellipse cx="2720.285" cy="708.625" 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="2729.285" y="711.8354">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
-class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="4842.785" y="916.8594"/><ellipse cx="4885.235" cy="932.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4884.7194,933.4219 Q4882.86,932.7188 4882.2038,931.9531 Q4881.5631,931.1719 4881.5631,929.8594 Q4881.5631,928.1719 4882.6413,927.2031 Q4883.7194,926.2344 4885.5944,926.2344 Q4886.4538,926.2344 4887.2975,926.4375 Q4888.1569,926.625 4889.0006,927.0156 L4889.0006,929.4063 Q4888.2194,928.8438 4887.3913,928.5625 Q4886.5788,928.2656 4885.7819,928.2656 Q4884.9069,928.2656 4884.4225,928.625 Q4883.9538,928.9844 4883.9538,929.6406 Q4883.9538,930.1563 4884.2975,930.5 Q4884.6413,930.8281 4885.735,931.2344 L4886.7975,931.6406 Q4888.2819,932.1875 4888.985,933.0938 Q4889.7038,934 4889.7038,935.375 Q4889.7038,937.25 4888.5944,938.1719 Q4887.485,939.0938 4885.235,939.0938 Q4884.3131,939.0938 4883.3913,938.875 Q4882.4694,938.6563 4881.61,938.2344 L4881.61,935.7031 Q4882.5788,936.3906 4883.5006,936.7344 Q4884.4225,937.0781 4885.3131,937.0781 Q4886.2194,937.0781 4886.7194,936.6719 Q4887.2194,936.25 4887.2194,935.5156 Q4887.2194,934.9531 4886.8756,934.5469 Q4886.5475,934.125 4885.9225,933.875 L4884.7194,933.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="4905.335" y="937.0137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4843.785" x2="5066.785" y1="948.8594" y2="948.8594"/><ellipse cx="4853.785" cy="959.8594" 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="4862.785" y="963.0698">topic : urt_topic_t*</text><ellipse cx="4853.785" cy="972.6641" 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="4862.785" y="975.8745">evtListener : urt_osEventListener_t</text><ellipse cx="4853.785" cy="985.4688" 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="175" x="4862.785" y="988.6792">lastMessage : urt_message_t*</text><ellipse cx="4853.785" cy="998.2734" 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="4862.785" y="1001.4839">lastMessageTime : urt_osTime_t</text><ellipse cx="4853.785" cy="1027.8828" 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="136" x="4862.785" y="1031.0933">sumLatencies : uint64_t</text><ellipse cx="4853.785" cy="1040.6875" 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="190" x="4862.785" y="1043.8979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4843.785" x2="4846.785" y1="1014.4805" y2="1014.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="4846.785" y="1017.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5063.785" x2="5066.785" y1="1014.4805" y2="1014.4805"/><!--MD5=[fc7708c915a0148c667d62e1370980fd]
-class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="6036.285" y="953.3594"/><ellipse cx="6145.535" cy="969.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6149.7694,965.125 L6144.4881,965.125 L6144.4881,967.7969 L6149.285,967.7969 L6149.285,969.9531 L6144.4881,969.9531 L6144.4881,975.3594 L6142.0506,975.3594 L6142.0506,962.9688 L6149.7694,962.9688 L6149.7694,965.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="6166.035" y="973.5137">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6037.285" x2="6409.285" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6037.285" x2="6409.285" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="6042.285" y="1007.5698">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
-class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="3146.785" y="517.3594"/><ellipse cx="3493.535" cy="533.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3493.0194,533.9219 Q3491.16,533.2188 3490.5038,532.4531 Q3489.8631,531.6719 3489.8631,530.3594 Q3489.8631,528.6719 3490.9413,527.7031 Q3492.0194,526.7344 3493.8944,526.7344 Q3494.7538,526.7344 3495.5975,526.9375 Q3496.4569,527.125 3497.3006,527.5156 L3497.3006,529.9063 Q3496.5194,529.3438 3495.6913,529.0625 Q3494.8788,528.7656 3494.0819,528.7656 Q3493.2069,528.7656 3492.7225,529.125 Q3492.2538,529.4844 3492.2538,530.1406 Q3492.2538,530.6563 3492.5975,531 Q3492.9413,531.3281 3494.035,531.7344 L3495.0975,532.1406 Q3496.5819,532.6875 3497.285,533.5938 Q3498.0038,534.5 3498.0038,535.875 Q3498.0038,537.75 3496.8944,538.6719 Q3495.785,539.5938 3493.535,539.5938 Q3492.6131,539.5938 3491.6913,539.375 Q3490.7694,539.1563 3489.91,538.7344 L3489.91,536.2031 Q3490.8788,536.8906 3491.8006,537.2344 Q3492.7225,537.5781 3493.6131,537.5781 Q3494.5194,537.5781 3495.0194,537.1719 Q3495.5194,536.75 3495.5194,536.0156 Q3495.5194,535.4531 3495.1756,535.0469 Q3494.8475,534.625 3494.2225,534.375 L3493.0194,533.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="3514.035" y="537.5137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3147.785" x2="3966.785" y1="549.3594" y2="549.3594"/><ellipse cx="3157.785" cy="577.1641" 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="3166.785" y="580.3745">minLatency : urt_delay_t</text><ellipse cx="3157.785" cy="589.9688" 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="141" x="3166.785" y="593.1792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3147.785" x2="3448.785" y1="563.7617" y2="563.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3448.785" y="567.0698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3665.785" x2="3966.785" y1="563.7617" y2="563.7617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3147.785" x2="3966.785" y1="599.7734" y2="599.7734"/><ellipse cx="3157.785" cy="610.7734" 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="392" x="3166.785" y="613.9839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><ellipse cx="3157.785" cy="623.5781" 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="715" x="3166.785" y="626.7886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="3157.785" cy="636.3828" 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="785" x="3166.785" y="639.5933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3157.785" cy="649.1875" 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="795" x="3166.785" y="652.3979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3157.785" cy="661.9922" 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="446" x="3166.785" y="665.2026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
-class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="6148.285" y="497.8594"/><ellipse cx="6627.035" cy="513.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6626.5194,514.4219 Q6624.66,513.7188 6624.0038,512.9531 Q6623.3631,512.1719 6623.3631,510.8594 Q6623.3631,509.1719 6624.4413,508.2031 Q6625.5194,507.2344 6627.3944,507.2344 Q6628.2538,507.2344 6629.0975,507.4375 Q6629.9569,507.625 6630.8006,508.0156 L6630.8006,510.4063 Q6630.0194,509.8438 6629.1913,509.5625 Q6628.3788,509.2656 6627.5819,509.2656 Q6626.7069,509.2656 6626.2225,509.625 Q6625.7538,509.9844 6625.7538,510.6406 Q6625.7538,511.1563 6626.0975,511.5 Q6626.4413,511.8281 6627.535,512.2344 L6628.5975,512.6406 Q6630.0819,513.1875 6630.785,514.0938 Q6631.5038,515 6631.5038,516.375 Q6631.5038,518.25 6630.3944,519.1719 Q6629.285,520.0938 6627.035,520.0938 Q6626.1131,520.0938 6625.1913,519.875 Q6624.2694,519.6563 6623.41,519.2344 L6623.41,516.7031 Q6624.3788,517.3906 6625.3006,517.7344 Q6626.2225,518.0781 6627.1131,518.0781 Q6628.0194,518.0781 6628.5194,517.6719 Q6629.0194,517.25 6629.0194,516.5156 Q6629.0194,515.9531 6628.6756,515.5469 Q6628.3475,515.125 6627.7225,514.875 L6626.5194,514.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="6647.535" y="518.0137">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6149.285" x2="7231.285" y1="529.8594" y2="529.8594"/><ellipse cx="6159.285" cy="540.8594" 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="229" x="6168.285" y="544.0698">usefulnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="6159.285" cy="553.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="6168.285" y="556.8745">cbparams : void*</text><ellipse cx="6159.285" 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="138" x="6168.285" y="586.4839">minLatency : urt_delay_t</text><ellipse cx="6159.285" 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="141" x="6168.285" y="599.2886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6149.285" x2="6581.785" y1="569.8711" y2="569.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="6581.785" y="573.1792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6798.785" x2="7231.285" y1="569.8711" y2="569.8711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6149.285" x2="7231.285" y1="605.8828" y2="605.8828"/><ellipse cx="6159.285" cy="616.8828" 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="392" x="6168.285" y="620.0933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><ellipse cx="6159.285" cy="629.6875" 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="1058" x="6168.285" y="632.8979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t</text><ellipse cx="6159.285" cy="642.4922" 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="785" x="6168.285" y="645.7026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="6159.285" cy="655.2969" 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="795" x="6168.285" y="658.5073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="6159.285" 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="570" x="6168.285" y="671.312">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="6159.285" cy="680.9063" 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="446" x="6168.285" y="684.1167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
-class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="4002.285" y="481.3594"/><ellipse cx="4427.535" cy="497.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4427.0194,497.9219 Q4425.16,497.2188 4424.5038,496.4531 Q4423.8631,495.6719 4423.8631,494.3594 Q4423.8631,492.6719 4424.9413,491.7031 Q4426.0194,490.7344 4427.8944,490.7344 Q4428.7538,490.7344 4429.5975,490.9375 Q4430.4569,491.125 4431.3006,491.5156 L4431.3006,493.9063 Q4430.5194,493.3438 4429.6913,493.0625 Q4428.8788,492.7656 4428.0819,492.7656 Q4427.2069,492.7656 4426.7225,493.125 Q4426.2538,493.4844 4426.2538,494.1406 Q4426.2538,494.6563 4426.5975,495 Q4426.9413,495.3281 4428.035,495.7344 L4429.0975,496.1406 Q4430.5819,496.6875 4431.285,497.5938 Q4432.0038,498.5 4432.0038,499.875 Q4432.0038,501.75 4430.8944,502.6719 Q4429.785,503.5938 4427.535,503.5938 Q4426.6131,503.5938 4425.6913,503.375 Q4424.7694,503.1563 4423.91,502.7344 L4423.91,500.2031 Q4424.8788,500.8906 4425.8006,501.2344 Q4426.7225,501.5781 4427.6131,501.5781 Q4428.5194,501.5781 4429.0194,501.1719 Q4429.5194,500.75 4429.5194,500.0156 Q4429.5194,499.4531 4429.1756,499.0469 Q4428.8475,498.625 4428.2225,498.375 L4427.0194,497.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="4448.035" y="501.5137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4003.285" x2="4975.285" y1="513.3594" y2="513.3594"/><ellipse cx="4013.285" cy="541.1641" 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="157" x="4022.285" y="544.3745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4003.285" x2="4343.785" y1="527.7617" y2="527.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="4343.785" y="531.0698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4634.785" x2="4975.285" y1="527.7617" y2="527.7617"/><ellipse cx="4013.285" cy="570.7734" 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="4022.285" y="573.9839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4003.285" x2="4353.785" y1="557.3711" y2="557.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="4353.785" y="560.6792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4624.785" x2="4975.285" y1="557.3711" y2="557.3711"/><ellipse cx="4013.285" cy="600.3828" 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="4022.285" y="603.5933">minLatency : urt_delay_t</text><ellipse cx="4013.285" cy="613.1875" 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="4022.285" y="616.3979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4003.285" x2="4235.285" y1="586.9805" y2="586.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="4235.285" y="590.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4743.285" x2="4975.285" y1="586.9805" y2="586.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4003.285" x2="4975.285" y1="622.9922" y2="622.9922"/><ellipse cx="4013.285" cy="633.9922" 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="4022.285" y="637.2026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><ellipse cx="4013.285" cy="646.7969" 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="948" x="4022.285" y="650.0073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="4013.285" cy="659.6016" 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="780" x="4022.285" y="662.812">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4013.285" cy="672.4063" 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="790" x="4022.285" y="675.6167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4013.285" cy="685.2109" 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="540" x="4022.285" y="688.4214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="4013.285" cy="698.0156" 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="441" x="4022.285" y="701.2261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
-class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="5011.285" y="459.8594"/><ellipse cx="5489.535" cy="475.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5489.0194,476.4219 Q5487.16,475.7188 5486.5038,474.9531 Q5485.8631,474.1719 5485.8631,472.8594 Q5485.8631,471.1719 5486.9413,470.2031 Q5488.0194,469.2344 5489.8944,469.2344 Q5490.7538,469.2344 5491.5975,469.4375 Q5492.4569,469.625 5493.3006,470.0156 L5493.3006,472.4063 Q5492.5194,471.8438 5491.6913,471.5625 Q5490.8788,471.2656 5490.0819,471.2656 Q5489.2069,471.2656 5488.7225,471.625 Q5488.2538,471.9844 5488.2538,472.6406 Q5488.2538,473.1563 5488.5975,473.5 Q5488.9413,473.8281 5490.035,474.2344 L5491.0975,474.6406 Q5492.5819,475.1875 5493.285,476.0938 Q5494.0038,477 5494.0038,478.375 Q5494.0038,480.25 5492.8944,481.1719 Q5491.785,482.0938 5489.535,482.0938 Q5488.6131,482.0938 5487.6913,481.875 Q5486.7694,481.6563 5485.91,481.2344 L5485.91,478.7031 Q5486.8788,479.3906 5487.8006,479.7344 Q5488.7225,480.0781 5489.6131,480.0781 Q5490.5194,480.0781 5491.0194,479.6719 Q5491.5194,479.25 5491.5194,478.5156 Q5491.5194,477.9531 5491.1756,477.5469 Q5490.8475,477.125 5490.2225,476.875 L5489.0194,476.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="5510.035" y="480.0137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5012.285" x2="6094.285" y1="491.8594" y2="491.8594"/><ellipse cx="5022.285" cy="502.8594" 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="151" x="5031.285" y="506.0698">next : urt_hrtsubscriber_t*</text><ellipse cx="5022.285" cy="532.4688" 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="157" x="5031.285" y="535.6792">deadlineOffset : urt_delay_t</text><ellipse cx="5022.285" cy="545.2734" 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="194" x="5031.285" y="548.4839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5012.285" x2="5407.785" y1="519.0664" y2="519.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="5407.785" y="522.3745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5698.785" x2="6094.285" y1="519.0664" y2="519.0664"/><ellipse cx="5022.285" cy="574.8828" 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="124" x="5031.285" y="578.0933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5012.285" x2="5417.785" y1="561.4805" y2="561.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="5417.785" y="564.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5688.785" x2="6094.285" y1="561.4805" y2="561.4805"/><ellipse cx="5022.285" cy="604.4922" 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="138" x="5031.285" y="607.7026">minLatency : urt_delay_t</text><ellipse cx="5022.285" cy="617.2969" 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="141" x="5031.285" y="620.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5012.285" x2="5301.285" y1="591.0898" y2="591.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="5301.285" y="594.3979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5805.285" x2="6094.285" y1="591.0898" y2="591.0898"/><ellipse cx="5022.285" cy="646.9063" 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="150" x="5031.285" y="650.1167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5012.285" x2="5420.785" y1="633.5039" y2="633.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="5420.785" y="636.812">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5685.785" x2="6094.285" y1="633.5039" y2="633.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5012.285" x2="6094.285" y1="656.7109" y2="656.7109"/><ellipse cx="5022.285" cy="667.7109" 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="392" x="5031.285" y="670.9214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><ellipse cx="5022.285" cy="680.5156" 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="1058" x="5031.285" y="683.7261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_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="5022.285" cy="693.3203" 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="785" x="5031.285" y="696.5308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="5022.285" cy="706.125" 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="795" x="5031.285" y="709.3354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="5022.285" cy="718.9297" 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="446" x="5031.285" y="722.1401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]
-class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="8956.785" y="953.3594"/><ellipse cx="9125.035" cy="969.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9129.2694,965.125 L9123.9881,965.125 L9123.9881,967.7969 L9128.785,967.7969 L9128.785,969.9531 L9123.9881,969.9531 L9123.9881,975.3594 L9121.5506,975.3594 L9121.5506,962.9688 L9129.2694,962.9688 L9129.2694,965.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="9145.535" y="973.5137">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8957.785" x2="9406.785" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8957.785" x2="9406.785" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="8962.785" y="1007.5698">urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
-class urt_service_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="222.4609" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="602" x="8946.285" y="483.3594"/><ellipse cx="9203.535" cy="499.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9203.0194,499.9219 Q9201.16,499.2188 9200.5038,498.4531 Q9199.8631,497.6719 9199.8631,496.3594 Q9199.8631,494.6719 9200.9413,493.7031 Q9202.0194,492.7344 9203.8944,492.7344 Q9204.7538,492.7344 9205.5975,492.9375 Q9206.4569,493.125 9207.3006,493.5156 L9207.3006,495.9063 Q9206.5194,495.3438 9205.6913,495.0625 Q9204.8788,494.7656 9204.0819,494.7656 Q9203.2069,494.7656 9202.7225,495.125 Q9202.2538,495.4844 9202.2538,496.1406 Q9202.2538,496.6563 9202.5975,497 Q9202.9413,497.3281 9204.035,497.7344 L9205.0975,498.1406 Q9206.5819,498.6875 9207.285,499.5938 Q9208.0038,500.5 9208.0038,501.875 Q9208.0038,503.75 9206.8944,504.6719 Q9205.785,505.5938 9203.535,505.5938 Q9202.6131,505.5938 9201.6913,505.375 Q9200.7694,505.1563 9199.91,504.7344 L9199.91,502.2031 Q9200.8788,502.8906 9201.8006,503.2344 Q9202.7225,503.5781 9203.6131,503.5781 Q9204.5194,503.5781 9205.0194,503.1719 Q9205.5194,502.75 9205.5194,502.0156 Q9205.5194,501.4531 9205.1756,501.0469 Q9204.8475,500.625 9204.2225,500.375 L9203.0194,499.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="9224.035" y="503.5137">urt_service_t</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="137" x="8966.285" y="597.5933">sumDurations : uint64_t</text><ellipse cx="8957.285" cy="607.1875" 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="8966.285" y="610.3979">numCalls : uint64_t</text><ellipse cx="8957.285" cy="619.9922" 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="8966.285" y="623.2026">numTimeouts : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8947.285" x2="9151.285" y1="580.9805" y2="580.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="9151.285" y="584.2886">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; 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-link urt_nodestage_t to urt_config--><path d="M1193.647,1390.1818 C1176.9546,1407.9219 1158.896,1427.1139 1141.0674,1446.0614 " 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="1137.5052,1449.8471,1146.5858,1446.0335,1140.9315,1446.2056,1140.7594,1440.5514,1137.5052,1449.8471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]
-link urt_topicid_t to urt_config--><path d="M1029.285,1390.1818 C1029.285,1407.4784 1029.285,1426.1552 1029.285,1444.6399 " 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="1029.285,1449.8471,1033.285,1440.8471,1029.285,1444.8471,1025.285,1440.8471,1029.285,1449.8471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]
-link urt_serviceid_t to urt_config--><path d="M1411.2848,1387.4152 C1405.6042,1391.0532 1399.9151,1394.5592 1394.285,1397.8594 C1326.0353,1437.866 1246.5382,1475.2316 1179.1908,1504.4309 " 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="1174.3631,1506.5191,1184.2115,1506.6174,1178.9522,1504.5341,1181.0355,1499.2748,1174.3631,1506.5191" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]
-link urt_delay_t to urt_config--><path d="M1905.0579,1360.3928 C1888.128,1374.3932 1868.4384,1388.3806 1848.285,1397.8594 C1629.6691,1500.6819 1349.0225,1540.3964 1179.4829,1555.5983 " 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="1174.4996,1556.041,1183.8182,1559.2289,1179.48,1555.5986,1183.1104,1551.2603,1174.4996,1556.041" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
-link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M14552.285,1033.5237 C14552.285,1095.6504 14552.285,1201.3099 14552.285,1262.7161 " 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="14552.285,1267.7881,14556.285,1258.7881,14552.285,1262.7881,14548.285,1258.7881,14552.285,1267.7881" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
-link urt_osCondvar_t to urt_osMutex_t--><path d="M14506.5957,934.0805 C14438.9573,865.6475 14304.5957,749.0857 14160.785,732.8594 C14136.75,730.1475 10701.82,730.1475 10677.785,732.8594 C10585.3853,743.2849 10539.347,858.6638 10519.6657,929.3074 " 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="10518.294,934.3144,10524.5301,926.6913,10519.6153,929.4921,10516.8145,924.5773,10518.294,934.3144" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
-link urt_osTimer_t to urt_osTimerCallback_t--><path d="M13771.285,1040.0727 C13771.285,1107.2944 13771.285,1217.836 13771.285,1274.6535 " 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="13771.285,1279.981,13775.285,1270.981,13771.285,1274.981,13767.285,1270.981,13771.285,1279.981" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
-link urt_osThread_t to urt_osThreadPrio_t--><path d="M12659.3578,1172.182 C12664.3741,1192.6858 12669.2598,1212.6564 12673.6896,1230.7632 " 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="12674.9267,1235.8198,12676.6732,1226.127,12673.7384,1230.963,12668.9024,1228.0283,12674.9267,1235.8198" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
-link urt_osThread_t to urt_osThreadFunction_t--><path d="M12893.2959,1098.4093 C12958.4742,1128.6132 13026.5364,1163.1281 13087.285,1199.8594 C13124.7097,1222.488 13163.7012,1253.3138 13191.498,1276.7389 " 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="13195.5164,1280.1395,13191.2303,1271.2721,13191.6997,1276.9095,13186.0624,1277.3789,13195.5164,1280.1395" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
-link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M12806.2149,1172.182 C12844.0602,1209.1235 12880.1322,1244.3341 12906.4588,1270.032 " 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="12910.2714,1273.7536,12906.6251,1264.6046,12906.6934,1270.261,12901.037,1270.3294,12910.2714,1273.7536" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
-link urt_osThread_t to urt_osThreadState_t--><path d="M12517.1081,1172.182 C12505.4777,1194.9552 12494.1833,1217.0705 12484.1559,1236.705 " 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="12481.6344,1241.6423,12489.2902,1235.4464,12483.9086,1237.1894,12482.1656,1231.8078,12481.6344,1241.6423" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
-link urt_osThread_t to urt_osTime_t--><path d="M12443.3119,795.577 C12399.8082,763.7085 12350.096,738.8745 12296.785,732.8594 C12270.0381,729.8415 10385.532,729.8415 10358.785,732.8594 C10247.8836,745.3725 10169.0683,866.9621 10132.7712,936.2069 " 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="10130.4419,940.6905,10138.1407,934.5481,10132.747,936.2535,10131.0415,930.8599,10130.4419,940.6905" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
-link urt_osEventListener_t to urt_osEventFlags_t--><path d="M11468.285,1353.947 C11468.285,1405.6304 11468.285,1490.8733 11468.285,1535.518 " 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="11468.285,1540.7562,11472.285,1531.7562,11468.285,1535.7562,11464.285,1531.7562,11468.285,1540.7562" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
-link urt_osEventSource_t to urt_osEventFlags_t--><path d="M11943.1403,1347.9291 C11829.357,1399.9092 11625.2124,1493.1695 11525.8142,1538.5781 " 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="11521.1609,1540.7039,11531.0092,1540.6024,11525.7088,1538.6262,11527.685,1533.3258,11521.1609,1540.7039" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
-link urt_events to urt_osEventSource_t--><path d="M11257.141,1026.8963 C11377.8979,1070.0601 11568.7503,1138.7192 11733.285,1199.8594 C11796.7578,1223.4456 11867.7665,1250.5178 11923.7495,1272.0214 " 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="11928.4348,1273.8216,11921.4682,1266.8598,11923.7674,1272.0283,11918.599,1274.3276,11928.4348,1273.8216" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
-link urt_events to urt_osEventListener_t--><path d="M11180.0296,1026.9452 C11242.3526,1088.3296 11356.2658,1200.5272 11420.6553,1263.947 " 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="11424.4436,1267.6782,11420.8383,1258.5129,11420.8813,1264.1696,11415.2246,1264.2126,11424.4436,1267.6782" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
-link urt_events to urt_osEventMask_t--><path d="M11093.5945,1026.9452 C11028.5227,1092.6195 10905.8208,1216.4576 10846.3343,1276.4949 " 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="10842.5087,1280.3559,10851.6846,1276.7779,10846.0278,1276.804,10846.0017,1271.1472,10842.5087,1280.3559" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
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-link urt_osCondvar_t to urt_delay_t--><path d="M14478.894,1033.5721 C14406.2055,1079.6173 14289.9013,1144.9154 14178.285,1171.8594 C14083.1804,1194.8175 10754.1162,1198.8464 10656.285,1199.8594 C7108.7811,1236.5912 2747.8318,1299.3518 2051.8706,1309.4654 " 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="2046.8266,1309.5387,2055.8838,1313.4074,2051.8261,1309.466,2055.7675,1305.4082,2046.8266,1309.5387" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]
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+cluster timer--><rect fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" height="502.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="13408.2145" y="900.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="13786.7145" y="915.8545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]
+cluster thread--><rect fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" height="679" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="12361.2145" y="768.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="12854.7145" y="783.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]
+cluster events--><rect fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" height="791" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="10700.2145" y="913.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="11494.2145" y="928.8545">events</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]
+cluster Middleware--><polygon fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" points="1910.2145,88.8594,1920.2145,78.8594,9618.2145,78.8594,9618.2145,1064.8594,9608.2145,1074.8594,1910.2145,1074.8594,1910.2145,88.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9608.2145" x2="9617.2145" y1="88.8594" y2="79.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1910.2145" x2="9608.2145" y1="88.8594" y2="88.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9608.2145" x2="9608.2145" y1="88.8594" y2="1074.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="5714.7145" y="104.8545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]
+cluster node--><rect fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" height="570.5" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="7292.2145" y="451.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="8109.2145" y="466.8545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]
+cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" points="1918.2145,410.8594,1928.2145,400.8594,7284.2145,400.8594,7284.2145,1056.8594,7274.2145,1066.8594,1918.2145,1066.8594,1918.2145,410.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7274.2145" x2="7283.2145" y1="410.8594" y2="401.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1918.2145" x2="7274.2145" y1="410.8594" y2="410.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7274.2145" x2="7274.2145" y1="410.8594" y2="1066.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="4494.7145" y="426.8545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
+cluster subscriber--><rect fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" height="626" style="stroke: #000000; stroke-width: 1.5;" width="4101" x="3175.2145" y="432.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="5183.2145" y="447.8545">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]
+cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" points="8974.2145,469.3594,8984.2145,459.3594,9610.2145,459.3594,9610.2145,1012.3594,9600.2145,1022.3594,8974.2145,1022.3594,8974.2145,469.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9600.2145" x2="9609.2145" y1="469.3594" y2="460.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8974.2145" x2="9600.2145" y1="469.3594" y2="469.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9600.2145" x2="9600.2145" y1="469.3594" y2="1022.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="9166.2145" y="485.3545">Remote Procedure Call System</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]
+class urt_config--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="230.4609" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="883.2145" y="1557.8594"/><ellipse cx="992.9645" cy="1573.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M995.9333,1579.5 Q995.3551,1579.7969 994.7145,1579.9375 Q994.0739,1580.0938 993.3708,1580.0938 Q990.8708,1580.0938 989.5426,1578.4531 Q988.2301,1576.7969 988.2301,1573.6719 Q988.2301,1570.5469 989.5426,1568.8906 Q990.8708,1567.2344 993.3708,1567.2344 Q994.0739,1567.2344 994.7145,1567.3906 Q995.3708,1567.5469 995.9333,1567.8438 L995.9333,1570.5625 Q995.3083,1569.9844 994.7145,1569.7188 Q994.1208,1569.4375 993.4958,1569.4375 Q992.152,1569.4375 991.4645,1570.5156 Q990.777,1571.5781 990.777,1573.6719 Q990.777,1575.7656 991.4645,1576.8438 Q992.152,1577.9063 993.4958,1577.9063 Q994.1208,1577.9063 994.7145,1577.6406 Q995.3083,1577.3594 995.9333,1576.7813 L995.9333,1579.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="1013.4645" y="1578.0137">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="884.2145" x2="1172.2145" y1="1589.8594" y2="1589.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="889.2145" y="1604.0698">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="169" x="889.2145" y="1616.8745">URT_CFG_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="889.2145" y="1629.6792">URT_CFG_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="889.2145" y="1642.4839">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="884.2145" x2="1172.2145" y1="1649.0781" y2="1649.0781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="889.2145" y="1663.2886">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="884.2145" x2="1172.2145" y1="1669.8828" y2="1669.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="889.2145" y="1684.0933">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="889.2145" y="1696.8979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="889.2145" y="1709.7026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="889.2145" y="1722.5073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="889.2145" y="1735.312">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="884.2145" x2="1172.2145" y1="1741.9063" y2="1741.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="889.2145" y="1756.1167">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="889.2145" y="1768.9214">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="889.2145" y="1781.7261">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><!--MD5=[9f69b6f4e23017059189983d6906a1eb]
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+class urt_debug--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="652.7145" y="1334.3594"/><ellipse cx="738.9645" cy="1350.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M743.1989,1346.125 L737.9176,1346.125 L737.9176,1348.7969 L742.7145,1348.7969 L742.7145,1350.9531 L737.9176,1350.9531 L737.9176,1356.3594 L735.4801,1356.3594 L735.4801,1343.9688 L743.1989,1343.9688 L743.1989,1346.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="759.4645" y="1354.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="653.7145" x2="896.7145" y1="1366.3594" y2="1366.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="653.7145" x2="896.7145" y1="1374.3594" y2="1374.3594"/><ellipse cx="663.7145" cy="1385.3594" 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="672.7145" y="1388.5698">urtDebugAssert(condition : bool) : void</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
+class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="9933.7145" y="940.8594"/><ellipse cx="10102.4645" cy="956.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10103.3083,963.6094 L10100.8551,963.6094 L10100.8551,953.3594 L10097.7145,953.3594 L10097.7145,951.2188 L10106.4489,951.2188 L10106.4489,953.3594 L10103.3083,953.3594 L10103.3083,963.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="10122.9645" y="961.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9934.7145" x2="10357.7145" y1="972.8594" y2="972.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9934.7145" x2="10357.7145" y1="980.8594" y2="980.8594"/><ellipse cx="9944.7145" cy="991.8594" 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="9953.7145" y="995.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="9944.7145" cy="1004.6641" 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="9953.7145" y="1007.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="9944.7145" cy="1017.4688" 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="9953.7145" y="1020.6792">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
+class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="10394.2145" y="934.3594"/><ellipse cx="10495.4645" cy="950.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10496.3083,957.1094 L10493.8551,957.1094 L10493.8551,946.8594 L10490.7145,946.8594 L10490.7145,944.7188 L10499.4489,944.7188 L10499.4489,946.8594 L10496.3083,946.8594 L10496.3083,957.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="10515.9645" y="954.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10395.2145" x2="10691.2145" y1="966.3594" y2="966.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10395.2145" x2="10691.2145" y1="974.3594" y2="974.3594"/><ellipse cx="10405.2145" cy="985.3594" 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="10414.2145" y="988.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="10405.2145" cy="998.1641" 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="10414.2145" y="1001.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="10405.2145" cy="1010.9688" 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="10414.2145" y="1014.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="10405.2145" cy="1023.7734" 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="10414.2145" y="1026.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
+class urt_streams--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="9689.7145" y="946.8594"/><ellipse cx="9752.4645" cy="962.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9756.6989,958.625 L9751.4176,958.625 L9751.4176,961.2969 L9756.2145,961.2969 L9756.2145,963.4531 L9751.4176,963.4531 L9751.4176,968.8594 L9748.9801,968.8594 L9748.9801,956.4688 L9756.6989,956.4688 L9756.6989,958.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="9772.9645" y="967.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9690.7145" x2="9897.7145" y1="978.8594" y2="978.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9690.7145" x2="9897.7145" y1="986.8594" y2="986.8594"/><ellipse cx="9700.7145" cy="997.8594" 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="9709.7145" y="1001.0698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="9700.7145" cy="1010.6641" 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="9709.7145" y="1013.8745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
+class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="14453.2145" y="1321.8594"/><ellipse cx="14499.4645" cy="1337.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14503.5739,1343.8594 L14495.8551,1343.8594 L14495.8551,1331.4688 L14503.5739,1331.4688 L14503.5739,1333.625 L14498.3083,1333.625 L14498.3083,1336.2969 L14503.0739,1336.2969 L14503.0739,1338.4531 L14498.3083,1338.4531 L14498.3083,1341.7031 L14503.5739,1341.7031 L14503.5739,1343.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="14519.9645" y="1342.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14454.2145" x2="14722.2145" y1="1353.8594" y2="1353.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="14459.2145" y="1368.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="14459.2145" y="1380.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="14459.2145" y="1393.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14454.2145" x2="14722.2145" y1="1400.2734" y2="1400.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
+class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="14233.2145" y="934.3594"/><ellipse cx="14533.4645" cy="950.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14534.3083,957.1094 L14531.8551,957.1094 L14531.8551,946.8594 L14528.7145,946.8594 L14528.7145,944.7188 L14537.4489,944.7188 L14537.4489,946.8594 L14534.3083,946.8594 L14534.3083,957.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="14553.9645" y="954.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14234.2145" x2="14942.2145" y1="966.3594" y2="966.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14234.2145" x2="14942.2145" y1="974.3594" y2="974.3594"/><ellipse cx="14244.2145" cy="985.3594" 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="14253.2145" y="988.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="14244.2145" cy="998.1641" 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="14253.2145" y="1001.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="14244.2145" cy="1010.9688" 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="14253.2145" y="1014.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="14244.2145" cy="1023.7734" 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="14253.2145" y="1026.9839">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(#f1ujiseu7zzykl)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="13664.2145" y="1334.3594"/><ellipse cx="13734.9645" cy="1350.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13735.8083,1357.1094 L13733.3551,1357.1094 L13733.3551,1346.8594 L13730.2145,1346.8594 L13730.2145,1344.7188 L13738.9489,1344.7188 L13738.9489,1346.8594 L13735.8083,1346.8594 L13735.8083,1357.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="13755.4645" y="1354.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13665.2145" x2="13949.2145" y1="1366.3594" y2="1366.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13665.2145" x2="13949.2145" y1="1374.3594" y2="1374.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="13670.2145" y="1388.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
+class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="13416.2145" y="927.8594"/><ellipse cx="13760.9645" cy="943.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13761.8083,950.6094 L13759.3551,950.6094 L13759.3551,940.3594 L13756.2145,940.3594 L13756.2145,938.2188 L13764.9489,938.2188 L13764.9489,940.3594 L13761.8083,940.3594 L13761.8083,950.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="13781.4645" y="948.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13417.2145" x2="14197.2145" y1="959.8594" y2="959.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13417.2145" x2="14197.2145" y1="967.8594" y2="967.8594"/><ellipse cx="13427.2145" cy="978.8594" 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="13436.2145" y="982.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="13427.2145" cy="991.6641" 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="13436.2145" y="994.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="13427.2145" cy="1004.4688" 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="13436.2145" y="1007.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="13427.2145" cy="1017.2734" 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="13436.2145" y="1020.4839">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="13427.2145" cy="1030.0781" 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="13436.2145" y="1033.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
+class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="12630.7145" y="1289.8594"/><ellipse cx="12666.8645" cy="1305.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12667.7083,1312.6094 L12665.2551,1312.6094 L12665.2551,1302.3594 L12662.1145,1302.3594 L12662.1145,1300.2188 L12670.8489,1300.2188 L12670.8489,1302.3594 L12667.7083,1302.3594 L12667.7083,1312.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="12685.5645" y="1310.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12631.7145" x2="12826.7145" y1="1321.8594" y2="1321.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="12636.7145" y="1336.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="12636.7145" y="1348.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="12636.7145" y="1361.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="12636.7145" y="1374.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="12636.7145" y="1387.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="12636.7145" y="1400.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="12636.7145" y="1412.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="12636.7145" y="1425.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12631.7145" x2="12826.7145" y1="1432.2969" y2="1432.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
+class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="13140.2145" y="1334.3594"/><ellipse cx="13187.9645" cy="1350.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13188.8083,1357.1094 L13186.3551,1357.1094 L13186.3551,1346.8594 L13183.2145,1346.8594 L13183.2145,1344.7188 L13191.9489,1344.7188 L13191.9489,1346.8594 L13188.8083,1346.8594 L13188.8083,1357.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="13208.4645" y="1354.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13141.2145" x2="13391.2145" y1="1366.3594" y2="1366.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13141.2145" x2="13391.2145" y1="1374.3594" y2="1374.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="13146.2145" y="1388.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
+class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="12863.2145" y="1327.8594"/><ellipse cx="12884.9645" cy="1343.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12889.0739,1349.8594 L12881.3551,1349.8594 L12881.3551,1337.4688 L12889.0739,1337.4688 L12889.0739,1339.625 L12883.8083,1339.625 L12883.8083,1342.2969 L12888.5739,1342.2969 L12888.5739,1344.4531 L12883.8083,1344.4531 L12883.8083,1347.7031 L12889.0739,1347.7031 L12889.0739,1349.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="12900.4645" y="1348.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12864.2145" x2="13104.2145" y1="1359.8594" y2="1359.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="12869.2145" y="1374.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="12869.2145" y="1386.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12864.2145" x2="13104.2145" y1="1393.4688" y2="1393.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
+class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="12369.2145" y="1295.8594"/><ellipse cx="12413.9645" cy="1311.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12418.0739,1317.8594 L12410.3551,1317.8594 L12410.3551,1305.4688 L12418.0739,1305.4688 L12418.0739,1307.625 L12412.8083,1307.625 L12412.8083,1310.2969 L12417.5739,1310.2969 L12417.5739,1312.4531 L12412.8083,1312.4531 L12412.8083,1315.7031 L12418.0739,1315.7031 L12418.0739,1317.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="12434.4645" y="1316.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12370.2145" x2="12594.2145" y1="1327.8594" y2="1327.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12375.2145" y="1342.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="12375.2145" y="1354.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="12375.2145" y="1367.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="12375.2145" y="1380.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="12375.2145" y="1393.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="12375.2145" y="1406.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="12375.2145" y="1418.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12370.2145" x2="12594.2145" y1="1425.4922" y2="1425.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
+class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="376.1172" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="12369.2145" y="795.8594"/><ellipse cx="12597.9645" cy="811.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12598.8083,818.6094 L12596.3551,818.6094 L12596.3551,808.3594 L12593.2145,808.3594 L12593.2145,806.2188 L12601.9489,806.2188 L12601.9489,808.3594 L12598.8083,808.3594 L12598.8083,818.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="12618.4645" y="816.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12370.2145" x2="12928.2145" y1="827.8594" y2="827.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="12375.2145" y="842.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12375.2145" y="854.8745">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="12375.2145" y="867.6792">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="12375.2145" y="880.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="12370.2145" x2="12928.2145" y1="887.0781" y2="887.0781"/><ellipse cx="12380.2145" cy="898.0781" 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="12389.2145" y="901.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12370.2145" x2="12928.2145" y1="907.8828" y2="907.8828"/><ellipse cx="12380.2145" cy="918.8828" 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="12389.2145" y="922.0933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="12380.2145" cy="931.6875" 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="12389.2145" y="934.8979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="12380.2145" cy="944.4922" 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="12389.2145" y="947.7026">urtThreadYield (void) : void</text><ellipse cx="12380.2145" cy="957.2969" 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="12389.2145" y="960.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="12380.2145" cy="970.1016" 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="12389.2145" y="973.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="12380.2145" cy="982.9063" 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="12389.2145" y="986.1167">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="12380.2145" cy="995.7109" 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="12389.2145" y="998.9214">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="12380.2145" cy="1008.5156" 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="12389.2145" y="1011.7261">urtThreadSleep (seconds : float) : void</text><ellipse cx="12380.2145" cy="1021.3203" 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="12389.2145" y="1024.5308">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="12380.2145" cy="1034.125" 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="12389.2145" y="1037.3354">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="12380.2145" cy="1046.9297" 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="12389.2145" y="1050.1401">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="12380.2145" cy="1059.7344" 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="12389.2145" y="1062.9448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="12380.2145" cy="1072.5391" 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="12389.2145" y="1075.7495">urtThreadExit (void) : void</text><ellipse cx="12380.2145" cy="1085.3438" 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="12389.2145" y="1088.5542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="12380.2145" cy="1098.1484" 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="12389.2145" y="1101.3589">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="12380.2145" cy="1110.9531" 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="12389.2145" y="1114.1636">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="12380.2145" cy="1123.7578" 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="12389.2145" y="1126.9683">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="12380.2145" cy="1136.5625" 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="380" x="12389.2145" y="1139.7729">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="12380.2145" cy="1149.3672" 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="371" x="12389.2145" y="1152.5776">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="12380.2145" cy="1162.1719" 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="370" x="12389.2145" y="1165.3823">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
+class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="10708.2145" y="1334.3594"/><ellipse cx="10785.4645" cy="1350.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10786.3083,1357.1094 L10783.8551,1357.1094 L10783.8551,1346.8594 L10780.7145,1346.8594 L10780.7145,1344.7188 L10789.4489,1344.7188 L10789.4489,1346.8594 L10786.3083,1346.8594 L10786.3083,1357.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="10805.9645" y="1354.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10709.2145" x2="10987.2145" y1="1366.3594" y2="1366.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="10714.2145" y="1380.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10709.2145" x2="10987.2145" y1="1387.1641" y2="1387.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
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+class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="11023.2145" y="1321.8594"/><ellipse cx="11046.3145" cy="1337.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11050.4239,1343.8594 L11042.7051,1343.8594 L11042.7051,1331.4688 L11050.4239,1331.4688 L11050.4239,1333.625 L11045.1583,1333.625 L11045.1583,1336.2969 L11049.9239,1336.2969 L11049.9239,1338.4531 L11045.1583,1338.4531 L11045.1583,1341.7031 L11050.4239,1341.7031 L11050.4239,1343.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="11062.1145" y="1342.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11024.2145" x2="11184.2145" y1="1353.8594" y2="1353.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="11029.2145" y="1368.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="11029.2145" y="1380.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="11029.2145" y="1393.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11024.2145" x2="11184.2145" y1="1400.2734" y2="1400.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
+class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="11257.2145" y="1321.8594"/><ellipse cx="11432.4645" cy="1337.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11433.3083,1344.6094 L11430.8551,1344.6094 L11430.8551,1334.3594 L11427.7145,1334.3594 L11427.7145,1332.2188 L11436.4489,1332.2188 L11436.4489,1334.3594 L11433.3083,1334.3594 L11433.3083,1344.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="11452.9645" y="1342.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11258.2145" x2="11750.2145" y1="1353.8594" y2="1353.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11258.2145" x2="11750.2145" y1="1361.8594" y2="1361.8594"/><ellipse cx="11268.2145" cy="1372.8594" 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="11277.2145" y="1376.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="11268.2145" cy="1385.6641" 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="11277.2145" y="1388.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="11268.2145" cy="1398.4688" 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="11277.2145" y="1401.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
+class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="11786.7145" y="1327.8594"/><ellipse cx="11991.4645" cy="1343.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11992.3083,1350.6094 L11989.8551,1350.6094 L11989.8551,1340.3594 L11986.7145,1340.3594 L11986.7145,1338.2188 L11995.4489,1338.2188 L11995.4489,1340.3594 L11992.3083,1340.3594 L11992.3083,1350.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="12011.9645" y="1348.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11787.7145" x2="12332.7145" y1="1359.8594" y2="1359.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11787.7145" x2="12332.7145" y1="1367.8594" y2="1367.8594"/><ellipse cx="11797.7145" cy="1378.8594" 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="11806.7145" y="1382.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="11797.7145" cy="1391.6641" 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="11806.7145" y="1394.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
+class urt_events--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="10727.2145" y="940.8594"/><ellipse cx="11134.9645" cy="956.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11139.1989,952.625 L11133.9176,952.625 L11133.9176,955.2969 L11138.7145,955.2969 L11138.7145,957.4531 L11133.9176,957.4531 L11133.9176,962.8594 L11131.4801,962.8594 L11131.4801,950.4688 L11139.1989,950.4688 L11139.1989,952.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11155.4645" y="961.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10728.2145" x2="11616.2145" y1="972.8594" y2="972.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10728.2145" x2="11616.2145" y1="980.8594" y2="980.8594"/><ellipse cx="10738.2145" cy="991.8594" 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="10747.2145" y="995.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="10738.2145" cy="1004.6641" 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="10747.2145" y="1007.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="10738.2145" cy="1017.4688" 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="10747.2145" y="1020.6792">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(#f1ujiseu7zzykl)" height="281.6797" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="2765.7145" y="110.8594"/><ellipse cx="2901.4645" cy="126.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2900.9489,127.4219 Q2899.0895,126.7188 2898.4333,125.9531 Q2897.7926,125.1719 2897.7926,123.8594 Q2897.7926,122.1719 2898.8708,121.2031 Q2899.9489,120.2344 2901.8239,120.2344 Q2902.6833,120.2344 2903.527,120.4375 Q2904.3864,120.625 2905.2301,121.0156 L2905.2301,123.4063 Q2904.4489,122.8438 2903.6208,122.5625 Q2902.8083,122.2656 2902.0114,122.2656 Q2901.1364,122.2656 2900.652,122.625 Q2900.1833,122.9844 2900.1833,123.6406 Q2900.1833,124.1563 2900.527,124.5 Q2900.8708,124.8281 2901.9645,125.2344 L2903.027,125.6406 Q2904.5114,126.1875 2905.2145,127.0938 Q2905.9333,128 2905.9333,129.375 Q2905.9333,131.25 2904.8239,132.1719 Q2903.7145,133.0938 2901.4645,133.0938 Q2900.5426,133.0938 2899.6208,132.875 Q2898.6989,132.6563 2897.8395,132.2344 L2897.8395,129.7031 Q2898.8083,130.3906 2899.7301,130.7344 Q2900.652,131.0781 2901.5426,131.0781 Q2902.4489,131.0781 2902.9489,130.6719 Q2903.4489,130.25 2903.4489,129.5156 Q2903.4489,128.9531 2903.1051,128.5469 Q2902.777,128.125 2902.152,127.875 L2900.9489,127.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="2921.9645" y="131.0137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2766.7145" x2="3107.7145" y1="142.8594" y2="142.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="150.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="2785.7145" y="157.0698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="163.6641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="2785.7145" y="169.8745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="176.4688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="2785.7145" y="182.6792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="189.2734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="2785.7145" y="195.4839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="218.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="2785.7145" y="225.0933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2766.7145" x2="2832.2145" y1="208.4805" y2="208.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="2832.2145" y="211.7886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3042.2145" x2="3107.7145" y1="208.4805" y2="208.4805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="248.4922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="2785.7145" y="254.7026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2766.7145" x2="2844.7145" y1="238.0898" y2="238.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="2844.7145" y="241.3979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3029.7145" x2="3107.7145" y1="238.0898" y2="238.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2766.7145" x2="3107.7145" y1="261.2969" y2="261.2969"/><ellipse cx="2776.7145" 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="130" x="2785.7145" y="275.5073">urtCoreInit (void) : void</text><ellipse cx="2776.7145" 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="215" x="2785.7145" y="288.312">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="2776.7145" 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="177" x="2785.7145" y="301.1167">urtCoreStartNodes (void) : void</text><ellipse cx="2776.7145" cy="310.7109" 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="309" x="2785.7145" y="313.9214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="2776.7145" cy="323.5156" 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="317" x="2785.7145" y="326.7261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="2776.7145" cy="353.125" 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="273" x="2785.7145" y="356.3354">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2766.7145" x2="2832.2145" y1="339.7227" y2="339.7227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="2832.2145" y="343.0308">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3042.2145" x2="3107.7145" y1="339.7227" y2="339.7227"/><ellipse cx="2776.7145" cy="382.7344" 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="313" x="2785.7145" y="385.9448">urtCoreGetService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2766.7145" x2="2844.7145" y1="369.332" y2="369.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="2844.7145" y="372.6401">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3029.7145" x2="3107.7145" y1="369.332" y2="369.332"/><!--MD5=[a7dea26996a1231aa68629b332780450]
+class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="7853.2145" y="953.3594"/><ellipse cx="7998.9645" cy="969.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7999.8083,976.1094 L7997.3551,976.1094 L7997.3551,965.8594 L7994.2145,965.8594 L7994.2145,963.7188 L8002.9489,963.7188 L8002.9489,965.8594 L7999.8083,965.8594 L7999.8083,976.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="8019.4645" y="973.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7854.2145" x2="8308.2145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7854.2145" x2="8308.2145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="7859.2145" y="1007.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
+class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="8344.2145" y="953.3594"/><ellipse cx="8572.4645" cy="969.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8573.3083,976.1094 L8570.8551,976.1094 L8570.8551,965.8594 L8567.7145,965.8594 L8567.7145,963.7188 L8576.4489,963.7188 L8576.4489,965.8594 L8573.3083,965.8594 L8573.3083,976.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="8592.9645" y="973.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8345.2145" x2="8957.2145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8345.2145" x2="8957.2145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="8350.2145" y="1007.5698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]
+class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="7300.2145" y="953.3594"/><ellipse cx="7464.4645" cy="969.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7465.3083,976.1094 L7462.8551,976.1094 L7462.8551,965.8594 L7459.7145,965.8594 L7459.7145,963.7188 L7468.4489,963.7188 L7468.4489,965.8594 L7465.3083,965.8594 L7465.3083,976.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="7484.9645" y="973.5137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7301.2145" x2="7817.2145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7301.2145" x2="7817.2145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="7306.2145" y="1007.5698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]
+class urt_node_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="7310.7145" y="478.8594"/><ellipse cx="8043.4645" cy="494.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8042.9489,495.4219 Q8041.0895,494.7188 8040.4333,493.9531 Q8039.7926,493.1719 8039.7926,491.8594 Q8039.7926,490.1719 8040.8708,489.2031 Q8041.9489,488.2344 8043.8239,488.2344 Q8044.6833,488.2344 8045.527,488.4375 Q8046.3864,488.625 8047.2301,489.0156 L8047.2301,491.4063 Q8046.4489,490.8438 8045.6208,490.5625 Q8044.8083,490.2656 8044.0114,490.2656 Q8043.1364,490.2656 8042.652,490.625 Q8042.1833,490.9844 8042.1833,491.6406 Q8042.1833,492.1563 8042.527,492.5 Q8042.8708,492.8281 8043.9645,493.2344 L8045.027,493.6406 Q8046.5114,494.1875 8047.2145,495.0938 Q8047.9333,496 8047.9333,497.375 Q8047.9333,499.25 8046.8239,500.1719 Q8045.7145,501.0938 8043.4645,501.0938 Q8042.5426,501.0938 8041.6208,500.875 Q8040.6989,500.6563 8039.8395,500.2344 L8039.8395,497.7031 Q8040.8083,498.3906 8041.7301,498.7344 Q8042.652,499.0781 8043.5426,499.0781 Q8044.4489,499.0781 8044.9489,498.6719 Q8045.4489,498.25 8045.4489,497.5156 Q8045.4489,496.9531 8045.1051,496.5469 Q8044.777,496.125 8044.152,495.875 L8042.9489,495.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="8063.9645" y="499.0137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7311.7145" x2="8850.7145" y1="510.8594" y2="510.8594"/><ellipse cx="7321.7145" cy="521.8594" 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="7330.7145" y="525.0698">next : urt_node_t*</text><ellipse cx="7321.7145" cy="534.6641" 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="7330.7145" y="537.8745">thread : urt_osThread_t*</text><ellipse cx="7321.7145" cy="547.4688" 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="7330.7145" y="550.6792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="7321.7145" cy="560.2734" 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="7330.7145" y="563.4839">setupparams : void*</text><ellipse cx="7321.7145" cy="573.0781" 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="7330.7145" y="576.2886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="7321.7145" cy="585.8828" 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="7330.7145" y="589.0933">loopparams : void*</text><ellipse cx="7321.7145" cy="598.6875" 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="281" x="7330.7145" y="601.8979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="7321.7145" cy="611.4922" 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="140" x="7330.7145" y="614.7026">shutdownparams : void*</text><ellipse cx="7321.7145" cy="624.2969" 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="136" x="7330.7145" y="627.5073">stage : urt_nodestage_t</text><ellipse cx="7321.7145" cy="637.1016" 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="178" x="7330.7145" y="640.312">listener : urt_osEventListener_t</text><ellipse cx="7321.7145" cy="666.7109" 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="88" x="7330.7145" y="669.9214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7311.7145" x2="7873.2145" y1="653.3086" y2="653.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="7873.2145" y="656.6167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8289.2145" x2="8850.7145" y1="653.3086" y2="653.3086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7311.7145" x2="8850.7145" y1="676.5156" y2="676.5156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7318.7145" y="684.5156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="7330.7145" y="690.7261">_main : urt_osThreadFunction_t</text><ellipse cx="7321.7145" cy="700.3203" 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="1515" x="7330.7145" y="703.5308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
+class urt_message_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="2743.2145" y="912.8594"/><ellipse cx="2895.9645" cy="928.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2895.4489,929.4219 Q2893.5895,928.7188 2892.9333,927.9531 Q2892.2926,927.1719 2892.2926,925.8594 Q2892.2926,924.1719 2893.3708,923.2031 Q2894.4489,922.2344 2896.3239,922.2344 Q2897.1833,922.2344 2898.027,922.4375 Q2898.8864,922.625 2899.7301,923.0156 L2899.7301,925.4063 Q2898.9489,924.8438 2898.1208,924.5625 Q2897.3083,924.2656 2896.5114,924.2656 Q2895.6364,924.2656 2895.152,924.625 Q2894.6833,924.9844 2894.6833,925.6406 Q2894.6833,926.1563 2895.027,926.5 Q2895.3708,926.8281 2896.4645,927.2344 L2897.527,927.6406 Q2899.0114,928.1875 2899.7145,929.0938 Q2900.4333,930 2900.4333,931.375 Q2900.4333,933.25 2899.3239,934.1719 Q2898.2145,935.0938 2895.9645,935.0938 Q2895.0426,935.0938 2894.1208,934.875 Q2893.1989,934.6563 2892.3395,934.2344 L2892.3395,931.7031 Q2893.3083,932.3906 2894.2301,932.7344 Q2895.152,933.0781 2896.0426,933.0781 Q2896.9489,933.0781 2897.4489,932.6719 Q2897.9489,932.25 2897.9489,931.5156 Q2897.9489,930.9531 2897.6051,930.5469 Q2897.277,930.125 2896.652,929.875 L2895.4489,929.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="2916.4645" y="933.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2744.2145" x2="3148.2145" y1="944.8594" y2="944.8594"/><ellipse cx="2754.2145" cy="955.8594" 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="2763.2145" y="959.0698">next : urt_message_t*</text><ellipse cx="2754.2145" cy="968.6641" 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="2763.2145" y="971.8745">payload : void*</text><ellipse cx="2754.2145" cy="981.4688" 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="2763.2145" y="984.6792">originTime : urt_osTime_t</text><ellipse cx="2754.2145" cy="994.2734" 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="2763.2145" y="997.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="2754.2145" cy="1023.8828" 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="2763.2145" y="1027.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2744.2145" x2="2837.7145" y1="1010.4805" y2="1010.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2837.7145" y="1013.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3054.7145" x2="3148.2145" y1="1010.4805" y2="1010.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2744.2145" x2="3148.2145" y1="1033.6875" y2="1033.6875"/><ellipse cx="2754.2145" cy="1044.6875" 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="380" x="2763.2145" y="1047.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="1926.7145" y="529.8594"/><ellipse cx="2267.4645" cy="545.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2266.9489,546.4219 Q2265.0895,545.7188 2264.4333,544.9531 Q2263.7926,544.1719 2263.7926,542.8594 Q2263.7926,541.1719 2264.8708,540.2031 Q2265.9489,539.2344 2267.8239,539.2344 Q2268.6833,539.2344 2269.527,539.4375 Q2270.3864,539.625 2271.2301,540.0156 L2271.2301,542.4063 Q2270.4489,541.8438 2269.6208,541.5625 Q2268.8083,541.2656 2268.0114,541.2656 Q2267.1364,541.2656 2266.652,541.625 Q2266.1833,541.9844 2266.1833,542.6406 Q2266.1833,543.1563 2266.527,543.5 Q2266.8708,543.8281 2267.9645,544.2344 L2269.027,544.6406 Q2270.5114,545.1875 2271.2145,546.0938 Q2271.9333,547 2271.9333,548.375 Q2271.9333,550.25 2270.8239,551.1719 Q2269.7145,552.0938 2267.4645,552.0938 Q2266.5426,552.0938 2265.6208,551.875 Q2264.6989,551.6563 2263.8395,551.2344 L2263.8395,548.7031 Q2264.8083,549.3906 2265.7301,549.7344 Q2266.652,550.0781 2267.5426,550.0781 Q2268.4489,550.0781 2268.9489,549.6719 Q2269.4489,549.25 2269.4489,548.5156 Q2269.4489,547.9531 2269.1051,547.5469 Q2268.777,547.125 2268.152,546.875 L2266.9489,546.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="2287.9645" y="550.0137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1927.7145" x2="2708.7145" y1="561.8594" y2="561.8594"/><ellipse cx="1937.7145" cy="572.8594" 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="1946.7145" y="576.0698">topic : urt_topic_t*</text><ellipse cx="1937.7145" cy="602.4688" 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="149" x="1946.7145" y="605.6792">publishAttempts : uint64_t</text><ellipse cx="1937.7145" cy="615.2734" 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="124" x="1946.7145" y="618.4839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1927.7145" x2="2209.7145" y1="589.0664" y2="589.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2209.7145" y="592.3745">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2426.7145" x2="2708.7145" y1="589.0664" y2="589.0664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1927.7145" x2="2708.7145" y1="625.0781" y2="625.0781"/><ellipse cx="1937.7145" cy="636.0781" 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="572" x="1946.7145" y="639.2886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="1937.7145" cy="648.8828" 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="757" x="1946.7145" y="652.0933">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : 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(#f1ujiseu7zzykl)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="2745.2145" y="463.8594"/><ellipse cx="2899.9645" cy="479.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2899.4489,480.4219 Q2897.5895,479.7188 2896.9333,478.9531 Q2896.2926,478.1719 2896.2926,476.8594 Q2896.2926,475.1719 2897.3708,474.2031 Q2898.4489,473.2344 2900.3239,473.2344 Q2901.1833,473.2344 2902.027,473.4375 Q2902.8864,473.625 2903.7301,474.0156 L2903.7301,476.4063 Q2902.9489,475.8438 2902.1208,475.5625 Q2901.3083,475.2656 2900.5114,475.2656 Q2899.6364,475.2656 2899.152,475.625 Q2898.6833,475.9844 2898.6833,476.6406 Q2898.6833,477.1563 2899.027,477.5 Q2899.3708,477.8281 2900.4645,478.2344 L2901.527,478.6406 Q2903.0114,479.1875 2903.7145,480.0938 Q2904.4333,481 2904.4333,482.375 Q2904.4333,484.25 2903.3239,485.1719 Q2902.2145,486.0938 2899.9645,486.0938 Q2899.0426,486.0938 2898.1208,485.875 Q2897.1989,485.6563 2896.3395,485.2344 L2896.3395,482.7031 Q2897.3083,483.3906 2898.2301,483.7344 Q2899.152,484.0781 2900.0426,484.0781 Q2900.9489,484.0781 2901.4489,483.6719 Q2901.9489,483.25 2901.9489,482.5156 Q2901.9489,481.9531 2901.6051,481.5469 Q2901.277,481.125 2900.652,480.875 L2899.4489,480.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2920.4645" y="484.0137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2746.2145" x2="3128.2145" y1="495.8594" y2="495.8594"/><ellipse cx="2756.2145" cy="506.8594" 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="2765.2145" y="510.0698">next : urt_topic_t*</text><ellipse cx="2756.2145" cy="519.6641" 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="2765.2145" y="522.8745">id : urt_topicid_t</text><ellipse cx="2756.2145" cy="532.4688" 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="2765.2145" y="535.6792">lock : urt_osMutex_t</text><ellipse cx="2756.2145" cy="545.2734" 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="2765.2145" y="548.4839">evtSource : urt_osEventSource_t</text><ellipse cx="2756.2145" cy="558.0781" 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="2765.2145" y="561.2886">numHrtSubscribers : unsigned int</text><ellipse cx="2756.2145" cy="570.8828" 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="173" x="2765.2145" y="574.0933">hrtReleased : urt_osCondvar_t</text><ellipse cx="2756.2145" cy="583.6875" 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="209" x="2765.2145" y="586.8979">mandatoryMessage : urt_message_t</text><ellipse cx="2756.2145" cy="596.4922" 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="186" x="2765.2145" y="599.7026">latestMessage : urt_message_t*</text><ellipse cx="2756.2145" cy="626.1016" 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="212" x="2765.2145" y="629.312">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="2756.2145" cy="638.9063" 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="2765.2145" y="642.1167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2746.2145" x2="2804.7145" y1="612.6992" y2="612.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2804.7145" y="616.0073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3069.7145" x2="3128.2145" y1="612.6992" y2="612.6992"/><ellipse cx="2756.2145" cy="668.5156" 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="195" x="2765.2145" y="671.7261">numMessagesPublished : uint64_t</text><ellipse cx="2756.2145" cy="681.3203" 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="197" x="2765.2145" y="684.5308">numMessagesDiscarded : uint64_t</text><ellipse cx="2756.2145" cy="694.125" 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="2765.2145" y="697.3354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2746.2145" x2="2828.7145" y1="655.1133" y2="655.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2828.7145" y="658.4214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3045.7145" x2="3128.2145" y1="655.1133" y2="655.1133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2746.2145" x2="3128.2145" y1="703.9297" y2="703.9297"/><ellipse cx="2756.2145" cy="714.9297" 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="358" x="2765.2145" y="718.1401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
+class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="4878.7145" y="916.8594"/><ellipse cx="4921.1645" cy="932.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4920.6489,933.4219 Q4918.7895,932.7188 4918.1333,931.9531 Q4917.4926,931.1719 4917.4926,929.8594 Q4917.4926,928.1719 4918.5708,927.2031 Q4919.6489,926.2344 4921.5239,926.2344 Q4922.3833,926.2344 4923.227,926.4375 Q4924.0864,926.625 4924.9301,927.0156 L4924.9301,929.4063 Q4924.1489,928.8438 4923.3208,928.5625 Q4922.5083,928.2656 4921.7114,928.2656 Q4920.8364,928.2656 4920.352,928.625 Q4919.8833,928.9844 4919.8833,929.6406 Q4919.8833,930.1563 4920.227,930.5 Q4920.5708,930.8281 4921.6645,931.2344 L4922.727,931.6406 Q4924.2114,932.1875 4924.9145,933.0938 Q4925.6333,934 4925.6333,935.375 Q4925.6333,937.25 4924.5239,938.1719 Q4923.4145,939.0938 4921.1645,939.0938 Q4920.2426,939.0938 4919.3208,938.875 Q4918.3989,938.6563 4917.5395,938.2344 L4917.5395,935.7031 Q4918.5083,936.3906 4919.4301,936.7344 Q4920.352,937.0781 4921.2426,937.0781 Q4922.1489,937.0781 4922.6489,936.6719 Q4923.1489,936.25 4923.1489,935.5156 Q4923.1489,934.9531 4922.8051,934.5469 Q4922.477,934.125 4921.852,933.875 L4920.6489,933.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="4941.2645" y="937.0137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4879.7145" x2="5102.7145" y1="948.8594" y2="948.8594"/><ellipse cx="4889.7145" cy="959.8594" 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="4898.7145" y="963.0698">topic : urt_topic_t*</text><ellipse cx="4889.7145" cy="972.6641" 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="4898.7145" y="975.8745">evtListener : urt_osEventListener_t</text><ellipse cx="4889.7145" cy="985.4688" 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="175" x="4898.7145" y="988.6792">lastMessage : urt_message_t*</text><ellipse cx="4889.7145" cy="998.2734" 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="4898.7145" y="1001.4839">lastMessageTime : urt_osTime_t</text><ellipse cx="4889.7145" cy="1027.8828" 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="136" x="4898.7145" y="1031.0933">sumLatencies : uint64_t</text><ellipse cx="4889.7145" cy="1040.6875" 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="190" x="4898.7145" y="1043.8979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4879.7145" x2="4882.7145" y1="1014.4805" y2="1014.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="4882.7145" y="1017.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5099.7145" x2="5102.7145" y1="1014.4805" y2="1014.4805"/><!--MD5=[fc7708c915a0148c667d62e1370980fd]
+class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="6072.2145" y="953.3594"/><ellipse cx="6181.4645" cy="969.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6185.6989,965.125 L6180.4176,965.125 L6180.4176,967.7969 L6185.2145,967.7969 L6185.2145,969.9531 L6180.4176,969.9531 L6180.4176,975.3594 L6177.9801,975.3594 L6177.9801,962.9688 L6185.6989,962.9688 L6185.6989,965.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="6201.9645" y="973.5137">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6073.2145" x2="6445.2145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6073.2145" x2="6445.2145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="6078.2145" y="1007.5698">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
+class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="3182.7145" y="517.3594"/><ellipse cx="3529.4645" cy="533.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3528.9489,533.9219 Q3527.0895,533.2188 3526.4333,532.4531 Q3525.7926,531.6719 3525.7926,530.3594 Q3525.7926,528.6719 3526.8708,527.7031 Q3527.9489,526.7344 3529.8239,526.7344 Q3530.6833,526.7344 3531.527,526.9375 Q3532.3864,527.125 3533.2301,527.5156 L3533.2301,529.9063 Q3532.4489,529.3438 3531.6208,529.0625 Q3530.8083,528.7656 3530.0114,528.7656 Q3529.1364,528.7656 3528.652,529.125 Q3528.1833,529.4844 3528.1833,530.1406 Q3528.1833,530.6563 3528.527,531 Q3528.8708,531.3281 3529.9645,531.7344 L3531.027,532.1406 Q3532.5114,532.6875 3533.2145,533.5938 Q3533.9333,534.5 3533.9333,535.875 Q3533.9333,537.75 3532.8239,538.6719 Q3531.7145,539.5938 3529.4645,539.5938 Q3528.5426,539.5938 3527.6208,539.375 Q3526.6989,539.1563 3525.8395,538.7344 L3525.8395,536.2031 Q3526.8083,536.8906 3527.7301,537.2344 Q3528.652,537.5781 3529.5426,537.5781 Q3530.4489,537.5781 3530.9489,537.1719 Q3531.4489,536.75 3531.4489,536.0156 Q3531.4489,535.4531 3531.1051,535.0469 Q3530.777,534.625 3530.152,534.375 L3528.9489,533.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="3549.9645" y="537.5137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3183.7145" x2="4002.7145" y1="549.3594" y2="549.3594"/><ellipse cx="3193.7145" cy="577.1641" 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="3202.7145" y="580.3745">minLatency : urt_delay_t</text><ellipse cx="3193.7145" cy="589.9688" 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="141" x="3202.7145" y="593.1792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3183.7145" x2="3484.7145" y1="563.7617" y2="563.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3484.7145" y="567.0698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3701.7145" x2="4002.7145" y1="563.7617" y2="563.7617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3183.7145" x2="4002.7145" y1="599.7734" y2="599.7734"/><ellipse cx="3193.7145" cy="610.7734" 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="347" x="3202.7145" y="613.9839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="3193.7145" cy="623.5781" 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="715" x="3202.7145" y="626.7886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="3193.7145" cy="636.3828" 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="785" x="3202.7145" y="639.5933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3193.7145" cy="649.1875" 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="795" x="3202.7145" y="652.3979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3193.7145" cy="661.9922" 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="446" x="3202.7145" y="665.2026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
+class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="6184.2145" y="497.8594"/><ellipse cx="6662.9645" cy="513.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6662.4489,514.4219 Q6660.5895,513.7188 6659.9333,512.9531 Q6659.2926,512.1719 6659.2926,510.8594 Q6659.2926,509.1719 6660.3708,508.2031 Q6661.4489,507.2344 6663.3239,507.2344 Q6664.1833,507.2344 6665.027,507.4375 Q6665.8864,507.625 6666.7301,508.0156 L6666.7301,510.4063 Q6665.9489,509.8438 6665.1208,509.5625 Q6664.3083,509.2656 6663.5114,509.2656 Q6662.6364,509.2656 6662.152,509.625 Q6661.6833,509.9844 6661.6833,510.6406 Q6661.6833,511.1563 6662.027,511.5 Q6662.3708,511.8281 6663.4645,512.2344 L6664.527,512.6406 Q6666.0114,513.1875 6666.7145,514.0938 Q6667.4333,515 6667.4333,516.375 Q6667.4333,518.25 6666.3239,519.1719 Q6665.2145,520.0938 6662.9645,520.0938 Q6662.0426,520.0938 6661.1208,519.875 Q6660.1989,519.6563 6659.3395,519.2344 L6659.3395,516.7031 Q6660.3083,517.3906 6661.2301,517.7344 Q6662.152,518.0781 6663.0426,518.0781 Q6663.9489,518.0781 6664.4489,517.6719 Q6664.9489,517.25 6664.9489,516.5156 Q6664.9489,515.9531 6664.6051,515.5469 Q6664.277,515.125 6663.652,514.875 L6662.4489,514.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="6683.4645" y="518.0137">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6185.2145" x2="7267.2145" y1="529.8594" y2="529.8594"/><ellipse cx="6195.2145" cy="540.8594" 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="229" x="6204.2145" y="544.0698">usefulnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="6195.2145" cy="553.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="6204.2145" y="556.8745">cbparams : void*</text><ellipse cx="6195.2145" 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="138" x="6204.2145" y="586.4839">minLatency : urt_delay_t</text><ellipse cx="6195.2145" 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="141" x="6204.2145" y="599.2886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6185.2145" x2="6617.7145" y1="569.8711" y2="569.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="6617.7145" y="573.1792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6834.7145" x2="7267.2145" y1="569.8711" y2="569.8711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6185.2145" x2="7267.2145" y1="605.8828" y2="605.8828"/><ellipse cx="6195.2145" cy="616.8828" 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="347" x="6204.2145" y="620.0933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="6195.2145" cy="629.6875" 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="1058" x="6204.2145" y="632.8979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t</text><ellipse cx="6195.2145" cy="642.4922" 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="785" x="6204.2145" y="645.7026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="6195.2145" cy="655.2969" 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="795" x="6204.2145" y="658.5073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="6195.2145" 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="570" x="6204.2145" y="671.312">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="6195.2145" cy="680.9063" 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="446" x="6204.2145" y="684.1167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
+class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="4038.2145" y="481.3594"/><ellipse cx="4463.4645" cy="497.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4462.9489,497.9219 Q4461.0895,497.2188 4460.4333,496.4531 Q4459.7926,495.6719 4459.7926,494.3594 Q4459.7926,492.6719 4460.8708,491.7031 Q4461.9489,490.7344 4463.8239,490.7344 Q4464.6833,490.7344 4465.527,490.9375 Q4466.3864,491.125 4467.2301,491.5156 L4467.2301,493.9063 Q4466.4489,493.3438 4465.6208,493.0625 Q4464.8083,492.7656 4464.0114,492.7656 Q4463.1364,492.7656 4462.652,493.125 Q4462.1833,493.4844 4462.1833,494.1406 Q4462.1833,494.6563 4462.527,495 Q4462.8708,495.3281 4463.9645,495.7344 L4465.027,496.1406 Q4466.5114,496.6875 4467.2145,497.5938 Q4467.9333,498.5 4467.9333,499.875 Q4467.9333,501.75 4466.8239,502.6719 Q4465.7145,503.5938 4463.4645,503.5938 Q4462.5426,503.5938 4461.6208,503.375 Q4460.6989,503.1563 4459.8395,502.7344 L4459.8395,500.2031 Q4460.8083,500.8906 4461.7301,501.2344 Q4462.652,501.5781 4463.5426,501.5781 Q4464.4489,501.5781 4464.9489,501.1719 Q4465.4489,500.75 4465.4489,500.0156 Q4465.4489,499.4531 4465.1051,499.0469 Q4464.777,498.625 4464.152,498.375 L4462.9489,497.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="4483.9645" y="501.5137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4039.2145" x2="5011.2145" y1="513.3594" y2="513.3594"/><ellipse cx="4049.2145" cy="541.1641" 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="157" x="4058.2145" y="544.3745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4039.2145" x2="4379.7145" y1="527.7617" y2="527.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="4379.7145" y="531.0698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4670.7145" x2="5011.2145" y1="527.7617" y2="527.7617"/><ellipse cx="4049.2145" cy="570.7734" 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="4058.2145" y="573.9839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4039.2145" x2="4389.7145" y1="557.3711" y2="557.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="4389.7145" y="560.6792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4660.7145" x2="5011.2145" y1="557.3711" y2="557.3711"/><ellipse cx="4049.2145" cy="600.3828" 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="4058.2145" y="603.5933">minLatency : urt_delay_t</text><ellipse cx="4049.2145" cy="613.1875" 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="4058.2145" y="616.3979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4039.2145" x2="4271.2145" y1="586.9805" y2="586.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="4271.2145" y="590.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4779.2145" x2="5011.2145" y1="586.9805" y2="586.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4039.2145" x2="5011.2145" y1="622.9922" y2="622.9922"/><ellipse cx="4049.2145" cy="633.9922" 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="342" x="4058.2145" y="637.2026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="4049.2145" cy="646.7969" 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="948" x="4058.2145" y="650.0073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="4049.2145" cy="659.6016" 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="780" x="4058.2145" y="662.812">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4049.2145" cy="672.4063" 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="790" x="4058.2145" y="675.6167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4049.2145" cy="685.2109" 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="540" x="4058.2145" y="688.4214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="4049.2145" cy="698.0156" 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="441" x="4058.2145" y="701.2261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
+class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="5047.2145" y="459.8594"/><ellipse cx="5525.4645" cy="475.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5524.9489,476.4219 Q5523.0895,475.7188 5522.4333,474.9531 Q5521.7926,474.1719 5521.7926,472.8594 Q5521.7926,471.1719 5522.8708,470.2031 Q5523.9489,469.2344 5525.8239,469.2344 Q5526.6833,469.2344 5527.527,469.4375 Q5528.3864,469.625 5529.2301,470.0156 L5529.2301,472.4063 Q5528.4489,471.8438 5527.6208,471.5625 Q5526.8083,471.2656 5526.0114,471.2656 Q5525.1364,471.2656 5524.652,471.625 Q5524.1833,471.9844 5524.1833,472.6406 Q5524.1833,473.1563 5524.527,473.5 Q5524.8708,473.8281 5525.9645,474.2344 L5527.027,474.6406 Q5528.5114,475.1875 5529.2145,476.0938 Q5529.9333,477 5529.9333,478.375 Q5529.9333,480.25 5528.8239,481.1719 Q5527.7145,482.0938 5525.4645,482.0938 Q5524.5426,482.0938 5523.6208,481.875 Q5522.6989,481.6563 5521.8395,481.2344 L5521.8395,478.7031 Q5522.8083,479.3906 5523.7301,479.7344 Q5524.652,480.0781 5525.5426,480.0781 Q5526.4489,480.0781 5526.9489,479.6719 Q5527.4489,479.25 5527.4489,478.5156 Q5527.4489,477.9531 5527.1051,477.5469 Q5526.777,477.125 5526.152,476.875 L5524.9489,476.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="5545.9645" y="480.0137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5048.2145" x2="6130.2145" y1="491.8594" y2="491.8594"/><ellipse cx="5058.2145" cy="502.8594" 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="151" x="5067.2145" y="506.0698">next : urt_hrtsubscriber_t*</text><ellipse cx="5058.2145" cy="532.4688" 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="157" x="5067.2145" y="535.6792">deadlineOffset : urt_delay_t</text><ellipse cx="5058.2145" cy="545.2734" 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="194" x="5067.2145" y="548.4839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5048.2145" x2="5443.7145" y1="519.0664" y2="519.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="5443.7145" y="522.3745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5734.7145" x2="6130.2145" y1="519.0664" y2="519.0664"/><ellipse cx="5058.2145" cy="574.8828" 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="124" x="5067.2145" y="578.0933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5048.2145" x2="5453.7145" y1="561.4805" y2="561.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="5453.7145" y="564.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5724.7145" x2="6130.2145" y1="561.4805" y2="561.4805"/><ellipse cx="5058.2145" cy="604.4922" 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="138" x="5067.2145" y="607.7026">minLatency : urt_delay_t</text><ellipse cx="5058.2145" cy="617.2969" 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="141" x="5067.2145" y="620.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5048.2145" x2="5337.2145" y1="591.0898" y2="591.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="5337.2145" y="594.3979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5841.2145" x2="6130.2145" y1="591.0898" y2="591.0898"/><ellipse cx="5058.2145" cy="646.9063" 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="150" x="5067.2145" y="650.1167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5048.2145" x2="5456.7145" y1="633.5039" y2="633.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="5456.7145" y="636.812">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5721.7145" x2="6130.2145" y1="633.5039" y2="633.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5048.2145" x2="6130.2145" y1="656.7109" y2="656.7109"/><ellipse cx="5058.2145" cy="667.7109" 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="347" x="5067.2145" y="670.9214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="5058.2145" cy="680.5156" 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="1058" x="5067.2145" y="683.7261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_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="5058.2145" cy="693.3203" 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="785" x="5067.2145" y="696.5308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="5058.2145" cy="706.125" 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="795" x="5067.2145" y="709.3354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="5058.2145" cy="718.9297" 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="446" x="5067.2145" y="722.1401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]
+class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="8992.7145" y="953.3594"/><ellipse cx="9160.9645" cy="969.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9165.1989,965.125 L9159.9176,965.125 L9159.9176,967.7969 L9164.7145,967.7969 L9164.7145,969.9531 L9159.9176,969.9531 L9159.9176,975.3594 L9157.4801,975.3594 L9157.4801,962.9688 L9165.1989,962.9688 L9165.1989,965.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="9181.4645" y="973.5137">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8993.7145" x2="9442.7145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8993.7145" x2="9442.7145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="8998.7145" y="1007.5698">urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
+class urt_service_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="205.6563" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="602" x="8982.2145" y="491.3594"/><ellipse cx="9239.4645" cy="507.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9238.9489,507.9219 Q9237.0895,507.2188 9236.4333,506.4531 Q9235.7926,505.6719 9235.7926,504.3594 Q9235.7926,502.6719 9236.8708,501.7031 Q9237.9489,500.7344 9239.8239,500.7344 Q9240.6833,500.7344 9241.527,500.9375 Q9242.3864,501.125 9243.2301,501.5156 L9243.2301,503.9063 Q9242.4489,503.3438 9241.6208,503.0625 Q9240.8083,502.7656 9240.0114,502.7656 Q9239.1364,502.7656 9238.652,503.125 Q9238.1833,503.4844 9238.1833,504.1406 Q9238.1833,504.6563 9238.527,505 Q9238.8708,505.3281 9239.9645,505.7344 L9241.027,506.1406 Q9242.5114,506.6875 9243.2145,507.5938 Q9243.9333,508.5 9243.9333,509.875 Q9243.9333,511.75 9242.8239,512.6719 Q9241.7145,513.5938 9239.4645,513.5938 Q9238.5426,513.5938 9237.6208,513.375 Q9236.6989,513.1563 9235.8395,512.7344 L9235.8395,510.2031 Q9236.8083,510.8906 9237.7301,511.2344 Q9238.652,511.5781 9239.5426,511.5781 Q9240.4489,511.5781 9240.9489,511.1719 Q9241.4489,510.75 9241.4489,510.0156 Q9241.4489,509.4531 9241.1051,509.0469 Q9240.777,508.625 9240.152,508.375 L9238.9489,507.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="9259.9645" y="511.5137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8983.2145" x2="9583.2145" y1="523.3594" y2="523.3594"/><ellipse cx="8993.2145" cy="534.3594" 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="115" x="9002.2145" y="537.5698">next : urt_service_t*</text><ellipse cx="8993.2145" cy="547.1641" 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="105" x="9002.2145" y="550.3745">id : urt_serviceid_t</text><ellipse cx="8993.2145" cy="559.9688" 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="113" x="9002.2145" y="563.1792">lock : urt_osMutex_t</text><ellipse cx="8993.2145" cy="572.7734" 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="160" x="9002.2145" y="575.9839">callback : urt_servicefunc_t*</text><ellipse cx="8993.2145" cy="602.3828" 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="137" x="9002.2145" y="605.5933">sumDurations : uint64_t</text><ellipse cx="8993.2145" cy="615.1875" 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="9002.2145" y="618.3979">numCalls : uint64_t</text><ellipse cx="8993.2145" cy="627.9922" 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="9002.2145" y="631.2026">numTimeouts : uint64_t</text><ellipse cx="8993.2145" cy="640.7969" 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="9002.2145" y="644.0073">minDuration : urt_delay_t</text><ellipse cx="8993.2145" cy="653.6016" 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="9002.2145" y="656.812">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8983.2145" x2="9187.2145" y1="588.9805" y2="588.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="9187.2145" y="592.2886">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9379.2145" x2="9583.2145" y1="588.9805" y2="588.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8983.2145" x2="9583.2145" y1="663.4063" y2="663.4063"/><ellipse cx="8993.2145" cy="674.4063" 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="9002.2145" y="677.6167">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="8993.2145" cy="687.2109" 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="9002.2145" y="690.4214">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="M1205.6661,1444.1771 C1179.7775,1477.5397 1149.101,1517.0726 1120.5975,1553.8052 " 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="1117.4907,1557.8089,1126.1683,1553.1507,1120.5559,1553.8586,1119.848,1548.2463,1117.4907,1557.8089" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]
+link urt_topicid_t to urt_config--><path d="M1028.2145,1444.1771 C1028.2145,1477.1345 1028.2145,1516.1132 1028.2145,1552.4655 " 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="1028.2145,1557.8089,1032.2145,1548.8089,1028.2145,1552.8089,1024.2145,1548.8089,1028.2145,1557.8089" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]
+link urt_serviceid_t to urt_config--><path d="M1455.6538,1444.2061 C1437.4591,1466.0731 1416.0466,1488.5219 1393.2145,1505.8594 C1328.8545,1554.731 1247.9044,1593.5946 1178.6015,1621.4886 " 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="1173.6322,1623.478,1183.4742,1623.8465,1178.2741,1621.6197,1180.5009,1616.4196,1173.6322,1623.478" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]
+link urt_delay_t to urt_config--><path d="M1978.5783,1414.5689 C1959.9292,1445.6774 1931.7549,1483.8921 1896.2145,1505.8594 C1778.2739,1578.7576 1394.3539,1631.9505 1178.7108,1656.9352 " 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="1173.6484,1657.5202,1183.0481,1660.4605,1178.6153,1656.9462,1182.1297,1652.5134,1173.6484,1657.5202" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
+link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M14588.2145,1033.6685 C14588.2145,1107.2408 14588.2145,1244.0695 14588.2145,1316.6892 " 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="14588.2145,1321.8051,14592.2145,1312.8051,14588.2145,1316.8051,14584.2145,1312.8051,14588.2145,1321.8051" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
+link urt_osCondvar_t to urt_osMutex_t--><path d="M14542.5252,934.0805 C14474.8868,865.6475 14340.5252,749.0857 14196.7145,732.8594 C14172.6795,730.1475 10737.7495,730.1475 10713.7145,732.8594 C10621.3147,743.2849 10575.2765,858.6638 10555.5952,929.3074 " 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="10554.2234,934.3144,10560.4595,926.6913,10555.5447,929.4921,10552.7439,924.5773,10554.2234,934.3144" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
+link urt_osTimer_t to urt_osTimerCallback_t--><path d="M13807.2145,1040.0773 C13807.2145,1119.5626 13807.2145,1262.5074 13807.2145,1329.0138 " 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="13807.2145,1334.0536,13811.2145,1325.0536,13807.2145,1329.0536,13803.2145,1325.0536,13807.2145,1334.0536" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
+link urt_osThread_t to urt_osThreadPrio_t--><path d="M12688.7458,1172.127 C12697.0411,1211.6334 12705.3633,1251.2679 12712.285,1284.2328 " 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="12713.3837,1289.4652,12715.4487,1279.8352,12712.3561,1284.5719,12707.6195,1281.4793,12713.3837,1289.4652" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
+link urt_osThread_t to urt_osThreadFunction_t--><path d="M12929.2667,1087.4557 C12995.9871,1118.4882 13064.7352,1156.1239 13123.2145,1199.8594 C13172.6586,1236.8377 13217.0732,1293.5549 13242.8428,1329.9242 " 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="13245.8921,1334.2559,13243.9823,1324.594,13243.014,1330.1673,13237.4406,1329.199,13245.8921,1334.2559" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
+link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M12820.6595,1171.9786 C12828.9925,1181.3788 12837.2149,1190.7106 12845.2145,1199.8594 C12881.7002,1241.5863 12922.4517,1290.2076 12950.3452,1323.8092 " 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="12953.682,1327.831,12951.0138,1318.3504,12950.4894,1323.9829,12944.8569,1323.4586,12953.682,1327.831" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
+link urt_osThread_t to urt_osThreadState_t--><path d="M12566.693,1172.127 C12548.2088,1214.2977 12529.6606,1256.6142 12514.6723,1290.809 " 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="12512.4872,1295.7942,12519.7638,1289.1571,12514.4945,1291.2148,12512.4368,1285.9454,12512.4872,1295.7942" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
+link urt_osThread_t to urt_osTime_t--><path d="M12479.2414,795.577 C12435.7377,763.7085 12386.0255,738.8745 12332.7145,732.8594 C12305.9676,729.8415 10421.4615,729.8415 10394.7145,732.8594 C10283.8131,745.3725 10204.9977,866.9621 10168.7006,936.2069 " 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="10166.3714,940.6905,10174.0702,934.5481,10168.6765,936.2535,10166.971,930.8599,10166.3714,940.6905" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
+link urt_osEventListener_t to urt_osEventFlags_t--><path d="M11504.2145,1408.0098 C11504.2145,1471.6825 11504.2145,1589.1375 11504.2145,1643.6498 " 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="11504.2145,1648.7248,11508.2145,1639.7248,11504.2145,1643.7248,11500.2145,1639.7248,11504.2145,1648.7248" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
+link urt_osEventSource_t to urt_osEventFlags_t--><path d="M11993.1479,1402.0114 C11879.4226,1465.0103 11651.4481,1591.2983 11552.2098,1646.2721 " 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="11547.5824,1648.8355,11557.3934,1647.9732,11551.9561,1646.4126,11553.5168,1640.9752,11547.5824,1648.8355" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
+link urt_events to urt_osEventSource_t--><path d="M11311.7928,1026.9538 C11434.5031,1066.5746 11616.7833,1129.6775 11769.2145,1199.8594 C11850.4496,1237.2614 11939.2464,1289.3682 11997.1154,1324.9566 " 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="12001.5745,1327.7039,11996.0101,1319.5775,11997.3176,1325.0812,11991.8139,1326.3886,12001.5745,1327.7039" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
+link urt_events to urt_osEventListener_t--><path d="M11209.9759,1027.194 C11272.8391,1099.3353 11398.4371,1243.4702 11463.3192,1317.9283 " 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="11466.7429,1321.8573,11463.8458,1312.4442,11463.458,1318.0877,11457.8145,1317.6999,11466.7429,1321.8573" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
+link urt_events to urt_osEventMask_t--><path d="M11135.363,1027.194 C11070.4776,1103.4945 10937.1061,1260.3295 10877.7866,1330.0848 " 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="10874.3309,1334.1484,10883.2085,1329.8835,10877.57,1330.3394,10877.1141,1324.701,10874.3309,1334.1484" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
+link urt_events to urt_osEventFlags_t--><path d="M11178.7325,1027.261 C11185.2103,1070.8488 11195.2952,1139.9552 11203.2145,1199.8594 C11212.1915,1267.7639 11203.625,1447.9559 11240.2145,1505.8594 C11284.1207,1575.3417 11368.5642,1621.0844 11430.1615,1646.8441 " 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="11434.9281,1648.8168,11428.1417,1641.6792,11430.3081,1646.9048,11425.0825,1649.0712,11434.9281,1648.8168" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
+link urt_events to urt_osEventWait_t--><path d="M11164.4802,1027.194 C11151.6814,1098.905 11126.1862,1241.7535 11112.8298,1316.5887 " 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="11111.8894,1321.8573,11117.4086,1313.7001,11112.768,1316.9351,11109.533,1312.2945,11111.8894,1321.8573" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]
+link urt_osCondvar_t to urt_delay_t--><path d="M14514.8235,1033.5721 C14442.1349,1079.6173 14325.8308,1144.9154 14214.2145,1171.8594 C14119.1099,1194.8175 10790.0421,1198.5416 10692.2145,1199.8594 C7149.8549,1247.5766 2795.7893,1346.5915 2099.9407,1362.6402 " 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="2094.8974,1362.7565,2103.9873,1366.5476,2099.8961,1362.641,2103.8027,1358.5498,2094.8974,1362.7565" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]
+link urt_osThread_t to urt_delay_t--><path d="M12369.148,1165.7187 C12362.8474,1167.9273 12356.5327,1169.9802 12350.2145,1171.8594 C12261.9132,1198.1225 10784.3239,1198.207 10692.2145,1199.8594 C7150.1035,1263.404 2795.8304,1349.209 2099.9458,1362.9649 " 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="2094.9023,1363.0646,2103.9796,1366.8858,2099.9013,1362.9657,2103.8215,1358.8874,2094.9023,1363.0646" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4dd831efde278dc905a11b75839a39d0]
+link urt_osThread_t to urt_status_t--><path d="M12369.1843,1165.8424 C12362.8727,1168.0134 12356.5459,1170.0251 12350.2145,1171.8594 C12210.7542,1212.2624 2026.9948,1136.7874 1896.2145,1199.8594 C1881.2421,1207.0802 1867.4344,1216.9142 1854.8483,1228.2102 " 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="1850.9815,1231.7614,1860.3158,1228.6196,1854.6641,1228.3792,1854.9044,1222.7275,1850.9815,1231.7614" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]
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+reverse link urt_srtsubscriber_t to urt_delay_t--><path d="M6367.6105,693.728 C6301.4618,708.3122 6232.6253,721.0392 6167.2145,728.8594 C6152.386,730.6322 1876.7646,726.2896 1866.2145,736.8594 C1729.6344,873.6938 1789.1618,994.5443 1866.2145,1171.8594 C1873.4834,1188.5868 1884.4689,1185.9065 1896.2145,1199.8594 C1926.6413,1236.0042 1955.6477,1281.1275 1975.9235,1315.046 " fill="none" id="urt_srtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="6380.365,690.8859,6373.6386,688.2867,6368.6523,693.496,6375.3787,696.0951,6380.365,690.8859" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6345.5796" y="710.9281">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1946.5094" y="1304.4056">0..2</text><!--MD5=[57f9c03e706aa97ce919c51d40a1f0dd]
+link urt_srtsubscriber_t to urt_config--><path d="M7071.8207,690.8835 C7141.5993,706.6213 7214.8377,720.4954 7284.2145,728.8594 C7300.2788,730.7961 9602.7927,725.3983 9614.2145,736.8594 C9682.4507,805.3303 9680.5474,1101.5431 9614.2145,1171.8594 C9312.5938,1491.5929 2299.9111,1647.0419 1178.7578,1669.887 " fill="none" id="urt_srtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1173.4565,1669.9949,1182.5361,1673.8107,1178.4555,1669.893,1182.3731,1665.8124,1173.4565,1669.9949" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ddfd53c980ad9ebb8f86954377552edb]
+link urt_srtsubscriber_t to urt_status_t--><path d="M6380.3652,690.888 C6310.3492,706.6532 6236.8412,720.5365 6167.2145,728.8594 C6152.0757,730.669 1787.0882,726.172 1776.2145,736.8594 C1649.2026,861.6948 1679.3598,1082.8325 1717.8464,1226.5973 " fill="none" id="urt_srtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1719.2188,1231.6786,1720.7338,1221.9469,1717.9151,1226.8515,1713.0105,1224.0328,1719.2188,1231.6786" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b350769e483c42ea2704e388ea6a04f2]
+reverse link urt_frtsubscriber_t to urt_delay_t--><path d="M4129.8241,710.0889 C4093.3454,717.6646 4056.7497,724.1401 4021.2145,728.8594 C4004.4243,731.0892 1594.1715,724.8631 1582.2145,736.8594 C1513.973,805.3251 1516.967,1100.5347 1582.2145,1171.8594 C1629.4996,1223.5486 1836.1311,1163.8367 1896.2145,1199.8594 C1939.5258,1225.8264 1968.7808,1276.6462 1985.7989,1315.0595 " fill="none" id="urt_frtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4142.7202,707.3644,4136.023,704.691,4130.9794,709.8448,4137.6766,712.5182,4142.7202,707.3644" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4107.5448" y="727.8927">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1945.4505" y="1304.3671">0..4</text><!--MD5=[7be759a40cf40f1b9231b6649fee3f4f]
+link urt_frtsubscriber_t to urt_config--><path d="M4142.7256,707.4051 C4101.9941,716.146 4060.9421,723.6035 4021.2145,728.8594 C4009.1529,730.4551 525.9462,728.3867 517.2145,736.8594 C271.8844,974.9133 300.3543,1229.9809 502.2145,1505.8594 C547.1905,1567.3273 739.1837,1616.8586 878.2354,1645.5713 " fill="none" id="urt_frtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="883.1593,1646.5839,875.1497,1640.8528,878.2618,1645.5766,873.538,1648.6887,883.1593,1646.5839" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[29df74e07807e6378398cb43d45b3c27]
+link urt_frtsubscriber_t to urt_status_t--><path d="M4142.7232,707.3871 C4101.9921,716.1315 4060.9409,723.5947 4021.2145,728.8594 C4011.1084,730.1987 1092.4133,729.641 1085.2145,736.8594 C1016.954,805.3061 1018.6309,1101.7804 1085.2145,1171.8594 C1127.1328,1215.9783 1578.0556,1172.1028 1632.2145,1199.8594 C1646.7117,1207.2893 1660.1513,1217.1062 1672.4638,1228.2586 " fill="none" id="urt_frtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1676.2487,1231.7613,1672.3602,1222.7126,1672.579,1228.3652,1666.9264,1228.584,1676.2487,1231.7613" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bc1cc9ca99c1274e9c895cd105ca1d4c]
+reverse link urt_hrtsubscriber_t to urt_delay_t--><path d="M5033.8766,728.416 C5032.6547,728.5655 5031.434,728.7133 5030.2145,728.8594 C5018.572,730.2543 1661.496,728.5582 1653.2145,736.8594 C1584.9419,805.294 1588.8919,1099.6995 1653.2145,1171.8594 C1689.3842,1212.4361 1849.9583,1171.3097 1896.2145,1199.8594 C1939.1874,1226.3826 1968.4939,1277.1177 1985.6166,1315.3592 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="5047.0101,726.7507,5040.5546,723.5372,5035.1054,728.2602,5041.5609,731.4737,5047.0101,726.7507" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5031.3291" y="725.5757">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1957.3138" y="1304.4044">0..5</text><!--MD5=[47265b8b91af56102ad98d46909bef01]
+reverse link urt_hrtsubscriber_t to urt_osTimer_t--><path d="M6144.2199,726.0376 C6151.9244,727.0379 6159.5923,727.98 6167.2145,728.8594 C6217.1679,734.6228 13359.8563,723.0738 13408.2145,736.8594 C13538.4686,773.9913 13667.8187,867.0646 13742.5058,927.7612 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="6131.2209,724.2998,6136.638,729.0595,6143.1151,725.8899,6137.698,721.1301,6131.2209,724.2998" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6138.8991" y="723.0903">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13734.7275" y="916.6866">1</text><!--MD5=[c255c4720016d78ffa1594ef43d10003]
+link urt_hrtsubscriber_t to urt_config--><path d="M5047.0106,726.755 C5041.3896,727.4909 5035.7896,728.193 5030.2145,728.8594 C5015.1447,730.6608 670.8763,727.1462 659.2145,736.8594 C527.088,846.9086 474.776,1364.8697 573.2145,1505.8594 C609.4129,1557.705 759.9289,1606.234 878.0599,1637.4715 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="882.9532,1638.7605,875.2691,1632.5998,878.1181,1637.4868,873.2312,1640.3359,882.9532,1638.7605" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[acfaba0e8df90d54cbfcf78ceb19e2ee]
+link urt_hrtsubscriber_t to urt_status_t--><path d="M5047.0104,726.7531 C5041.3894,727.4896 5035.7895,728.1923 5030.2145,728.8594 C5016.8584,730.4576 1165.7163,727.338 1156.2145,736.8594 C1087.9315,805.2836 1089.8981,1101.5274 1156.2145,1171.8594 C1192.5607,1210.4064 1585.1579,1175.5162 1632.2145,1199.8594 C1646.5357,1207.268 1659.8303,1216.9965 1672.0287,1228.0299 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1675.7792,1231.4948,1671.883,1222.4494,1672.1066,1228.1018,1666.4542,1228.3254,1675.7792,1231.4948" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[19bf7f91edc926705d1714d4ed8cf052]
+link urt_srtusefulnessfunc_t to urt_delay_t--><path d="M6105.2946,1014.4106 C5887.2172,1056.5241 5475.3902,1131.7447 5121.2145,1171.8594 C3934.4514,1306.2747 2482.1175,1352.2696 2099.99,1362.4868 " 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="2094.7173,1362.6274,2103.8207,1366.386,2099.7155,1362.4941,2103.6075,1358.3889,2094.7173,1362.6274" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]
+reverse link urt_service_t to urt_serviceid_t--><path d="M9065.6459,702.0253 C9035.5454,713.06 9004.5427,722.5274 8974.2145,728.8594 C8949.7524,733.9667 1798.0307,723.0331 1777.2145,736.8594 C1590.047,861.1783 1534.7423,1146.5567 1518.6595,1285.6891 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9078.0319,697.3791,9071.0093,695.7412,9066.7964,701.5937,9073.819,703.2316,9078.0319,697.3791" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9055.3237" y="717.2336">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1510.8849" y="1274.752">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]
+reverse link urt_service_t to urt_osMutex_t--><path d="M9597.3014,658.3899 C9741.634,685.0884 9915.4522,713.426 10073.2145,728.8594 C10089.9737,730.4989 10361.4475,728.7665 10376.2145,736.8594 C10453.8373,779.4 10502.2733,875.316 10525.8804,934.3204 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9584.3149,655.9774,9589.4834,661.006,9596.113,658.1692,9590.9446,653.1406,9584.3149,655.9774" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9592.4191" y="654.4881">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10524.0053" y="923.3601">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]
+link urt_service_t to urt_config--><path d="M9078.0321,697.3802 C9044.1014,710.3927 9008.7214,721.6556 8974.2145,728.8594 C8923.611,739.4236 1580.4338,724.5982 1530.2145,736.8594 C1095.5255,842.9903 868.7456,817.5669 636.2145,1199.8594 C565.5391,1316.0532 561.2253,1392.4018 636.2145,1505.8594 C689.757,1586.8685 791.4584,1628.7093 877.8521,1650.2505 " 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="882.7352,1651.4506,874.95,1645.418,877.8797,1650.2572,873.0406,1653.1868,882.7352,1651.4506" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ac5bbcedbd2eba97f2e594f2b75734f9]
+reverse link urt_service_t to urt_delay_t--><path d="M9065.6457,702.0247 C9035.5453,713.0595 9004.5426,722.5271 8974.2145,728.8594 C8962.2163,731.3646 1922.8766,728.1875 1914.2145,736.8594 C1845.8996,805.2518 1893.2915,1077.4842 1914.2145,1171.8594 C1925.6176,1223.2942 1952.2123,1277.2684 1973.5527,1315.018 " fill="none" id="urt_service_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9078.0318,697.3785,9071.0092,695.7406,9066.7963,701.5931,9073.8189,703.231,9078.0318,697.3785" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9063.8861" y="717.233">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1971.045" y="1304.3738">0..2</text><!--MD5=[5471b15d17b5493f5e528354308bf7b4]
+link urt_service_t to urt_status_t--><path d="M9078.0318,697.3787 C9044.1011,710.3913 9008.7212,721.6547 8974.2145,728.8594 C8962.1415,731.3801 1879.6288,728.8919 1870.2145,736.8594 C1833.2058,768.1806 1797.1514,1051.375 1778.116,1226.6043 " 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="1777.5578,1231.7567,1782.504,1223.2399,1778.0964,1226.7858,1774.5505,1222.3782,1777.5578,1231.7567" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0826203957815bb9ddac9132e239afa7]
+link urt_servicefunc_t to urt_delay_t--><path d="M9191.1368,1014.4525 C9149.6168,1058.8544 9065.3989,1139.39 8974.2145,1171.8594 C8635.252,1292.5588 2912.4707,1355.5486 2099.8869,1363.9005 " 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="2094.8814,1363.9519,2103.9221,1367.8591,2099.8811,1363.9004,2103.8398,1359.8595,2094.8814,1363.9519" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3a1e539c88376aaf116c25a44ec54d4f]
+link urt_servicefunc_t to urt_status_t--><path d="M9191.5764,1014.3616 C9150.3031,1059.0418 9066.0307,1140.3873 8974.2145,1171.8594 C8881.2196,1203.7355 1984.7339,1157.099 1896.2145,1199.8594 C1881.2467,1207.0898 1867.442,1216.93 1854.8577,1228.2296 " 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="1850.9914,1231.7819,1860.3251,1228.6382,1854.6733,1228.399,1854.9125,1222.7472,1850.9914,1231.7819" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[57f2d85e337abdc0ac29c5f49a215cf6]
 @startuml
 
 title **µRtWare**\nOverview\n
@@ -232,9 +232,24 @@ title **µRtWare**\nOverview\n
   uint64_t
 }
 
-  class urt_status_t <<T,00CFFF>> {
-  URT_STATUS_OK = 0x0..0
-  URT_STATUS_ERROR = 0x8..0
+  class urt_status_t <<E,FF7F3F>> {
+  URT_STATUS_OK = 0
+  URT_STATUS_DEADLINEVIOLATION
+  URT_STATUS_JITTERVIOLATION
+  URT_STATUS_RATEVIOLATION
+  URT_STATUS_SYNC_PENDING
+  URT_STATUS_SYNC_ERROR
+  URT_STATUS_NODE_INVALEVTMASK
+  .. URT_CFG_PUBSUB_ENABLED == true ..
+  URT_STATUS_TOPIC_DUPLICATE
+  URT_STATUS_PUBLISH_TIMEOUT
+  URT_STATUS_SUBSCRIBE_TOPICSET
+  URT_STATUS_FETCH_NOTOPIC
+  URT_STATUS_FETCH_NOMESSAGE
+  URT_STATUS_UNSUBSCRIBE_NOTOPIC
+  .. URT_CFG_RPC_ENABLED == true ..
+  URT_STATUS_SERVICE_DUPLICATE
+  URT_STATUS_SERVICE_TIMEOUT
 }
 
   class urt_delay_t <<T,00CFFF>> {
@@ -407,9 +422,9 @@ title **µRtWare**\nOverview\n
   .. URT_CFG_RPC_ENABLED == true ..
   - {field} {static} _services : urt_service_t*
   __
-  + {method} urtCoreInit (void) : urt_status_t
+  + {method} urtCoreInit (void) : void
   + {method} urtCoreGetStatus (void) : urt_status_t
-  + {method} urtCoreStartNodes (void) : urt_status_t
+  + {method} urtCoreStartNodes (void) : void
   + {method} urtCoreSynchronize (node : urt_node_t*) : urt_status_t
   + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t
   .. URT_CFG_PUBSUB_ENABLED == true ..
@@ -446,7 +461,7 @@ title **µRtWare**\nOverview\n
     + {field} loops : uint64_t
     __
     - {method} {static} _main : urt_osThreadFunction_t
-    + {method} urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : urt_status_t
+    + {method} urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void
   }
 } 
 
@@ -460,7 +475,7 @@ title **µRtWare**\nOverview\n
   .. URT_CFG_PUBSUB_PROFILING == true ..
   + {field} numConsumersLeft : unsigned int
   __
-  + {method} urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t
+  + {method} urtMessageInit (message : urt_message_t*, payload : void*) : void
 }
 
   package "subscriber" <<Rectangle>> {
@@ -483,7 +498,7 @@ title **µRtWare**\nOverview\n
     + {field} minLatency : urt_delay_t
     + {field} maxLatency : urt_delay_t
     __
-    + {method} urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : urt_status_t
+    + {method} urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void
     + {method} urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t
     + {method} urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
     + {method} urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
@@ -497,7 +512,7 @@ title **µRtWare**\nOverview\n
     + {field} minLatency : urt_delay_t
     + {field} maxLatency : urt_delay_t
     __
-    + {method} urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : urt_status_t
+    + {method} urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void
     + {method} urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t
     + {method} urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
     + {method} urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
@@ -514,7 +529,7 @@ title **µRtWare**\nOverview\n
     + {field} minLatency : urt_delay_t
     + {field} maxLatency : urt_delay_t
     __
-    + {method} urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : urt_status_t
+    + {method} urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void
     + {method} urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t
     + {method} urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
     + {method} urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
@@ -535,7 +550,7 @@ title **µRtWare**\nOverview\n
     .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
     + {field} expectedRate : urt_delay_t
     __
-    + {method} urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : urt_status_t
+    + {method} urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void
     + {method} urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_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} urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
     + {method} urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
@@ -549,8 +564,8 @@ title **µRtWare**\nOverview\n
   + {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
+  + {method} urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void
+  + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t
 }
 
   class urt_topic_t <<S,BFAFFF>> {
@@ -559,14 +574,15 @@ title **µRtWare**\nOverview\n
   + {field} lock : urt_osMutex_t
   + {field} evtSource : urt_osEventSource_t
   + {field} numHrtSubscribers : unsigned int
-  + {field} hrtSubscribers : urt_hrtsubscriber_t*
   + {field} hrtReleased : urt_osCondvar_t
   + {field} mandatoryMessage : urt_message_t
   + {field} latestMessage : urt_message_t*
   .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
+  + {field} hrtSubscribers : urt_hrtsubscriber_t*
   + {field} qosRateTimer : urt_osTimer_t
   .. URT_CFG_PUBSUB_PROFILING == true ..
-  + {field} numDiscardedMessages : uint64_t
+  + {field} numMessagesPublished : uint64_t
+  + {field} numMessagesDiscarded : uint64_t
   + {field} numSubscribers : unsigned int
   __
   + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t
@@ -589,7 +605,6 @@ title **µRtWare**\nOverview\n
   + {field} sumDurations : uint64_t
   + {field} numCalls : uint64_t
   + {field} numTimeouts : uint64_t
-  .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true  ..
   + {field} minDuration : urt_delay_t
   + {field} maxDuration : urt_delay_t
   __
