AMiRo-OS

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="544px" preserveAspectRatio="none" style="width:742px;height:544px;" version="1.1" viewBox="0 0 742 544" width="742px" zoomAndPan="magnify"><defs><filter height="300%" id="f1n8vfecdhgn2c" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="330" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="88" x="330.5" y="37.6611">Primitives</text><!--MD5=[9f69b6f4e23017059189983d6906a1eb]

class urt_nodestage_t--><rect fill="#FEFECE" filter="url(#f1n8vfecdhgn2c)" height="158.4375" id="urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.5;" width="216" x="12.5" y="49.9063"/><ellipse cx="64.75" cy="65.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M65.5938,72.6563 L63.1406,72.6563 L63.1406,62.4063 L60,62.4063 L60,60.2656 L68.7344,60.2656 L68.7344,62.4063 L65.5938,62.4063 L65.5938,72.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="103" x="85.25" y="70.0605">urt_nodestage_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13.5" x2="227.5" y1="81.9063" y2="81.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="18.5" y="112.9214">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13.5" x2="20" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="20" y="99.6167">URT_CFG_NODESTAGE_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="221" x2="227.5" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="18.5" y="142.5308">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13.5" x2="16.5" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="16.5" y="129.2261">URT_CFG_NODESTAGE_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="224.5" x2="227.5" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="18.5" y="172.1401">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13.5" x2="16.5" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="16.5" y="158.8354">URT_CFG_NODESTAGE_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="224.5" x2="227.5" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="18.5" y="201.7495">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13.5" x2="16.5" y1="185.1367" y2="185.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="16.5" y="188.4448">URT_CFG_NODESTAGE_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="224.5" x2="227.5" y1="185.1367" y2="185.1367"/><!--MD5=[a55671f9c3a4eb2d749fd774fc81a82b]

class urt_topicid_t--><rect fill="#FEFECE" filter="url(#f1n8vfecdhgn2c)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="191" x="264" y="49.9063"/><ellipse cx="316.75" cy="65.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M317.5938,72.6563 L315.1406,72.6563 L315.1406,62.4063 L312,62.4063 L312,60.2656 L320.7344,60.2656 L320.7344,62.4063 L317.5938,62.4063 L317.5938,72.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="337.25" y="70.0605">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="265" x2="454" y1="81.9063" y2="81.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="270" y="112.9214">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="265" x2="271.5" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="271.5" y="99.6167">URT_CFG_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="447.5" x2="454" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="270" y="142.5308">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="265" x2="268" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="268" y="129.2261">URT_CFG_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="451" x2="454" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="270" y="172.1401">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="265" x2="268" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="268" y="158.8354">URT_CFG_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="451" x2="454" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="270" y="201.7495">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="265" x2="268" y1="185.1367" y2="185.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="268" y="188.4448">URT_CFG_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="451" x2="454" y1="185.1367" y2="185.1367"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]

class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#f1n8vfecdhgn2c)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="204" x="490.5" y="49.9063"/><ellipse cx="543.25" cy="65.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M544.0938,72.6563 L541.6406,72.6563 L541.6406,62.4063 L538.5,62.4063 L538.5,60.2656 L547.2344,60.2656 L547.2344,62.4063 L544.0938,62.4063 L544.0938,72.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="563.75" y="70.0605">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="491.5" x2="693.5" y1="81.9063" y2="81.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="496.5" y="112.9214">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="491.5" x2="498" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="498" y="99.6167">URT_CFG_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="687" x2="693.5" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="496.5" y="142.5308">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="491.5" x2="494.5" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="494.5" y="129.2261">URT_CFG_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="690.5" x2="693.5" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="496.5" y="172.1401">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="491.5" x2="494.5" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="494.5" y="158.8354">URT_CFG_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="690.5" x2="693.5" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="496.5" y="201.7495">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="491.5" x2="494.5" y1="185.1367" y2="185.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="494.5" y="188.4448">URT_CFG_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="690.5" x2="693.5" y1="185.1367" y2="185.1367"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]

class urt_status_t--><rect fill="#FEFECE" filter="url(#f1n8vfecdhgn2c)" height="265.6797" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="229" x="6" y="267.9063"/><ellipse cx="78.75" cy="283.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M82.8594,289.9063 L75.1406,289.9063 L75.1406,277.5156 L82.8594,277.5156 L82.8594,279.6719 L77.5938,279.6719 L77.5938,282.3438 L82.3594,282.3438 L82.3594,284.5 L77.5938,284.5 L77.5938,287.75 L82.8594,287.75 L82.8594,289.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="99.25" y="288.0605">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="234" y1="299.9063" y2="299.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="119" x="12" y="314.1167">URT_STATUS_OK = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="12" y="326.9214">URT_STATUS_DEADLINEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="12" y="339.7261">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="12" y="352.5308">URT_STATUS_RATEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="12" y="365.3354">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="12" y="378.1401">URT_STATUS_SYNC_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="200" x="12" y="390.9448">URT_STATUS_NODE_INVALEVTMASK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="12" y="420.5542">URT_STATUS_TOPIC_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="12" y="433.3589">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="206" x="12" y="446.1636">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="12" y="458.9683">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="12" y="471.7729">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12" y="484.5776">URT_STATUS_UNSUBSCRIBE_NOTOPIC</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="15.5" y1="403.9414" y2="403.9414"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="15.5" y="407.2495">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="225.5" x2="234" y1="403.9414" y2="403.9414"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="12" y="514.187">URT_STATUS_SERVICE_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="12" y="526.9917">URT_STATUS_SERVICE_TIMEOUT</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="28" y1="497.5742" y2="497.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="28" y="500.8823">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="213" x2="234" y1="497.5742" y2="497.5742"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]

class urt_delay_t--><rect fill="#FEFECE" filter="url(#f1n8vfecdhgn2c)" height="99.2188" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="270" y="351.4063"/><ellipse cx="322.25" cy="367.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M323.0938,374.1563 L320.6406,374.1563 L320.6406,363.9063 L317.5,363.9063 L317.5,361.7656 L326.2344,361.7656 L326.2344,363.9063 L323.0938,363.9063 L323.0938,374.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="342.75" y="371.5605">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="271" x2="450" y1="383.4063" y2="383.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="276" y="414.4214">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="271" x2="274" y1="397.8086" y2="397.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="274" y="401.1167">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="447" x2="450" y1="397.8086" y2="397.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="276" y="444.0308">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="271" x2="274" y1="427.418" y2="427.418"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="274" y="430.7261">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="447" x2="450" y1="427.418" y2="427.418"/><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]

class urt_debug--><rect fill="#FEFECE" filter="url(#f1n8vfecdhgn2c)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="486" y="370.4063"/><ellipse cx="572.25" cy="386.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M576.4844,382.1719 L571.2031,382.1719 L571.2031,384.8438 L576,384.8438 L576,387 L571.2031,387 L571.2031,392.4063 L568.7656,392.4063 L568.7656,380.0156 L576.4844,380.0156 L576.4844,382.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="592.75" y="390.5605">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="487" x2="730" y1="402.4063" y2="402.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="487" x2="730" y1="410.4063" y2="410.4063"/><ellipse cx="497" cy="421.4063" 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="219" x="506" y="424.6167">urtDebugAssert(condition : bool) : void</text><!--MD5=[f9393016d83893cc69adca47e14d25aa]

link urt_delay_t to urt_debug--><!--MD5=[6d59fee34feaf6c8d5b457836bfb3f6e]

  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