commit e87bd7c7630096ec27621901c805ad24e022be2f
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Wed Feb 26 18:04:43 2020 +0100

    Remaining UML diagrams added and existing ones updated.

diff --git a/doc/classdiagrams/overview.svg b/doc/classdiagrams/overview.svg
index 4166fe1..bf91af2 100644
--- a/doc/classdiagrams/overview.svg
+++ b/doc/classdiagrams/overview.svg
@@ -1,160 +1,163 @@
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-class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="9486.4664" y="895.8594"/><ellipse cx="9655.2164" cy="911.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9656.0602,918.6094 L9653.607,918.6094 L9653.607,908.3594 L9650.4664,908.3594 L9650.4664,906.2188 L9659.2008,906.2188 L9659.2008,908.3594 L9656.0602,908.3594 L9656.0602,918.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="9675.7164" y="916.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9487.4664" x2="9910.4664" y1="927.8594" y2="927.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9487.4664" x2="9910.4664" y1="935.8594" y2="935.8594"/><ellipse cx="9497.4664" cy="946.8594" 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="9506.4664" y="950.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="9497.4664" cy="959.6641" 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="9506.4664" y="962.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="9497.4664" cy="972.4688" 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="9506.4664" y="975.6792">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
-class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="9946.9664" y="889.3594"/><ellipse cx="10048.2164" cy="905.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10049.0602,912.1094 L10046.607,912.1094 L10046.607,901.8594 L10043.4664,901.8594 L10043.4664,899.7188 L10052.2008,899.7188 L10052.2008,901.8594 L10049.0602,901.8594 L10049.0602,912.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="10068.7164" y="909.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9947.9664" x2="10243.9664" y1="921.3594" y2="921.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9947.9664" x2="10243.9664" y1="929.3594" y2="929.3594"/><ellipse cx="9957.9664" cy="940.3594" 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="9966.9664" y="943.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="9957.9664" cy="953.1641" 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="9966.9664" y="956.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="9957.9664" cy="965.9688" 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="9966.9664" y="969.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="9957.9664" cy="978.7734" 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="9966.9664" y="981.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
-class urt_streams--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="9242.4664" y="901.8594"/><ellipse cx="9305.2164" cy="917.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9309.4508,913.625 L9304.1695,913.625 L9304.1695,916.2969 L9308.9664,916.2969 L9308.9664,918.4531 L9304.1695,918.4531 L9304.1695,923.8594 L9301.732,923.8594 L9301.732,911.4688 L9309.4508,911.4688 L9309.4508,913.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="9325.7164" y="922.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9243.4664" x2="9450.4664" y1="933.8594" y2="933.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9243.4664" x2="9450.4664" y1="941.8594" y2="941.8594"/><ellipse cx="9253.4664" cy="952.8594" 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="9262.4664" y="956.0698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="9253.4664" cy="965.6641" 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="9262.4664" y="968.8745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
-class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="14005.9664" y="1203.8594"/><ellipse cx="14052.2164" cy="1219.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14056.3258,1225.8594 L14048.607,1225.8594 L14048.607,1213.4688 L14056.3258,1213.4688 L14056.3258,1215.625 L14051.0602,1215.625 L14051.0602,1218.2969 L14055.8258,1218.2969 L14055.8258,1220.4531 L14051.0602,1220.4531 L14051.0602,1223.7031 L14056.3258,1223.7031 L14056.3258,1225.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="14072.7164" y="1224.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14006.9664" x2="14274.9664" y1="1235.8594" y2="1235.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="14011.9664" y="1250.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="14011.9664" y="1262.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="14011.9664" y="1275.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14006.9664" x2="14274.9664" y1="1282.2734" y2="1282.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
-class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="13785.9664" y="889.3594"/><ellipse cx="14086.2164" cy="905.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14087.0602,912.1094 L14084.607,912.1094 L14084.607,901.8594 L14081.4664,901.8594 L14081.4664,899.7188 L14090.2008,899.7188 L14090.2008,901.8594 L14087.0602,901.8594 L14087.0602,912.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="14106.7164" y="909.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13786.9664" x2="14494.9664" y1="921.3594" y2="921.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13786.9664" x2="14494.9664" y1="929.3594" y2="929.3594"/><ellipse cx="13796.9664" cy="940.3594" 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="13805.9664" y="943.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="13796.9664" cy="953.1641" 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="13805.9664" y="956.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="13796.9664" cy="965.9688" 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="13805.9664" y="969.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="13796.9664" cy="978.7734" 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="13805.9664" y="981.9839">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(#f18prfnycqlkhy)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="13216.9664" y="1216.3594"/><ellipse cx="13287.7164" cy="1232.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13288.5602,1239.1094 L13286.107,1239.1094 L13286.107,1228.8594 L13282.9664,1228.8594 L13282.9664,1226.7188 L13291.7008,1226.7188 L13291.7008,1228.8594 L13288.5602,1228.8594 L13288.5602,1239.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="13308.2164" y="1236.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13217.9664" x2="13501.9664" y1="1248.3594" y2="1248.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13217.9664" x2="13501.9664" y1="1256.3594" y2="1256.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="13222.9664" y="1270.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
-class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="12968.9664" y="882.8594"/><ellipse cx="13313.7164" cy="898.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13314.5602,905.6094 L13312.107,905.6094 L13312.107,895.3594 L13308.9664,895.3594 L13308.9664,893.2188 L13317.7008,893.2188 L13317.7008,895.3594 L13314.5602,895.3594 L13314.5602,905.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="13334.2164" y="903.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12969.9664" x2="13749.9664" y1="914.8594" y2="914.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12969.9664" x2="13749.9664" y1="922.8594" y2="922.8594"/><ellipse cx="12979.9664" cy="933.8594" 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="12988.9664" y="937.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="12979.9664" cy="946.6641" 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="12988.9664" y="949.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="12979.9664" cy="959.4688" 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="12988.9664" y="962.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="12979.9664" cy="972.2734" 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="12988.9664" y="975.4839">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="12979.9664" cy="985.0781" 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="12988.9664" y="988.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
-class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="12183.4664" y="1171.8594"/><ellipse cx="12219.6164" cy="1187.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12220.4601,1194.6094 L12218.007,1194.6094 L12218.007,1184.3594 L12214.8664,1184.3594 L12214.8664,1182.2188 L12223.6008,1182.2188 L12223.6008,1184.3594 L12220.4601,1184.3594 L12220.4601,1194.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="12238.3164" y="1192.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12184.4664" x2="12379.4664" y1="1203.8594" y2="1203.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="12189.4664" y="1218.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="12189.4664" y="1230.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="12189.4664" y="1243.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="12189.4664" y="1256.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="12189.4664" y="1269.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="12189.4664" y="1282.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="12189.4664" y="1294.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="12189.4664" y="1307.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12184.4664" x2="12379.4664" y1="1314.2969" y2="1314.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
-class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="12692.9664" y="1216.3594"/><ellipse cx="12740.7164" cy="1232.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12741.5602,1239.1094 L12739.107,1239.1094 L12739.107,1228.8594 L12735.9664,1228.8594 L12735.9664,1226.7188 L12744.7008,1226.7188 L12744.7008,1228.8594 L12741.5602,1228.8594 L12741.5602,1239.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="12761.2164" y="1236.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12693.9664" x2="12943.9664" y1="1248.3594" y2="1248.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12693.9664" x2="12943.9664" y1="1256.3594" y2="1256.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="12698.9664" y="1270.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
-class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="12415.9664" y="1209.8594"/><ellipse cx="12437.7164" cy="1225.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12441.8258,1231.8594 L12434.107,1231.8594 L12434.107,1219.4688 L12441.8258,1219.4688 L12441.8258,1221.625 L12436.5602,1221.625 L12436.5602,1224.2969 L12441.3258,1224.2969 L12441.3258,1226.4531 L12436.5602,1226.4531 L12436.5602,1229.7031 L12441.8258,1229.7031 L12441.8258,1231.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="12453.2164" y="1230.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12416.9664" x2="12656.9664" y1="1241.8594" y2="1241.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="12421.9664" y="1256.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="12421.9664" y="1268.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12416.9664" x2="12656.9664" y1="1275.4688" y2="1275.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
-class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="11921.9664" y="1177.8594"/><ellipse cx="11966.7164" cy="1193.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11970.8258,1199.8594 L11963.107,1199.8594 L11963.107,1187.4688 L11970.8258,1187.4688 L11970.8258,1189.625 L11965.5602,1189.625 L11965.5602,1192.2969 L11970.3258,1192.2969 L11970.3258,1194.4531 L11965.5602,1194.4531 L11965.5602,1197.7031 L11970.8258,1197.7031 L11970.8258,1199.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="11987.2164" y="1198.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11922.9664" x2="12146.9664" y1="1209.8594" y2="1209.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="11927.9664" y="1224.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11927.9664" y="1236.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="11927.9664" y="1249.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="11927.9664" y="1262.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="11927.9664" y="1275.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="11927.9664" y="1288.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="11927.9664" y="1300.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11922.9664" x2="12146.9664" y1="1307.4922" y2="1307.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
-class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="337.7031" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="11921.9664" y="769.8594"/><ellipse cx="12150.7164" cy="785.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12151.5602,792.6094 L12149.107,792.6094 L12149.107,782.3594 L12145.9664,782.3594 L12145.9664,780.2188 L12154.7008,780.2188 L12154.7008,782.3594 L12151.5602,782.3594 L12151.5602,792.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="12171.2164" y="790.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11922.9664" x2="12480.9664" y1="801.8594" y2="801.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="11927.9664" y="816.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11927.9664" y="828.8745">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="11927.9664" y="841.6792">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="11927.9664" y="854.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="11922.9664" x2="12480.9664" y1="861.0781" y2="861.0781"/><ellipse cx="11932.9664" cy="872.0781" 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="11941.9664" y="875.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11922.9664" x2="12480.9664" y1="881.8828" y2="881.8828"/><ellipse cx="11932.9664" cy="892.8828" 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="11941.9664" y="896.0933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="11932.9664" cy="905.6875" 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="11941.9664" y="908.8979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="11932.9664" cy="918.4922" 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="11941.9664" y="921.7026">urtThreadYield (void) : void</text><ellipse cx="11932.9664" cy="931.2969" 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="11941.9664" y="934.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="11932.9664" cy="944.1016" 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="11941.9664" y="947.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="11932.9664" cy="956.9063" 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="11941.9664" y="960.1167">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="11932.9664" cy="969.7109" 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="11941.9664" y="972.9214">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="11932.9664" cy="982.5156" 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="11941.9664" y="985.7261">urtThreadSleep (seconds : float) : void</text><ellipse cx="11932.9664" cy="995.3203" 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="11941.9664" y="998.5308">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="11932.9664" cy="1008.125" 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="11941.9664" y="1011.3354">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="11932.9664" cy="1020.9297" 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="11941.9664" y="1024.1401">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="11932.9664" cy="1033.7344" 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="11941.9664" y="1036.9448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="11932.9664" cy="1046.5391" 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="11941.9664" y="1049.7495">urtThreadExit (void) : void</text><ellipse cx="11932.9664" cy="1059.3438" 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="11941.9664" y="1062.5542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="11932.9664" cy="1072.1484" 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="11941.9664" y="1075.3589">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="11932.9664" cy="1084.9531" 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="11941.9664" y="1088.1636">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="11932.9664" cy="1097.7578" 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="11941.9664" y="1100.9683">urtThreadGetSelf (void) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
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-class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="10981.9664" y="1476.8594"/><ellipse cx="10996.9664" cy="1492.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10997.8102,1499.6094 L10995.357,1499.6094 L10995.357,1489.3594 L10992.2164,1489.3594 L10992.2164,1487.2188 L11000.9508,1487.2188 L11000.9508,1489.3594 L10997.8102,1489.3594 L10997.8102,1499.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="11010.9664" y="1497.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10982.9664" x2="11130.9664" y1="1508.8594" y2="1508.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10982.9664" x2="11130.9664" y1="1516.8594" y2="1516.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
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-class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="10809.9664" y="1203.8594"/><ellipse cx="10985.2164" cy="1219.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10986.0602,1226.6094 L10983.607,1226.6094 L10983.607,1216.3594 L10980.4664,1216.3594 L10980.4664,1214.2188 L10989.2008,1214.2188 L10989.2008,1216.3594 L10986.0602,1216.3594 L10986.0602,1226.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="11005.7164" y="1224.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10810.9664" x2="11302.9664" y1="1235.8594" y2="1235.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10810.9664" x2="11302.9664" y1="1243.8594" y2="1243.8594"/><ellipse cx="10820.9664" cy="1254.8594" 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="10829.9664" y="1258.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="10820.9664" cy="1267.6641" 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="10829.9664" y="1270.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="10820.9664" cy="1280.4688" 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="10829.9664" y="1283.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
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-class urt_core_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="256.0703" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="515" x="2708.4664" y="110.8594"/><ellipse cx="2930.2164" cy="126.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2929.7008,127.4219 Q2927.8414,126.7188 2927.1852,125.9531 Q2926.5445,125.1719 2926.5445,123.8594 Q2926.5445,122.1719 2927.6227,121.2031 Q2928.7008,120.2344 2930.5758,120.2344 Q2931.4352,120.2344 2932.2789,120.4375 Q2933.1383,120.625 2933.982,121.0156 L2933.982,123.4063 Q2933.2008,122.8438 2932.3727,122.5625 Q2931.5602,122.2656 2930.7633,122.2656 Q2929.8883,122.2656 2929.4039,122.625 Q2928.9352,122.9844 2928.9352,123.6406 Q2928.9352,124.1563 2929.2789,124.5 Q2929.6227,124.8281 2930.7164,125.2344 L2931.7789,125.6406 Q2933.2633,126.1875 2933.9664,127.0938 Q2934.6852,128 2934.6852,129.375 Q2934.6852,131.25 2933.5758,132.1719 Q2932.4664,133.0938 2930.2164,133.0938 Q2929.2945,133.0938 2928.3727,132.875 Q2927.4508,132.6563 2926.5914,132.2344 L2926.5914,129.7031 Q2927.5602,130.3906 2928.482,130.7344 Q2929.4039,131.0781 2930.2945,131.0781 Q2931.2008,131.0781 2931.7008,130.6719 Q2932.2008,130.25 2932.2008,129.5156 Q2932.2008,128.9531 2931.857,128.5469 Q2931.5289,128.125 2930.9039,127.875 L2929.7008,127.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="2950.7164" y="131.0137">urt_core_t</text><line style="stroke: #A80036; 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stroke-width: 1.0;" width="6" x="2716.4664" y="206.0781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="2728.4664" y="212.2886">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2709.4664" x2="2860.9664" y1="195.6758" y2="195.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="2860.9664" y="198.9839">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3070.9664" x2="3222.4664" y1="195.6758" y2="195.6758"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2716.4664" y="235.6875"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="2728.4664" y="241.8979">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2709.4664" x2="2873.4664" y1="225.2852" y2="225.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="2873.4664" y="228.5933">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3058.4664" x2="3222.4664" y1="225.2852" y2="225.2852"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2709.4664" x2="3222.4664" y1="248.4922" y2="248.4922"/><ellipse cx="2719.4664" cy="259.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="2728.4664" y="262.7026">urtCoreInit (void) : urt_status_t</text><ellipse cx="2719.4664" cy="272.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="222" x="2728.4664" y="275.5073">urtCoreStartNodes (void) : urt_status_t</text><ellipse cx="2719.4664" cy="285.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="489" x="2728.4664" y="288.312">urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t</text><ellipse cx="2719.4664" cy="297.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="2728.4664" y="301.1167">urtCoreStopNodes (void) : urt_status_t</text><ellipse cx="2719.4664" cy="327.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="2728.4664" y="330.7261">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2709.4664" x2="2860.9664" y1="314.1133" y2="314.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="2860.9664" y="317.4214">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; 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-class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="7394.9664" y="908.3594"/><ellipse cx="7540.7164" cy="924.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7541.5602,931.1094 L7539.107,931.1094 L7539.107,920.8594 L7535.9664,920.8594 L7535.9664,918.7188 L7544.7008,918.7188 L7544.7008,920.8594 L7541.5602,920.8594 L7541.5602,931.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="7561.2164" y="928.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7395.9664" x2="7849.9664" y1="940.3594" y2="940.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7395.9664" x2="7849.9664" y1="948.3594" y2="948.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="7400.9664" y="962.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
-class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="7885.9664" y="908.3594"/><ellipse cx="8114.2164" cy="924.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8115.0602,931.1094 L8112.607,931.1094 L8112.607,920.8594 L8109.4664,920.8594 L8109.4664,918.7188 L8118.2008,918.7188 L8118.2008,920.8594 L8115.0602,920.8594 L8115.0602,931.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="8134.7164" y="928.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7886.9664" x2="8498.9664" y1="940.3594" y2="940.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7886.9664" x2="8498.9664" y1="948.3594" y2="948.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="7891.9664" y="962.5698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[d2563153d77472384a15c07b815d639f]
-class urt_node_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="205.6563" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1149" x="7332.4664" y="465.3594"/><ellipse cx="7869.2164" cy="481.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7868.7008,481.9219 Q7866.8414,481.2188 7866.1852,480.4531 Q7865.5445,479.6719 7865.5445,478.3594 Q7865.5445,476.6719 7866.6227,475.7031 Q7867.7008,474.7344 7869.5758,474.7344 Q7870.4352,474.7344 7871.2789,474.9375 Q7872.1383,475.125 7872.982,475.5156 L7872.982,477.9063 Q7872.2008,477.3438 7871.3727,477.0625 Q7870.5602,476.7656 7869.7633,476.7656 Q7868.8883,476.7656 7868.4039,477.125 Q7867.9352,477.4844 7867.9352,478.1406 Q7867.9352,478.6563 7868.2789,479 Q7868.6227,479.3281 7869.7164,479.7344 L7870.7789,480.1406 Q7872.2633,480.6875 7872.9664,481.5938 Q7873.6852,482.5 7873.6852,483.875 Q7873.6852,485.75 7872.5758,486.6719 Q7871.4664,487.5938 7869.2164,487.5938 Q7868.2945,487.5938 7867.3727,487.375 Q7866.4508,487.1563 7865.5914,486.7344 L7865.5914,484.2031 Q7866.5602,484.8906 7867.482,485.2344 Q7868.4039,485.5781 7869.2945,485.5781 Q7870.2008,485.5781 7870.7008,485.1719 Q7871.2008,484.75 7871.2008,484.0156 Q7871.2008,483.4531 7870.857,483.0469 Q7870.5289,482.625 7869.9039,482.375 L7868.7008,481.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="7889.7164" y="485.5137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7333.4664" x2="8480.4664" y1="497.3594" y2="497.3594"/><ellipse cx="7343.4664" cy="508.3594" 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="102" x="7352.4664" y="511.5698">next : urt_node_t*</text><ellipse cx="7343.4664" cy="521.1641" 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="141" x="7352.4664" y="524.3745">thread : urt_osThread_t*</text><ellipse cx="7343.4664" cy="533.9688" 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="235" x="7352.4664" y="537.1792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="7343.4664" cy="546.7734" 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="117" x="7352.4664" y="549.9839">setupparams : void*</text><ellipse cx="7343.4664" cy="559.5781" 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="221" x="7352.4664" y="562.7886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="7343.4664" cy="572.3828" 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="109" x="7352.4664" y="575.5933">loopparams : void*</text><ellipse cx="7343.4664" cy="585.1875" 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="136" x="7352.4664" y="588.3979">stage : urt_nodestage_t</text><ellipse cx="7343.4664" cy="597.9922" 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="178" x="7352.4664" y="601.2026">listener : urt_osEventListener_t</text><ellipse cx="7343.4664" cy="627.6016" 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="88" x="7352.4664" y="630.812">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7333.4664" x2="7698.9664" y1="614.1992" y2="614.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="7698.9664" y="617.5073">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="8114.9664" x2="8480.4664" y1="614.1992" y2="614.1992"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7333.4664" x2="8480.4664" y1="637.4063" y2="637.4063"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7340.4664" y="645.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="7352.4664" y="651.6167">_main : urt_osThreadFunction_t</text><ellipse cx="7343.4664" cy="661.2109" 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="1123" x="7352.4664" y="664.4214">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
-class urt_message_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="2727.4664" y="867.8594"/><ellipse cx="2902.7164" cy="883.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2902.2008,884.4219 Q2900.3414,883.7188 2899.6852,882.9531 Q2899.0445,882.1719 2899.0445,880.8594 Q2899.0445,879.1719 2900.1227,878.2031 Q2901.2008,877.2344 2903.0758,877.2344 Q2903.9352,877.2344 2904.7789,877.4375 Q2905.6383,877.625 2906.482,878.0156 L2906.482,880.4063 Q2905.7008,879.8438 2904.8727,879.5625 Q2904.0602,879.2656 2903.2633,879.2656 Q2902.3883,879.2656 2901.9039,879.625 Q2901.4352,879.9844 2901.4352,880.6406 Q2901.4352,881.1563 2901.7789,881.5 Q2902.1227,881.8281 2903.2164,882.2344 L2904.2789,882.6406 Q2905.7633,883.1875 2906.4664,884.0938 Q2907.1852,885 2907.1852,886.375 Q2907.1852,888.25 2906.0758,889.1719 Q2904.9664,890.0938 2902.7164,890.0938 Q2901.7945,890.0938 2900.8727,889.875 Q2899.9508,889.6563 2899.0914,889.2344 L2899.0914,886.7031 Q2900.0602,887.3906 2900.982,887.7344 Q2901.9039,888.0781 2902.7945,888.0781 Q2903.7008,888.0781 2904.2008,887.6719 Q2904.7008,887.25 2904.7008,886.5156 Q2904.7008,885.9531 2904.357,885.5469 Q2904.0289,885.125 2903.4039,884.875 L2902.2008,884.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="2923.2164" y="888.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2728.4664" x2="3177.4664" y1="899.8594" y2="899.8594"/><ellipse cx="2738.4664" cy="910.8594" 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="2747.4664" y="914.0698">next : urt_message_t*</text><ellipse cx="2738.4664" cy="923.6641" 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="2747.4664" y="926.8745">payload : void*</text><ellipse cx="2738.4664" cy="936.4688" 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="2747.4664" y="939.6792">originTime : urt_osTime_t</text><ellipse cx="2738.4664" cy="949.2734" 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="2747.4664" y="952.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="2738.4664" cy="978.8828" 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="2747.4664" y="982.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2728.4664" x2="2844.4664" y1="965.4805" y2="965.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2844.4664" y="968.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3061.4664" x2="3177.4664" y1="965.4805" y2="965.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2728.4664" x2="3177.4664" y1="988.6875" y2="988.6875"/><ellipse cx="2738.4664" cy="999.6875" 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="2747.4664" y="1002.8979">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
-class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="1979.4664" y="503.8594"/><ellipse cx="2308.2164" cy="519.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2307.7008,520.4219 Q2305.8414,519.7188 2305.1852,518.9531 Q2304.5445,518.1719 2304.5445,516.8594 Q2304.5445,515.1719 2305.6227,514.2031 Q2306.7008,513.2344 2308.5758,513.2344 Q2309.4352,513.2344 2310.2789,513.4375 Q2311.1383,513.625 2311.982,514.0156 L2311.982,516.4063 Q2311.2008,515.8438 2310.3727,515.5625 Q2309.5602,515.2656 2308.7633,515.2656 Q2307.8883,515.2656 2307.4039,515.625 Q2306.9352,515.9844 2306.9352,516.6406 Q2306.9352,517.1563 2307.2789,517.5 Q2307.6227,517.8281 2308.7164,518.2344 L2309.7789,518.6406 Q2311.2633,519.1875 2311.9664,520.0938 Q2312.6852,521 2312.6852,522.375 Q2312.6852,524.25 2311.5758,525.1719 Q2310.4664,526.0938 2308.2164,526.0938 Q2307.2945,526.0938 2306.3727,525.875 Q2305.4508,525.6563 2304.5914,525.2344 L2304.5914,522.7031 Q2305.5602,523.3906 2306.482,523.7344 Q2307.4039,524.0781 2308.2945,524.0781 Q2309.2008,524.0781 2309.7008,523.6719 Q2310.2008,523.25 2310.2008,522.5156 Q2310.2008,521.9531 2309.857,521.5469 Q2309.5289,521.125 2308.9039,520.875 L2307.7008,520.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="2328.7164" y="524.0137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1980.4664" x2="2737.4664" y1="535.8594" y2="535.8594"/><ellipse cx="1990.4664" cy="546.8594" 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="1999.4664" y="550.0698">topic : urt_topic_t*</text><ellipse cx="1990.4664" cy="576.4688" 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="1999.4664" y="579.6792">publishAttempts : uint64_t</text><ellipse cx="1990.4664" cy="589.2734" 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="1999.4664" y="592.4839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1980.4664" x2="2250.4664" y1="563.0664" y2="563.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2250.4664" y="566.3745">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2467.4664" x2="2737.4664" y1="563.0664" y2="563.0664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1980.4664" x2="2737.4664" y1="599.0781" y2="599.0781"/><ellipse cx="1990.4664" cy="610.0781" 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="1999.4664" y="613.2886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1990.4664" cy="622.8828" 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="1999.4664" y="626.0933">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="2774.9664" x2="3156.9664" y1="476.3594" y2="476.3594"/><ellipse cx="2784.9664" cy="487.3594" 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="2793.9664" y="490.5698">next : urt_topic_t*</text><ellipse cx="2784.9664" cy="500.1641" 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="2793.9664" y="503.3745">id : urt_topicid_t</text><ellipse cx="2784.9664" cy="512.9688" 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="2793.9664" y="516.1792">lock : urt_osMutex_t</text><ellipse cx="2784.9664" cy="525.7734" 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="2793.9664" y="528.9839">evtSource : urt_osEventSource_t</text><ellipse cx="2784.9664" cy="538.5781" 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="2793.9664" y="541.7886">numHrtSubscribers : unsigned int</text><ellipse cx="2784.9664" cy="551.3828" 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="2793.9664" y="554.5933">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="2784.9664" cy="564.1875" 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="2793.9664" y="567.3979">hrtReleased : urt_osCondvar_t</text><ellipse cx="2784.9664" cy="576.9922" 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="2793.9664" y="580.2026">mandatoryMessage : urt_message_t</text><ellipse cx="2784.9664" cy="589.7969" 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="2793.9664" y="593.0073">latestMessage : urt_message_t*</text><ellipse cx="2784.9664" cy="619.4063" 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="2793.9664" y="622.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2774.9664" x2="2833.4664" y1="606.0039" y2="606.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2833.4664" y="609.312">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3098.4664" x2="3156.9664" y1="606.0039" y2="606.0039"/><ellipse cx="2784.9664" cy="649.0156" 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="2793.9664" y="652.2261">numDiscardedMessages : uint64_t</text><ellipse cx="2784.9664" cy="661.8203" 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="2793.9664" y="665.0308">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2774.9664" x2="2857.4664" y1="635.6133" y2="635.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2857.4664" y="638.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3074.4664" x2="3156.9664" y1="635.6133" y2="635.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2774.9664" x2="3156.9664" y1="671.625" y2="671.625"/><ellipse cx="2784.9664" cy="682.625" 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="2793.9664" y="685.8354">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
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-class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="6100.9664" y="908.3594"/><ellipse cx="6210.2164" cy="924.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6214.4508,920.125 L6209.1695,920.125 L6209.1695,922.7969 L6213.9664,922.7969 L6213.9664,924.9531 L6209.1695,924.9531 L6209.1695,930.3594 L6206.732,930.3594 L6206.732,917.9688 L6214.4508,917.9688 L6214.4508,920.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="6230.7164" y="928.5137">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6101.9664" x2="6473.9664" y1="940.3594" y2="940.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6101.9664" x2="6473.9664" y1="948.3594" y2="948.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="6106.9664" y="962.5698">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="6232.9664" y="606.8979">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="6223.9664" cy="616.4922" 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="6232.9664" y="619.7026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="6223.9664" cy="629.2969" 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="6232.9664" y="632.5073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="6223.9664" cy="642.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="5095.9664" y="670.5308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="5086.9664" cy="680.125" 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="5095.9664" y="683.3354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="5086.9664" cy="692.9297" 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="5095.9664" y="696.1401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]
-class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="8534.4664" y="908.3594"/><ellipse cx="8702.7164" cy="924.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8706.9508,920.125 L8701.6695,920.125 L8701.6695,922.7969 L8706.4664,922.7969 L8706.4664,924.9531 L8701.6695,924.9531 L8701.6695,930.3594 L8699.232,930.3594 L8699.232,917.9688 L8706.9508,917.9688 L8706.9508,920.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="8723.2164" y="928.5137">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8535.4664" x2="8984.4664" y1="940.3594" y2="940.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8535.4664" x2="8984.4664" y1="948.3594" y2="948.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="8540.4664" y="962.5698">urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="137" x="8554.9664" y="571.5933">sumDurations : uint64_t</text><ellipse cx="8545.9664" cy="581.1875" 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="8554.9664" y="584.3979">numCalls : uint64_t</text><ellipse cx="8545.9664" cy="593.9922" 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="8554.9664" y="597.2026">numTimeouts : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8535.9664" x2="8739.9664" y1="554.9805" y2="554.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8739.9664" y="558.2886">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; 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-link urt_nodestage_t to urt_config--><path d="M1258.3284,1326.1818 C1241.6359,1343.9219 1223.5773,1363.1139 1205.7487,1382.0614 " 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="1202.1866,1385.8471,1211.2672,1382.0335,1205.6129,1382.2056,1205.4408,1376.5514,1202.1866,1385.8471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]
-link urt_topicid_t to urt_config--><path d="M1093.9664,1326.1818 C1093.9664,1343.4784 1093.9664,1362.1552 1093.9664,1380.6399 " 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="1093.9664,1385.8471,1097.9664,1376.8471,1093.9664,1380.8471,1089.9664,1376.8471,1093.9664,1385.8471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]
-link urt_serviceid_t to urt_config--><path d="M1475.9662,1323.4152 C1470.2856,1327.0532 1464.5964,1330.5592 1458.9664,1333.8594 C1390.7166,1373.866 1311.2195,1411.2316 1243.8722,1440.4309 " 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="1239.0445,1442.5191,1248.8929,1442.6171,1243.6335,1440.534,1245.7167,1435.2747,1239.0445,1442.5191" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]
-link urt_delay_t to urt_config--><path d="M1969.7393,1296.3928 C1952.8094,1310.3932 1933.1197,1324.3806 1912.9664,1333.8594 C1694.3505,1436.6819 1413.7038,1476.3964 1244.1643,1491.5983 " 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="1239.1809,1492.041,1248.4996,1495.2287,1244.1613,1491.5984,1247.7915,1487.2601,1239.1809,1492.041" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
-link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M14140.9664,988.6872 C14140.9664,1046.5308 14140.9664,1141.2868 14140.9664,1198.4978 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="14140.9664,1203.5732,14144.9664,1194.5732,14140.9664,1198.5732,14136.9664,1194.5732,14140.9664,1203.5732" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
-link urt_osCondvar_t to urt_osMutex_t--><path d="M14090.3476,889.3481 C14020.4921,825.9649 13887.445,722.4276 13749.4664,706.8594 C13725.4314,704.1475 10290.5014,704.1475 10266.4664,706.8594 C10180.662,716.5408 10133.021,818.7994 10111.1097,884.2839 " 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="10109.4493,889.3248,10116.0642,882.0279,10111.0135,884.5758,10108.4657,879.5252,10109.4493,889.3248" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
-link urt_osTimer_t to urt_osTimerCallback_t--><path d="M13359.9664,994.9932 C13359.9664,1057.7318 13359.9664,1157.4721 13359.9664,1210.6616 " fill="none" id="urt_osTimer_t-&gt;urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="13359.9664,1215.9737,13363.9664,1206.9737,13359.9664,1210.9737,13355.9664,1206.9737,13359.9664,1215.9737" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
-link urt_osThread_t to urt_osThreadPrio_t--><path d="M12245.9449,1108.1767 C12251.2217,1128.4924 12256.4052,1148.449 12261.1233,1166.6135 " fill="none" id="urt_osThread_t-&gt;urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12262.4413,1171.688,12264.0502,1161.9714,12261.1843,1166.8486,12256.3072,1163.9826,12262.4413,1171.688" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
-link urt_osThread_t to urt_osThreadFunction_t--><path d="M12482.0752,1040.7746 C12547.3325,1068.4448 12615.4051,1100.6205 12675.9664,1135.8594 C12714.0258,1158.0051 12753.2593,1189.1589 12780.9816,1212.827 " 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="12784.9867,1216.2627,12780.76,1207.3669,12781.1917,1213.0072,12775.5513,1213.4389,12784.9867,1216.2627" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
-link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M12386.1264,1108.1767 C12425.9949,1144.8319 12464.5919,1180.3181 12492.762,1206.2178 " 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="12496.4924,1209.6475,12492.5743,1200.6115,12492.8116,1206.2634,12487.1598,1206.5008,12496.4924,1209.6475" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
-link urt_osThread_t to urt_osThreadState_t--><path d="M12110.1612,1108.1767 C12097.7597,1131.0489 12085.605,1153.466 12074.8059,1173.3829 " 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="12072.3794,1177.8581,12080.1856,1171.8528,12074.7626,1173.4626,12073.1528,1168.0396,12072.3794,1177.8581" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
-link urt_osThread_t to urt_osTime_t--><path d="M12036.0901,769.6277 C11991.1641,738.0742 11939.7952,712.9894 11885.4664,706.8594 C11858.7194,703.8415 9974.2133,703.8415 9947.4664,706.8594 C9842.7964,718.6694 9763.2942,826.7647 9724.7385,891.1578 " 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="9722.0335,895.7166,9730.066,890.0176,9724.5849,891.4165,9723.1859,885.9354,9722.0335,895.7166" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
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+class urt_config--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="230.4609" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="884.285" y="1449.8594"/><ellipse cx="994.035" cy="1465.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M997.0038,1471.5 Q996.4256,1471.7969 995.785,1471.9375 Q995.1444,1472.0938 994.4413,1472.0938 Q991.9413,1472.0938 990.6131,1470.4531 Q989.3006,1468.7969 989.3006,1465.6719 Q989.3006,1462.5469 990.6131,1460.8906 Q991.9413,1459.2344 994.4413,1459.2344 Q995.1444,1459.2344 995.785,1459.3906 Q996.4413,1459.5469 997.0038,1459.8438 L997.0038,1462.5625 Q996.3788,1461.9844 995.785,1461.7188 Q995.1913,1461.4375 994.5663,1461.4375 Q993.2225,1461.4375 992.535,1462.5156 Q991.8475,1463.5781 991.8475,1465.6719 Q991.8475,1467.7656 992.535,1468.8438 Q993.2225,1469.9063 994.5663,1469.9063 Q995.1913,1469.9063 995.785,1469.6406 Q996.3788,1469.3594 997.0038,1468.7813 L997.0038,1471.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="1014.535" y="1470.0137">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="885.285" x2="1173.285" y1="1481.8594" y2="1481.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="890.285" y="1496.0698">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="169" x="890.285" y="1508.8745">URT_CFG_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="890.285" y="1521.6792">URT_CFG_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="890.285" y="1534.4839">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="885.285" x2="1173.285" y1="1541.0781" y2="1541.0781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="890.285" y="1555.2886">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="885.285" x2="1173.285" y1="1561.8828" y2="1561.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="890.285" y="1576.0933">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="890.285" y="1588.8979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="890.285" y="1601.7026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="890.285" y="1614.5073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="890.285" y="1627.312">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="885.285" x2="1173.285" y1="1633.9063" y2="1633.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="890.285" y="1648.1167">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="890.285" y="1660.9214">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="890.285" y="1673.7261">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><!--MD5=[9f69b6f4e23017059189983d6906a1eb]
+class urt_nodestage_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="158.4375" id="urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.5;" width="216" x="1160.285" y="1231.8594"/><ellipse cx="1212.535" cy="1247.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1213.3788,1254.6094 L1210.9256,1254.6094 L1210.9256,1244.3594 L1207.785,1244.3594 L1207.785,1242.2188 L1216.5194,1242.2188 L1216.5194,1244.3594 L1213.3788,1244.3594 L1213.3788,1254.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="103" x="1233.035" y="1252.0137">urt_nodestage_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1161.285" x2="1375.285" y1="1263.8594" y2="1263.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="1166.285" y="1294.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1161.285" x2="1167.785" y1="1278.2617" y2="1278.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="1167.785" y="1281.5698">URT_CFG_NODESTAGE_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1368.785" x2="1375.285" y1="1278.2617" y2="1278.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1166.285" y="1324.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1161.285" x2="1164.285" y1="1307.8711" y2="1307.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="1164.285" y="1311.1792">URT_CFG_NODESTAGE_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1372.285" x2="1375.285" y1="1307.8711" y2="1307.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1166.285" y="1354.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1161.285" x2="1164.285" y1="1337.4805" y2="1337.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="1164.285" y="1340.7886">URT_CFG_NODESTAGE_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1372.285" x2="1375.285" y1="1337.4805" y2="1337.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1166.285" y="1383.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1161.285" x2="1164.285" y1="1367.0898" y2="1367.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="1164.285" y="1370.3979">URT_CFG_NODESTAGE_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1372.285" x2="1375.285" y1="1367.0898" y2="1367.0898"/><!--MD5=[a55671f9c3a4eb2d749fd774fc81a82b]
+class urt_topicid_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="191" x="933.785" y="1231.8594"/><ellipse cx="986.535" cy="1247.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M987.3788,1254.6094 L984.9256,1254.6094 L984.9256,1244.3594 L981.785,1244.3594 L981.785,1242.2188 L990.5194,1242.2188 L990.5194,1244.3594 L987.3788,1244.3594 L987.3788,1254.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="1007.035" y="1252.0137">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="934.785" x2="1123.785" y1="1263.8594" y2="1263.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="939.785" y="1294.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="934.785" x2="941.285" y1="1278.2617" y2="1278.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="941.285" y="1281.5698">URT_CFG_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1117.285" x2="1123.785" y1="1278.2617" y2="1278.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="939.785" y="1324.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="934.785" x2="937.785" y1="1307.8711" y2="1307.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="937.785" y="1311.1792">URT_CFG_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1120.785" x2="1123.785" y1="1307.8711" y2="1307.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="939.785" y="1354.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="934.785" x2="937.785" y1="1337.4805" y2="1337.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="937.785" y="1340.7886">URT_CFG_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1120.785" x2="1123.785" y1="1337.4805" y2="1337.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="939.785" y="1383.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="934.785" x2="937.785" y1="1367.0898" y2="1367.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="937.785" y="1370.3979">URT_CFG_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1120.785" x2="1123.785" y1="1367.0898" y2="1367.0898"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]
+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]
+class urt_topic_t--><rect fill="#FEFECE" filter="url(#f15k70rgxcyvdd)" height="248.0703" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="2709.285" y="470.3594"/><ellipse cx="2864.035" cy="486.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2863.5194,486.9219 Q2861.66,486.2188 2861.0038,485.4531 Q2860.3631,484.6719 2860.3631,483.3594 Q2860.3631,481.6719 2861.4413,480.7031 Q2862.5194,479.7344 2864.3944,479.7344 Q2865.2538,479.7344 2866.0975,479.9375 Q2866.9569,480.125 2867.8006,480.5156 L2867.8006,482.9063 Q2867.0194,482.3438 2866.1913,482.0625 Q2865.3788,481.7656 2864.5819,481.7656 Q2863.7069,481.7656 2863.2225,482.125 Q2862.7538,482.4844 2862.7538,483.1406 Q2862.7538,483.6563 2863.0975,484 Q2863.4413,484.3281 2864.535,484.7344 L2865.5975,485.1406 Q2867.0819,485.6875 2867.785,486.5938 Q2868.5038,487.5 2868.5038,488.875 Q2868.5038,490.75 2867.3944,491.6719 Q2866.285,492.5938 2864.035,492.5938 Q2863.1131,492.5938 2862.1913,492.375 Q2861.2694,492.1563 2860.41,491.7344 L2860.41,489.2031 Q2861.3788,489.8906 2862.3006,490.2344 Q2863.2225,490.5781 2864.1131,490.5781 Q2865.0194,490.5781 2865.5194,490.1719 Q2866.0194,489.75 2866.0194,489.0156 Q2866.0194,488.4531 2865.6756,488.0469 Q2865.3475,487.625 2864.7225,487.375 L2863.5194,486.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2884.535" y="490.5137">urt_topic_t</text><line style="stroke: #A80036; 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; stroke-width: 1.5;" x1="8947.285" x2="9547.285" y1="515.3594" y2="515.3594"/><ellipse cx="8957.285" cy="526.3594" 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="8966.285" y="529.5698">next : urt_service_t*</text><ellipse cx="8957.285" cy="539.1641" 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="8966.285" y="542.3745">id : urt_serviceid_t</text><ellipse cx="8957.285" cy="551.9688" 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="8966.285" y="555.1792">lock : urt_osMutex_t</text><ellipse cx="8957.285" cy="564.7734" 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="8966.285" y="567.9839">callback : urt_servicefunc_t*</text><ellipse cx="8957.285" cy="594.3828" 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="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; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9343.285" x2="9547.285" y1="580.9805" y2="580.9805"/><ellipse cx="8957.285" cy="649.6016" 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="143" x="8966.285" y="652.812">minDuration : urt_delay_t</text><ellipse cx="8957.285" cy="662.4063" 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="146" x="8966.285" y="665.6167">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8947.285" x2="9020.285" y1="636.1992" y2="636.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="9020.285" y="639.5073">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9474.285" x2="9547.285" y1="636.1992" y2="636.1992"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8947.285" x2="9547.285" y1="672.2109" y2="672.2109"/><ellipse cx="8957.285" cy="683.2109" 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="576" x="8966.285" y="686.4214">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="8957.285" cy="696.0156" 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="557" x="8966.285" y="699.2261">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="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]
+link urt_events to urt_osEventFlags_t--><path d="M11142.4012,1027.0035 C11157.1207,1129.9158 11194.0571,1382.41 11204.285,1397.8594 C11249.8754,1466.7244 11334.6434,1512.7533 11395.8468,1538.7465 " 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="11400.5811,1540.7372,11393.8354,1533.5611,11395.9721,1538.7989,11390.7342,1540.9356,11400.5811,1540.7372" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
+link urt_events to urt_osEventWait_t--><path d="M11127.3253,1026.9452 C11114.6621,1087.8404 11091.5999,1198.7424 11078.3577,1262.4218 " 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="11077.2646,1267.6782,11083.0132,1259.6811,11078.2826,1262.7829,11075.1808,1258.0523,11077.2646,1267.6782" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]
+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]
+link urt_osThread_t to urt_delay_t--><path d="M12333.2275,1165.7489 C12326.9242,1167.9483 12320.6064,1169.9912 12314.285,1171.8594 C12281.7503,1181.4747 3095.6549,1296.6121 2052.3945,1309.6585 " 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="2047.1083,1309.7246,2056.1577,1313.6116,2052.1079,1309.662,2056.0575,1305.6123,2047.1083,1309.7246" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4dd831efde278dc905a11b75839a39d0]
+link urt_osThread_t to urt_status_t--><path d="M12333.2548,1165.8424 C12326.9433,1168.0135 12320.6164,1170.0252 12314.285,1171.8594 C12174.6646,1212.3085 1982.1218,1143.1344 1848.285,1199.8594 C1814.6822,1214.1015 1786.3504,1244.4472 1767.1471,1269.8153 " 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="1764.1441,1273.8407,1772.7318,1269.0188,1767.1339,1269.833,1766.3196,1264.2351,1764.1441,1273.8407" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]
+link urt_osTimer_t to urt_delay_t--><path d="M13681.4694,1039.9847 C13603.1647,1085.4611 13484.8041,1146.069 13372.285,1171.8594 C13225.2023,1205.5721 10807.1719,1198.1191 10656.285,1199.8594 C7108.8269,1240.7755 2747.8394,1300.0428 2051.8715,1309.551 " fill="none" id="urt_osTimer_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2046.8275,1309.6199,2055.8814,1313.4963,2051.827,1309.5514,2055.7719,1305.4971,2046.8275,1309.6199" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[97e66fd6906ece822f393f9bfe719297]
+link urt_osTimer_t to urt_status_t--><path d="M13681.9095,1039.9827 C13603.64,1085.6244 13485.0916,1146.4704 13372.285,1171.8594 C13216.135,1207.0035 1995.6588,1137.4182 1848.285,1199.8594 C1814.6805,1214.0974 1786.3488,1244.4433 1767.146,1269.8126 " fill="none" id="urt_osTimer_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1764.143,1273.8382,1772.7305,1269.0159,1767.1326,1269.8304,1766.3181,1264.2325,1764.143,1273.8382" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]
+link urt_events to urt_delay_t--><path d="M11058.9456,1026.9954 C10971.7324,1073.0377 10824.1834,1143.2205 10687.285,1171.8594 C10242.5925,1264.8883 2973.2168,1305.5826 2052.0087,1310.3747 " fill="none" id="urt_events-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2047.0032,1310.4007,2056.024,1314.3536,2052.0031,1310.3745,2055.9822,1306.3537,2047.0032,1310.4007" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0549e7b45a7543f4046fb7eaa1b75598]
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+reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M8043.2512,723.1081 C8038.3755,804.7675 8036.1556,903.9849 8039.1948,953.1633 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8044.0729,709.9044,8039.7079,715.6443,8043.3274,721.8812,8047.6924,716.1413,8044.0729,709.9044" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8034.7149" y="730.2339">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="8011.4637" y="942.3861">0..1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]
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+reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M8244.8916,717.0723 C8254.8795,723.6748 8264.7307,730.2942 8274.285,736.8594 C8381.2567,810.3648 8501.3449,905.4013 8567.045,953.3352 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8234.0077,709.9178,8236.8243,716.5561,8244.0352,716.5093,8241.2187,709.871,8234.0077,709.9178" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8237.4109" y="730.2482">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8547.6175" y="942.1202">1</text><!--MD5=[b913f036db99e36b937989146817bd94]
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+link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M3759.526,671.3649 C3829.9111,694.539 3910.0848,716.9609 3985.285,728.8594 C4008.7168,732.5669 4819.3194,724.0466 4839.285,736.8594 C4894.269,772.1451 4923.6759,841.0899 4939.1064,897.1912 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="4945.9498,895.6995,4944.0905,916.8074,4932.3809,899.1471,4945.9498,895.6995" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[37a8b7f2877a6b7bb4e9d0352ce3d221]
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+link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M6327.0429,690.9146 C6262.2174,705.5213 6195.032,718.9827 6131.285,728.8594 C6081.9688,736.5002 6068.6315,729.4163 6019.285,736.8594 C5679.255,788.1473 5287.0766,890.7093 5087.2393,946.1719 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="5089.0696,952.9285,5067.9247,951.5522,5085.3127,939.442,5089.0696,952.9285" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[47304731969ac4130b45cc7169c5cada]
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+link urt_srtsubscriber_t to urt_status_t--><path d="M6344.4357,690.8873 C6274.4196,706.6526 6200.9116,720.5361 6131.285,728.8594 C6116.2462,730.6572 1780.2521,726.4133 1769.285,736.8594 C1620.9974,878.1034 1691.842,1161.8171 1725.7646,1268.7699 " 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="1727.351,1273.728,1728.4178,1263.9371,1725.8271,1268.9658,1720.7984,1266.3752,1727.351,1273.728" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b350769e483c42ea2704e388ea6a04f2]
+reverse link urt_frtsubscriber_t to urt_delay_t--><path d="M4093.8945,710.0876 C4057.4158,717.6636 4020.8202,724.1395 3985.285,728.8594 C3968.6601,731.0676 1582.1242,724.9809 1570.285,736.8594 C1502.0447,805.3262 1505.4467,1100.1626 1570.285,1171.8594 C1611.9316,1217.9113 1792.3689,1172.8669 1848.285,1199.8594 C1876.9782,1213.7105 1902.2487,1238.5223 1921.1171,1261.1796 " fill="none" id="urt_frtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4106.7906,707.3631,4100.0933,704.6897,4095.0498,709.8436,4101.747,712.517,4106.7906,707.3631" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4071.6152" y="727.8914">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1917.8591" y="1250.1995">0..4</text><!--MD5=[7be759a40cf40f1b9231b6649fee3f4f]
+link urt_frtsubscriber_t to urt_config--><path d="M4106.7961,707.4044 C4066.0645,716.1455 4025.0126,723.6032 3985.285,728.8594 C3973.3061,730.4443 513.8379,728.3238 505.285,736.8594 C297.342,944.3826 329.8067,1160.7699 503.285,1397.8594 C548.261,1459.3273 740.2543,1508.8586 879.3059,1537.5713 " 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="884.2298,1538.5839,876.2202,1532.8528,879.3323,1537.5766,874.6085,1540.6887,884.2298,1538.5839" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[29df74e07807e6378398cb43d45b3c27]
+link urt_frtsubscriber_t to urt_status_t--><path d="M4106.7936,707.3861 C4066.0626,716.1307 4025.0114,723.5943 3985.285,728.8594 C3975.2615,730.1879 1080.4249,729.6999 1073.285,736.8594 C1005.0253,805.3069 1006.6599,1101.8198 1073.285,1171.8594 C1116.2237,1216.9987 1576.575,1174.0668 1633.285,1199.8594 C1665.9911,1214.7346 1693.8173,1244.5291 1712.8888,1269.5071 " 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="1716.1101,1273.7899,1713.897,1264.1929,1713.1046,1269.794,1707.5036,1269.0016,1716.1101,1273.7899" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bc1cc9ca99c1274e9c895cd105ca1d4c]
+reverse link urt_hrtsubscriber_t to urt_delay_t--><path d="M4997.9471,728.4159 C4996.7252,728.5655 4995.5045,728.7133 4994.285,728.8594 C4982.7253,730.2445 1649.5076,728.6172 1641.285,736.8594 C1573.013,805.2945 1577.6774,1099.0685 1641.285,1171.8594 C1671.8292,1206.8133 1806.8318,1178.9706 1848.285,1199.8594 C1876.6181,1214.1368 1901.7776,1238.8356 1920.6695,1261.3152 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="5011.0806,726.7506,5004.6251,723.5372,4999.1759,728.2602,5005.6315,731.4736,5011.0806,726.7506" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4995.3996" y="725.5756">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1889.9736" y="1250.3542">0..5</text><!--MD5=[47265b8b91af56102ad98d46909bef01]
+reverse link urt_hrtsubscriber_t to urt_osTimer_t--><path d="M6108.2904,726.0376 C6115.9949,727.0379 6123.6628,727.98 6131.285,728.8594 C6181.2384,734.6228 13323.9268,723.0738 13372.285,736.8594 C13502.5391,773.9913 13631.8892,867.0646 13706.5763,927.7612 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="6095.2915,724.2998,6100.7085,729.0596,6107.1857,725.89,6101.7687,721.1302,6095.2915,724.2998" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6102.9697" y="723.0903">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13698.798" y="916.6866">1</text><!--MD5=[c255c4720016d78ffa1594ef43d10003]
+link urt_hrtsubscriber_t to urt_config--><path d="M5011.0811,726.7549 C5005.4601,727.4908 4999.8601,728.1929 4994.285,728.8594 C4979.298,730.651 658.75,727.0422 647.285,736.8594 C422.7804,929.0981 405.0838,1155.5188 574.285,1397.8594 C610.4834,1449.705 760.9994,1498.234 879.1304,1529.4715 " 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="884.0237,1530.7605,876.3396,1524.5998,879.1886,1529.4868,874.3017,1532.3359,884.0237,1530.7605" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[acfaba0e8df90d54cbfcf78ceb19e2ee]
+link urt_hrtsubscriber_t to urt_status_t--><path d="M5011.0809,726.753 C5005.4599,727.4895 4999.86,728.1923 4994.285,728.8594 C4981.0116,730.4478 1153.7279,727.3969 1144.285,736.8594 C1076.0024,805.284 1077.9139,1101.5791 1144.285,1171.8594 C1181.6513,1211.4265 1583.8277,1177.149 1633.285,1199.8594 C1665.822,1214.8001 1693.5699,1244.432 1712.6502,1269.3237 " 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="1715.8739,1273.5924,1713.642,1263.9997,1712.8606,1269.6024,1707.258,1268.821,1715.8739,1273.5924" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[19bf7f91edc926705d1714d4ed8cf052]
+link urt_srtusefulnessfunc_t to urt_delay_t--><path d="M6074.022,1014.3676 C5857.2778,1057.3323 5442.2867,1134.5756 5085.285,1171.8594 C4475.1949,1235.5747 2510.1467,1294.9464 2052.2763,1308.1425 " 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="2046.9593,1308.2956,2056.0708,1312.0347,2051.9572,1308.1516,2055.8404,1304.038,2046.9593,1308.2956" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]
+reverse link urt_service_t to urt_serviceid_t--><path d="M9007.9419,709.667 C8984.7951,717.4176 8961.3451,724.0448 8938.285,728.8594 C8913.8807,733.9546 1779.0803,723.1084 1758.285,736.8594 C1589.6163,848.3922 1536.6635,1102.3597 1520.3503,1231.8173 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9020.3886,705.3832,9013.4135,703.5535,9009.0418,709.2884,9016.017,711.1181,9020.3886,705.3832" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8996.1537" y="725.7722">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1512.6329" y="1220.892">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]
+reverse link urt_service_t to urt_osMutex_t--><path d="M9561.3719,658.3899 C9705.7045,685.0884 9879.5228,713.426 10037.285,728.8594 C10054.0442,730.4989 10325.5181,728.7665 10340.285,736.8594 C10417.9078,779.4 10466.3439,875.316 10489.9509,934.3204 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9548.3854,655.9774,9553.5539,661.006,9560.1835,658.1692,9555.0151,653.1406,9548.3854,655.9774" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9556.4896" y="654.4774">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10488.0758" y="923.3601">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]
+link urt_service_t to urt_config--><path d="M9020.3888,705.3842 C8993.2369,714.9777 8965.4896,723.18 8938.285,728.8594 C8887.8719,739.384 1572.29,724.5406 1522.285,736.8594 C1091.2622,843.0429 867.186,820.1211 637.285,1199.8594 C591.7098,1275.1382 588.7626,1324.4457 637.285,1397.8594 C690.8276,1478.8685 792.5289,1520.7093 878.9227,1542.2505 " 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="883.8058,1543.4506,876.0206,1537.418,878.9503,1542.2572,874.1112,1545.1868,883.8058,1543.4506" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ac5bbcedbd2eba97f2e594f2b75734f9]
+reverse link urt_service_t to urt_delay_t--><path d="M9007.9418,709.6664 C8984.795,717.4171 8961.345,724.0446 8938.285,728.8594 C8926.3276,731.3561 1910.9176,728.217 1902.285,736.8594 C1833.9702,805.2519 1884.4777,1076.8471 1902.285,1171.8594 C1908.0557,1202.649 1920.4351,1235.386 1931.8867,1261.3509 " fill="none" id="urt_service_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9020.3885,705.3826,9013.4134,703.553,9009.0417,709.2879,9016.0169,711.1175,9020.3885,705.3826" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9004.7161" y="725.7716">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1888.3226" y="1250.8151">0..2</text><!--MD5=[5471b15d17b5493f5e528354308bf7b4]
+link urt_service_t to urt_status_t--><path d="M9020.3885,705.3828 C8993.2366,714.9766 8965.4895,723.1793 8938.285,728.8594 C8926.2545,731.3713 1868.8123,729.0958 1859.285,736.8594 C1838.3234,753.9407 1770.1342,1138.3602 1747.5928,1268.3495 " 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="1746.682,1273.6067,1752.1597,1265.4216,1747.5356,1268.6801,1744.2771,1264.0559,1746.682,1273.6067" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0826203957815bb9ddac9132e239afa7]
+link urt_servicefunc_t to urt_delay_t--><path d="M9155.2397,1014.5439 C9113.7609,1059.0624 9029.595,1139.7448 8938.285,1171.8594 C8598.2897,1291.4389 2864.5437,1308.8019 2051.796,1310.6651 " 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="2046.7896,1310.6765,2055.7987,1314.6559,2051.7896,1310.665,2055.7804,1306.6559,2046.7896,1310.6765" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3a1e539c88376aaf116c25a44ec54d4f]
+link urt_servicefunc_t to urt_status_t--><path d="M9155.647,1014.3616 C9114.3737,1059.042 9030.1013,1140.3877 8938.285,1171.8594 C8845.1324,1203.7892 1938.9262,1161.3742 1848.285,1199.8594 C1814.6913,1214.1229 1786.359,1244.4673 1767.1531,1269.8295 " 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="1764.1497,1273.8539,1772.7383,1269.0335,1767.1402,1269.8468,1766.327,1264.2487,1764.1497,1273.8539" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f0b45c138270280c4ccd65b0e18f34c2]
 @startuml
 
 title **µRtWare**\nOverview\n
@@ -347,6 +350,9 @@ title **µRtWare**\nOverview\n
     + {method} urtThreadJoin (thread : urt_osThread_t*) : void
     + {method} urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t
     + {method} urtThreadGetSelf (void) : urt_osThread_t*
+    + urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*
+    + urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*
+    + urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*
   }
 } 
 
@@ -395,15 +401,17 @@ title **µRtWare**\nOverview\n
   - {field} {static} _nodes : urt_node_t*
   - {field} {static} _evtSource : urt_osEventSource_t
   - {field} {static} _lock : urt_osMutex_t
+  - {field} {static} _status : urt_status_t
   .. URT_CFG_PUBSUB_ENABLED == true ..
   - {field} {static} _topics : urt_topic_t*
   .. URT_CFG_RPC_ENABLED == true ..
   - {field} {static} _services : urt_service_t*
   __
   + {method} urtCoreInit (void) : urt_status_t
+  + {method} urtCoreGetStatus (void) : urt_status_t
   + {method} urtCoreStartNodes (void) : urt_status_t
-  + {method} urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t
-  + {method} urtCoreStopNodes (void) : urt_status_t
+  + {method} urtCoreSynchronize (node : urt_node_t*) : urt_status_t
+  + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t
   .. URT_CFG_PUBSUB_ENABLED == true ..
   + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*
   .. URT_CFG_RPC_ENABLED == true ..
@@ -419,6 +427,10 @@ title **µRtWare**\nOverview\n
     urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t
   }
 
+    class urt_nodeShutdownCallback_t <<T,00CFFF>> {
+    urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void
+  }
+
     class urt_node_t <<S,BFAFFF>> {
     + {field} next : urt_node_t*
     + {field} thread : urt_osThread_t*
@@ -426,13 +438,15 @@ title **µRtWare**\nOverview\n
     + {field} setupparams : void*
     + {field} loopcallback : urt_nodeLoopCallback_t*
     + {field} loopparams : void*
+    + {field} shutdowncallback : urt_nodeShutdownCallback_t*
+    + {field} shutdownparams : void*
     + {field} stage : urt_nodestage_t
     + {field} listener : urt_osEventListener_t
     .. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true ..
     + {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*) : 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*) : urt_status_t
   }
 } 
 
@@ -626,10 +640,12 @@ urt_events ..> urt_status_t
 
 
 urt_node_t "1" o- - "0..1" urt_node_t
-urt_node_t "1" o- - "1" urt_nodeSetupCallback_t
+urt_node_t "1" o- - "0..1" urt_nodeSetupCallback_t
 urt_node_t <.. urt_nodeSetupCallback_t
 urt_node_t "1" o- - "1" urt_nodeLoopCallback_t
 urt_node_t <.. urt_nodeLoopCallback_t
+urt_node_t "1" o- - "0..1" urt_nodeShutdownCallback_t
+urt_node_t <.. urt_nodeShutdownCallback_t
 
 
 urt_message_t "1" o- - "0..1" urt_message_t
