commit ee83a495436186dbc15d6e0bc3e360e19ae5ff02
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Tue Feb 25 15:14:38 2020 +0100

    Again another huge update to the documentation.
    Still incomplete, though.

diff --git a/doc/classdiagrams/overview.svg b/doc/classdiagrams/overview.svg
index abafdc0..4166fe1 100644
--- a/doc/classdiagrams/overview.svg
+++ b/doc/classdiagrams/overview.svg
@@ -1,161 +1,160 @@
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-class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="204" x="6859.7624" y="1571.8594"/><ellipse cx="6912.5124" cy="1587.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6913.3562,1594.6094 L6910.903,1594.6094 L6910.903,1584.3594 L6907.7624,1584.3594 L6907.7624,1582.2188 L6916.4968,1582.2188 L6916.4968,1584.3594 L6913.3562,1584.3594 L6913.3562,1594.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="6933.0124" y="1592.0137">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6860.7624" x2="7062.7624" y1="1603.8594" y2="1603.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6865.7624" y="1634.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6867.2624" y1="1618.2617" y2="1618.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="6867.2624" y="1621.5698">URT_CFG_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7056.2624" x2="7062.7624" y1="1618.2617" y2="1618.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6865.7624" y="1664.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6863.7624" y1="1647.8711" y2="1647.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="6863.7624" y="1651.1792">URT_CFG_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7059.7624" x2="7062.7624" y1="1647.8711" y2="1647.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6865.7624" y="1694.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6863.7624" y1="1677.4805" y2="1677.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="6863.7624" y="1680.7886">URT_CFG_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7059.7624" x2="7062.7624" y1="1677.4805" y2="1677.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6865.7624" y="1723.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6863.7624" y1="1707.0898" y2="1707.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="6863.7624" y="1710.3979">URT_CFG_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7059.7624" x2="7062.7624" y1="1707.0898" y2="1707.0898"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]
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-class urt_debug--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="5886.2624" y="1620.3594"/><ellipse cx="5972.5124" cy="1636.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5976.7468,1632.125 L5971.4655,1632.125 L5971.4655,1634.7969 L5976.2624,1634.7969 L5976.2624,1636.9531 L5971.4655,1636.9531 L5971.4655,1642.3594 L5969.028,1642.3594 L5969.028,1629.9688 L5976.7468,1629.9688 L5976.7468,1632.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="5993.0124" y="1640.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5887.2624" x2="6130.2624" y1="1652.3594" y2="1652.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5887.2624" x2="6130.2624" y1="1660.3594" y2="1660.3594"/><ellipse cx="5897.2624" cy="1671.3594" 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="5906.2624" y="1674.5698">urtDebugAssert(condition : bool) : void</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
-class urt_osTime_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="1039.2624" y="1299.8594"/><ellipse cx="1208.0124" cy="1315.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1208.8562,1322.6094 L1206.403,1322.6094 L1206.403,1312.3594 L1203.2624,1312.3594 L1203.2624,1310.2188 L1211.9968,1310.2188 L1211.9968,1312.3594 L1208.8562,1312.3594 L1208.8562,1322.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="1228.5124" y="1320.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1040.2624" x2="1463.2624" y1="1331.8594" y2="1331.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1040.2624" x2="1463.2624" y1="1339.8594" y2="1339.8594"/><ellipse cx="1050.2624" cy="1350.8594" 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="1059.2624" y="1354.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="1050.2624" cy="1363.6641" 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="1059.2624" y="1366.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="1050.2624" cy="1376.4688" 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="1059.2624" y="1379.6792">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
-class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="705.7624" y="1293.3594"/><ellipse cx="807.0124" cy="1309.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M807.8562,1316.1094 L805.403,1316.1094 L805.403,1305.8594 L802.2624,1305.8594 L802.2624,1303.7188 L810.9968,1303.7188 L810.9968,1305.8594 L807.8562,1305.8594 L807.8562,1316.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="827.5124" y="1313.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="706.7624" x2="1002.7624" y1="1325.3594" y2="1325.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="706.7624" x2="1002.7624" y1="1333.3594" y2="1333.3594"/><ellipse cx="716.7624" cy="1344.3594" 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="725.7624" y="1347.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="716.7624" cy="1357.1641" 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="725.7624" y="1360.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="716.7624" cy="1369.9688" 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="725.7624" y="1373.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="716.7624" cy="1382.7734" 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="725.7624" y="1385.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
-class urt_streams--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="461.2624" y="1305.8594"/><ellipse cx="524.0124" cy="1321.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M528.2468,1317.625 L522.9655,1317.625 L522.9655,1320.2969 L527.7624,1320.2969 L527.7624,1322.4531 L522.9655,1322.4531 L522.9655,1327.8594 L520.528,1327.8594 L520.528,1315.4688 L528.2468,1315.4688 L528.2468,1317.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="544.5124" y="1326.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="462.2624" x2="669.2624" y1="1337.8594" y2="1337.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="462.2624" x2="669.2624" y1="1345.8594" y2="1345.8594"/><ellipse cx="472.2624" cy="1356.8594" 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="481.2624" y="1360.0698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="472.2624" cy="1369.6641" 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="481.2624" y="1372.8745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
-class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5225.7624" y="1607.8594"/><ellipse cx="5272.0124" cy="1623.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5276.1218,1629.8594 L5268.403,1629.8594 L5268.403,1617.4688 L5276.1218,1617.4688 L5276.1218,1619.625 L5270.8562,1619.625 L5270.8562,1622.2969 L5275.6218,1622.2969 L5275.6218,1624.4531 L5270.8562,1624.4531 L5270.8562,1627.7031 L5276.1218,1627.7031 L5276.1218,1629.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5292.5124" y="1628.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5226.7624" x2="5494.7624" y1="1639.8594" y2="1639.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5231.7624" y="1654.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5231.7624" y="1666.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5231.7624" y="1679.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5226.7624" x2="5494.7624" y1="1686.2734" y2="1686.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
-class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="5005.7624" y="1293.3594"/><ellipse cx="5306.0124" cy="1309.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5306.8562,1316.1094 L5304.403,1316.1094 L5304.403,1305.8594 L5301.2624,1305.8594 L5301.2624,1303.7188 L5309.9968,1303.7188 L5309.9968,1305.8594 L5306.8562,1305.8594 L5306.8562,1316.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5326.5124" y="1313.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5006.7624" x2="5714.7624" y1="1325.3594" y2="1325.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5006.7624" x2="5714.7624" y1="1333.3594" y2="1333.3594"/><ellipse cx="5016.7624" cy="1344.3594" 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="5025.7624" y="1347.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="5016.7624" cy="1357.1641" 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="5025.7624" y="1360.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="5016.7624" cy="1369.9688" 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="5025.7624" y="1373.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="5016.7624" cy="1382.7734" 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="5025.7624" y="1385.9839">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(#fhythnghqj5dw)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4436.7624" y="1620.3594"/><ellipse cx="4507.5124" cy="1636.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4508.3562,1643.1094 L4505.903,1643.1094 L4505.903,1632.8594 L4502.7624,1632.8594 L4502.7624,1630.7188 L4511.4968,1630.7188 L4511.4968,1632.8594 L4508.3562,1632.8594 L4508.3562,1643.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4528.0124" y="1640.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4437.7624" x2="4721.7624" y1="1652.3594" y2="1652.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4437.7624" x2="4721.7624" y1="1660.3594" y2="1660.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4442.7624" y="1674.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
-class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="4188.7624" y="1286.8594"/><ellipse cx="4533.5124" cy="1302.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4534.3562,1309.6094 L4531.903,1309.6094 L4531.903,1299.3594 L4528.7624,1299.3594 L4528.7624,1297.2188 L4537.4968,1297.2188 L4537.4968,1299.3594 L4534.3562,1299.3594 L4534.3562,1309.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4554.0124" y="1307.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4189.7624" x2="4969.7624" y1="1318.8594" y2="1318.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4189.7624" x2="4969.7624" y1="1326.8594" y2="1326.8594"/><ellipse cx="4199.7624" cy="1337.8594" 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="4208.7624" y="1341.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="4199.7624" cy="1350.6641" 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="4208.7624" y="1353.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="4199.7624" cy="1363.4688" 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="4208.7624" y="1366.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="4199.7624" cy="1376.2734" 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="4208.7624" y="1379.4839">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="4199.7624" cy="1389.0781" 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="4208.7624" y="1392.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
-class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3690.2624" y="1575.8594"/><ellipse cx="3726.4124" cy="1591.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3727.2562,1598.6094 L3724.803,1598.6094 L3724.803,1588.3594 L3721.6624,1588.3594 L3721.6624,1586.2188 L3730.3968,1586.2188 L3730.3968,1588.3594 L3727.2562,1588.3594 L3727.2562,1598.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3745.1124" y="1596.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3691.2624" x2="3886.2624" y1="1607.8594" y2="1607.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3696.2624" y="1622.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3696.2624" y="1634.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3696.2624" y="1647.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3696.2624" y="1660.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3696.2624" y="1673.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3696.2624" y="1686.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3696.2624" y="1698.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3696.2624" y="1711.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3691.2624" x2="3886.2624" y1="1718.2969" y2="1718.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
-class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="3141.7624" y="1620.3594"/><ellipse cx="3189.5124" cy="1636.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3190.3562,1643.1094 L3187.903,1643.1094 L3187.903,1632.8594 L3184.7624,1632.8594 L3184.7624,1630.7188 L3193.4968,1630.7188 L3193.4968,1632.8594 L3190.3562,1632.8594 L3190.3562,1643.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="3210.0124" y="1640.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3142.7624" x2="3392.7624" y1="1652.3594" y2="1652.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3142.7624" x2="3392.7624" y1="1660.3594" y2="1660.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3147.7624" y="1674.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
-class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3922.7624" y="1613.8594"/><ellipse cx="3944.5124" cy="1629.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3948.6218,1635.8594 L3940.903,1635.8594 L3940.903,1623.4688 L3948.6218,1623.4688 L3948.6218,1625.625 L3943.3562,1625.625 L3943.3562,1628.2969 L3948.1218,1628.2969 L3948.1218,1630.4531 L3943.3562,1630.4531 L3943.3562,1633.7031 L3948.6218,1633.7031 L3948.6218,1635.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3960.0124" y="1634.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3923.7624" x2="4163.7624" y1="1645.8594" y2="1645.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3928.7624" y="1660.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3928.7624" y="1672.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3923.7624" x2="4163.7624" y1="1679.4688" y2="1679.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
-class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3428.7624" y="1581.8594"/><ellipse cx="3473.5124" cy="1597.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3477.6218,1603.8594 L3469.903,1603.8594 L3469.903,1591.4688 L3477.6218,1591.4688 L3477.6218,1593.625 L3472.3562,1593.625 L3472.3562,1596.2969 L3477.1218,1596.2969 L3477.1218,1598.4531 L3472.3562,1598.4531 L3472.3562,1601.7031 L3477.6218,1601.7031 L3477.6218,1603.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3494.0124" y="1602.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3429.7624" x2="3653.7624" y1="1613.8594" y2="1613.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3434.7624" y="1628.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3434.7624" y="1640.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3434.7624" y="1653.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3434.7624" y="1666.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3434.7624" y="1679.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3434.7624" y="1692.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3434.7624" y="1704.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3429.7624" x2="3653.7624" y1="1711.4922" y2="1711.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
-class urt_osThread_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="337.7031" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="3551.7624" y="1173.8594"/><ellipse cx="3780.5124" cy="1189.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3781.3562,1196.6094 L3778.903,1196.6094 L3778.903,1186.3594 L3775.7624,1186.3594 L3775.7624,1184.2188 L3784.4968,1184.2188 L3784.4968,1186.3594 L3781.3562,1186.3594 L3781.3562,1196.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3801.0124" y="1194.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3552.7624" x2="4110.7624" y1="1205.8594" y2="1205.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3557.7624" y="1220.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3557.7624" y="1232.8745">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3557.7624" y="1245.6792">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3557.7624" y="1258.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3552.7624" x2="4110.7624" y1="1265.0781" y2="1265.0781"/><ellipse cx="3562.7624" cy="1276.0781" 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="3571.7624" y="1279.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3552.7624" x2="4110.7624" y1="1285.8828" y2="1285.8828"/><ellipse cx="3562.7624" cy="1296.8828" 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="3571.7624" y="1300.0933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="3562.7624" cy="1309.6875" 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="3571.7624" y="1312.8979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="3562.7624" cy="1322.4922" 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="3571.7624" y="1325.7026">urtThreadYield (void) : void</text><ellipse cx="3562.7624" cy="1335.2969" 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="3571.7624" y="1338.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3562.7624" cy="1348.1016" 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="3571.7624" y="1351.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3562.7624" cy="1360.9063" 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="3571.7624" y="1364.1167">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="3562.7624" cy="1373.7109" 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="3571.7624" y="1376.9214">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="3562.7624" cy="1386.5156" 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="3571.7624" y="1389.7261">urtThreadSleep (seconds : float) : void</text><ellipse cx="3562.7624" cy="1399.3203" 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="3571.7624" y="1402.5308">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="3562.7624" cy="1412.125" 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="3571.7624" y="1415.3354">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="3562.7624" cy="1424.9297" 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="3571.7624" y="1428.1401">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3562.7624" cy="1437.7344" 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="3571.7624" y="1440.9448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3562.7624" cy="1450.5391" 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="3571.7624" y="1453.7495">urtThreadExit (void) : void</text><ellipse cx="3562.7624" cy="1463.3438" 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="3571.7624" y="1466.5542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3562.7624" cy="1476.1484" 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="3571.7624" y="1479.3589">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3562.7624" cy="1488.9531" 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="3571.7624" y="1492.1636">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3562.7624" cy="1501.7578" 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="3571.7624" y="1504.9683">urtThreadGetSelf (void) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
-class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2826.7624" y="1620.3594"/><ellipse cx="2904.0124" cy="1636.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2904.8562,1643.1094 L2902.403,1643.1094 L2902.403,1632.8594 L2899.2624,1632.8594 L2899.2624,1630.7188 L2907.9968,1630.7188 L2907.9968,1632.8594 L2904.8562,1632.8594 L2904.8562,1643.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2924.5124" y="1640.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2827.7624" x2="3105.7624" y1="1652.3594" y2="1652.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2832.7624" y="1666.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2827.7624" x2="3105.7624" y1="1673.1641" y2="1673.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
-class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="2235.7624" y="1880.8594"/><ellipse cx="2250.7624" cy="1896.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2251.6062,1903.6094 L2249.153,1903.6094 L2249.153,1893.3594 L2246.0124,1893.3594 L2246.0124,1891.2188 L2254.7468,1891.2188 L2254.7468,1893.3594 L2251.6062,1893.3594 L2251.6062,1903.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="2264.7624" y="1901.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.7624" x2="2384.7624" y1="1912.8594" y2="1912.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.7624" x2="2384.7624" y1="1920.8594" y2="1920.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
-class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2629.7624" y="1607.8594"/><ellipse cx="2652.8624" cy="1623.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2656.9718,1629.8594 L2649.253,1629.8594 L2649.253,1617.4688 L2656.9718,1617.4688 L2656.9718,1619.625 L2651.7062,1619.625 L2651.7062,1622.2969 L2656.4718,1622.2969 L2656.4718,1624.4531 L2651.7062,1624.4531 L2651.7062,1627.7031 L2656.9718,1627.7031 L2656.9718,1629.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2668.6624" y="1628.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2630.7624" x2="2790.7624" y1="1639.8594" y2="1639.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2635.7624" y="1654.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2635.7624" y="1666.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2635.7624" y="1679.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2630.7624" x2="2790.7624" y1="1686.2734" y2="1686.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
-class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="2063.7624" y="1607.8594"/><ellipse cx="2239.0124" cy="1623.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2239.8562,1630.6094 L2237.403,1630.6094 L2237.403,1620.3594 L2234.2624,1620.3594 L2234.2624,1618.2188 L2242.9968,1618.2188 L2242.9968,1620.3594 L2239.8562,1620.3594 L2239.8562,1630.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="2259.5124" y="1628.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2064.7624" x2="2556.7624" y1="1639.8594" y2="1639.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2064.7624" x2="2556.7624" y1="1647.8594" y2="1647.8594"/><ellipse cx="2074.7624" cy="1658.8594" 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="2083.7624" y="1662.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="2074.7624" cy="1671.6641" 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="2083.7624" y="1674.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="2074.7624" cy="1684.4688" 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="2083.7624" y="1687.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
-class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1481.2624" y="1613.8594"/><ellipse cx="1686.0124" cy="1629.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1686.8562,1636.6094 L1684.403,1636.6094 L1684.403,1626.3594 L1681.2624,1626.3594 L1681.2624,1624.2188 L1689.9968,1624.2188 L1689.9968,1626.3594 L1686.8562,1626.3594 L1686.8562,1636.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1706.5124" y="1634.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1482.2624" x2="2027.2624" y1="1645.8594" y2="1645.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1482.2624" x2="2027.2624" y1="1653.8594" y2="1653.8594"/><ellipse cx="1492.2624" cy="1664.8594" 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="1501.2624" y="1668.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1492.2624" cy="1677.6641" 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="1501.2624" y="1680.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
-class urt_events--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="2216.7624" y="1299.8594"/><ellipse cx="2624.5124" cy="1315.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2628.7468,1311.625 L2623.4655,1311.625 L2623.4655,1314.2969 L2628.2624,1314.2969 L2628.2624,1316.4531 L2623.4655,1316.4531 L2623.4655,1321.8594 L2621.028,1321.8594 L2621.028,1309.4688 L2628.7468,1309.4688 L2628.7468,1311.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2645.0124" y="1320.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2217.7624" x2="3105.7624" y1="1331.8594" y2="1331.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2217.7624" x2="3105.7624" y1="1339.8594" y2="1339.8594"/><ellipse cx="2227.7624" cy="1350.8594" 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="2236.7624" y="1354.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="2227.7624" cy="1363.6641" 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="2236.7624" y="1366.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="2227.7624" cy="1376.4688" 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="2236.7624" y="1379.6792">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(#fhythnghqj5dw)" height="256.0703" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="515" x="7357.2624" y="110.8594"/><ellipse cx="7579.0124" cy="126.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7578.4968,127.4219 Q7576.6374,126.7188 7575.9812,125.9531 Q7575.3405,125.1719 7575.3405,123.8594 Q7575.3405,122.1719 7576.4187,121.2031 Q7577.4968,120.2344 7579.3718,120.2344 Q7580.2312,120.2344 7581.0749,120.4375 Q7581.9343,120.625 7582.778,121.0156 L7582.778,123.4063 Q7581.9968,122.8438 7581.1687,122.5625 Q7580.3562,122.2656 7579.5593,122.2656 Q7578.6843,122.2656 7578.1999,122.625 Q7577.7312,122.9844 7577.7312,123.6406 Q7577.7312,124.1563 7578.0749,124.5 Q7578.4187,124.8281 7579.5124,125.2344 L7580.5749,125.6406 Q7582.0593,126.1875 7582.7624,127.0938 Q7583.4812,128 7583.4812,129.375 Q7583.4812,131.25 7582.3718,132.1719 Q7581.2624,133.0938 7579.0124,133.0938 Q7578.0905,133.0938 7577.1687,132.875 Q7576.2468,132.6563 7575.3874,132.2344 L7575.3874,129.7031 Q7576.3562,130.3906 7577.278,130.7344 Q7578.1999,131.0781 7579.0905,131.0781 Q7579.9968,131.0781 7580.4968,130.6719 Q7580.9968,130.25 7580.9968,129.5156 Q7580.9968,128.9531 7580.653,128.5469 Q7580.3249,128.125 7579.6999,127.875 L7578.4968,127.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="7599.5124" y="131.0137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7358.2624" x2="7871.2624" y1="142.8594" y2="142.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="150.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7377.2624" y="157.0698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="163.6641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7377.2624" y="169.8745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="176.4688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7377.2624" y="182.6792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="206.0781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7377.2624" y="212.2886">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7358.2624" x2="7509.7624" y1="195.6758" y2="195.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7509.7624" y="198.9839">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7719.7624" x2="7871.2624" y1="195.6758" y2="195.6758"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="235.6875"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7377.2624" y="241.8979">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7358.2624" x2="7522.2624" y1="225.2852" y2="225.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7522.2624" y="228.5933">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7707.2624" x2="7871.2624" y1="225.2852" y2="225.2852"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7358.2624" x2="7871.2624" y1="248.4922" y2="248.4922"/><ellipse cx="7368.2624" 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="7377.2624" y="262.7026">urtCoreInit (void) : urt_status_t</text><ellipse cx="7368.2624" 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="7377.2624" y="275.5073">urtCoreStartNodes (void) : urt_status_t</text><ellipse cx="7368.2624" 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="7377.2624" y="288.312">urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t</text><ellipse cx="7368.2624" 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="7377.2624" y="301.1167">urtCoreStopNodes (void) : urt_status_t</text><ellipse cx="7368.2624" 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="299" x="7377.2624" y="330.7261">urtCoreRetrieveTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7358.2624" x2="7509.7624" y1="314.1133" y2="314.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7509.7624" y="317.4214">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7719.7624" x2="7871.2624" y1="314.1133" y2="314.1133"/><ellipse cx="7368.2624" cy="357.125" 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="339" x="7377.2624" y="360.3354">urtCoreRetrieveService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7358.2624" x2="7522.2624" y1="343.7227" y2="343.7227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7522.2624" y="347.0308">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7707.2624" x2="7871.2624" y1="343.7227" y2="343.7227"/><!--MD5=[a7dea26996a1231aa68629b332780450]
-class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="10880.7624" y="846.3594"/><ellipse cx="11026.5124" cy="862.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11027.3562,869.1094 L11024.903,869.1094 L11024.903,858.8594 L11021.7624,858.8594 L11021.7624,856.7188 L11030.4968,856.7188 L11030.4968,858.8594 L11027.3562,858.8594 L11027.3562,869.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="11047.0124" y="866.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10881.7624" x2="11335.7624" y1="878.3594" y2="878.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10881.7624" x2="11335.7624" y1="886.3594" y2="886.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="10886.7624" y="900.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
-class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="10231.7624" y="846.3594"/><ellipse cx="10460.0124" cy="862.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10460.8562,869.1094 L10458.403,869.1094 L10458.403,858.8594 L10455.2624,858.8594 L10455.2624,856.7188 L10463.9968,856.7188 L10463.9968,858.8594 L10460.8562,858.8594 L10460.8562,869.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="10480.5124" y="866.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10232.7624" x2="10844.7624" y1="878.3594" y2="878.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10232.7624" x2="10844.7624" y1="886.3594" y2="886.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="10237.7624" y="900.5698">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(#fhythnghqj5dw)" height="176.0469" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1104" x="10231.7624" y="501.8594"/><ellipse cx="10746.0124" cy="517.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10745.4968,518.4219 Q10743.6374,517.7188 10742.9812,516.9531 Q10742.3405,516.1719 10742.3405,514.8594 Q10742.3405,513.1719 10743.4187,512.2031 Q10744.4968,511.2344 10746.3718,511.2344 Q10747.2312,511.2344 10748.0749,511.4375 Q10748.9343,511.625 10749.778,512.0156 L10749.778,514.4063 Q10748.9968,513.8438 10748.1687,513.5625 Q10747.3562,513.2656 10746.5593,513.2656 Q10745.6843,513.2656 10745.1999,513.625 Q10744.7312,513.9844 10744.7312,514.6406 Q10744.7312,515.1563 10745.0749,515.5 Q10745.4187,515.8281 10746.5124,516.2344 L10747.5749,516.6406 Q10749.0593,517.1875 10749.7624,518.0938 Q10750.4812,519 10750.4812,520.375 Q10750.4812,522.25 10749.3718,523.1719 Q10748.2624,524.0938 10746.0124,524.0938 Q10745.0905,524.0938 10744.1687,523.875 Q10743.2468,523.6563 10742.3874,523.2344 L10742.3874,520.7031 Q10743.3562,521.3906 10744.278,521.7344 Q10745.1999,522.0781 10746.0905,522.0781 Q10746.9968,522.0781 10747.4968,521.6719 Q10747.9968,521.25 10747.9968,520.5156 Q10747.9968,519.9531 10747.653,519.5469 Q10747.3249,519.125 10746.6999,518.875 L10745.4968,518.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="10766.5124" y="522.0137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10232.7624" x2="11334.7624" y1="533.8594" y2="533.8594"/><ellipse cx="10242.7624" cy="544.8594" 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="10251.7624" y="548.0698">next : urt_node_t*</text><ellipse cx="10242.7624" cy="557.6641" 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="10251.7624" y="560.8745">thread : urt_osThread_t*</text><ellipse cx="10242.7624" cy="570.4688" 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="10251.7624" y="573.6792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="10242.7624" 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="117" x="10251.7624" y="586.4839">setupparams : void*</text><ellipse cx="10242.7624" 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="221" x="10251.7624" y="599.2886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="10242.7624" cy="608.8828" 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="10251.7624" y="612.0933">loopparams : void*</text><ellipse cx="10242.7624" cy="621.6875" 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="136" x="10251.7624" y="624.8979">stage : urt_nodestage_t</text><ellipse cx="10242.7624" cy="634.4922" 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="178" x="10251.7624" y="637.7026">listener : urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10232.7624" x2="11334.7624" y1="644.2969" y2="644.2969"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="10239.7624" y="652.2969"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="10251.7624" y="658.5073">_main : urt_osThreadFunction_t</text><ellipse cx="10242.7624" 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="1078" x="10251.7624" y="671.312">urtNodeInit (node : urt_node_t*, stacksize : size_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(#fhythnghqj5dw)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="7364.2624" y="805.8594"/><ellipse cx="7539.5124" cy="821.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7538.9968,822.4219 Q7537.1374,821.7188 7536.4812,820.9531 Q7535.8405,820.1719 7535.8405,818.8594 Q7535.8405,817.1719 7536.9187,816.2031 Q7537.9968,815.2344 7539.8718,815.2344 Q7540.7312,815.2344 7541.5749,815.4375 Q7542.4343,815.625 7543.278,816.0156 L7543.278,818.4063 Q7542.4968,817.8438 7541.6687,817.5625 Q7540.8562,817.2656 7540.0593,817.2656 Q7539.1843,817.2656 7538.6999,817.625 Q7538.2312,817.9844 7538.2312,818.6406 Q7538.2312,819.1563 7538.5749,819.5 Q7538.9187,819.8281 7540.0124,820.2344 L7541.0749,820.6406 Q7542.5593,821.1875 7543.2624,822.0938 Q7543.9812,823 7543.9812,824.375 Q7543.9812,826.25 7542.8718,827.1719 Q7541.7624,828.0938 7539.5124,828.0938 Q7538.5905,828.0938 7537.6687,827.875 Q7536.7468,827.6563 7535.8874,827.2344 L7535.8874,824.7031 Q7536.8562,825.3906 7537.778,825.7344 Q7538.6999,826.0781 7539.5905,826.0781 Q7540.4968,826.0781 7540.9968,825.6719 Q7541.4968,825.25 7541.4968,824.5156 Q7541.4968,823.9531 7541.153,823.5469 Q7540.8249,823.125 7540.1999,822.875 L7538.9968,822.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="7560.0124" y="826.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7365.2624" x2="7814.2624" y1="837.8594" y2="837.8594"/><ellipse cx="7375.2624" cy="848.8594" 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="7384.2624" y="852.0698">next : urt_message_t*</text><ellipse cx="7375.2624" cy="861.6641" 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="7384.2624" y="864.8745">payload : void*</text><ellipse cx="7375.2624" cy="874.4688" 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="7384.2624" y="877.6792">originTime : urt_osTime_t</text><ellipse cx="7375.2624" cy="887.2734" 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="7384.2624" y="890.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="7375.2624" cy="916.8828" 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="7384.2624" y="920.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7365.2624" x2="7481.2624" y1="903.4805" y2="903.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7481.2624" y="906.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7698.2624" x2="7814.2624" y1="903.4805" y2="903.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7365.2624" x2="7814.2624" y1="926.6875" y2="926.6875"/><ellipse cx="7375.2624" cy="937.6875" 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="7384.2624" y="940.8979">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
-class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="7802.2624" y="525.3594"/><ellipse cx="8131.0124" cy="541.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8130.4968,541.9219 Q8128.6374,541.2188 8127.9812,540.4531 Q8127.3405,539.6719 8127.3405,538.3594 Q8127.3405,536.6719 8128.4187,535.7031 Q8129.4968,534.7344 8131.3718,534.7344 Q8132.2312,534.7344 8133.0749,534.9375 Q8133.9343,535.125 8134.778,535.5156 L8134.778,537.9063 Q8133.9968,537.3438 8133.1687,537.0625 Q8132.3562,536.7656 8131.5593,536.7656 Q8130.6843,536.7656 8130.1999,537.125 Q8129.7312,537.4844 8129.7312,538.1406 Q8129.7312,538.6563 8130.0749,539 Q8130.4187,539.3281 8131.5124,539.7344 L8132.5749,540.1406 Q8134.0593,540.6875 8134.7624,541.5938 Q8135.4812,542.5 8135.4812,543.875 Q8135.4812,545.75 8134.3718,546.6719 Q8133.2624,547.5938 8131.0124,547.5938 Q8130.0905,547.5938 8129.1687,547.375 Q8128.2468,547.1563 8127.3874,546.7344 L8127.3874,544.2031 Q8128.3562,544.8906 8129.278,545.2344 Q8130.1999,545.5781 8131.0905,545.5781 Q8131.9968,545.5781 8132.4968,545.1719 Q8132.9968,544.75 8132.9968,544.0156 Q8132.9968,543.4531 8132.653,543.0469 Q8132.3249,542.625 8131.6999,542.375 L8130.4968,541.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="8151.5124" y="545.5137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7803.2624" x2="8560.2624" y1="557.3594" y2="557.3594"/><ellipse cx="7813.2624" cy="568.3594" 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="104" x="7822.2624" y="571.5698">topic : urt_topic_t*</text><ellipse cx="7813.2624" cy="597.9688" 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="149" x="7822.2624" y="601.1792">publishAttempts : uint64_t</text><ellipse cx="7813.2624" cy="610.7734" 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="7822.2624" y="613.9839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7803.2624" x2="8099.7624" y1="584.5664" y2="584.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="8099.7624" y="587.8745">URT_CFG_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8263.7624" x2="8560.2624" y1="584.5664" y2="584.5664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7803.2624" x2="8560.2624" y1="620.5781" y2="620.5781"/><ellipse cx="7813.2624" cy="631.5781" 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="617" x="7822.2624" y="634.7886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="7813.2624" cy="644.3828" 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="733" x="7822.2624" y="647.5933">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="7365.7624" x2="7747.7624" y1="497.8594" y2="497.8594"/><ellipse cx="7375.7624" cy="508.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="7384.7624" y="512.0698">next : urt_topic_t*</text><ellipse cx="7375.7624" cy="521.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="7384.7624" y="524.8745">id : urt_topicid_t</text><ellipse cx="7375.7624" cy="534.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="7384.7624" y="537.6792">lock : urt_osMutex_t</text><ellipse cx="7375.7624" cy="547.2734" 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="7384.7624" y="550.4839">evtSource : urt_osEventSource_t</text><ellipse cx="7375.7624" cy="560.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="7384.7624" y="563.2886">numHrtSubscribers : unsigned int</text><ellipse cx="7375.7624" cy="572.8828" 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="196" x="7384.7624" y="576.0933">hrtSubscribers : urt_subscriber_t*</text><ellipse cx="7375.7624" cy="585.6875" 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="173" x="7384.7624" y="588.8979">hrtReleased : urt_osCondvar_t</text><ellipse cx="7375.7624" cy="598.4922" 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="209" x="7384.7624" y="601.7026">mandatoryMessage : urt_message_t</text><ellipse cx="7375.7624" cy="611.2969" 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="186" x="7384.7624" y="614.5073">latestMessage : urt_message_t*</text><ellipse cx="7375.7624" cy="640.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="7384.7624" y="644.1167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7365.7624" x2="7424.2624" y1="627.5039" y2="627.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="7424.2624" y="630.812">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7689.2624" x2="7747.7624" y1="627.5039" y2="627.5039"/><ellipse cx="7375.7624" cy="670.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="7384.7624" y="673.7261">numDiscardedMessages : uint64_t</text><ellipse cx="7375.7624" cy="683.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="7384.7624" y="686.5308">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7365.7624" x2="7448.2624" y1="657.1133" y2="657.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7448.2624" y="660.4214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7665.2624" x2="7747.7624" y1="657.1133" y2="657.1133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7365.7624" x2="7747.7624" y1="693.125" y2="693.125"/><ellipse cx="7375.7624" cy="704.125" 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="358" x="7384.7624" y="707.3354">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[ab7cf431813e3be5d474948fd959cdbf]
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stroke-width: 1.5;" x1="8597.7624" x2="9663.7624" y1="465.8594" y2="465.8594"/><ellipse cx="8607.7624" cy="476.8594" 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="8616.7624" y="480.0698">topic : urt_topic_t*</text><ellipse cx="8607.7624" cy="489.6641" 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="8616.7624" y="492.8745">evtListener : urt_osEventListener_t</text><ellipse cx="8607.7624" cy="502.4688" 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="112" x="8616.7624" y="505.6792">rtdata : urt_rtdata_t</text><ellipse cx="8607.7624" cy="515.2734" 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="175" x="8616.7624" y="518.4839">lastMessage : urt_message_t*</text><ellipse cx="8607.7624" cy="528.0781" 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="186" x="8616.7624" y="531.2886">lastMessageTime : urt_osTime_t</text><ellipse cx="8607.7624" cy="557.6875" 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="136" x="8616.7624" y="560.8979">sumLatencies : uint64_t</text><ellipse cx="8607.7624" cy="570.4922" 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="190" x="8616.7624" y="573.7026">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8597.7624" x2="9022.2624" y1="544.2852" y2="544.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="9022.2624" y="547.5933">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9239.2624" x2="9663.7624" y1="544.2852" y2="544.2852"/><ellipse cx="8607.7624" cy="600.1016" 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="138" x="8616.7624" y="603.312">minLatency : urt_delay_t</text><ellipse cx="8607.7624" cy="612.9063" 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="141" x="8616.7624" y="616.1167">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8597.7624" x2="9022.2624" y1="586.6992" y2="586.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="9022.2624" y="590.0073">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9239.2624" x2="9663.7624" y1="586.6992" y2="586.6992"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8597.7624" x2="9663.7624" y1="622.7109" y2="622.7109"/><ellipse cx="8607.7624" cy="633.7109" 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="359" x="8616.7624" y="636.9214">urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="646.5156" 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="1042" x="8616.7624" y="649.7261">urtSubscriberSubscribeHrt (subscriber : urt_subscriber_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="8607.7624" cy="659.3203" 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="1040" x="8616.7624" y="662.5308">urtSubscriberSubscribeFrt (subscriber : urt_subscriber_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="8607.7624" cy="672.125" 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="1042" x="8616.7624" y="675.3354">urtSubscriberSubscribeSrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t</text><ellipse cx="8607.7624" cy="684.9297" 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="699" x="8616.7624" y="688.1401">urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="697.7344" 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="413" x="8616.7624" y="700.9448">urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="710.5391" 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="752" x="8616.7624" y="713.7495">urtSubscriberFetchNextMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="723.3438" 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="762" x="8616.7624" y="726.5542">urtSubscriberFetchLatestMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="736.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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-link urt_nodestage_t to urt_config--><path d="M6793.2742,1730.1818 C6810.3857,1747.9219 6828.8977,1767.1139 6847.1738,1786.0614 " 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="6850.8254,1789.8471,6847.4565,1780.5923,6847.3543,1786.2483,6841.6984,1786.1461,6850.8254,1789.8471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]
-link urt_topicid_t to urt_config--><path d="M6357.5807,1728.3363 C6363.2665,1731.758 6369.0134,1734.9633 6374.7624,1737.8594 C6514.8764,1808.4428 6689.2887,1853.245 6811.4464,1878.4761 " 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="6816.4959,1879.514,6808.4857,1873.7836,6811.5983,1878.5071,6806.8748,1881.6197,6816.4959,1879.514" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]
-link urt_serviceid_t to urt_config--><path d="M6961.7624,1730.1818 C6961.7624,1747.4784 6961.7624,1766.1552 6961.7624,1784.6399 " 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="6961.7624,1789.8471,6965.7624,1780.8471,6961.7624,1784.8471,6957.7624,1780.8471,6961.7624,1789.8471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]
-link urt_delay_t to urt_config--><path d="M6539.339,1700.4045 C6555.6566,1713.4588 6573.8943,1726.9338 6591.7624,1737.8594 C6660.9024,1780.1353 6742.582,1818.1266 6811.5864,1847.1527 " 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="6816.5324,1849.2271,6809.7796,1842.0577,6811.9215,1847.2934,6806.6857,1849.4352,6816.5324,1849.2271" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
-link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5360.7624,1392.6872 C5360.7624,1450.5308 5360.7624,1545.2868 5360.7624,1602.4978 " 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="5360.7624,1607.5732,5364.7624,1598.5732,5360.7624,1602.5732,5356.7624,1598.5732,5360.7624,1607.5732" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
-link urt_osCondvar_t to urt_osMutex_t--><path d="M5310.1437,1293.3481 C5240.2882,1229.9649 5107.2411,1126.4276 4969.2624,1110.8594 C4942.1429,1107.7995 1066.382,1107.7995 1039.2624,1110.8594 C951.0478,1120.8127 897.9434,1222.6974 872.6871,1288.0978 " 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="870.7697,1293.1327,877.7108,1286.1455,872.5492,1288.46,870.2346,1283.2984,870.7697,1293.1327" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
-link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4579.7624,1398.9932 C4579.7624,1461.7318 4579.7624,1561.4721 4579.7624,1614.6616 " 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="4579.7624,1619.9737,4583.7624,1610.9737,4579.7624,1614.9737,4575.7624,1610.9737,4579.7624,1619.9737" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
-link urt_osThread_t to urt_osThreadPrio_t--><path d="M3808.124,1512.1767 C3805.2877,1532.4924 3802.5016,1552.449 3799.9656,1570.6135 " 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="3799.2572,1575.688,3804.4633,1567.3276,3799.9486,1570.736,3796.5402,1566.2213,3799.2572,1575.688" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
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-link urt_osThread_t to urt_osThreadState_t--><path d="M3672.3403,1512.1767 C3650.6238,1535.2412 3629.3431,1557.8428 3610.4726,1577.8845 " 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="3606.7312,1581.8581,3615.8131,1578.0476,3610.1588,1578.2178,3609.9886,1572.5635,3606.7312,1581.8581" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
-link urt_osThread_t to urt_osTime_t--><path d="M3551.4946,1224.9424 C3418.8912,1176.5876 3256.7309,1127.9497 3105.2624,1110.8594 C3060.5738,1105.8171 1530.9511,1105.8171 1486.2624,1110.8594 C1384.7005,1122.3187 1310.7769,1230.5523 1275.3152,1295.0613 " 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="1272.8286,1299.6284,1280.6452,1293.6366,1275.2194,1295.237,1273.619,1289.8113,1272.8286,1299.6284" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
-link urt_osEventListener_t to urt_osEventFlags_t--><path d="M2310.7624,1693.947 C2310.7624,1745.6304 2310.7624,1830.8733 2310.7624,1875.518 " 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="2310.7624,1880.7562,2314.7624,1871.7562,2310.7624,1875.7562,2306.7624,1871.7562,2310.7624,1880.7562" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
-link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1835.9071,1687.9291 C1949.6905,1739.9092 2153.835,1833.1695 2253.2333,1878.5781 " 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="2257.8866,1880.7039,2251.3625,1873.3258,2253.3387,1878.6262,2248.0383,1880.6024,2257.8866,1880.7039" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
-link urt_events to urt_osEventSource_t--><path d="M2564.1398,1385.8685 C2474.3749,1423.8985 2336.8017,1478.3908 2212.7624,1511.8594 C2140.5259,1531.3504 2118.967,1520.2501 2046.7624,1539.8594 C1977.0202,1558.8 1900.7671,1588.0974 1843.6775,1611.8378 " 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="1838.9087,1613.8265,1848.7549,1614.0544,1843.5235,1611.9021,1845.6759,1606.6707,1838.9087,1613.8265" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
-link urt_events to urt_osEventListener_t--><path d="M2612.5878,1386.0098 C2547.0099,1443.554 2431.372,1545.0254 2363.8632,1604.2639 " 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="2359.8868,1607.7531,2369.2899,1604.8236,2363.645,1604.4553,2364.0134,1598.8104,2359.8868,1607.7531" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
-link urt_events to urt_osEventMask_t--><path d="M2704.4925,1386.0098 C2765.6139,1447.7324 2876.7812,1559.9931 2932.7052,1616.4672 " 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="2936.3079,1620.1053,2932.8174,1610.8957,2932.7897,1616.5525,2927.1329,1616.5248,2936.3079,1620.1053" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
-link urt_events to urt_osEventFlags_t--><path d="M2650.2222,1386.1156 C2639.7905,1425.9151 2624.3402,1486.6533 2612.7624,1539.8594 C2593.7275,1627.3356 2626.0601,1663.8015 2575.7624,1737.8594 C2529.0866,1806.5847 2443.7473,1852.7573 2382.5122,1878.8197 " 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="2377.7765,1880.8158,2387.6235,1881.006,2382.3839,1878.8737,2384.5162,1873.6341,2377.7765,1880.8158" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
-link urt_events to urt_osEventWait_t--><path d="M2668.6273,1386.0098 C2677.6781,1442.9005 2693.5595,1542.7263 2703.0259,1602.2294 " 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="2703.8651,1607.5046,2706.4011,1597.9878,2703.0794,1602.5667,2698.5005,1599.245,2703.8651,1607.5046" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]
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+cluster condition variable--><rect fill="#FFFFFF" filter="url(#f18prfnycqlkhy)" height="435.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="13777.9664" y="862.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="14070.9664" y="877.3545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]
+cluster timer--><rect fill="#FFFFFF" filter="url(#f18prfnycqlkhy)" height="429.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="12960.9664" y="855.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="13339.4664" y="870.8545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]
+cluster thread--><rect fill="#FFFFFF" filter="url(#f18prfnycqlkhy)" height="587" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="11913.9664" y="742.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="12407.4664" y="757.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]
+cluster events--><rect fill="#FFFFFF" filter="url(#f18prfnycqlkhy)" height="664" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="10252.9664" y="868.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="11046.9664" y="883.8545">events</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]
+cluster Middleware--><polygon fill="#FFFFFF" filter="url(#f18prfnycqlkhy)" points="1962.9664,88.8594,1972.9664,78.8594,9170.9664,78.8594,9170.9664,1019.8594,9160.9664,1029.8594,1962.9664,1029.8594,1962.9664,88.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9160.9664" x2="9169.9664" y1="88.8594" y2="79.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1962.9664" x2="9160.9664" y1="88.8594" y2="88.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9160.9664" x2="9160.9664" y1="88.8594" y2="1029.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="5517.4664" y="104.8545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]
+cluster node--><rect fill="#FFFFFF" filter="url(#f18prfnycqlkhy)" height="539" style="stroke: #000000; stroke-width: 1.5;" width="1184" x="7323.9664" y="438.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="7895.9664" y="453.3545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]
+cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f18prfnycqlkhy)" points="1970.9664,384.8594,1980.9664,374.8594,7312.9664,374.8594,7312.9664,1011.8594,7302.9664,1021.8594,1970.9664,1021.8594,1970.9664,384.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7302.9664" x2="7311.9664" y1="384.8594" y2="375.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1970.9664" x2="7302.9664" y1="384.8594" y2="384.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7302.9664" x2="7302.9664" y1="384.8594" y2="1021.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="4535.4664" y="400.8545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
+cluster subscriber--><rect fill="#FFFFFF" filter="url(#f18prfnycqlkhy)" height="607" style="stroke: #000000; stroke-width: 1.5;" width="4101" x="3203.9664" y="406.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="5211.9664" y="421.8545">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]
+cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f18prfnycqlkhy)" points="8526.9664,435.3594,8536.9664,425.3594,9162.9664,425.3594,9162.9664,967.3594,9152.9664,977.3594,8526.9664,977.3594,8526.9664,435.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9152.9664" x2="9161.9664" y1="435.3594" y2="426.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8526.9664" x2="9152.9664" y1="435.3594" y2="435.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9152.9664" x2="9152.9664" y1="435.3594" y2="977.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="8718.9664" y="451.3545">Remote Procedure Call System</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]
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+class urt_topicid_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="191" x="998.4664" y="1167.8594"/><ellipse cx="1051.2164" cy="1183.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1052.0602,1190.6094 L1049.607,1190.6094 L1049.607,1180.3594 L1046.4664,1180.3594 L1046.4664,1178.2188 L1055.2008,1178.2188 L1055.2008,1180.3594 L1052.0602,1180.3594 L1052.0602,1190.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="1071.7164" y="1188.0137">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="999.4664" x2="1188.4664" y1="1199.8594" y2="1199.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="1004.4664" y="1230.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="999.4664" x2="1005.9664" y1="1214.2617" y2="1214.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="1005.9664" y="1217.5698">URT_CFG_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1181.9664" x2="1188.4664" y1="1214.2617" y2="1214.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1004.4664" y="1260.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="999.4664" x2="1002.4664" y1="1243.8711" y2="1243.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="1002.4664" y="1247.1792">URT_CFG_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1185.4664" x2="1188.4664" y1="1243.8711" y2="1243.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1004.4664" y="1290.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="999.4664" x2="1002.4664" y1="1273.4805" y2="1273.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="1002.4664" y="1276.7886">URT_CFG_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1185.4664" x2="1188.4664" y1="1273.4805" y2="1273.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1004.4664" y="1319.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="999.4664" x2="1002.4664" y1="1303.0898" y2="1303.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="1002.4664" y="1306.3979">URT_CFG_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1185.4664" x2="1188.4664" y1="1303.0898" y2="1303.0898"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]
+class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="204" x="1475.9664" y="1167.8594"/><ellipse cx="1528.7164" cy="1183.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1529.5602,1190.6094 L1527.107,1190.6094 L1527.107,1180.3594 L1523.9664,1180.3594 L1523.9664,1178.2188 L1532.7008,1178.2188 L1532.7008,1180.3594 L1529.5602,1180.3594 L1529.5602,1190.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="1549.2164" y="1188.0137">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1476.9664" x2="1678.9664" y1="1199.8594" y2="1199.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="1481.9664" y="1230.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1476.9664" x2="1483.4664" y1="1214.2617" y2="1214.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="1483.4664" y="1217.5698">URT_CFG_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1672.4664" x2="1678.9664" y1="1214.2617" y2="1214.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1481.9664" y="1260.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1476.9664" x2="1479.9664" y1="1243.8711" y2="1243.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1479.9664" y="1247.1792">URT_CFG_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1675.9664" x2="1678.9664" y1="1243.8711" y2="1243.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1481.9664" y="1290.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1476.9664" x2="1479.9664" y1="1273.4805" y2="1273.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1479.9664" y="1276.7886">URT_CFG_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1675.9664" x2="1678.9664" y1="1273.4805" y2="1273.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1481.9664" y="1319.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1476.9664" x2="1479.9664" y1="1303.0898" y2="1303.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1479.9664" y="1306.3979">URT_CFG_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1675.9664" x2="1678.9664" y1="1303.0898" y2="1303.0898"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]
+class urt_status_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="73.6094" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="1714.9664" y="1209.8594"/><ellipse cx="1763.2164" cy="1225.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1764.0602,1232.6094 L1761.607,1232.6094 L1761.607,1222.3594 L1758.4664,1222.3594 L1758.4664,1220.2188 L1767.2008,1220.2188 L1767.2008,1222.3594 L1764.0602,1222.3594 L1764.0602,1232.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="1783.7164" y="1230.0137">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1715.9664" x2="1893.9664" y1="1241.8594" y2="1241.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="1720.9664" y="1256.0698">URT_STATUS_OK = 0x0..0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="168" x="1720.9664" y="1268.8745">URT_STATUS_ERROR = 0x8..0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1715.9664" x2="1893.9664" y1="1275.4688" y2="1275.4688"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]
+class urt_delay_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="99.2188" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1930.4664" y="1197.3594"/><ellipse cx="1982.7164" cy="1213.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1983.5602,1220.1094 L1981.107,1220.1094 L1981.107,1209.8594 L1977.9664,1209.8594 L1977.9664,1207.7188 L1986.7008,1207.7188 L1986.7008,1209.8594 L1983.5602,1209.8594 L1983.5602,1220.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="2003.2164" y="1217.5137">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1931.4664" x2="2110.4664" y1="1229.3594" y2="1229.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1936.4664" y="1260.3745">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1931.4664" x2="1934.4664" y1="1243.7617" y2="1243.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="1934.4664" y="1247.0698">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2107.4664" x2="2110.4664" y1="1243.7617" y2="1243.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1936.4664" y="1289.9839">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1931.4664" x2="1934.4664" y1="1273.3711" y2="1273.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="1934.4664" y="1276.6792">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2107.4664" x2="2110.4664" y1="1273.3711" y2="1273.3711"/><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
+class urt_debug--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="718.4664" y="1216.3594"/><ellipse cx="804.7164" cy="1232.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M808.9508,1228.125 L803.6695,1228.125 L803.6695,1230.7969 L808.4664,1230.7969 L808.4664,1232.9531 L803.6695,1232.9531 L803.6695,1238.3594 L801.232,1238.3594 L801.232,1225.9688 L808.9508,1225.9688 L808.9508,1228.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="825.2164" y="1236.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="719.4664" x2="962.4664" y1="1248.3594" y2="1248.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="719.4664" x2="962.4664" y1="1256.3594" y2="1256.3594"/><ellipse cx="729.4664" cy="1267.3594" 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="738.4664" y="1270.5698">urtDebugAssert(condition : bool) : void</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
+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]
+class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="10260.9664" y="1216.3594"/><ellipse cx="10338.2164" cy="1232.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10339.0602,1239.1094 L10336.607,1239.1094 L10336.607,1228.8594 L10333.4664,1228.8594 L10333.4664,1226.7188 L10342.2008,1226.7188 L10342.2008,1228.8594 L10339.0602,1228.8594 L10339.0602,1239.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="10358.7164" y="1236.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10261.9664" x2="10539.9664" y1="1248.3594" y2="1248.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="10266.9664" y="1262.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10261.9664" x2="10539.9664" y1="1269.1641" y2="1269.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
+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]
+class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="10575.9664" y="1203.8594"/><ellipse cx="10599.0664" cy="1219.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10603.1758,1225.8594 L10595.457,1225.8594 L10595.457,1213.4688 L10603.1758,1213.4688 L10603.1758,1215.625 L10597.9102,1215.625 L10597.9102,1218.2969 L10602.6758,1218.2969 L10602.6758,1220.4531 L10597.9102,1220.4531 L10597.9102,1223.7031 L10603.1758,1223.7031 L10603.1758,1225.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="10614.8664" y="1224.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10576.9664" x2="10736.9664" y1="1235.8594" y2="1235.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="10581.9664" y="1250.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="10581.9664" y="1262.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="10581.9664" y="1275.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10576.9664" x2="10736.9664" y1="1282.2734" y2="1282.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
+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]
+class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="11339.4664" y="1209.8594"/><ellipse cx="11544.2164" cy="1225.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11545.0602,1232.6094 L11542.607,1232.6094 L11542.607,1222.3594 L11539.4664,1222.3594 L11539.4664,1220.2188 L11548.2008,1220.2188 L11548.2008,1222.3594 L11545.0602,1222.3594 L11545.0602,1232.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="11564.7164" y="1230.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11340.4664" x2="11885.4664" y1="1241.8594" y2="1241.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11340.4664" x2="11885.4664" y1="1249.8594" y2="1249.8594"/><ellipse cx="11350.4664" cy="1260.8594" 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="11359.4664" y="1264.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="11350.4664" cy="1273.6641" 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="11359.4664" y="1276.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
+class urt_events--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="10279.9664" y="895.8594"/><ellipse cx="10687.7164" cy="911.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10691.9508,907.625 L10686.6695,907.625 L10686.6695,910.2969 L10691.4664,910.2969 L10691.4664,912.4531 L10686.6695,912.4531 L10686.6695,917.8594 L10684.232,917.8594 L10684.232,905.4688 L10691.9508,905.4688 L10691.9508,907.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="10708.2164" y="916.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10280.9664" x2="11168.9664" y1="927.8594" y2="927.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10280.9664" x2="11168.9664" y1="935.8594" y2="935.8594"/><ellipse cx="10290.9664" 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="864" x="10299.9664" y="950.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="10290.9664" 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="567" x="10299.9664" y="962.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="10290.9664" 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="618" x="10299.9664" y="975.6792">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(#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; stroke-width: 1.5;" x1="2709.4664" x2="3222.4664" y1="142.8594" y2="142.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2716.4664" y="150.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="2728.4664" y="157.0698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2716.4664" y="163.6641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="2728.4664" y="169.8745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2716.4664" y="176.4688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="2728.4664" y="182.6792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; 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; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3070.9664" x2="3222.4664" y1="314.1133" y2="314.1133"/><ellipse cx="2719.4664" cy="357.125" 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="313" x="2728.4664" y="360.3354">urtCoreGetService (id : urt_serviceid_t) : 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="343.7227" y2="343.7227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="2873.4664" y="347.0308">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="343.7227" y2="343.7227"/><!--MD5=[a7dea26996a1231aa68629b332780450]
+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]
+class urt_topic_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="248.0703" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="2773.9664" y="444.3594"/><ellipse cx="2928.7164" cy="460.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2928.2008,460.9219 Q2926.3414,460.2188 2925.6852,459.4531 Q2925.0445,458.6719 2925.0445,457.3594 Q2925.0445,455.6719 2926.1227,454.7031 Q2927.2008,453.7344 2929.0758,453.7344 Q2929.9352,453.7344 2930.7789,453.9375 Q2931.6383,454.125 2932.482,454.5156 L2932.482,456.9063 Q2931.7008,456.3438 2930.8727,456.0625 Q2930.0602,455.7656 2929.2633,455.7656 Q2928.3883,455.7656 2927.9039,456.125 Q2927.4352,456.4844 2927.4352,457.1406 Q2927.4352,457.6563 2927.7789,458 Q2928.1227,458.3281 2929.2164,458.7344 L2930.2789,459.1406 Q2931.7633,459.6875 2932.4664,460.5938 Q2933.1852,461.5 2933.1852,462.875 Q2933.1852,464.75 2932.0758,465.6719 Q2930.9664,466.5938 2928.7164,466.5938 Q2927.7945,466.5938 2926.8727,466.375 Q2925.9508,466.1563 2925.0914,465.7344 L2925.0914,463.2031 Q2926.0602,463.8906 2926.982,464.2344 Q2927.9039,464.5781 2928.7945,464.5781 Q2929.7008,464.5781 2930.2008,464.1719 Q2930.7008,463.75 2930.7008,463.0156 Q2930.7008,462.4531 2930.357,462.0469 Q2930.0289,461.625 2929.4039,461.375 L2928.2008,460.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2949.2164" y="464.5137">urt_topic_t</text><line style="stroke: #A80036; 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]
+class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="4907.4664" y="871.8594"/><ellipse cx="4949.9164" cy="887.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4949.4008,888.4219 Q4947.5414,887.7188 4946.8852,886.9531 Q4946.2445,886.1719 4946.2445,884.8594 Q4946.2445,883.1719 4947.3227,882.2031 Q4948.4008,881.2344 4950.2758,881.2344 Q4951.1352,881.2344 4951.9789,881.4375 Q4952.8383,881.625 4953.682,882.0156 L4953.682,884.4063 Q4952.9008,883.8438 4952.0727,883.5625 Q4951.2602,883.2656 4950.4633,883.2656 Q4949.5883,883.2656 4949.1039,883.625 Q4948.6352,883.9844 4948.6352,884.6406 Q4948.6352,885.1563 4948.9789,885.5 Q4949.3227,885.8281 4950.4164,886.2344 L4951.4789,886.6406 Q4952.9633,887.1875 4953.6664,888.0938 Q4954.3852,889 4954.3852,890.375 Q4954.3852,892.25 4953.2758,893.1719 Q4952.1664,894.0938 4949.9164,894.0938 Q4948.9945,894.0938 4948.0727,893.875 Q4947.1508,893.6563 4946.2914,893.2344 L4946.2914,890.7031 Q4947.2602,891.3906 4948.182,891.7344 Q4949.1039,892.0781 4949.9945,892.0781 Q4950.9008,892.0781 4951.4008,891.6719 Q4951.9008,891.25 4951.9008,890.5156 Q4951.9008,889.9531 4951.557,889.5469 Q4951.2289,889.125 4950.6039,888.875 L4949.4008,888.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="4970.0164" y="892.0137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4908.4664" x2="5131.4664" y1="903.8594" y2="903.8594"/><ellipse cx="4918.4664" cy="914.8594" 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="4927.4664" y="918.0698">topic : urt_topic_t*</text><ellipse cx="4918.4664" cy="927.6641" 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="4927.4664" y="930.8745">evtListener : urt_osEventListener_t</text><ellipse cx="4918.4664" cy="940.4688" 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="4927.4664" y="943.6792">lastMessage : urt_message_t*</text><ellipse cx="4918.4664" cy="953.2734" 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="4927.4664" y="956.4839">lastMessageTime : urt_osTime_t</text><ellipse cx="4918.4664" cy="982.8828" 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="4927.4664" y="986.0933">sumLatencies : uint64_t</text><ellipse cx="4918.4664" cy="995.6875" 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="4927.4664" y="998.8979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4908.4664" x2="4911.4664" y1="969.4805" y2="969.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="4911.4664" y="972.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5128.4664" x2="5131.4664" y1="969.4805" y2="969.4805"/><!--MD5=[fc7708c915a0148c667d62e1370980fd]
+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]
+class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="3211.4664" y="491.3594"/><ellipse cx="3558.2164" cy="507.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3557.7008,507.9219 Q3555.8414,507.2188 3555.1852,506.4531 Q3554.5445,505.6719 3554.5445,504.3594 Q3554.5445,502.6719 3555.6227,501.7031 Q3556.7008,500.7344 3558.5758,500.7344 Q3559.4352,500.7344 3560.2789,500.9375 Q3561.1383,501.125 3561.982,501.5156 L3561.982,503.9063 Q3561.2008,503.3438 3560.3727,503.0625 Q3559.5602,502.7656 3558.7633,502.7656 Q3557.8883,502.7656 3557.4039,503.125 Q3556.9352,503.4844 3556.9352,504.1406 Q3556.9352,504.6563 3557.2789,505 Q3557.6227,505.3281 3558.7164,505.7344 L3559.7789,506.1406 Q3561.2633,506.6875 3561.9664,507.5938 Q3562.6852,508.5 3562.6852,509.875 Q3562.6852,511.75 3561.5758,512.6719 Q3560.4664,513.5938 3558.2164,513.5938 Q3557.2945,513.5938 3556.3727,513.375 Q3555.4508,513.1563 3554.5914,512.7344 L3554.5914,510.2031 Q3555.5602,510.8906 3556.482,511.2344 Q3557.4039,511.5781 3558.2945,511.5781 Q3559.2008,511.5781 3559.7008,511.1719 Q3560.2008,510.75 3560.2008,510.0156 Q3560.2008,509.4531 3559.857,509.0469 Q3559.5289,508.625 3558.9039,508.375 L3557.7008,507.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="3578.7164" y="511.5137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3212.4664" x2="4031.4664" y1="523.3594" y2="523.3594"/><ellipse cx="3222.4664" cy="551.1641" 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="3231.4664" y="554.3745">minLatency : urt_delay_t</text><ellipse cx="3222.4664" cy="563.9688" 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="3231.4664" y="567.1792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3212.4664" x2="3513.4664" y1="537.7617" y2="537.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3513.4664" y="541.0698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3730.4664" x2="4031.4664" y1="537.7617" y2="537.7617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3212.4664" x2="4031.4664" y1="573.7734" y2="573.7734"/><ellipse cx="3222.4664" cy="584.7734" 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="3231.4664" y="587.9839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><ellipse cx="3222.4664" cy="597.5781" 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="3231.4664" y="600.7886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="3222.4664" cy="610.3828" 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="3231.4664" y="613.5933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3222.4664" cy="623.1875" 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="3231.4664" y="626.3979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3222.4664" cy="635.9922" 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="3231.4664" y="639.2026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
+class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="6212.9664" y="471.8594"/><ellipse cx="6691.7164" cy="487.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6691.2008,488.4219 Q6689.3414,487.7188 6688.6852,486.9531 Q6688.0445,486.1719 6688.0445,484.8594 Q6688.0445,483.1719 6689.1227,482.2031 Q6690.2008,481.2344 6692.0758,481.2344 Q6692.9352,481.2344 6693.7789,481.4375 Q6694.6383,481.625 6695.482,482.0156 L6695.482,484.4063 Q6694.7008,483.8438 6693.8727,483.5625 Q6693.0602,483.2656 6692.2633,483.2656 Q6691.3883,483.2656 6690.9039,483.625 Q6690.4352,483.9844 6690.4352,484.6406 Q6690.4352,485.1563 6690.7789,485.5 Q6691.1227,485.8281 6692.2164,486.2344 L6693.2789,486.6406 Q6694.7633,487.1875 6695.4664,488.0938 Q6696.1852,489 6696.1852,490.375 Q6696.1852,492.25 6695.0758,493.1719 Q6693.9664,494.0938 6691.7164,494.0938 Q6690.7945,494.0938 6689.8727,493.875 Q6688.9508,493.6563 6688.0914,493.2344 L6688.0914,490.7031 Q6689.0602,491.3906 6689.982,491.7344 Q6690.9039,492.0781 6691.7945,492.0781 Q6692.7008,492.0781 6693.2008,491.6719 Q6693.7008,491.25 6693.7008,490.5156 Q6693.7008,489.9531 6693.357,489.5469 Q6693.0289,489.125 6692.4039,488.875 L6691.2008,488.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="6712.2164" y="492.0137">urt_srtsubscriber_t</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="6232.9664" y="573.2886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6213.9664" x2="6646.4664" y1="543.8711" y2="543.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="6646.4664" y="547.1792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6863.4664" x2="7295.9664" y1="543.8711" y2="543.8711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6213.9664" x2="7295.9664" y1="579.8828" y2="579.8828"/><ellipse cx="6223.9664" cy="590.8828" 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="6232.9664" y="594.0933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><ellipse cx="6223.9664" cy="603.6875" 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="441" x="4086.9664" y="675.2261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="5095.9664" y="594.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5076.9664" x2="5365.9664" y1="565.0898" y2="565.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="5365.9664" y="568.3979">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="5869.9664" x2="6158.9664" y1="565.0898" y2="565.0898"/><ellipse cx="5086.9664" cy="620.9063" 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="5095.9664" y="624.1167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; 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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]
+class urt_service_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="222.4609" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="602" x="8534.9664" y="457.3594"/><ellipse cx="8792.2164" cy="473.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8791.7008,473.9219 Q8789.8414,473.2188 8789.1852,472.4531 Q8788.5445,471.6719 8788.5445,470.3594 Q8788.5445,468.6719 8789.6227,467.7031 Q8790.7008,466.7344 8792.5758,466.7344 Q8793.4352,466.7344 8794.2789,466.9375 Q8795.1383,467.125 8795.982,467.5156 L8795.982,469.9063 Q8795.2008,469.3438 8794.3727,469.0625 Q8793.5602,468.7656 8792.7633,468.7656 Q8791.8883,468.7656 8791.4039,469.125 Q8790.9352,469.4844 8790.9352,470.1406 Q8790.9352,470.6563 8791.2789,471 Q8791.6227,471.3281 8792.7164,471.7344 L8793.7789,472.1406 Q8795.2633,472.6875 8795.9664,473.5938 Q8796.6852,474.5 8796.6852,475.875 Q8796.6852,477.75 8795.5758,478.6719 Q8794.4664,479.5938 8792.2164,479.5938 Q8791.2945,479.5938 8790.3727,479.375 Q8789.4508,479.1563 8788.5914,478.7344 L8788.5914,476.2031 Q8789.5602,476.8906 8790.482,477.2344 Q8791.4039,477.5781 8792.2945,477.5781 Q8793.2008,477.5781 8793.7008,477.1719 Q8794.2008,476.75 8794.2008,476.0156 Q8794.2008,475.4531 8793.857,475.0469 Q8793.5289,474.625 8792.9039,474.375 L8791.7008,473.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="8812.7164" y="477.5137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8535.9664" x2="9135.9664" y1="489.3594" y2="489.3594"/><ellipse cx="8545.9664" cy="500.3594" 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="8554.9664" y="503.5698">next : urt_service_t*</text><ellipse cx="8545.9664" cy="513.1641" 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="8554.9664" y="516.3745">id : urt_serviceid_t</text><ellipse cx="8545.9664" cy="525.9688" 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="8554.9664" y="529.1792">lock : urt_osMutex_t</text><ellipse cx="8545.9664" cy="538.7734" 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="8554.9664" y="541.9839">callback : urt_servicefunc_t*</text><ellipse cx="8545.9664" cy="568.3828" 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="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; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8931.9664" x2="9135.9664" y1="554.9805" y2="554.9805"/><ellipse cx="8545.9664" cy="623.6016" 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="8554.9664" y="626.812">minDuration : urt_delay_t</text><ellipse cx="8545.9664" cy="636.4063" 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="8554.9664" y="639.6167">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8535.9664" x2="8608.9664" y1="610.1992" y2="610.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="8608.9664" y="613.5073">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="9062.9664" x2="9135.9664" y1="610.1992" y2="610.1992"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8535.9664" x2="9135.9664" y1="646.2109" y2="646.2109"/><ellipse cx="8545.9664" cy="657.2109" 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="8554.9664" y="660.4214">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="8545.9664" cy="670.0156" 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="8554.9664" y="673.2261">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="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]
+link urt_osEventListener_t to urt_osEventFlags_t--><path d="M11056.9664,1289.947 C11056.9664,1341.6304 11056.9664,1426.8733 11056.9664,1471.518 " 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="11056.9664,1476.7562,11060.9664,1467.7562,11056.9664,1471.7562,11052.9664,1467.7562,11056.9664,1476.7562" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
+link urt_osEventSource_t to urt_osEventFlags_t--><path d="M11531.8217,1283.9291 C11418.0384,1335.9092 11213.8938,1429.1695 11114.4955,1474.5781 " 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="11109.8422,1476.7039,11119.6905,1476.6024,11114.3901,1474.6262,11116.3663,1469.3258,11109.8422,1476.7039" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
+link urt_events to urt_osEventSource_t--><path d="M10861.311,981.8945 C10982.7075,1020.6759 11164.8816,1080.0151 11321.9664,1135.8594 C11386.3874,1158.7613 11458.1633,1186.1195 11514.3122,1207.9445 " 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="11519.0101,1209.7719,11512.0724,1202.7813,11514.3502,1207.9593,11509.1722,1210.2371,11519.0101,1209.7719" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
+link urt_events to urt_osEventListener_t--><path d="M10771.4791,982.0098 C10833.5073,1039.554 10942.8855,1141.0254 11006.7401,1200.2639 " 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="11010.5011,1203.7531,11006.6236,1194.6996,11006.8356,1200.3525,11001.1827,1200.5645,11010.5011,1203.7531" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
+link urt_events to urt_osEventMask_t--><path d="M10679.5744,982.0098 C10614.6454,1043.7324 10496.553,1155.9931 10437.1452,1212.4672 " 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="10433.3181,1216.1053,10442.597,1212.8036,10436.942,1212.6604,10437.0852,1207.0053,10433.3181,1216.1053" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
+link urt_events to urt_osEventFlags_t--><path d="M10731.9334,982.0692 C10748.2765,1083.044 10788.0706,1326.5256 10792.9664,1333.8594 C10838.8943,1402.6586 10923.81,1448.7583 10984.9514,1474.7849 " 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="10989.6805,1476.7782,10982.9409,1469.5964,10985.0731,1474.836,10979.8335,1476.9683,10989.6805,1476.7782" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
+link urt_events to urt_osEventWait_t--><path d="M10715.4397,982.0098 C10702.8541,1039.0149 10680.7512,1139.1282 10667.6237,1198.5881 " 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="10666.5382,1203.5046,10672.3847,1195.5788,10667.6163,1198.6222,10664.5729,1193.8538,10666.5382,1203.5046" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]
+link urt_osCondvar_t to urt_delay_t--><path d="M14058.3183,988.3702 C13984.7639,1029.4052 13872.7484,1084.6285 13766.9664,1107.8594 C13671.4072,1128.8453 10342.7972,1134.8103 10244.9664,1135.8594 C6900.812,1171.7203 2792.0014,1234.8739 2116.8603,1245.3636 " 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="2111.4811,1245.4472,2120.5422,1249.3068,2116.4805,1245.3695,2120.4178,1241.3078,2111.4811,1245.4472" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]
+link urt_osThread_t to urt_delay_t--><path d="M11921.54,1102.3807 C11915.3489,1104.3535 11909.1538,1106.1852 11902.9664,1107.8594 C11871.7673,1116.3014 3132.8459,1232.1502 2116.9477,1245.5905 " 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="2111.7983,1245.6586,2120.8504,1249.5392,2116.7979,1245.5924,2120.7446,1241.5399,2111.7983,1245.6586" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4dd831efde278dc905a11b75839a39d0]
+link urt_osThread_t to urt_status_t--><path d="M11921.5657,1102.4767 C11915.3668,1104.4203 11909.1632,1106.22 11902.9664,1107.8594 C11768.8304,1143.3453 2040.7127,1081.7061 1912.9664,1135.8594 C1879.3645,1150.1037 1851.0326,1180.4492 1831.8291,1205.8167 " 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="1828.826,1209.8421,1837.4138,1205.0203,1831.8159,1205.8345,1831.0017,1200.2365,1828.826,1209.8421" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]
+link urt_osTimer_t to urt_delay_t--><path d="M13258.5736,994.9062 C13180.0061,1035.0466 13067.0163,1085.7564 12960.9664,1107.8594 C12813.2438,1138.6478 10395.8526,1134.0634 10244.9664,1135.8594 C6900.8566,1175.6648 2792.009,1235.5453 2116.8613,1245.4493 " 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="2111.482,1245.5282,2120.5398,1249.3956,2116.4815,1245.4547,2120.4223,1241.3964,2111.482,1245.5282" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[97e66fd6906ece822f393f9bfe719297]
+link urt_osTimer_t to urt_status_t--><path d="M13259.0313,994.9334 C13180.4729,1035.2311 13067.2857,1086.1312 12960.9664,1107.8594 C12810.6288,1138.5836 2054.2498,1075.9899 1912.9664,1135.8594 C1879.3626,1150.0992 1851.0308,1180.445 1831.8278,1205.8137 " 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="1828.8248,1209.8393,1837.4125,1205.0174,1831.8146,1205.8316,1831.0003,1200.2337,1828.8248,1209.8393" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]
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+reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M7807.9991,681.9944 C7745.8704,760.3847 7671.7576,858.997 7639.1015,908.1135 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7816.2902,671.5643,7809.4254,673.7721,7808.8231,680.958,7815.6879,678.7502,7816.2902,671.5643" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7801.9291" y="691.0852">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7633.6044" y="897.326">1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]
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+reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M7983.1804,682.4746 C8041.6106,760.787 8118.9799,859.0972 8161.8001,908.1135 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7975.067,671.5643,7975.4377,678.7658,7982.2278,681.1935,7981.8572,673.992,7975.067,671.5643" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7971.3738" y="691.0852">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8146.5471" y="897.326">1</text><!--MD5=[b913f036db99e36b937989146817bd94]
+reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M8002.2828,675.7992 C8065.931,755.1174 8143.6093,857.6939 8177.1024,908.1135 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7998.8801,671.5643,8001.399,681.0856,8002.0118,675.462,8007.6354,676.0748,7998.8801,671.5643" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[536025241394544a90bc53fb552f3a08]
+reverse link urt_message_t to urt_message_t--><path d="M3190.1073,898.8723 C3204.6943,908.3373 3213.4664,921.6663 3213.4664,938.8594 C3213.4664,960.2256 3199.9192,975.6243 3178.5004,985.0555 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3178.5004,892.6633,3181.9042,899.0205,3189.0816,898.3236,3185.6777,891.9664,3178.5004,892.6633" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3186.7493" y="887.8095">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3186.2945" y="983.4003">0..1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]
+link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M3824.2073,645.3649 C3894.5924,668.539 3974.7662,690.9609 4049.9664,702.8594 C4073.3981,706.5669 4883.801,698.3634 4903.9664,710.8594 C4953.9844,741.8544 4983.3004,801.8386 4999.9452,852.5028 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="5006.6732,850.5673,5005.8217,871.7399,4993.284,854.6575,5006.6732,850.5673" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[37a8b7f2877a6b7bb4e9d0352ce3d221]
+link urt_nrtsubscriber_t to urt_message_t--><path d="M3334.8482,645.4217 C3286.8752,663.578 3238.8223,685.276 3195.9664,710.8594 C3127.5856,751.6803 3062.479,814.5299 3016.8991,863.9122 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3013.3768,867.7437,3022.4125,863.825,3016.7606,864.0627,3016.5229,858.4108,3013.3768,867.7437" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]
+link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M6391.7243,664.9146 C6326.8988,679.5213 6259.7133,692.9827 6195.9664,702.8594 C6146.6502,710.5002 6133.3743,703.8362 6083.9664,710.8594 C5744.9737,759.046 5352.6593,853.2859 5152.4448,904.2154 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="5153.909,911.066,5132.799,909.2308,5150.4459,897.5011,5153.909,911.066" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[47304731969ac4130b45cc7169c5cada]
+reverse link urt_srtsubscriber_t to urt_srtusefulnessfunc_t--><path d="M6622.9423,673.1022 C6522.4467,752.8317 6390.8164,857.2621 6326.5896,908.2172 " fill="none" id="urt_srtsubscriber_t&lt;-urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6633.1823,664.9783,6625.9958,665.5739,6623.7816,672.4366,6630.968,671.841,6633.1823,664.9783" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6615.945" y="684.7017">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6308.0806" y="897.4511">0..1</text><!--MD5=[dffdac3aea8c81c86dd1d0b8122fcada]
+link urt_srtsubscriber_t to urt_message_t--><path d="M6408.7378,664.9257 C6338.8344,680.66 6265.4656,694.522 6195.9664,702.8594 C6175.2813,705.3409 3215.3282,703.1684 3195.9664,710.8594 C3118.6785,741.5603 3051.5663,809.6767 3007.5728,863.5069 " fill="none" id="urt_srtsubscriber_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3004.1817,867.6841,3012.9597,863.2179,3007.3331,863.8022,3006.7488,858.1756,3004.1817,867.6841" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]
+link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M4867.1646,681.3684 C4880.1408,690.4983 4892.4956,700.3138 4903.9664,710.8594 C4945.5611,749.0994 4974.4624,805.6409 4993.014,852.8495 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="4999.6366,850.574,5000.0987,871.7586,4986.5265,855.486,4999.6366,850.574" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[cfcdebdb88febc368723fd91f781523c]
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+link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M5400.8062,702.9043 C5314.9739,756.083 5219.3933,815.3014 5145.4571,861.1097 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="5148.7965,867.2753,5128.1084,871.8583,5141.4231,855.3744,5148.7965,867.2753" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]
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+link urt_nrtsubscriber_t to urt_config--><path d="M3427.361,645.3774 C3359.1094,668.6686 3281.1936,691.1599 3207.9664,702.8594 C3197.9476,704.4601 293.1308,703.6754 285.9664,710.8594 C188.2055,808.8883 198.5381,1226.5134 285.9664,1333.8594 C367.3198,1433.7467 733.2366,1475.7119 943.6782,1491.8377 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="948.9296,1492.2372,940.2591,1487.5657,943.944,1491.8577,939.652,1495.5427,948.9296,1492.2372" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[249ee4d4a0d0f021e94ff447977fc36f]
+link urt_nrtsubscriber_t to urt_status_t--><path d="M3427.0934,645.4247 C3358.9037,668.6808 3281.0945,691.1383 3207.9664,702.8594 C3193.2856,705.2125 1077.4601,700.3264 1066.9664,710.8594 C1004.7005,773.3584 1005.9822,1044.1091 1066.9664,1107.8594 C1115.4788,1158.5722 1634.002,1106.9838 1697.9664,1135.8594 C1730.714,1150.6428 1758.5383,1180.4417 1777.5984,1205.4447 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1780.8177,1209.7321,1778.6124,1200.1333,1777.8155,1205.7337,1772.2151,1204.9368,1780.8177,1209.7321" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[af3bb42c2cc648980c9a8c0bd0e49df3]
+reverse link urt_srtsubscriber_t to urt_delay_t--><path d="M6396.3623,667.7274 C6330.2136,682.3117 6261.3772,695.0389 6195.9664,702.8594 C6181.2207,704.6224 1929.4576,700.3485 1918.9664,710.8594 C1794.318,835.7411 1864.0443,940.1805 1918.9664,1107.8594 C1929.7741,1140.8558 1951.7302,1172.489 1972.5124,1197.2195 " fill="none" id="urt_srtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="6409.1168,664.8853,6402.3904,662.2861,6397.4041,667.4954,6404.1305,670.0945,6409.1168,664.8853" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6374.3314" y="684.9274">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1940.0111" y="1186.245">0..2</text><!--MD5=[57f9c03e706aa97ce919c51d40a1f0dd]
+link urt_srtsubscriber_t to urt_config--><path d="M7102.836,664.9187 C7172.8746,680.6258 7246.3599,694.4793 7315.9664,702.8594 C7328.7285,704.3959 9157.8967,701.7504 9166.9664,710.8594 C9229.214,773.3766 9227.8134,1043.9782 9166.9664,1107.8594 C8882.8607,1406.132 2326.108,1487.8874 1244.4154,1499.3624 " fill="none" id="urt_srtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1239.2991,1499.4166,1248.341,1503.321,1244.2988,1499.3636,1248.2562,1495.3214,1239.2991,1499.4166" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ddfd53c980ad9ebb8f86954377552edb]
+link urt_srtsubscriber_t to urt_status_t--><path d="M6409.117,664.8871 C6339.101,680.6525 6265.593,694.536 6195.9664,702.8594 C6180.9517,704.6543 1852.0019,700.5212 1840.9664,710.8594 C1702.5807,840.5008 1761.3018,1102.3094 1791.3309,1204.5745 " 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="1792.8261,1209.616,1794.1017,1199.8501,1791.4043,1204.8224,1786.432,1202.125,1792.8261,1209.616" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b350769e483c42ea2704e388ea6a04f2]
+reverse link urt_frtsubscriber_t to urt_delay_t--><path d="M4158.5758,684.0876 C4122.0972,691.6636 4085.5015,698.1395 4049.9664,702.8594 C4033.3415,705.0676 1646.8056,698.9809 1634.9664,710.8594 C1572.6873,773.3452 1575.7921,1042.4257 1634.9664,1107.8594 C1676.6129,1153.9113 1857.0502,1108.8669 1912.9664,1135.8594 C1941.6596,1149.7105 1966.93,1174.5223 1985.7985,1197.1796 " fill="none" id="urt_frtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4171.4719,681.3631,4164.7746,678.6897,4159.7311,683.8436,4166.4283,686.517,4171.4719,681.3631" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4136.2965" y="701.8914">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1982.5405" y="1186.1995">0..4</text><!--MD5=[7be759a40cf40f1b9231b6649fee3f4f]
+link urt_frtsubscriber_t to urt_config--><path d="M4171.4774,681.4044 C4130.7459,690.1455 4089.6939,697.6032 4049.9664,702.8594 C4037.9874,704.4443 578.5209,702.3255 569.9664,710.8594 C373.9399,906.4146 404.461,1110.3997 567.9664,1333.8594 C612.9424,1395.3273 804.9356,1444.8586 943.9873,1473.5713 " 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="948.9111,1474.5839,940.9015,1468.8528,944.0136,1473.5766,939.2898,1476.6887,948.9111,1474.5839" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[29df74e07807e6378398cb43d45b3c27]
+link urt_frtsubscriber_t to urt_status_t--><path d="M4171.475,681.3861 C4130.7439,690.1307 4089.6927,697.5943 4049.9664,702.8594 C4039.9429,704.1879 1145.1062,703.6999 1137.9664,710.8594 C1075.6696,773.3276 1077.1614,1043.9382 1137.9664,1107.8594 C1180.9051,1152.9987 1641.2564,1110.0668 1697.9664,1135.8594 C1730.6724,1150.7346 1758.4987,1180.5291 1777.5702,1205.5071 " 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="1780.7915,1209.7899,1778.5784,1200.1929,1777.786,1205.794,1772.185,1205.0016,1780.7915,1209.7899" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bc1cc9ca99c1274e9c895cd105ca1d4c]
+reverse link urt_hrtsubscriber_t to urt_delay_t--><path d="M5062.6284,702.4159 C5061.4066,702.5655 5060.1859,702.7133 5058.9664,702.8594 C5047.4067,704.2445 1714.189,702.6172 1705.9664,710.8594 C1643.6583,773.3163 1647.9152,1041.4273 1705.9664,1107.8594 C1736.5105,1142.8133 1871.5131,1114.9706 1912.9664,1135.8594 C1941.2994,1150.1368 1966.459,1174.8356 1985.3509,1197.3152 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="5075.762,700.7506,5069.3065,697.5372,5063.8573,702.2602,5070.3129,705.4736,5075.762,700.7506" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5060.081" y="699.5756">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1954.655" y="1186.3542">0..5</text><!--MD5=[47265b8b91af56102ad98d46909bef01]
+reverse link urt_hrtsubscriber_t to urt_osTimer_t--><path d="M6172.9719,700.0367 C6180.6763,701.0373 6188.3442,701.9797 6195.9664,702.8594 C6242.6358,708.2457 12915.5681,698.7745 12960.9664,710.8594 C13085.865,744.1071 13212.469,826.5787 13288.6042,882.661 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="6159.973,698.2986,6165.3899,703.0586,6171.8671,699.8892,6166.4503,695.1292,6159.973,698.2986" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6167.6512" y="697.0891">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13280.3944" y="871.9713">1</text><!--MD5=[c255c4720016d78ffa1594ef43d10003]
+link urt_hrtsubscriber_t to urt_config--><path d="M5075.7625,700.7549 C5070.1414,701.4908 5064.5415,702.1929 5058.9664,702.8594 C5043.9793,704.651 723.4984,701.1211 711.9664,710.8594 C498.9687,890.7263 479.3715,1105.2777 638.9664,1333.8594 C675.1648,1385.705 825.6808,1434.234 943.8117,1465.4715 " 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="948.7051,1466.7605,941.021,1460.5998,943.87,1465.4868,938.9831,1468.3359,948.7051,1466.7605" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[acfaba0e8df90d54cbfcf78ceb19e2ee]
+link urt_hrtsubscriber_t to urt_status_t--><path d="M5075.7623,700.753 C5070.1413,701.4895 5064.5414,702.1923 5058.9664,702.8594 C5045.693,704.4478 1218.4092,701.3969 1208.9664,710.8594 C1146.6487,773.3067 1148.3932,1043.7186 1208.9664,1107.8594 C1246.3326,1147.4265 1648.509,1113.149 1697.9664,1135.8594 C1730.5034,1150.8001 1758.2512,1180.432 1777.3316,1205.3237 " 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="1780.5553,1209.5924,1778.3236,1199.9997,1777.5421,1205.6023,1771.9395,1204.8209,1780.5553,1209.5924" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[19bf7f91edc926705d1714d4ed8cf052]
+link urt_srtusefulnessfunc_t to urt_delay_t--><path d="M6119.4473,969.4415 C5897.8909,1008.3693 5496.1585,1074.5535 5149.9664,1107.8594 C3957.3417,1222.5976 2499.7153,1242.7973 2116.7702,1246.1985 " 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="2111.7623,1246.2426,2120.7972,1250.1632,2116.7621,1246.1986,2120.7268,1242.1635,2111.7623,1246.2426" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]
+reverse link urt_service_t to urt_serviceid_t--><path d="M8588.2246,683.5702 C8564.1899,691.3647 8539.8587,698.0275 8515.9664,702.8594 C8493.1777,707.4681 1839.4909,698.2358 1819.9664,710.8594 C1662.2043,812.861 1606.2076,1045.1337 1587.1887,1167.7187 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8600.7623,679.3947,8593.8058,677.4955,8589.3771,683.1864,8596.3336,685.0856,8600.7623,679.3947" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8575.9433" y="699.7845">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1579.6701" y="1156.7843">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]
+reverse link urt_service_t to urt_osMutex_t--><path d="M9150.0533,632.3899 C9294.3858,659.0884 9468.2041,687.426 9625.9664,702.8594 C9642.7256,704.4989 9914.0496,703.046 9928.9664,710.8594 C10001.5513,748.8795 10050.5028,834.3212 10075.7665,889.1346 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9137.0668,629.9774,9142.2352,635.006,9148.8649,632.1693,9143.6965,627.1406,9137.0668,629.9774" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9145.171" y="628.4774">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10073.4884" y="878.1482">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]
+link urt_service_t to urt_config--><path d="M8600.7625,679.3958 C8572.6858,688.9871 8544.0236,697.1858 8515.9664,702.8594 C8421.6939,721.9227 1684.7537,689.5368 1590.9664,710.8594 C1163.9235,807.9479 935.4934,765.3774 701.9664,1135.8594 C655.0413,1210.3043 653.444,1260.4457 701.9664,1333.8594 C755.5089,1414.8685 857.2103,1456.7093 943.604,1478.2505 " 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="948.4871,1479.4506,940.7019,1473.418,943.6316,1478.2572,938.7925,1481.1868,948.4871,1479.4506" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ac5bbcedbd2eba97f2e594f2b75734f9]
+reverse link urt_service_t to urt_delay_t--><path d="M8588.2245,683.5695 C8564.1898,691.3641 8539.8587,698.0272 8515.9664,702.8594 C8504.8222,705.1133 1975.0011,702.8148 1966.9664,710.8594 C1836.1024,841.8833 1939.9718,1090.8678 1993.7549,1196.9634 " fill="none" id="urt_service_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8600.7621,679.3939,8593.8056,677.4947,8589.3769,683.1856,8596.3334,685.0848,8600.7621,679.3939" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8584.5055" y="699.7837">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1948.6787" y="1186.2193">0..2</text><!--MD5=[5471b15d17b5493f5e528354308bf7b4]
+link urt_service_t to urt_status_t--><path d="M8600.7622,679.3943 C8572.6855,688.9859 8544.0234,697.1851 8515.9664,702.8594 C8493.4364,707.4159 1913.5187,696.0177 1895.9664,710.8594 C1893.581,712.8764 1832.8454,1078.4948 1811.9504,1204.6474 " 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="1811.1047,1209.7538,1816.5215,1201.5283,1811.9217,1204.821,1808.629,1200.2211,1811.1047,1209.7538" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0826203957815bb9ddac9132e239afa7]
+link urt_servicefunc_t to urt_delay_t--><path d="M8729.0182,969.5147 C8685.6846,1010.1013 8602.4813,1079.8046 8515.9664,1107.8594 C8197.9926,1210.9709 2897.5134,1242.3185 2116.7161,1246.3846 " 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="2111.6238,1246.411,2120.6445,1250.3641,2116.6237,1246.385,2120.6029,1242.3642,2111.6238,1246.411" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3a1e539c88376aaf116c25a44ec54d4f]
+link urt_servicefunc_t to urt_status_t--><path d="M8729.4535,969.3834 C8686.303,1010.1661 8602.9646,1080.4704 8515.9664,1107.8594 C8341.0133,1162.9385 2081.7864,1064.1512 1912.9664,1135.8594 C1879.3747,1150.1278 1851.0423,1180.4719 1831.8358,1205.8327 " 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="1828.8323,1209.8569,1837.4212,1205.037,1831.8231,1205.85,1831.0101,1200.2518,1828.8323,1209.8569" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8323fca301491aec9ecebdfb99fb65f5]
 @startuml
 
 title **µRtWare**\nOverview\n
@@ -406,9 +405,9 @@ title **µRtWare**\nOverview\n
   + {method} urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t
   + {method} urtCoreStopNodes (void) : urt_status_t
   .. URT_CFG_PUBSUB_ENABLED == true ..
-  + {method} urtCoreRetrieveTopic (id : urt_topicid_t) : urt_topic_t*
+  + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*
   .. URT_CFG_RPC_ENABLED == true ..
-  + {method} urtCoreRetrieveService (id : urt_serviceid_t) : urt_service_t*
+  + {method} urtCoreGetService (id : urt_serviceid_t) : urt_service_t*
 }
 
   package "node" <<Rectangle>> {
@@ -429,9 +428,11 @@ title **µRtWare**\nOverview\n
     + {field} loopparams : 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*, stacksize : size_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*) : urt_status_t
   }
 } 
 
@@ -449,93 +450,88 @@ title **µRtWare**\nOverview\n
 }
 
   package "subscriber" <<Rectangle>> {
-    package "real-time constraint data" <<Rectangle>> {
-      class urt_rtdata_t <<S,BFAFFF>> {
-      + {field} class : urt_rtconstraintclass_t
-      + {field} params : urt_rtconstraintsparams_t
-    }
-
-      class urt_rtclass_t <<E,FF7F3F>> {
-      URT_RTCLASS_HARD = 0
-      URT_RTCLASS_FIRM = 1
-      URT_RTCLASS_SOFT = 2
-      URT_RTCLASS_NONE = 3
-    }
-
-      class urt_rtclassdata_t <<U,7FCF7F>> {
-      + {field} hrt : urt_hrtparams_t
-      + {field} frt : urt_frtparams_t
-      + {field} srt : urt_srtparans_t
-      + {field} nrt : urt_nrtparams_t
-    }
-
-      class urt_hrtdata_t <<S,BFAFFF>> {
-      + {field} next : urt_subscriber_t*
-      .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..
-      + {field} qosDeadlineTimer : urt_osTimer_t
-      + {field} deadlineOffset : urt_delay_t
-      .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
-      + {field} expectedRate : urt_delay_t
-      .. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..
-      + {field} maxJitter : urt_delay_t
-      + {field} minLatency : urt_delay_t
-      + {field} maxLatency : urt_delay_t
-    }
-
-      class urt_frtdata_t <<S,BFAFFF>> {
-      .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..
-      + {field} deadlineOffset : urt_delay_t
-      .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
-      + {field} expectedRate : urt_delay_t
-      .. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..
-      + {field} maxJitter : urt_delay_t
-      + {field} minLatency : urt_delay_t
-      + {field} maxLatency : urt_delay_t
-    }
-
-      package "SRT data" <<Rectangle>> {
-        class urt_srtusefulnessfunc_t <<F,E0E0E0>> {
-        urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float
-      }
-
-        class urt_srtdata_t <<S,BFAFFF>> {
-        + {field} usefullnesscb : urt_srtusefulnessfunc_t*
-        + {field} cbparams : void*
-      }
-    } 
-
-      class urt_nrtdata_t <<S,BFAFFF>> {
-    }
-  } 
-
-    class urt_subscriber_t <<S,BFAFFF>> {
+    class urt_basesubscriber_t <<S,BFAFFF>> {
     + {field} topic : urt_topic_t*
     + {field} evtListener : urt_osEventListener_t
-    + {field} rtdata : urt_rtdata_t
     + {field} lastMessage : urt_message_t*
     + {field} lastMessageTime : urt_osTime_t
     .. URT_CFG_PUBSUB_PROFILING == true ..
     + {field} sumLatencies : uint64_t
     + {field} numMessagesReceived : uint64_t
+  }
+
+    class urt_srtusefulnessfunc_t <<F,E0E0E0>> {
+    urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float
+  }
+
+    class urt_nrtsubscriber_t <<S,BFAFFF>> {
+    .. URT_CFG_PUBSUB_PROFILING == true ..
+    + {field} minLatency : urt_delay_t
+    + {field} maxLatency : urt_delay_t
+    __
+    + {method} urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : urt_status_t
+    + {method} urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t
+    + {method} urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
+    + {method} urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
+    + {method} urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t
+  }
+
+    class urt_srtsubscriber_t <<S,BFAFFF>> {
+    + {field} usefulnesscb : urt_srtusefulnessfunc_t*
+    + {field} cbparams : void*
     .. URT_CFG_PUBSUB_PROFILING == true ..
     + {field} minLatency : urt_delay_t
     + {field} maxLatency : urt_delay_t
     __
-    + {method} urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t
-    + {method} urtSubscriberSubscribeHrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t
-    + {method} urtSubscriberSubscribeFrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t
-    + {method} urtSubscriberSubscribeSrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t
-    + {method} urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t
-    + {method} urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t
-    + {method} urtSubscriberFetchNextMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
-    + {method} urtSubscriberFetchLatestMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
-    + {method} urtSubscriberCalculateUsefulness (subscriber : urt_subscriber_t*, latency : urt_delay_t) : float
+    + {method} urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : urt_status_t
+    + {method} urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t
+    + {method} urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
+    + {method} urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
+    + {method} urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float
+    + {method} urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t
+  }
+
+    class urt_frtsubscriber_t <<S,BFAFFF>> {
+    .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..
+    + {field} deadlineOffset : urt_delay_t
+    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..
+    + {field} maxJitter : urt_delay_t
+    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true ..
+    + {field} minLatency : urt_delay_t
+    + {field} maxLatency : urt_delay_t
+    __
+    + {method} urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : urt_status_t
+    + {method} urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t
+    + {method} urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
+    + {method} urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
+    + {method} urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool
+    + {method} urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t
+  }
+
+    class urt_hrtsubscriber_t <<S,BFAFFF>> {
+    + {field} next : urt_hrtsubscriber_t*
+    .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..
+    + {field} deadlineOffset : urt_delay_t
+    + {field} qosDeadlineTimer : urt_osTimer_t
+    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..
+    + {field} maxJitter : urt_delay_t
+    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true..
+    + {field} minLatency : urt_delay_t
+    + {field} maxLatency : urt_delay_t
+    .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
+    + {field} expectedRate : urt_delay_t
+    __
+    + {method} urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : urt_status_t
+    + {method} urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t
+    + {method} urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
+    + {method} urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
+    + {method} urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t
   }
 } 
 
   class urt_publisher_t <<S,BFAFFF>> {
   + {field} topic : urt_topic_t*
-  .. URT_CFG_PROFILING == true ..
+  .. URT_CFG_PUBSUB_PROFILING == true ..
   + {field} publishAttempts : uint64_t
   + {field} publishFails : uint64_t
   __
@@ -549,7 +545,7 @@ title **µRtWare**\nOverview\n
   + {field} lock : urt_osMutex_t
   + {field} evtSource : urt_osEventSource_t
   + {field} numHrtSubscribers : unsigned int
-  + {field} hrtSubscribers : urt_subscriber_t*
+  + {field} hrtSubscribers : urt_hrtsubscriber_t*
   + {field} hrtReleased : urt_osCondvar_t
   + {field} mandatoryMessage : urt_message_t
   + {field} latestMessage : urt_message_t*
@@ -575,11 +571,11 @@ title **µRtWare**\nOverview\n
   + {field} id : urt_serviceid_t
   + {field} lock : urt_osMutex_t
   + {field} callback : urt_servicefunc_t*
-  .. URT_CFG_RPC_PROFLING == true ..
+  .. URT_CFG_RPC_PROFILING == true ..
   + {field} sumDurations : uint64_t
   + {field} numCalls : uint64_t
   + {field} numTimeouts : uint64_t
-  .. URT_CFG_RPC_PROFILING == true || URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+  .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true  ..
   + {field} minDuration : urt_delay_t
   + {field} maxDuration : urt_delay_t
   __
@@ -636,30 +632,27 @@ urt_node_t "1" o- - "1" urt_nodeLoopCallback_t
 urt_node_t <.. urt_nodeLoopCallback_t
 
 
-urt_srtdata_t "1" o- - "0..1" urt_srtusefulnessfunc_t
-
-urt_rtclassdata_t "1" *- - "0..1" urt_hrtdata_t
-urt_rtclassdata_t "1" *- - "0..1" urt_frtdata_t
-urt_rtclassdata_t "1" *- - "0..1" urt_srtdata_t
-urt_rtclassdata_t "1" *- - "0..1" urt_nrtdata_t
+urt_message_t "1" o- - "0..1" urt_message_t
 
-urt_rtdata_t "1" *- - "1" urt_rtclass_t
-urt_rtdata_t "1" *- - "1" urt_rtclassdata_t
+urt_nrtsubscriber_t - -|> urt_basesubscriber_t
+urt_nrtsubscriber_t ..> urt_message_t
 
-urt_hrtdata_t "1" o-up- "0..1" urt_subscriber_t
+urt_srtsubscriber_t - -|> urt_basesubscriber_t
+urt_srtsubscriber_t "1" o- - "0..1" urt_srtusefulnessfunc_t
+urt_srtsubscriber_t ..> urt_message_t
 
-urt_message_t "1" o- - "0..1" urt_message_t
+urt_frtsubscriber_t - -|> urt_basesubscriber_t
+urt_frtsubscriber_t ..> urt_message_t
 
-urt_subscriber_t "1" *- - "1" urt_rtdata_t
-urt_subscriber_t "1" o- "0..1" urt_topic_t
-urt_subscriber_t "1" o- - "0..1" urt_message_t
+urt_hrtsubscriber_t - -|> urt_basesubscriber_t
+urt_hrtsubscriber_t "1" o- - "0..1" urt_hrtsubscriber_t
+urt_hrtsubscriber_t ..> urt_message_t
 
 urt_publisher_t "1" o- "1" urt_topic_t
 urt_publisher_t ..> urt_message_t
 
 urt_topic_t "1" o- - "0..1" urt_topic_t
-urt_topic_t "1" o- "0..1" urt_subscriber_t
-urt_topic_t "1" o- - "1..1" urt_message_t
+urt_topic_t "1" o- "0..1" urt_hrtsubscriber_t
 urt_topic_t "1" *- - "1" urt_message_t
 
 
@@ -678,7 +671,7 @@ urt_core_t ..> urt_status_t
 urt_core_t ..> urt_nodestage_t
 urt_core_t ..> urt_topicid_t
 urt_core_t ..> urt_serviceid_t
-urt_node_t "1" o- - "0..1" urt_osThread_t
+urt_node_t "1" o- - "1" urt_osThread_t
 urt_node_t "1" *- - "1" urt_nodestage_t
 urt_node_t "1" *- - "1" urt_osEventListener_t
 urt_node_t "0..*" o- - "1" urt_osThreadFunction_t
@@ -699,17 +692,23 @@ urt_message_t "1" *- - "1" urt_osMutex_t
 urt_message_t "1" *- - "1" urt_osCondvar_t
 urt_message_t ..> urt_config
 urt_message_t ..> urt_status_t
-urt_subscriber_t "1" *- - "1" urt_osEventListener_t
-urt_subscriber_t "1" *- - "1" urt_osTime_t
-urt_subscriber_t ..> urt_config
-urt_subscriber_t "1" *- - "0..2" urt_delay_t
-urt_subscriber_t ..> urt_status_t
-urt_hrtdata_t ..> urt_config
-urt_hrtdata_t "1" *- - "0..1" urt_osTimer_t
-urt_hrtdata_t "1" *- - "0..5" urt_delay_t
-urt_frtdata_t ..> urt_config
-urt_frtdata_t "1" *- - "0..1" urt_osTimer_t
-urt_frtdata_t "1" *- - "0..5" urt_delay_t
+urt_basesubscriber_t "1" *- - "1" urt_osEventListener_t
+urt_basesubscriber_t "1" *- - "1" urt_osTime_t
+urt_basesubscriber_t ..> urt_config
+urt_basesubscriber_t ..> urt_status_t
+urt_nrtsubscriber_t "1" *- - "0..2" urt_delay_t
+urt_nrtsubscriber_t ..> urt_config
+urt_nrtsubscriber_t ..> urt_status_t
+urt_srtsubscriber_t "1" *- - "0..2" urt_delay_t
+urt_srtsubscriber_t ..> urt_config
+urt_srtsubscriber_t ..> urt_status_t
+urt_frtsubscriber_t "1" *- - "0..4" urt_delay_t
+urt_frtsubscriber_t ..> urt_config
+urt_frtsubscriber_t ..> urt_status_t
+urt_hrtsubscriber_t "1" *- - "0..5" urt_delay_t
+urt_hrtsubscriber_t "1" *- - "1" urt_osTimer_t
+urt_hrtsubscriber_t ..> urt_config
+urt_hrtsubscriber_t ..> urt_status_t
 urt_srtusefulnessfunc_t ..> urt_delay_t
 urt_service_t "1" *- - "1" urt_serviceid_t
 urt_service_t "1" *- - "1" urt_osMutex_t
