AMiRo-OS

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1635px" preserveAspectRatio="none" style="width:14782px;height:1635px;" version="1.1" viewBox="0 0 14782 1635" width="14782px" zoomAndPan="magnify"><defs><filter height="300%" id="f18prfnycqlkhy" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="7334" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="7335" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="7381.5" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]

cluster Configuration--><polygon fill="#FFFFFF" filter="url(#f18prfnycqlkhy)" points="940.9664,1363.8594,950.9664,1353.8594,1246.9664,1353.8594,1246.9664,1613.8594,1236.9664,1623.8594,940.9664,1623.8594,940.9664,1363.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1236.9664" x2="1245.9664" y1="1363.8594" y2="1354.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="940.9664" x2="1236.9664" y1="1363.8594" y2="1363.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1236.9664" x2="1236.9664" y1="1363.8594" y2="1623.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="1036.4664" y="1379.8545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]

cluster Primitives--><polygon fill="#FFFFFF" filter="url(#f18prfnycqlkhy)" points="709.9664,1145.8594,719.9664,1135.8594,2119.9664,1135.8594,2119.9664,1323.8594,2109.9664,1333.8594,709.9664,1333.8594,709.9664,1145.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="2109.9664" x2="2118.9664" y1="1145.8594" y2="1136.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="709.9664" x2="2109.9664" y1="1145.8594" y2="1145.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="2109.9664" x2="2109.9664" y1="1145.8594" y2="1333.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="1372.4664" y="1161.8545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]

cluster OSAL--><polygon fill="#FFFFFF" filter="url(#f18prfnycqlkhy)" points="9233.9664,720.8594,9243.9664,710.8594,14511.9664,710.8594,14511.9664,1530.8594,14501.9664,1540.8594,9233.9664,1540.8594,9233.9664,720.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="14501.9664" x2="14510.9664" y1="720.8594" y2="711.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9233.9664" x2="14501.9664" y1="720.8594" y2="720.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="14501.9664" x2="14501.9664" y1="720.8594" y2="1540.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="11847.9664" y="736.8545">OSAL</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]

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]

class urt_config--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="230.4609" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="948.9664" y="1385.8594"/><ellipse cx="1058.7164" cy="1401.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1061.6852,1407.5 Q1061.107,1407.7969 1060.4664,1407.9375 Q1059.8258,1408.0938 1059.1227,1408.0938 Q1056.6227,1408.0938 1055.2945,1406.4531 Q1053.982,1404.7969 1053.982,1401.6719 Q1053.982,1398.5469 1055.2945,1396.8906 Q1056.6227,1395.2344 1059.1227,1395.2344 Q1059.8258,1395.2344 1060.4664,1395.3906 Q1061.1227,1395.5469 1061.6852,1395.8438 L1061.6852,1398.5625 Q1061.0602,1397.9844 1060.4664,1397.7188 Q1059.8727,1397.4375 1059.2477,1397.4375 Q1057.9039,1397.4375 1057.2164,1398.5156 Q1056.5289,1399.5781 1056.5289,1401.6719 Q1056.5289,1403.7656 1057.2164,1404.8438 Q1057.9039,1405.9063 1059.2477,1405.9063 Q1059.8727,1405.9063 1060.4664,1405.6406 Q1061.0602,1405.3594 1061.6852,1404.7813 L1061.6852,1407.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="1079.2164" y="1406.0137">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="949.9664" x2="1237.9664" y1="1417.8594" y2="1417.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="954.9664" y="1432.0698">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="169" x="954.9664" y="1444.8745">URT_CFG_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="954.9664" y="1457.6792">URT_CFG_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="954.9664" y="1470.4839">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="949.9664" x2="1237.9664" y1="1477.0781" y2="1477.0781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="954.9664" y="1491.2886">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="949.9664" x2="1237.9664" y1="1497.8828" y2="1497.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="954.9664" y="1512.0933">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="954.9664" y="1524.8979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="954.9664" y="1537.7026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="954.9664" y="1550.5073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="954.9664" y="1563.312">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="949.9664" x2="1237.9664" y1="1569.9063" y2="1569.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="954.9664" y="1584.1167">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="954.9664" y="1596.9214">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="954.9664" y="1609.7261">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><!--MD5=[9f69b6f4e23017059189983d6906a1eb]

class urt_nodestage_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="158.4375" id="urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.5;" width="216" x="1224.9664" y="1167.8594"/><ellipse cx="1277.2164" cy="1183.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1278.0602,1190.6094 L1275.607,1190.6094 L1275.607,1180.3594 L1272.4664,1180.3594 L1272.4664,1178.2188 L1281.2008,1178.2188 L1281.2008,1180.3594 L1278.0602,1180.3594 L1278.0602,1190.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="103" x="1297.7164" y="1188.0137">urt_nodestage_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1225.9664" x2="1439.9664" y1="1199.8594" y2="1199.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="1230.9664" y="1230.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1225.9664" x2="1232.4664" y1="1214.2617" y2="1214.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="1232.4664" y="1217.5698">URT_CFG_NODESTAGE_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1433.4664" x2="1439.9664" y1="1214.2617" y2="1214.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1230.9664" y="1260.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1225.9664" x2="1228.9664" y1="1243.8711" y2="1243.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="1228.9664" y="1247.1792">URT_CFG_NODESTAGE_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1436.9664" x2="1439.9664" y1="1243.8711" y2="1243.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1230.9664" y="1290.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1225.9664" x2="1228.9664" y1="1273.4805" y2="1273.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="1228.9664" y="1276.7886">URT_CFG_NODESTAGE_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1436.9664" x2="1439.9664" y1="1273.4805" y2="1273.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1230.9664" y="1319.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1225.9664" x2="1228.9664" y1="1303.0898" y2="1303.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="1228.9664" y="1306.3979">URT_CFG_NODESTAGE_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1436.9664" x2="1439.9664" y1="1303.0898" y2="1303.0898"/><!--MD5=[a55671f9c3a4eb2d749fd774fc81a82b]

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; stroke-width: 1.5;" x1="6213.9664" x2="7295.9664" y1="503.8594" y2="503.8594"/><ellipse cx="6223.9664" cy="514.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="229" x="6232.9664" y="518.0698">usefulnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="6223.9664" cy="527.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="6232.9664" y="530.8745">cbparams : void*</text><ellipse cx="6223.9664" cy="557.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="6232.9664" y="560.4839">minLatency : urt_delay_t</text><ellipse cx="6223.9664" cy="570.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="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; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="6232.9664" y="606.8979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t</text><ellipse cx="6223.9664" cy="616.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="6232.9664" y="619.7026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="6223.9664" cy="629.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="6232.9664" y="632.5073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="6223.9664" cy="642.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="6232.9664" y="645.312">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="6223.9664" cy="654.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="6232.9664" y="658.1167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]

class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="4066.9664" y="455.3594"/><ellipse cx="4492.2164" cy="471.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4491.7008,471.9219 Q4489.8414,471.2188 4489.1851,470.4531 Q4488.5445,469.6719 4488.5445,468.3594 Q4488.5445,466.6719 4489.6226,465.7031 Q4490.7008,464.7344 4492.5758,464.7344 Q4493.4351,464.7344 4494.2789,464.9375 Q4495.1383,465.125 4495.982,465.5156 L4495.982,467.9063 Q4495.2008,467.3438 4494.3726,467.0625 Q4493.5601,466.7656 4492.7633,466.7656 Q4491.8883,466.7656 4491.4039,467.125 Q4490.9351,467.4844 4490.9351,468.1406 Q4490.9351,468.6563 4491.2789,469 Q4491.6226,469.3281 4492.7164,469.7344 L4493.7789,470.1406 Q4495.2633,470.6875 4495.9664,471.5938 Q4496.6851,472.5 4496.6851,473.875 Q4496.6851,475.75 4495.5758,476.6719 Q4494.4664,477.5938 4492.2164,477.5938 Q4491.2945,477.5938 4490.3726,477.375 Q4489.4508,477.1563 4488.5914,476.7344 L4488.5914,474.2031 Q4489.5601,474.8906 4490.482,475.2344 Q4491.4039,475.5781 4492.2945,475.5781 Q4493.2008,475.5781 4493.7008,475.1719 Q4494.2008,474.75 4494.2008,474.0156 Q4494.2008,473.4531 4493.857,473.0469 Q4493.5289,472.625 4492.9039,472.375 L4491.7008,471.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="4512.7164" y="475.5137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4067.9664" x2="5039.9664" y1="487.3594" y2="487.3594"/><ellipse cx="4077.9664" cy="515.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="4086.9664" y="518.3745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4067.9664" x2="4408.4664" y1="501.7617" y2="501.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="4408.4664" y="505.0698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4699.4664" x2="5039.9664" y1="501.7617" y2="501.7617"/><ellipse cx="4077.9664" cy="544.7734" 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="4086.9664" y="547.9839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4067.9664" x2="4418.4664" y1="531.3711" y2="531.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="4418.4664" y="534.6792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4689.4664" x2="5039.9664" y1="531.3711" y2="531.3711"/><ellipse cx="4077.9664" cy="574.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="4086.9664" y="577.5933">minLatency : urt_delay_t</text><ellipse cx="4077.9664" cy="587.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="4086.9664" y="590.3979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4067.9664" x2="4299.9664" y1="560.9805" y2="560.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="4299.9664" y="564.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4807.9664" x2="5039.9664" y1="560.9805" y2="560.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4067.9664" x2="5039.9664" y1="596.9922" y2="596.9922"/><ellipse cx="4077.9664" cy="607.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="4086.9664" y="611.2026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><ellipse cx="4077.9664" cy="620.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="4086.9664" y="624.0073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="4077.9664" cy="633.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="4086.9664" y="636.812">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4077.9664" cy="646.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="4086.9664" y="649.6167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4077.9664" cy="659.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="4086.9664" y="662.4214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="4077.9664" cy="672.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="4086.9664" y="675.2261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]

class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f18prfnycqlkhy)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="5075.9664" y="433.8594"/><ellipse cx="5554.2164" cy="449.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5553.7008,450.4219 Q5551.8414,449.7188 5551.1852,448.9531 Q5550.5445,448.1719 5550.5445,446.8594 Q5550.5445,445.1719 5551.6227,444.2031 Q5552.7008,443.2344 5554.5758,443.2344 Q5555.4352,443.2344 5556.2789,443.4375 Q5557.1383,443.625 5557.982,444.0156 L5557.982,446.4063 Q5557.2008,445.8438 5556.3727,445.5625 Q5555.5602,445.2656 5554.7633,445.2656 Q5553.8883,445.2656 5553.4039,445.625 Q5552.9352,445.9844 5552.9352,446.6406 Q5552.9352,447.1563 5553.2789,447.5 Q5553.6227,447.8281 5554.7164,448.2344 L5555.7789,448.6406 Q5557.2633,449.1875 5557.9664,450.0938 Q5558.6852,451 5558.6852,452.375 Q5558.6852,454.25 5557.5758,455.1719 Q5556.4664,456.0938 5554.2164,456.0938 Q5553.2945,456.0938 5552.3727,455.875 Q5551.4508,455.6563 5550.5914,455.2344 L5550.5914,452.7031 Q5551.5602,453.3906 5552.482,453.7344 Q5553.4039,454.0781 5554.2945,454.0781 Q5555.2008,454.0781 5555.7008,453.6719 Q5556.2008,453.25 5556.2008,452.5156 Q5556.2008,451.9531 5555.857,451.5469 Q5555.5289,451.125 5554.9039,450.875 L5553.7008,450.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="5574.7164" y="454.0137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5076.9664" x2="6158.9664" y1="465.8594" y2="465.8594"/><ellipse cx="5086.9664" 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="151" x="5095.9664" y="480.0698">next : urt_hrtsubscriber_t*</text><ellipse cx="5086.9664" cy="506.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="5095.9664" y="509.6792">deadlineOffset : urt_delay_t</text><ellipse cx="5086.9664" cy="519.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="5095.9664" y="522.4839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5076.9664" x2="5472.4664" y1="493.0664" y2="493.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="5472.4664" y="496.3745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5763.4664" x2="6158.9664" y1="493.0664" y2="493.0664"/><ellipse cx="5086.9664" cy="548.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="5095.9664" y="552.0933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5076.9664" x2="5482.4664" y1="535.4805" y2="535.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="5482.4664" y="538.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5753.4664" x2="6158.9664" y1="535.4805" y2="535.4805"/><ellipse cx="5086.9664" cy="578.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="5095.9664" y="581.7026">minLatency : urt_delay_t</text><ellipse cx="5086.9664" cy="591.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="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; stroke-dasharray: 1.0,2.0;" x1="5076.9664" x2="5485.4664" y1="607.5039" y2="607.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="5485.4664" y="610.812">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5750.4664" x2="6158.9664" y1="607.5039" y2="607.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5076.9664" x2="6158.9664" y1="630.7109" y2="630.7109"/><ellipse cx="5086.9664" cy="641.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="392" x="5095.9664" y="644.9214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><ellipse cx="5086.9664" cy="654.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="5095.9664" y="657.7261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="5086.9664" cy="667.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="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]

link urt_events to urt_delay_t--><path d="M10637.7103,981.9957 C10549.0907,1023.3101 10406.6678,1082.9379 10275.9664,1107.8594 C9854.8866,1188.1489 3010.737,1239.7719 2116.9477,1246.1833 " fill="none" id="urt_events-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2111.7689,1246.2204,2120.7974,1250.1557,2116.7688,1246.1845,2120.74,1242.1559,2111.7689,1246.2204" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0549e7b45a7543f4046fb7eaa1b75598]

link urt_events to urt_status_t--><path d="M10638.6103,981.9796 C10550.1063,1023.5984 10407.2426,1083.7447 10275.9664,1107.8594 C10161.7244,1128.845 2019.8954,1090.4964 1912.9664,1135.8594 C1879.3684,1150.1128 1851.0363,1180.4578 1831.8316,1205.8228 " fill="none" id="urt_events-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1828.8284,1209.8477,1837.4166,1205.0266,1831.8186,1205.8403,1831.0049,1200.2423,1828.8284,1209.8477" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]

reverse link urt_node_t to urt_node_t--><path d="M8493.5589,538.3464 C8508.246,546.6918 8516.4664,556.6961 8516.4664,568.3594 C8516.4664,582.8535 8503.7712,594.7857 8481.7467,604.156 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8481.7467,532.5628,8485.3764,538.7937,8492.5242,537.8397,8488.8944,531.6088,8481.7467,532.5628" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8489.8858" y="529.0242">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="8489.9983" y="601.6241">0..1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

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]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M7836.9908,675.7992 C7778.611,755.1174 7698.4794,857.6939 7654.4039,908.1135 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7840.1033,671.5643,7831.5502,676.4474,7837.1422,675.5932,7837.9965,681.1852,7840.1033,671.5643" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]

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]

link urt_frtsubscriber_t to urt_message_t--><path d="M4170.0582,681.414 C4129.7874,690.0836 4089.2264,697.5238 4049.9664,702.8594 C4026.4592,706.0541 3217.9844,702.0277 3195.9664,710.8594 C3118.7818,741.8191 3051.6569,809.9036 3007.6324,863.6562 " fill="none" id="urt_frtsubscriber_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3004.2388,867.8272,3013.0215,863.3703,3007.3943,863.9487,3006.8159,858.3215,3004.2388,867.8272" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]

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]

reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M6171.8776,537.5219 C6186.6598,546.0304 6194.9664,556.3095 6194.9664,568.3594 C6194.9664,583.334 6182.1381,595.574 6159.9956,605.0794 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6159.9956,531.6394,6163.5979,537.8862,6170.7498,536.9636,6167.1474,530.7168,6159.9956,531.6394" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6167.6741" y="528.0862">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6167.7866" y="602.559">0..1</text><!--MD5=[a8adaa0500715125c1ab51b9b0fda3ce]

link urt_hrtsubscriber_t to urt_message_t--><path d="M5075.7601,700.7353 C5070.1398,701.4774 5064.5406,702.1861 5058.9664,702.8594 C5033.2779,705.9623 3220.0061,701.2875 3195.9664,710.8594 C3118.7035,741.6232 3051.5882,809.7318 3007.5872,863.5432 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3004.1956,867.7189,3012.9748,863.255,3007.348,863.8379,3006.7652,858.2111,3004.1956,867.7189" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

reverse link urt_publisher_t to urt_topic_t--><path d="M2751.7913,568.3594 C2759.0988,568.3594 2766.4063,568.3594 2773.7139,568.3594 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2738.6378,568.3594,2744.6378,572.3594,2750.6378,568.3594,2744.6378,564.3594,2738.6378,568.3594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2746.4311" y="565.277">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2758.0478" y="565.1345">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

link urt_publisher_t to urt_message_t--><path d="M2462.4333,632.8956 C2566.1972,697.617 2725.7842,797.1574 2834.548,864.9974 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2839.0413,867.8001,2833.5219,859.6431,2834.7989,865.1539,2829.2881,866.431,2839.0413,867.8001" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M3169.5892,523.2297 C3184.1011,533.4693 3192.9664,548.5125 3192.9664,568.3594 C3192.9664,593.0235 3179.2753,610.269 3158.0703,620.0961 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3158.0703,516.6227,3161.2847,523.0777,3168.4795,522.5932,3165.2651,516.1382,3158.0703,516.6227" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3165.7306" y="511.3769">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3166.0431" y="618.8922">0..1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]

reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M3079.2144,435.5725 C3117.5448,403.3774 3163.4467,376.5032 3213.4664,370.8594 C3238.6952,368.0128 5016.2376,368.0128 5041.4664,370.8594 C5129.3814,380.7789 5221.3763,405.2924 5305.4044,433.8069 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3069.1225,444.3196,3076.2763,443.4124,3078.1904,436.46,3071.0366,437.3671,3069.1225,444.3196" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3067.1648" y="433.3727">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="5288.0282" y="422.6688">0..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M2961.1505,705.6125 C2959.2193,760.6511 2957.0751,821.7608 2955.466,867.619 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2961.6104,692.5034,2957.4024,698.3594,2961.1895,704.496,2965.3975,698.64,2961.6104,692.5034" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2953.1012" y="712.5942">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2947.3113" y="856.5915">1</text><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M9148.7546,529.643 C9163.39,539.4089 9171.9664,552.3144 9171.9664,568.3594 C9171.9664,588.2989 9158.7215,603.3897 9137.0629,613.6321 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9137.0629,523.0867,9140.3398,529.5102,9147.5296,528.9559,9144.2527,522.5324,9137.0629,523.0867" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9145.167" y="518.7474">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9145.3795" y="611.6979">0..1</text><!--MD5=[586e61fedafd54ae7ea71cebd9f9032a]

reverse link urt_service_t to urt_servicefunc_t--><path d="M8810.4727,692.6412 C8794.7668,769.2075 8775.8528,861.4132 8766.2393,908.2789 " fill="none" id="urt_service_t&lt;-urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8813.1639,679.5216,8808.0398,684.5954,8810.7524,691.2768,8815.8766,686.203,8813.1639,679.5216" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8803.2793" y="699.9204">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="8741.0581" y="897.5255">0..1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]

reverse link urt_core_t to urt_node_t--><path d="M3236.9174,242.8738 C4124.9555,256.6503 6913.628,305.0366 7312.9664,374.8594 C7424.0779,394.2868 7542.9445,429.8645 7644.9274,465.2641 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3223.6616,242.6686,3229.5989,246.761,3235.6602,242.8544,3229.7228,238.762,3223.6616,242.6686" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3231.4307" y="255.0721">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7600.8027" y="454.2266">0..1</text><!--MD5=[250695c91040478b50550bc37a8775c7]

reverse link urt_core_t to urt_topic_t--><path d="M2965.9664,380.3343 C2965.9664,401.565 2965.9664,423.322 2965.9664,444.1564 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2965.9664,367.1962,2961.9664,373.1962,2965.9664,379.1962,2969.9664,373.1962,2965.9664,367.1962" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2957.7352" y="387.1179">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2941.2352" y="433.1995">0..1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]

reverse link urt_core_t to urt_service_t--><path d="M3236.982,241.6311 C4316.0068,253.1651 8260.5842,300.2662 8515.9664,374.8594 C8576.2598,392.4702 8636.6858,424.4075 8688.5323,457.3271 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3223.6406,241.4888,3229.5975,245.5526,3235.6399,241.617,3229.683,237.5531,3223.6406,241.4888" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3231.0989" y="238.2608">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="8653.8203" y="446.4191">0..1</text><!--MD5=[a42c921bb2ae3ef3cd6ba12c97758939]

reverse link urt_core_t to urt_osEventSource_t--><path d="M3236.7866,239.2406 C4946.3881,242.9531 14183.6318,282.8167 14583.9664,710.8594 C14704.4908,839.7256 14708.0775,982.4438 14583.9664,1107.8594 C14557.8023,1134.2984 11942.5193,1128.9699 11905.9664,1135.8594 C11829.2587,1150.3172 11746.4832,1183.4441 11688.545,1209.7674 " fill="none" id="urt_core_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3223.7547,239.2127,3229.7461,243.2255,3235.7547,239.2384,3229.7633,235.2255,3223.7547,239.2127" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3231.5265" y="251.5136">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11693.7423" y="1198.6609">1</text><!--MD5=[b9eb8460041bde16ab6e44c28de7b0fc]

reverse link urt_core_t to urt_osMutex_t--><path d="M3236.5635,241.8229 C4393.4097,254.8729 8878.0297,309.4824 9170.9664,374.8594 C9530.6214,455.1265 9641.9497,479.7404 9928.9664,710.8594 C9990.685,760.558 10040.9953,838.2912 10069.7284,888.908 " fill="none" id="urt_core_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3223.5249,241.676,3229.4794,245.7434,3235.5241,241.8113,3229.5696,237.7439,3223.5249,241.676" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3231.2899" y="238.6048">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10057.6652" y="878.2491">1</text><!--MD5=[53eb1ed31b8ffcbb98ca8a87ecf3ad40]

link urt_core_t to urt_status_t--><path d="M2707.9952,256.2487 C2197.2226,296.7989 1087.6905,417.4238 870.9664,710.8594 C766.1404,852.7895 748.3304,981.001 870.9664,1107.8594 C902.9179,1140.911 1655.9684,1117.165 1697.9664,1135.8594 C1730.7912,1150.4706 1758.6117,1180.278 1777.6508,1205.3279 " fill="none" id="urt_core_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1780.8662,1209.6238,1778.6756,1200.0216,1777.8701,1205.6208,1772.2709,1204.8154,1780.8662,1209.6238" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f6f8ae0abb3c85244c8639cf15039f58]

link urt_core_t to urt_nodestage_t--><path d="M2708.4591,244.7367 C2118.5237,259.435 714.2482,301.9351 642.9664,374.8594 C607.7947,410.8415 615.7647,1091.9008 630.9664,1107.8594 C675.161,1154.2546 1147.5904,1111.7725 1206.9664,1135.8594 C1224.0045,1142.7712 1240.2952,1153.0147 1255.1726,1164.5288 " fill="none" id="urt_core_t-&gt;urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1259.3307,1167.8083,1254.741,1159.0942,1255.4047,1164.712,1249.787,1165.3758,1259.3307,1167.8083" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e894174e7ccaed139fbaaa0f9b9ae8dc]

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reverse link urt_node_t to urt_osThreadFunction_t--><path d="M8331.0401,673.8712 C8393.6977,685.8673 8457.7573,696.1723 8518.9664,702.8594 C8529.5406,704.0146 14638.4497,703.3329 14645.9664,710.8594 C14770.65,835.7059 14769.6956,982.067 14645.9664,1107.8594 C14612.9843,1141.3915 12997.0815,1119.5475 12952.9664,1135.8594 C12909.0487,1152.0982 12869.1892,1189.3646 12844.5736,1216.2425 " fill="none" id="urt_node_t&lt;-urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8318.1114,671.3684,8323.2418,676.4358,8329.8927,673.649,8324.7623,668.5816,8318.1114,671.3684" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="8347.8286" y="691.2222">0..*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12841.0301" y="1205.4816">1</text><!--MD5=[0cba389305cd35ebcbacaedacb3fbe88]

link urt_node_t to urt_status_t--><path d="M7507.6294,671.4383 C7442.9576,684.4673 7376.4038,695.7201 7312.9664,702.8594 C7303.538,703.9205 1854.9337,704.4192 1847.9664,710.8594 C1708.5843,839.6966 1763.4763,1101.9784 1791.9716,1204.4724 " fill="none" id="urt_node_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1793.3911,1209.5252,1794.8077,1199.7787,1792.0387,1204.7115,1787.1059,1201.9426,1793.3911,1209.5252" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b00c0c61b5ae38465e12763fb588229]

link urt_nodeSetupCallback_t to urt_osEventMask_t--><path d="M7654.7324,969.4392 C7698.7416,1009.5977 7782.6443,1078.4469 7868.9664,1107.8594 C8094.6533,1184.7576 9751.5097,1231.0464 10255.7591,1243.4645 " fill="none" id="urt_nodeSetupCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10260.9066,1243.5911,10252.0077,1239.3709,10255.9081,1243.4681,10251.8109,1247.3685,10260.9066,1243.5911" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[aa0b59559007c8ad9b783f6dc5ed8ad9]

link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M8237.4661,969.4383 C8298.0545,1009.2596 8411.3188,1077.3713 8518.9664,1107.8594 C8845.0676,1200.2182 9873.3578,1234.0813 10255.813,1243.6735 " fill="none" id="urt_nodeLoopCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10260.8396,1243.7991,10251.9424,1239.5753,10255.8412,1243.6741,10251.7424,1247.5728,10260.8396,1243.7991" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]

link urt_publisher_t to urt_config--><path d="M1979.1786,579.4262 C1362.542,599.2671 205.6726,645.0558 143.9664,710.8594 C-45.4344,912.8366 -34.0697,1121.7966 143.9664,1333.8594 C244.3053,1453.3754 702.0673,1487.3836 943.6433,1497.0416 " fill="none" id="urt_publisher_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="948.955,1497.2515,940.1201,1492.899,943.9589,1497.0539,939.804,1500.8927,948.955,1497.2515" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]

link urt_publisher_t to urt_status_t--><path d="M1979.0737,580.2208 C1578.2403,596.7455 994.7372,633.8116 924.9664,710.8594 C865.7485,776.2536 863.7233,1044.3578 924.9664,1107.8594 C984.6287,1169.722 1619.4899,1100.8162 1697.9664,1135.8594 C1730.7739,1150.5094 1758.5952,1180.3149 1777.6391,1205.3542 " fill="none" id="urt_publisher_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1780.8554,1209.6482,1778.6613,1200.0468,1777.8578,1205.6463,1772.2583,1204.8429,1780.8554,1209.6482" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c16173558393ca1d9128284d70afa235]

link urt_publisher_t to urt_delay_t--><path d="M1979.2001,608.053 C1761.9439,634.6923 1526.0152,671.9279 1492.9664,710.8594 C1378.7785,845.3725 1372.4223,979.0115 1492.9664,1107.8594 C1524.9191,1142.0132 1870.5092,1116.2419 1912.9664,1135.8594 C1940.4247,1148.5466 1964.6063,1171.5186 1983.0885,1193.2861 " fill="none" id="urt_publisher_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1986.4727,1197.3338,1983.7687,1187.8634,1983.2656,1193.4978,1977.6312,1192.9947,1986.4727,1197.3338" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3f75a4ca5db56e37c381a718c71f2950]

reverse link urt_topic_t to urt_topicid_t--><path d="M2773.0326,697.2184 C2767.3617,699.2871 2761.6678,701.1765 2755.9664,702.8594 C2743.8777,706.4277 949.8593,701.9272 940.9664,710.8594 C816.4766,835.8991 859.4825,951.3569 940.9664,1107.8594 C950.9879,1127.1073 964.2797,1121.9861 980.9664,1135.8594 C992.9138,1145.7925 1005.0918,1156.7479 1016.8166,1167.7905 " fill="none" id="urt_topic_t&lt;-urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2785.4042,692.4134,2778.3631,690.857,2774.2183,696.7579,2781.2594,698.3143,2785.4042,692.4134" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2766.1574" y="712.4987">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1001.3356" y="1156.8628">1</text><!--MD5=[2ea2859f8de074b5c128ff5997404a58]

reverse link urt_topic_t to urt_osMutex_t--><path d="M3170.5716,694.8337 C3179.0126,697.8593 3187.4935,700.5584 3195.9664,702.8594 C3218.5277,708.9863 9908.1218,700.2736 9928.9664,710.8594 C10002.2435,748.0727 10051.1241,834.1967 10076.163,889.296 " fill="none" id="urt_topic_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3158.2386,690.1756,3162.4382,696.0376,3169.4645,694.4157,3165.2649,688.5536,3158.2386,690.1756" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3165.9055" y="691.7092">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10064.8156" y="878.3323">1</text><!--MD5=[ee40dc1875ed5325eec4e6c8c8102744]

reverse link urt_topic_t to urt_osEventSource_t--><path d="M3170.5702,694.839 C3179.0116,697.8631 3187.4929,700.5605 3195.9664,702.8594 C3214.9268,708.0035 14498.0796,696.9628 14511.9664,710.8594 C14636.6873,835.6686 14636.0594,982.4259 14511.9664,1107.8594 C14486.5094,1133.5913 11941.5356,1129.15 11905.9664,1135.8594 C11829.2608,1150.3283 11746.485,1183.4538 11688.5462,1209.7738 " fill="none" id="urt_topic_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3158.2366,690.1828,3162.4371,696.0442,3169.4632,694.4211,3165.2627,688.5598,3158.2366,690.1828" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3165.2394" y="712.5576">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11703.2187" y="1198.6685">1</text><!--MD5=[f5e2f818dfb7c47ef0a661b061d2efd0]

link urt_topic_t to urt_config--><path d="M2785.4087,692.4287 C2775.6711,696.4311 2765.8301,699.9546 2755.9664,702.8594 C2739.0392,707.8444 227.4243,698.3622 214.9664,710.8594 C117.2256,808.9084 126.6789,1227.219 214.9664,1333.8594 C305.7564,1443.5226 717.2045,1481.7625 943.5522,1494.6371 " fill="none" id="urt_topic_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="948.8643,1494.9366,940.1038,1490.4361,943.8722,1494.655,939.6533,1498.4234,948.8643,1494.9366" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a01366c261f16bb61c03de8616a1256c]

reverse link urt_topic_t to urt_osTimer_t--><path d="M3170.5705,694.8377 C3179.0118,697.8622 3187.493,700.56 3195.9664,702.8594 C3261.412,720.6193 12895.4327,693.4273 12960.9664,710.8594 C13085.871,744.0844 13212.4734,826.562 13288.6066,882.6519 " fill="none" id="urt_topic_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3158.2371,690.1811,3162.4374,696.0426,3169.4635,694.4198,3165.2632,688.5583,3158.2371,690.1811" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3165.9039" y="707.3008">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="13254.4471" y="871.9611">0..1</text><!--MD5=[23aed2412a22c58889d68b772ca9654f]

link urt_topic_t to urt_status_t--><path d="M2785.4037,692.4117 C2775.6674,696.4186 2765.8281,699.9477 2755.9664,702.8594 C2744.2443,706.3204 1004.5892,702.1973 995.9664,710.8594 C933.7258,773.3835 934.8396,1044.2459 995.9664,1107.8594 C1050.0534,1164.1468 1626.7464,1103.9002 1697.9664,1135.8594 C1730.7471,1150.5694 1758.5697,1180.3719 1777.6209,1205.3949 " fill="none" id="urt_topic_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1780.8385,1209.6859,1778.6393,1200.0857,1777.8388,1205.6856,1772.2389,1204.8852,1780.8385,1209.6859" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[40d97a101b79fe2b6aede42ee911a5e3]

reverse link urt_message_t to urt_osTime_t--><path d="M3004.1252,856.9048 C3049.9084,794.2807 3123.5828,717.001 3213.4664,706.8594 C3256.5127,702.0025 9408.4201,702.0025 9451.4664,706.8594 C9558.4182,718.9269 9638.7988,831.9939 9676.0415,895.7102 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2996.4617,867.6105,3003.2067,865.0599,3003.4466,857.8528,2996.7016,860.4034,2996.4617,867.6105" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3002.5319" y="857.0559">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9663.7503" y="884.6824">1</text><!--MD5=[7527c1e2a180419f2ba2182e8f11877d]

reverse link urt_message_t to urt_osMutex_t--><path d="M3004.1252,856.9048 C3049.9084,794.2807 3123.5828,717.001 3213.4664,706.8594 C3259.687,701.6443 9865.2458,701.6443 9911.4664,706.8594 C10001.9791,717.072 10055.5286,824.0684 10079.9591,889.1327 " fill="none" id="urt_message_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2996.4617,867.6105,3003.2067,865.0599,3003.4466,857.8528,2996.7016,860.4034,2996.4617,867.6105" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3001.3597" y="856.5822">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10078.2706" y="878.146">1</text><!--MD5=[107def0b4b669b7e1be29db2eeb634c8]

reverse link urt_message_t to urt_osCondvar_t--><path d="M3004.1252,856.9048 C3049.9084,794.2807 3123.5828,717.001 3213.4664,706.8594 C3249.819,702.7577 13713.1137,702.7577 13749.4664,706.8594 C13887.445,722.4276 14020.4921,825.9649 14090.3476,889.3481 " fill="none" id="urt_message_t&lt;-urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2996.4617,867.6105,3003.2067,865.0599,3003.4466,857.8528,2996.7016,860.4034,2996.4617,867.6105" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2992.5347" y="856.5822">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14074.6668" y="878.3917">1</text><!--MD5=[2bb9471b6fda5815e085c87a24a67f11]

link urt_message_t to urt_config--><path d="M2832.7325,1010.04 C2675.9697,1099.6027 2390.7161,1251.6217 2127.9664,1333.8594 C1822.4923,1429.4694 1448.2342,1472.5532 1244.2123,1490.141 " fill="none" id="urt_message_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1239.1251,1490.5773,1248.4341,1493.7933,1244.1068,1490.1498,1247.7502,1485.8225,1239.1251,1490.5773" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[570f5794230ed2cf7946261591bb6cd1]

link urt_message_t to urt_status_t--><path d="M2727.4572,965.4349 C2465.244,999.1198 2050.758,1061.8044 1912.9664,1135.8594 C1881.7346,1152.6447 1854.0213,1181.5909 1834.489,1205.7154 " fill="none" id="urt_message_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1831.1821,1209.8506,1839.9271,1205.3201,1834.3049,1205.9457,1833.6793,1200.3236,1831.1821,1209.8506" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0614ecc40a2323571c35dab79c646fe8]

reverse link urt_basesubscriber_t to urt_osEventListener_t--><path d="M5145.4282,965.12 C5343.659,1005.1751 5741.9511,1079.8352 6083.9664,1107.8594 C6342.6596,1129.0563 10500.5832,1089.4809 10755.9664,1135.8594 C10828.8512,1149.0955 10907.2479,1178.5388 10965.7567,1203.7764 " fill="none" id="urt_basesubscriber_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="5132.6631,962.5326,5137.7488,967.6449,5144.4239,964.9166,5139.3382,959.8043,5132.6631,962.5326" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5140.5037" y="960.7029">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10942.5827" y="1192.7592">1</text><!--MD5=[60df476f9c89db6ca6af2af6f6dc5b29]

reverse link urt_basesubscriber_t to urt_osTime_t--><path d="M5145.3363,902.9074 C5345.4236,847.5932 5750.231,744.1087 6101.4664,706.8594 C6147.7347,701.9525 9405.232,701.6427 9451.4664,706.8594 C9558.4182,718.9269 9638.7988,831.9939 9676.0415,895.7102 " fill="none" id="urt_basesubscriber_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="5132.7479,906.3987,5139.5987,908.6497,5144.3114,903.1916,5137.4606,900.9407,5132.7479,906.3987" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5140.5942" y="900.7975">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9673.0253" y="884.6824">1</text><!--MD5=[45abaca6e1a4b5e9e9e5f81f99145f21]

link urt_basesubscriber_t to urt_config--><path d="M4991.3382,1005.9114 C4972.1288,1042.3454 4943.1288,1084.5954 4903.9664,1107.8594 C4584.0932,1297.8764 1911.5891,1456.0184 1244.4219,1492.791 " fill="none" id="urt_basesubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1239.076,1493.0854,1248.2824,1496.5843,1244.0684,1492.8104,1247.8424,1488.5964,1239.076,1493.0854" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[fb477f5fd8787be5b7605dfea5d27dc3]

link urt_basesubscriber_t to urt_status_t--><path d="M4992.783,1006.007 C4973.8506,1043.2064 4944.6436,1086.1986 4903.9664,1107.8594 C4830.6291,1146.9118 1989.357,1103.1805 1912.9664,1135.8594 C1879.5287,1150.1636 1851.2749,1180.3407 1832.062,1205.6236 " fill="none" id="urt_basesubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1829.0567,1209.6362,1837.6536,1204.8306,1832.0541,1205.6342,1831.2504,1200.0347,1829.0567,1209.6362" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c18fda7f16d94dac1a94387e8df76308]

reverse link urt_nrtsubscriber_t to urt_delay_t--><path d="M3414.5971,649.5902 C3349.4907,671.3113 3276.6606,691.8092 3207.9664,702.8594 C3196.6945,704.6726 1572.0196,702.7669 1563.9664,710.8594 C1501.7358,773.3935 1504.1302,1043.0304 1563.9664,1107.8594 C1616.7369,1165.0333 1842.5584,1102.7491 1912.9664,1135.8594 C1941.9205,1149.4755 1967.2929,1174.4177 1986.1571,1197.2141 " fill="none" id="urt_nrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3427.0858,645.3775,3420.122,643.5051,3415.7153,649.213,3422.6791,651.0854,3427.0858,645.3775" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3399.5085" y="665.7491">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1982.9495" y="1186.2389">0..2</text><!--MD5=[cf4e9b81c32b9b138596f59fa1fb3fd6]

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

  package "Configuration" <<Node>> {

  class urt_config <<C,BFBFBF>> {

  URT_CFG_DELAY_WIDTH : int

  URT_CFG_TOPICID_WIDTH : int

  URT_CFG_SERVICEID_WIDTH : int

  URT_CFG_NODESTAGE_WIDTH : int

  ..

  URT_CFG_DEBUG_ENABLED : bool

  ..

  URT_CFG_PUBSUB_ENABLED : bool

  URT_CFG_PUBSUB_PROFILING : bool

  URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool

  URT_CFG_PUBSUB_QOS_RATECHECKS : bool

  URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool

  ..

  URT_CFG_RPC_ENABLED : bool

  URT_CFG_RPC_PROFILING : bool

  URT_CFG_RPC_QOS_JITTERCHECKS : bool

}

}

  package "Primitives" <<Node>> {

  class urt_nodestage_t <<T,00CFFF>> {

  .. URT_CFG_NODESTAGE_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_NODESTAGE_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_NODESTAGE_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_NODESTAGE_WIDTH == 64 ..

  uint64_t

}

  class urt_topicid_t <<T,00CFFF>> {

  .. URT_CFG_TOPICID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_TOPICID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_TOPICID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_TOPICID_WIDTH == 64 ..

  uint64_t

}

  class urt_serviceid_t <<T,00CFFF>> {

  .. URT_CFG_SERVICEID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_SERVICEID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_SERVICEID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_SERVICEID_WIDTH == 64 ..

  uint64_t

}

  class urt_status_t <<T,00CFFF>> {

  URT_STATUS_OK = 0x0..0

  URT_STATUS_ERROR = 0x8..0

}

  class urt_delay_t <<T,00CFFF>> {

  .. URT_CFG_DELAY_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_DELAY_WIDTH == 64 ..

  uint64_t

}

  class urt_debug <<F,E0E0E0>> {

  + {method} urtDebugAssert(condition : bool) : void

}

}

  package "OSAL" <<Node>> {

  class urt_osTime_t <<T,00CFFF>> {

  + {method} urtTime2Us (t : urt_osTime_t*) : uint64_t

  + {method} urtTimeNow (void) : urt_osTime_t

  + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*

}

  class urt_osMutex_t <<T,00CFFF>> {

  + {method} urtMutexInit (mutex : urt_osMutex_t*) : void

  + {method} urtMutexLock (mutex : urt_osMutex_t*) : void

  + {method} urtMutexTryLock (mutex : urt_osMutex_t*) : bool

  + {method} urtMutexUnlock (mutex : urt_osMutex_t*) : void

}

  package "condition variable" <<Rectangle>> {

    class urt_osCondvarWaitStatus_t <<E,FF7F3F>> {

    URT_CONDVAR_WAITSTATUS_SIGNAL = 1

    URT_CONDVAR_WAITSTATUS_BROADCAST = 2

    URT_CONDVAR_WAITSTATUS_TIMEOUT = 0

  }

    class urt_osCondvar_t <<T,00CFFF>> {

    + {method} urtCondvarInit (condvar : urt_osCondvar_t*) : void

    + {method} urtCondvarSignal (condvar : urt_osCondvar_t*) : void

    + {method} urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void

    + {method} urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t

  }

}

  package "timer" <<Rectangle>> {

    class urt_osTimerCallback_t <<T,00CFFF>> {

    urt_osTimerCallback_t (parameter : void*) : void

  }

    class urt_osTimer_t <<T,00CFFF>> {

    + {method} urtTimerInit (timer : urt_osTimer_t*) : void

    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t

    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t

    + {method} urtTimerReset (timer : urt_osTimer_t*) : urt_status_t

    + {method} urtTimerIsArmed (timer : urt_osTimer_t*) : bool

  }

} 

  package "thread" <<Rectangle>> {

    class urt_osThreadPrio_t <<T,00CFFF>> {

    URT_THREAD_PRIO_LOW_MIN

    URT_THREAD_PRIO_LOW_MAX

    URT_THREAD_PRIO_NORMAL_MIN

    URT_THREAD_PRIO_NORMAL_MAX

    URT_THREAD_PRIO_HIGH_MIN

    URT_THREAD_PRIO_HIGH_MAX

    URT_THREAD_PRIO_RT_MIN

    URT_THREAD_PRIO_RT_MAX

  }

    class urt_osThreadFunction_t <<T,00CFFF>> {

    urt_osThreadFunction_t (arg : void*) : void

  }

    class urt_osThreadTerminateSignal_t <<E,FF7F3F>> {

    URT_THREAD_TERMINATE_REQUEST = 15

    URT_THREAD_TERMINATE_KILL = 9

  }

    class urt_osThreadState_t <<E,FF7F3F>> {

    URT_THREAD_STATE_INACTIVE = 0

    URT_THREAD_STATE_RUNNING = 1

    URT_THREAD_STATE_READY = 2

    URT_THREAD_STATE_SLEEPING = 3

    URT_THREAD_STATE_SUSPENDED = 4

    URT_THREAD_STATE_WAITING = 5

    URT_THREAD_STATE_TERMINATED = 6

  }

    class urt_osThread_t <<T,00CFFF>> {

    URT_THREAD_SLEEP_MAX : float

    URT_THREAD_SSLEP_MAX : urt_delay_t

    URT_THREAD_MSLEEP_MAX : urt_delay_t

    URT_THREAD_USLEEP_MAX : urt_delay_t

    - -

    + {method} URT_THREAD_MEMORY (varname, stacksize)

    ..

    + {method} urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*

    + {method} urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void

    + {method} urtThreadYield (void) : void

    + {method} urtThreadGetPriority (void) : urt_osThreadPrio_t

    + {method} urtThreadSetPriority (prio : urt_osThreadPrio_t) : void

    + {method} urtThreadSuspend (thread : urt_osThread_t*) : void

    + {method} urtThreadResume (thread : urt_osThread_t*) : urt_status_t

    + {method} urtThreadSleep (seconds : float) : void

    + {method} urtThreadSSleep (seconds : urt_delay_t) : void

    + {method} urtThreadMSleep (milliseconds : urt_delay_t) : void

    + {method} urtThreadUSleep (microseconds : urt_delay_t) : void

    + {method} urtThreadSleepUntil (time : urt_osTime_t) : void

    + {method} urtThreadExit (void) : void

    + {method} urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void

    + {method} urtThreadJoin (thread : urt_osThread_t*) : void

    + {method} urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t

    + {method} urtThreadGetSelf (void) : urt_osThread_t*

  }

} 

  package "events" <<Rectangle>> {

    class urt_osEventMask_t <<T,00CFFF>> {

    URT_EVENTMASK_MAXPRIO : urt_osEventMask_t

  }

    class urt_osEventFlags_t <<T,00CFFF>> {

  }

    class urt_osEventWait_t <<E,FF7F3F>> {

    URT_EVENT_WAIT_ONE = 0

    URT_EVENT_WAIT_ANY = 1

    URT_EVENT_WAIT_ALL = 2

  }

    class urt_osEventListener_t <<T,00CFFF>> {

    + {method} urtEventListenerInit (listener : urt_osEventListener_t*) : void

    + {method} urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

    + {method} urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

  }

    class urt_osEventSource_t <<T,00CFFF>> {

    + {method} urtEventSourceInit (source : urt_osEventSource_t*) : void

    + {method} urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void

  }

    class urt_events <<F,E0E0E0>> {

    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t

    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t

    + {method} urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t

  }

} 

  class urt_streams <<F,E0E0E0>> {

  + {method} urtPrintf(fmt : char*, ... ) : int

  + {method} urtErrPrintf(fmt : char*, ... ) : int

}

}

  package "Middleware" <<Node>> {

  class urt_core_t <<S,BFAFFF>> {

  - {field} {static} _nodes : urt_node_t*

  - {field} {static} _evtSource : urt_osEventSource_t

  - {field} {static} _lock : urt_osMutex_t

  .. URT_CFG_PUBSUB_ENABLED == true ..

  - {field} {static} _topics : urt_topic_t*

  .. URT_CFG_RPC_ENABLED == true ..

  - {field} {static} _services : urt_service_t*

  __

  + {method} urtCoreInit (void) : urt_status_t

  + {method} urtCoreStartNodes (void) : urt_status_t

  + {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} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*

  .. URT_CFG_RPC_ENABLED == true ..

  + {method} urtCoreGetService (id : urt_serviceid_t) : urt_service_t*

}

  package "node" <<Rectangle>> {

    class urt_nodeSetupCallback_t <<T,00CFFF>> {

    urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t

  }

    class urt_nodeLoopCallback_t <<T,00CFFF>> {

    urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t

  }

    class urt_node_t <<S,BFAFFF>> {

    + {field} next : urt_node_t*

    + {field} thread : urt_osThread_t*

    + {field} setupcallback : urt_nodeSetupCallback_t*

    + {field} setupparams : void*

    + {field} loopcallback : urt_nodeLoopCallback_t*

    + {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*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t

  }

} 

  package "Publish-Subscribe System" <<Node>> {

  class urt_message_t <<S,BFAFFF>> {

  + {field} next : urt_message_t*

  + {field} payload : void*

  + {field} originTime : urt_osTime_t

  + {field} numHrtConsumersLeft : unsigned int

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} numConsumersLeft : unsigned int

  __

  + {method} urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t

}

  package "subscriber" <<Rectangle>> {

    class urt_basesubscriber_t <<S,BFAFFF>> {

    + {field} topic : urt_topic_t*

    + {field} evtListener : urt_osEventListener_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} 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_PUBSUB_PROFILING == true ..

  + {field} publishAttempts : uint64_t

  + {field} publishFails : uint64_t

  __

  + {method} urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t

  + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t

}

  class urt_topic_t <<S,BFAFFF>> {

  + {field} next : urt_topic_t*

  + {field} id : urt_topicid_t

  + {field} lock : urt_osMutex_t

  + {field} evtSource : urt_osEventSource_t

  + {field} numHrtSubscribers : unsigned int

  + {field} hrtSubscribers : urt_hrtsubscriber_t*

  + {field} hrtReleased : urt_osCondvar_t

  + {field} mandatoryMessage : urt_message_t

  + {field} latestMessage : urt_message_t*

  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

  + {field} qosRateTimer : urt_osTimer_t

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} numDiscardedMessages : uint64_t

  + {field} numSubscribers : unsigned int

  __

  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t

}

}

  package "Remote Procedure Call System" <<Node>> {

  class urt_servicefunc_t <<F,E0E0E0>> {

  urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t

}

  class urt_service_t <<S,BFAFFF>> {

  + {field} next : urt_service_t*

  + {field} id : urt_serviceid_t

  + {field} lock : urt_osMutex_t

  + {field} callback : urt_servicefunc_t*

  .. URT_CFG_RPC_PROFILING == true ..

  + {field} sumDurations : uint64_t

  + {field} numCalls : uint64_t

  + {field} numTimeouts : uint64_t

  .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true  ..

  + {field} minDuration : urt_delay_t

  + {field} maxDuration : urt_delay_t

  __

  + {method} urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t

  + {method} urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t

}

}

}

urt_nodestage_t ..> urt_config

urt_topicid_t ..> urt_config

urt_serviceid_t ..> urt_config

urt_delay_t ..> urt_config

urt_osCondvar_t ..> urt_osCondvarWaitStatus_t

urt_osCondvar_t .> urt_osMutex_t

urt_osTimer_t ..> urt_osTimerCallback_t

urt_osThread_t ..> urt_osThreadPrio_t

urt_osThread_t ..> urt_osThreadFunction_t

urt_osThread_t ..> urt_osThreadTerminateSignal_t

urt_osThread_t ..> urt_osThreadState_t

urt_osThread_t .> urt_osTime_t

urt_osEventListener_t ..> urt_osEventFlags_t

urt_osEventSource_t ..> urt_osEventFlags_t

urt_events ..> urt_osEventSource_t

urt_events ..> urt_osEventListener_t

urt_events ..> urt_osEventMask_t

urt_events ..> urt_osEventFlags_t

urt_events ..> urt_osEventWait_t

urt_osCondvar_t ..> urt_delay_t

urt_osThread_t ..> urt_delay_t

urt_osThread_t ..> urt_status_t

urt_osTimer_t ..> urt_delay_t

urt_osTimer_t ..> urt_status_t

urt_events ..> urt_delay_t

urt_events ..> urt_status_t

urt_node_t "1" o- - "0..1" urt_node_t

urt_node_t "1" o- - "1" urt_nodeSetupCallback_t

urt_node_t <.. urt_nodeSetupCallback_t

urt_node_t "1" o- - "1" urt_nodeLoopCallback_t

urt_node_t <.. urt_nodeLoopCallback_t

urt_message_t "1" o- - "0..1" urt_message_t

urt_nrtsubscriber_t - -|> urt_basesubscriber_t

urt_nrtsubscriber_t ..> urt_message_t

urt_srtsubscriber_t - -|> urt_basesubscriber_t

urt_srtsubscriber_t "1" o- - "0..1" urt_srtusefulnessfunc_t

urt_srtsubscriber_t ..> urt_message_t

urt_frtsubscriber_t - -|> urt_basesubscriber_t

urt_frtsubscriber_t ..> 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_hrtsubscriber_t

urt_topic_t "1" *- - "1" urt_message_t

urt_service_t "1" o- - "0..1" urt_service_t

urt_service_t "1" o- - "0..1" urt_servicefunc_t

urt_core_t "1" o- - "0..1" urt_node_t

urt_core_t "1" *- - "0..1" urt_topic_t

urt_core_t "1" *- - "0..1" urt_service_t

urt_core_t "1" *- - "1" urt_osEventSource_t

urt_core_t "1" *- - "1" urt_osMutex_t

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- - "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

urt_node_t ..> urt_status_t

urt_nodeSetupCallback_t ..> urt_osEventMask_t

urt_nodeLoopCallback_t ..> urt_osEventMask_t

urt_publisher_t ..> urt_config

urt_publisher_t ..> urt_status_t

urt_publisher_t ..> urt_delay_t

urt_topic_t "1" *- - "1" urt_topicid_t

urt_topic_t "1" *- - "1" urt_osMutex_t

urt_topic_t "1" *- - "1" urt_osEventSource_t

urt_topic_t ..> urt_config

urt_topic_t "1" *- - "0..1" urt_osTimer_t

urt_topic_t ..> urt_status_t

urt_message_t "1" *- - "1" urt_osTime_t

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_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

urt_service_t ..> urt_config

urt_service_t "1" *- - "0..2" urt_delay_t

urt_service_t ..> urt_status_t

urt_servicefunc_t ..> urt_delay_t

urt_servicefunc_t ..> urt_status_t

@enduml

PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

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