commit 2d31587003068f754f1c662c620964cbdd99750f
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Mon May 11 13:10:28 2020 +0200

    Documentation massively overhauled:
    - Remote Procedure Call system massively reworked.
    - Component diagram slightly enhanced.
    - Several fixes.

diff --git a/doc/activitydiagrams/core/urtCoreInit.svg b/doc/activitydiagrams/core/urtCoreInit.svg
index 992e735..069db94 100644
--- a/doc/activitydiagrams/core/urtCoreInit.svg
+++ b/doc/activitydiagrams/core/urtCoreInit.svg
@@ -1,4 +1,4 @@
-<?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="357px" preserveAspectRatio="none" style="width:445px;height:357px;" version="1.1" viewBox="0 0 445 357" width="445px" zoomAndPan="magnify"><defs><filter height="300%" id="fo2sv7byrug75" 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="177" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="112" x="165.5" y="47.6611">urtCoreInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="224.5" y="68.6143"/><path d="M312.5,72.8594 L312.5,123.125 L424.5,123.125 L424.5,82.8594 L414.5,72.8594 L312.5,72.8594 " fill="#FBFB77" filter="url(#fo2sv7byrug75)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M414.5,72.8594 L414.5,82.8594 L424.5,82.8594 L414.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="312.5" x2="351" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="355" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="27" x="355" y="89.4263">void</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="386" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="386" x2="424.5" y1="85.4258" y2="85.4258"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="312.5" x2="424.5" y1="97.9922" y2="97.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="312.5" x2="424.5" y1="99.9922" y2="99.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="312.5" x2="323" y1="110.5586" y2="110.5586"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="327" y="114.5591"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="327" y="114.5591">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="376" y="114.5591">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="414" x2="424.5" y1="110.5586" y2="110.5586"/><ellipse cx="368.5" cy="153.125" fill="#000000" filter="url(#fo2sv7byrug75)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,173.125 L10,304.1875 A0,0 0 0 0 10,304.1875 L283,304.1875 A0,0 0 0 0 283,304.1875 L283,242.6563 L303,238.6563 L283,234.6563 L283,183.125 L273,173.125 L10,173.125 A0,0 0 0 0 10,173.125 " fill="#FBFB77" filter="url(#fo2sv7byrug75)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M273,173.125 L273,183.125 L283,183.125 L273,173.125 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="21.5" cy="185.7578" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="27" y="190.1919">_nodes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="83" y="190.1919">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="98" y="190.1919">NULL</text><ellipse cx="21.5" cy="200.8906" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="123" x="27" y="205.3247">urtEventSourceInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="80" x="150" y="205.3247">_evtSource</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="230" y="205.3247">)</text><ellipse cx="21.5" cy="216.0234" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="81" x="27" y="220.4575">urtMutexInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="108" y="220.4575">_lock</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="145" y="220.4575">)</text><ellipse cx="21.5" cy="231.1563" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="27" y="235.5903">_status</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="84" y="235.5903">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="99" y="235.5903">URT_STATUS_OK</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="246.2227" y2="246.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="244" x="24.5" y="250.2231">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="272.5" x2="283" y1="246.2227" y2="246.2227"/><ellipse cx="21.5" cy="261.4219" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="27" y="265.856">_topics</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="83" y="265.856">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="98" y="265.856">NULL</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="35.5" y1="276.4883" y2="276.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="214" x="39.5" y="280.4888">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="257.5" x2="283" y1="276.4883" y2="276.4883"/><ellipse cx="21.5" cy="291.6875" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="27" y="296.1216">_services</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="98" y="296.1216">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="113" y="296.1216">NULL</text><rect fill="#FEFECE" filter="url(#fo2sv7byrug75)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="303" y="221.6719"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="313" y="242.8105">initialize members</text><ellipse cx="368.5" cy="335.1875" fill="#FFFFFF" filter="url(#fo2sv7byrug75)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="368.5" cy="335.1875" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="368.5" x2="368.5" y1="123.125" y2="143.125"/><polygon fill="#A80036" points="364.5,133.125,368.5,143.125,372.5,133.125,368.5,137.125" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="368.5" x2="368.5" y1="163.125" y2="221.6719"/><polygon fill="#A80036" points="364.5,211.6719,368.5,221.6719,372.5,211.6719,368.5,215.6719" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="368.5" x2="368.5" y1="255.6406" y2="324.1875"/><polygon fill="#A80036" points="364.5,314.1875,368.5,324.1875,372.5,314.1875,368.5,318.1875" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9be517565b964ee274900b7b46a44bbb]
+<?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="357px" preserveAspectRatio="none" style="width:445px;height:357px;" version="1.1" viewBox="0 0 445 357" width="445px" zoomAndPan="magnify"><defs><filter height="300%" id="fo2sv7byrug75" 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="177" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="112" x="165.5" y="47.6611">urtCoreInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="224.5" y="68.6143"/><path d="M312.5,72.8594 L312.5,123.125 L424.5,123.125 L424.5,82.8594 L414.5,72.8594 L312.5,72.8594 " fill="#FBFB77" filter="url(#fo2sv7byrug75)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M414.5,72.8594 L414.5,82.8594 L424.5,82.8594 L414.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="312.5" x2="351" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="355" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="27" x="355" y="89.4263">void</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="386" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="386" x2="424.5" y1="85.4258" y2="85.4258"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="312.5" x2="424.5" y1="97.9922" y2="97.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="312.5" x2="424.5" y1="99.9922" y2="99.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="312.5" x2="323" y1="110.5586" y2="110.5586"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="327" y="114.5591"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="327" y="114.5591">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="376" y="114.5591">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="414" x2="424.5" y1="110.5586" y2="110.5586"/><ellipse cx="368.5" cy="153.125" fill="#000000" filter="url(#fo2sv7byrug75)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,173.125 L10,304.1875 A0,0 0 0 0 10,304.1875 L283,304.1875 A0,0 0 0 0 283,304.1875 L283,242.6563 L303,238.6563 L283,234.6563 L283,183.125 L273,173.125 L10,173.125 A0,0 0 0 0 10,173.125 " fill="#FBFB77" filter="url(#fo2sv7byrug75)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M273,173.125 L273,183.125 L283,183.125 L273,173.125 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="21.5" cy="185.7578" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="27" y="190.1919">_nodes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="83" y="190.1919">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="98" y="190.1919">NULL</text><ellipse cx="21.5" cy="200.8906" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="123" x="27" y="205.3247">urtEventSourceInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="80" x="150" y="205.3247">_evtSource</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="230" y="205.3247">)</text><ellipse cx="21.5" cy="216.0234" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="81" x="27" y="220.4575">urtMutexInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="108" y="220.4575">_lock</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="145" y="220.4575">)</text><ellipse cx="21.5" cy="231.1563" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="27" y="235.5903">_status</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="84" y="235.5903">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="99" y="235.5903">URT_STATUS_OK</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="246.2227" y2="246.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="244" x="24.5" y="250.2231">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="272.5" x2="283" y1="246.2227" y2="246.2227"/><ellipse cx="21.5" cy="261.4219" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="27" y="265.856">_topics</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="83" y="265.856">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="98" y="265.856">NULL</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="35.5" y1="276.4883" y2="276.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="214" x="39.5" y="280.4888">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="257.5" x2="283" y1="276.4883" y2="276.4883"/><ellipse cx="21.5" cy="291.6875" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="27" y="296.1216">_services</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="98" y="296.1216">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="113" y="296.1216">NULL</text><rect fill="#FEFECE" filter="url(#fo2sv7byrug75)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="303" y="221.6719"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="313" y="242.8105">initialize members</text><ellipse cx="368.5" cy="335.1875" fill="#FFFFFF" filter="url(#fo2sv7byrug75)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="368.5" cy="335.1875" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="368.5" x2="368.5" y1="123.125" y2="143.125"/><polygon fill="#A80036" points="364.5,133.125,368.5,143.125,372.5,133.125,368.5,137.125" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="368.5" x2="368.5" y1="163.125" y2="221.6719"/><polygon fill="#A80036" points="364.5,211.6719,368.5,221.6719,372.5,211.6719,368.5,215.6719" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="368.5" x2="368.5" y1="255.6406" y2="324.1875"/><polygon fill="#A80036" points="364.5,314.1875,368.5,324.1875,372.5,314.1875,368.5,318.1875" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c6247e15d57e1adb56cb1d1d45383334]
 @startuml
 
 title **µRtWare**\nurtCoreInit()\n
@@ -32,7 +32,7 @@ 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
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
 Operating System: Linux
 Default Encoding: UTF-8
 Language: en
