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/classdiagrams/primitives.svg b/doc/classdiagrams/primitives.svg
index aa67930..2ffcf81 100644
--- a/doc/classdiagrams/primitives.svg
+++ b/doc/classdiagrams/primitives.svg
@@ -1,15 +1,14 @@
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-link urt_delay_t to urt_debug--><!--MD5=[6d59fee34feaf6c8d5b457836bfb3f6e]
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+class urt_nodestage_t--><rect fill="#FEFECE" filter="url(#f1r9zwxaoahuek)" height="158.4375" id="urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.5;" width="216" x="14" y="49.9063"/><ellipse cx="66.25" cy="65.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M67.0938,72.6563 L64.6406,72.6563 L64.6406,62.4063 L61.5,62.4063 L61.5,60.2656 L70.2344,60.2656 L70.2344,62.4063 L67.0938,62.4063 L67.0938,72.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="103" x="86.75" y="70.0605">urt_nodestage_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="15" x2="229" y1="81.9063" y2="81.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="20" y="112.9214">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15" x2="21.5" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="21.5" y="99.6167">URT_CFG_NODESTAGE_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="222.5" x2="229" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="20" y="142.5308">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15" x2="18" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="18" y="129.2261">URT_CFG_NODESTAGE_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="226" x2="229" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="20" y="172.1401">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15" x2="18" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="18" y="158.8354">URT_CFG_NODESTAGE_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="226" x2="229" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="20" y="201.7495">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15" x2="18" y1="185.1367" y2="185.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="18" y="188.4448">URT_CFG_NODESTAGE_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="226" x2="229" y1="185.1367" y2="185.1367"/><!--MD5=[a55671f9c3a4eb2d749fd774fc81a82b]
+class urt_topicid_t--><rect fill="#FEFECE" filter="url(#f1r9zwxaoahuek)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="244" x="265" y="49.9063"/><ellipse cx="344.25" cy="65.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M345.0938,72.6563 L342.6406,72.6563 L342.6406,62.4063 L339.5,62.4063 L339.5,60.2656 L348.2344,60.2656 L348.2344,62.4063 L345.0938,62.4063 L345.0938,72.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="364.75" y="70.0605">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="266" x2="508" y1="81.9063" y2="81.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="271" y="112.9214">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="266" x2="272.5" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="229" x="272.5" y="99.6167">URT_CFG_PUBSUB_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="501.5" x2="508" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="271" y="142.5308">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="266" x2="269" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="269" y="129.2261">URT_CFG_PUBSUB_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="505" x2="508" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="271" y="172.1401">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="266" x2="269" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="269" y="158.8354">URT_CFG_PUBSUB_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="505" x2="508" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="271" y="201.7495">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="266" x2="269" y1="185.1367" y2="185.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="269" y="188.4448">URT_CFG_PUBSUB_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="505" x2="508" y1="185.1367" y2="185.1367"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]
+class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#f1r9zwxaoahuek)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="232" x="6" y="327.9063"/><ellipse cx="72.75" cy="343.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M73.5938,350.6563 L71.1406,350.6563 L71.1406,340.4063 L68,340.4063 L68,338.2656 L76.7344,338.2656 L76.7344,340.4063 L73.5938,340.4063 L73.5938,350.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="93.25" y="348.0605">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="237" y1="359.9063" y2="359.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="12" y="390.9214">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="13.5" y1="374.3086" y2="374.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="13.5" y="377.6167">URT_CFG_RPC_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="230.5" x2="237" y1="374.3086" y2="374.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="12" y="420.5308">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="10" y1="403.918" y2="403.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="10" y="407.2261">URT_CFG_RPC_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="234" x2="237" y1="403.918" y2="403.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="12" y="450.1401">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="10" y1="433.5273" y2="433.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="10" y="436.8354">URT_CFG_RPC_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="234" x2="237" y1="433.5273" y2="433.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="12" y="479.7495">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="10" y1="463.1367" y2="463.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="10" y="466.4448">URT_CFG_RPC_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="234" x2="237" y1="463.1367" y2="463.1367"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]
+class urt_status_t--><rect fill="#FEFECE" filter="url(#f1r9zwxaoahuek)" height="278.4844" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="229" x="273.5" y="267.9063"/><ellipse cx="346.25" cy="283.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M350.3594,289.9063 L342.6406,289.9063 L342.6406,277.5156 L350.3594,277.5156 L350.3594,279.6719 L345.0938,279.6719 L345.0938,282.3438 L349.8594,282.3438 L349.8594,284.5 L345.0938,284.5 L345.0938,287.75 L350.3594,287.75 L350.3594,289.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="366.75" y="288.0605">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="274.5" x2="501.5" y1="299.9063" y2="299.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="119" x="279.5" y="314.1167">URT_STATUS_OK = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="279.5" y="326.9214">URT_STATUS_DEADLINEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="279.5" y="339.7261">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="279.5" y="352.5308">URT_STATUS_RATEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="279.5" y="365.3354">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="279.5" y="378.1401">URT_STATUS_SYNC_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="200" x="279.5" y="390.9448">URT_STATUS_NODE_INVALEVTMASK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="279.5" y="420.5542">URT_STATUS_TOPIC_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="279.5" y="433.3589">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="206" x="279.5" y="446.1636">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="279.5" y="458.9683">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="279.5" y="471.7729">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="279.5" y="484.5776">URT_STATUS_UNSUBSCRIBE_NOTOPIC</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="274.5" x2="283" y1="403.9414" y2="403.9414"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="283" y="407.2495">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="493" x2="501.5" y1="403.9414" y2="403.9414"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="279.5" y="514.187">URT_STATUS_SERVICE_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="279.5" y="526.9917">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="279.5" y="539.7964">URT_STATUS_REQUEST_LOCKED</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="274.5" x2="295.5" y1="497.5742" y2="497.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="295.5" y="500.8823">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="480.5" x2="501.5" y1="497.5742" y2="497.5742"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]
+class urt_delay_t--><rect fill="#FEFECE" filter="url(#f1r9zwxaoahuek)" height="132.8281" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="620.5" y="340.4063"/><ellipse cx="672.75" cy="356.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M673.5938,363.1563 L671.1406,363.1563 L671.1406,352.9063 L668,352.9063 L668,350.7656 L676.7344,350.7656 L676.7344,352.9063 L673.5938,352.9063 L673.5938,363.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="693.25" y="360.5605">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="621.5" x2="800.5" y1="372.4063" y2="372.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="626.5" y="403.4214">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="621.5" x2="624.5" y1="386.8086" y2="386.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="624.5" y="390.1167">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="797.5" x2="800.5" y1="386.8086" y2="386.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="626.5" y="433.0308">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="621.5" x2="624.5" y1="416.418" y2="416.418"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="624.5" y="419.7261">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="797.5" x2="800.5" y1="416.418" y2="416.418"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="621.5" x2="800.5" y1="439.625" y2="439.625"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="626.5" y="453.8354">URT_DELAY_IMMEDIATE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="626.5" y="466.6401">URT_DELAY_INFINITE = 0xF..F</text><!--MD5=[81e47bc16a7baa7cb65c7bc48dd317d5]
+class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#f1r9zwxaoahuek)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="544" y="98.4063"/><ellipse cx="655.75" cy="114.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M659.9844,110.1719 L654.7031,110.1719 L654.7031,112.8438 L659.5,112.8438 L659.5,115 L654.7031,115 L654.7031,120.4063 L652.2656,120.4063 L652.2656,108.0156 L659.9844,108.0156 L659.9844,110.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="676.25" y="118.5605">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="545" x2="877" y1="130.4063" y2="130.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="545" x2="877" y1="138.4063" y2="138.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="550" y="152.6167">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[e0c5ef58bc626bdfda028ecb031e1681]
+link urt_usefulness_f to urt_delay_t--><path d="M711,159.4524 C711,201.4172 711,278.169 711,335.1084 " fill="none" id="urt_usefulness_f-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="711,340.2082,715,331.2082,711,335.2082,707,331.2082,711,340.2082" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f9393016d83893cc69adca47e14d25aa]
+link urt_nodestage_t to urt_topicid_t--><!--MD5=[c919bfc5756864ea6954fb66cca38c3c]
+link urt_nodestage_t to urt_serviceid_t--><!--MD5=[555a16c29c19799bcdc0e0864c410f51]
+link urt_serviceid_t to urt_status_t--><!--MD5=[80216aec3f8543d4bdc11263865b90da]
 @startuml
 
 title **µRtWare**\nPrimitives
@@ -38,24 +37,24 @@ title **µRtWare**\nPrimitives
 }
 
   class urt_topicid_t <<T,00CFFF>> {
-  .. URT_CFG_TOPICID_WIDTH == 8 ..
+  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 8 ..
   uin8_t
-  .. URT_CFG_TOPICID_WIDTH == 16 ..
+  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 16 ..
   uint16_t
-  .. URT_CFG_TOPICID_WIDTH == 32 ..
+  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 32 ..
   uint32_t
-  .. URT_CFG_TOPICID_WIDTH == 64 ..
+  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 64 ..
   uint64_t
 }
 
   class urt_serviceid_t <<T,00CFFF>> {
-  .. URT_CFG_SERVICEID_WIDTH == 8 ..
+  .. URT_CFG_RPC_SERVICEID_WIDTH == 8 ..
   uin8_t
-  .. URT_CFG_SERVICEID_WIDTH == 16 ..
+  .. URT_CFG_RPC_SERVICEID_WIDTH == 16 ..
   uint16_t
-  .. URT_CFG_SERVICEID_WIDTH == 32 ..
+  .. URT_CFG_RPC_SERVICEID_WIDTH == 32 ..
   uint32_t
-  .. URT_CFG_SERVICEID_WIDTH == 64 ..
+  .. URT_CFG_RPC_SERVICEID_WIDTH == 64 ..
   uint64_t
 }
 
@@ -76,7 +75,8 @@ title **µRtWare**\nPrimitives
   URT_STATUS_UNSUBSCRIBE_NOTOPIC
   .. URT_CFG_RPC_ENABLED == true ..
   URT_STATUS_SERVICE_DUPLICATE
-  URT_STATUS_SERVICE_TIMEOUT
+  URT_STATUS_REQUEST_BADOWNER
+  URT_STATUS_REQUEST_LOCKED
 }
 
   class urt_delay_t <<T,00CFFF>> {
@@ -84,15 +84,21 @@ title **µRtWare**\nPrimitives
   uint32_t
   .. URT_CFG_DELAY_WIDTH == 64 ..
   uint64_t
+  __
+  URT_DELAY_IMMEDIATE = 0
+  URT_DELAY_INFINITE = 0xF..F
 }
 
-  class urt_debug <<F,E0E0E0>> {
-  + {method} urtDebugAssert(condition : bool) : void
+  class urt_usefulness_f <<F,E0E0E0>> {
+  urt_usefulness_f (dt : urt_delay_t, params : void*) : float
 }
 
 
 
 
+urt_usefulness_f ..> urt_delay_t
+
+
 
 @enduml
 
@@ -100,7 +106,7 @@ 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
