Polishing

- unify (encoded) Errormessages. They now always contain the offeding request.
- adopt keywords to current spec
- fixed formatting of timestamp in WriteReply
- minor bugfixing + polishing

Change-Id: I0ab8836756551399643bdce3d062eedd345509f1

doc/SECoP_Messages.md

@@ -146,9 +146,9 @@ Events can be emitted any time from the SEC-node (except if they would interrupt
 
   examples:
 
-  * 'event T1:value [3.479, {"t":"149128925.914882", "e":0.01924}]
-  * 'event T1:p [12, {"t":"149128927.193725"}]'
-  * 'event Vector:value [[0.01, 12.49, 3.92], {"t":"149128925.914882"}]'
+  * 'update T1:value [3.479, {"t":"149128925.914882", "e":0.01924}]
+  * 'update T1:p [12, {"t":"149128927.193725"}]'
+  * 'update Vector:value [[0.01, 12.49, 3.92], {"t":"149128925.914882"}]'
 
 
 ERROR