Re: Updated dataflow semantics for RTT
Sylvain Joyeux <[email protected]> Tue, 29 Sep 2015 10:33:28 -0300
| Newsgroups | gmane.science.robotics.orocos.devel |
|---|---|
| Message-ID | <CAFENT7+gb=zbWisrPAa=iV656vTpfJhO5Fer=op+Vo9_Qww8Ug@mail.gmail.com> |
> I do not fully understand these last two points and why these things would > not already be possible today with RTT 2, perhaps by adding some simple, non > API-breaking helper methods to port and ConnectionManager classes. It would > be quite straight-forward to implement a store-and-forward channel element > that can be installed right after the channel input by the ConnFactory and > that replaces the current init functionality out of the OutputPort > implementation, but I do not really see why this would be beneficial or open > new possibilities for now. I already knew the place of ConnFactory. The problem *is* that it is internal and that the three operations I listed are "hidden" behind the ConnPolicy object. It makes the logic behind ConnPolicy horrible. By exposing these operations, and making them used by the tooling (thus deprecating the port API), you actually in effect remove the issue that RTT::TaskContext is trying to solve too many things. All the possibilities that policy encodes in a very weird way become different combinations of the three basic operations. For instance: yes, you can already internally to ConnFactory replace the "keep last written" and init stuff. But then you have to extend the port API *even more*. Every single change / extension to the connection handling right now requires to change the port API. By exposing ConnFactory, in effect, you remove that need, and pave the way for other to replace the connfactory by an extended version that does more (or different) without requiring even more plugins or whatnots. Sylvain -- Orocos-Dev mailing list [email protected] http://lists.mech.kuleuven.be/mailman/listinfo/orocos-dev