Re: [Core] Components design

Anthony Mallet <[email protected]>
Newsgroups gmane.science.robotics.orocos.user
Organization LAAS (CNRS) - Toulouse - France
Message-ID <[email protected]>
Henrik I. Christensen wrote :

| [...] I.e. you request a service and get the one
| available on a particular platform. Such an approach has advantages
| and disadvantages:
| 
| ++ You get a method that is independent of the actual implementation
| -- You can not exploit specific methods available in a particular
|    implementation. 

Actually I think we can get both if we implement some "intelligent"
service server, that would be e.g. controlled by some "supervisor".

A "service server" would manage the service to which it is associated
(serve data, send requests to modules, etc..), and export a set of
"control services" that could be configured either by a 
user (e.g. a user says : I always want the position from this module), or
by another module (according to the current environement, resources
availability, etc..). 


| [...] To achieve this the "components/modules" have to
| register "services" with a broker rather than only a name.

I fully agree!
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