Re: About component architectures...
"Cezary Zielinski" <[email protected]>
| Newsgroups | gmane.science.robotics.orocos.user |
|---|---|
| Message-ID | <[email protected]> |
Am I right to understand that you want to distinguish: configuration of a component (i.e. changing its internal parameters or state) and service commands? If that is so, I would prefer not to make this distinction. From a general point of view they are the same. Service request provides (possibly) some data and an internal state change as a byproduct, and the configuration/state change request provides (usually) NULL data and the needed change of parameters or internal state. To me that is more or less the same, thus no need to introduce the distinction. This might also simplify the implementation. Such distinctions usually lead to seperate code for each of the cases. Do you need to introduce the concept of a supervisor at all? I would like to think in a bit different way. We have some form of interacting components. Some of them provide simple services. Others - using the simple ones - provide more complex services. At the highest level we have a component responsible for the execution of the whole task. Nevertheless it is only a component - if need arises its role can be subsummed by still higher level components. In this way there is no need to distinguish a supervisor. Introduction of a supervisor might lead to a misunderstanding that the framework that we are proposing has a hierarchic structure with a single element controlling the whole system - and I though that we don't want that. The framework should be able to produce distributed systems with no or several supervisors. In such systems their members might communicate implicitly by simply observing each others actions through external sensors. Cezary > _______________________________________________ > Orocos mailing list > [email protected] > http://mail.mech.kuleuven.ac.be/mailman/listinfo/orocos