[Rock-dev] Proposal: NDLCom and Rock

[Jakob Schwendner]

> 
> Am 04.12.2013 15:39, schrieb Jakob Schwendner:
> > One method I could think of would be to use the same mechanism that we
> > have used in the Mars integration. There is a core task, that does the
> > communications, and multiple Plugin-Tasks, that have access to the
> > core task, and provide the specific interface types (e.g.
> > base::Joints).
> 
> I expected a generic input port ( vector<char> ) for the messages, but
that
> would require (as far i understood) to be written from a single component
> which provides all the interfaces for each robot that uses NDLComm.
> 
> I think Jakobs proposal is more flexible, and extensible.
> This way, less glue code to get the robot into the simulation is required.

I personally would like to avoid having the raw ndlcom message on any kind
of port. Once they are in between modules, they should be the type of the
respective data.

Jakob