[Rock-dev] Syskit Feedback

[Sylvain Joyeux]

Agreed.

The reason why we need a discussion is that there are three ways to 
solve this problem:
  1. make the "you only get a data service" case the common case and 
have a way to resolve to the actual task
  2. make the "you get the normal task" the common case and have a way 
to resolve the data service interface
  3. make a magic proxy that looks like the data service from a port 
p.o.v. and like the actual task for everything else

1. is making the Syskit case uniform (you see the interface as declared 
in your composition) and make the Roby case non-uniform (the child 
reported is not the actual child task)
2. is making the Roby case uniform (you are in Roby and you get the 
child) and the Syskit case non-uniform (when accessing stuff at runtime, 
you need to access the interface differently)
3. might be a good solution, but is magic.

-- 
Sylvain Joyeux (Dr.Ing.)
Senior Researcher

Space & Security Robotics
Underwater Robotics

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