Changes between Version 47 and Version 48 of MiddleWareConnection


Ignore:
Timestamp:
11/10/12 21:11:08 (7 years ago)
Author:
welberge
Comment:

--

Legend:

Unmodified
Added
Removed
Modified
  • MiddleWareConnection

    v47 v48  
    2525}}} 
    2626 
     27=== Ipaaca === 
     28{{{ 
     29<PipeLoader id="pipe" loader="asap.ipaacaadapters.loader.IpaacaToBMLRealizerAdapterLoader"/> 
     30}}} 
     31 
     32=== ActiveMQ === 
     33{{{ 
     34<PipeLoader id="pipe" loader="asap.activemqadapters.loader.ActiveMQToBMLRealizerAdapterLoader"/> 
     35}}} 
     36 
     37 
     38=== Custom TCP IP === 
     39{{{ 
     40<PipeLoader id="pipe" loader="asap.tcpipadapters.loader.TCPIPToBMLRealizerAdapterLoader"> 
     41   <ServerOptions bmlport="6500" feedbackport="6501"/> 
     42</PipeLoader> 
     43}}} 
     44 
     45=== Robotic Service Bus === 
     46{{{ 
     47<PipeLoader id="pipe" loader="asap.rsbadapters.loader.RsbToBMLRealizerAdapterLoader"/> 
     48}}} 
     49 
    2750== Hooking up !AsapRealizer by creating a new middleware adapter == 
    2851If a middleware adapter for your favorite middleware does not exist, it's easy to create your own. In this example I will show how to connect !AsapRealizer to a Behavior Planner using messages over the [https://code.cor-lab.de/projects/rsb Robotic Service Bus]. To this end, two rsb adapters will be created. The RsbToBMLRealizerAdapter translates Rsb BML messages into BML commands for the BMLRealizerPort and submits feedback from the BMLRealizerPort over rsb. The BMLRealizerToRsbAdapter acts as an RealizerPort. It passes BML commands to the rsb and translates BML feedback from rsb into feedback for listeners registered to it.