Changes between Version 26 and Version 27 of MiddleWareConnection


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Timestamp:
10/28/12 18:02:29 (7 years ago)
Author:
welberge
Comment:

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  • MiddleWareConnection

    v26 v27  
    22= Hooking up !AsapRealizer to your own middleware framework = 
    33Communication to and from !AsapRealizer is set up using the RealizerPort interface, a lightweight Java interface through which [http://www.mindmakers.org/projects/bml-1-0/wiki/Wiki BML] and [http://www.mindmakers.org/projects/bml-1-0/wiki/Wiki#Feedback BML feedback] is communicated as Java Strings. 
    4 == Example: creating RSB adapters == 
     4== Example: hooking up !AsapRealizer to the Robotic Service Bus == 
    55In 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. 
    66[[Image(rsbadapters.png)]]