Changes between Version 42 and Version 43 of MiddleWareConnection


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Timestamp:
10/28/12 23:34:13 (7 years ago)
Author:
welberge
Comment:

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  • MiddleWareConnection

    v42 v43  
    11[[PageOutline]] 
    22 
    3 = Hooking up !AsapRealizer to your own middleware framework = 
     3= Hooking up !AsapRealizer to your desired middleware framework = 
    44Communication 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. 
    5 == Example: hooking up !AsapRealizer to the Robotic Service Bus == 
     5 
     6== Using an existing middleware adapter == 
     7Adapters are available to connect an AsapRealizer to Ipaaca, RSB, ActiveMQ or a custom socket connection. You can hook them up to a realizer using the !AsapVirtualHuman xml configuration file.  
     8 
     9e.g.: 
     10{{{ 
     11<AsapVirtualHuman> 
     12  <Loader id="realizer" loader="asap.realizerembodiments.AsapRealizerEmbodiment"> 
     13    <BMLParser> 
     14      <BMLAttributeExtension class="asap.bml.ext.bmlb.BMLBBMLBehaviorAttributes"/> 
     15      <BMLAttributeExtension class="asap.bml.ext.bmlt.BMLTBMLBehaviorAttributes"/> 
     16    </BMLParser> 
     17         
     18    <BMLScheduler> 
     19      <SchedulingHandler class="asap.realizer.scheduler.BMLBandTSchedulingHandler" schedulingStrategy="asap.realizer.scheduler.SortedSmartBodySchedulingStrategy"/> 
     20    </BMLScheduler> 
     21    <PipeLoader id="pipe" loader="packagename.YourPreferedMiddleWareToBMLRealizerAdapterLoader"/> 
     22  </Loader> 
     23  ... 
     24</AsapVirtualHuman> 
     25}}} 
     26 
     27== Hooking up AsapRealizer to a new middleware framework == 
    628In 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. 
    729[[Image(rsbadapters.png)]]