TAILIEUCHUNG - Software Engineering for Experimental Robotics - Davide Brugali et al Part 9

Tham khảo tài liệu 'software engineering for experimental robotics - davide brugali et al part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Orca A Component Model and Repository 239 Rangescanner interface sequence float Rangesequence exception CannotlmplementConfigurationException extends OrcaException class RangeScannerData extends OrcaObject RangeSequence ranges float startAngle float angleincrement interface RangeScanner RangeScannerData getDataO RangeScannerConfig getConfigO RangeScannerGeometry getGeometryO void setConfig RangeScannerConfig config throws CannotlmplementConfigurationException Laser Scanner interface sequence byte Intensitysequence class LaserData extends RangeScannerData Intensitysequence intensities interface Laser extends RangeScanner Listing 1 Definitions of the RangeScanner and Laser interfaces. Some details are omitted for brevity. configure deploy and operate a system of those components was significant. When applied to large distributed systems such as those described in Section 5 this extra effort could even dominate the total effort required. This eventuality is not uncommon in distributed systems outside of the robotics field WSOOl . A number of services and utilities have proved useful for mitigating the problems associated with large systems 1. naming or trading services to allow location transparency 2. event services to de-couple publishers from subscribers 3. persistence services to maintain state beyond a component s lifetime 4. application servers 5. deployment utilities 6. system composition and configuration utilities and 7. remote monitoring utilities. 240 A. Brooks et al. Availability of these tools is an important consideration when selecting a middleware package or robotics framework. This Section describes the problems that were found to be most problematic and the tools used to solve them. Composition and Configuration Each Orcal component was configured with a separate file which defined its inter-component connections and modified its behaviour. Defining all the connections by hand in a large system was tedious and error-prone. When system .

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