03/27 : Yet Another PoM/Prism Discussion¶

Participants:
Andrea, Ellon, Pierre, Quentin

Goal of the meeting: Discuss implementation details of PoM/Prism and try to take a decision about how to proceed.

Discussion¶

1. About accessing the time

• We agreed that we should have a core library managing the time. This library would be used by all DFNs and DFPCs that wanted to get the current time.
• If we will need time synchronized between multiple robots the time library would be updated with mechanisms allowing time synchronization.
• This is in opposition to have PoM/Prism publishing timestamps on topics that would be used by other modules. This simplifies the access to time, and removing some complexity of the system to be designed

2. About interfaces

• There was some discussion about how to design our code (in general, not only related to POM/Prism).
• We agreed that we should design our code on layers, from core ASN.1-free libraries up to the modules/nodes, more or less how it is shown in the figure below.

• ADD FIGURE

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3. About PoM/Prism design

4. About using genom-ros or only ROS

Open questions¶