0327 » History » Version 3
Ellon Paiva Mendes, 2018-03-27 18:37
| 1 | 2 | Ellon Paiva Mendes | h1. 03/27 : Yet Another PoM/Prism Discussion |
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| 2 | 3 | Ellon Paiva Mendes | |
| 3 | *Participants*: |
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| 4 | Andrea, Ellon, Pierre, Quentin |
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| 7 | *Goal of the meeting*: Discuss implementation details of PoM/Prism and try to take a decision about how to proceed. |
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| 9 | h2. Discussion |
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| 11 | *1. About accessing the time* |
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| 13 | * 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. |
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| 14 | * If we will need time synchronized between multiple robots the time library would be updated with mechanisms allowing time synchronization. |
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| 15 | * 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 |
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| 17 | *2. About interfaces* |
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| 19 | * There was some discussion about how to design our code (in general, not only related to POM/Prism). |
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| 20 | * 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. |
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| 22 | * ADD FIGURE |
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| 24 | * |
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| 27 | *3. About PoM/Prism design* |
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| 29 | *4. About using genom-ros or only ROS* |
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| 34 | h2. Open questions |