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[[http://www.openrobots.org/wiki/morse/events/hackaton_jan_2011/architecture?action=edit|Edit this page]].
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= Architecture =


== General Architecture ==

We look for a generic layout for information communication between components and middlewares, blender and middlewares..
=== Generic Messages ===
 * Need of a generic interface with middlewares
 * 
=== Middlewares and blender components ===

Separate the configuration files for middlewares from the blender files. Add a dynamic link to them

=== Handling sensor messages PUSH/PULL ===

For now morse sensors constantly send data ''PUSH'' but in some cases ( robots with plenty of sensors for examples) we'd rather use a request-based communication ''PULL''.
== Distribution ==

Decoupling distribution aspect from architecture.

== Sensor Layout ==

Clarify how to build a sensor
=== Sensor python class ===

To write yours you need to define the following functions:
 * {{{__init__}}}:
 * {{{default_action}}}:

== Robot Layout ==

Clarify how to build a robot