A software toolkit that implements the CoSy Architecture Schema for developing integrated intelligent robotic systems. The toolkit focuses on supporting on a space of information-processing architectures based on shared working memories.
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0.2.2 Helpers are now provided for registering and resolving ice servers (i.e. connections between components that don't go via working memory). You can find generic registerIceServer and getIceServer methods in CASTComponent which do this for any server type and addressing mechanism you want. However, there are also versions of these methods which require only a component ID (the first string arg on a line in a cat file) and an interface type. These are simpler to use and register and resolve servers based on only the id of the component providing the server (i.e. the string available via getComponentID() which is specified in the cast file) and a template parameter for the interface type. You can see examples of this in action under src/*/cast/examples & config/direct-test-*.cast. One of the advantages of using this method is that Ice servants are automatically removed from a component when it is shut down (on the destroy() call) allowing the cast-server to be reused by repeated client calls.
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