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TACO is a toolkit for building distributed control systems or any other distributed system. It is based on a C/C++ core. It is based on the client-server model. It supports writing clients and server on Unix+Windows. Clients and servers can be written in
Framework for software component integration, interoperability and adoptability through a XML based vocabulary: Software Component Integration Mark-up Language (SCIML)
The TclSOAP package provides a mechanism to bind Tcl command procedures to remote procedure calls using the Simple Object Access Protocol (SOAP) and XML-RPC over HTTP. Both client and server code is provided.