Glossary

bus

The communication backbone, providing publish and listen operations. The bus takes care of sequencing all messages within the sysem and serialization via logging facility.

Directed connection of two nodes. The source node generates messages by publish call and the destinaion node accepts them via listen call.

logfile

Binary file containing message data with their source and timestamp.

node

The basic processing unit attached to bus. It has fixed set of inputs and outputs. Some nodes implement communication with outer world like TCP.

OSGAR

Open Source Garden/Generic Autonomous Robot (Python library)

robot

The collection of interacting nodes via bus. This typically corresponds to a machine with set of sensors and efectors in the real world.

stream

Output from node without specified destination like for link.

timestamp

Python datetime.timedelta with microsecond precision starting from zero with the beginning of the program.