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Programming Microsoft® Robotics Studio by Sara Morgan

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Handling Subscriptions

A robot needs to receive data from its sensors on a continuous basis. For example, a robot needs to be informed instantly if one of the bumper sensors has hit an object. To accommodate this need, DSSP allows services to receive event notifications from other services. A service that reads data from a bumper sensor will need to notify another service when the state of the bumper sensor has changed. The ability to handle subscriptions is a critical component of MSRS. Without this feature, it would be impossible to operate and monitor robotics applications in real time.

With a subscription involving two services (e.g., Service A and Service B). Service A could provide the state and serve as the publisher. Service B, the subscriber, ...

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