Transfer of large data structures
Large data structures cannot be transmitted by the middleware. This problem came apparent for us when wanting to transmit camera images. There are workarounds to overcome this problem, but a solution for transferring larger structures should be found within TASTE to overcome the need for such workarounds.
Workaround 1
We overcame the problem by embedding the camera driver into the image processing component such that no transfer of an image is necessary.
Workaround 2
To realize transport of images using TASTE, ESROCOS provides a specific pair of components (imagetransfer) that splits camera images into transferable 32kB chunks and re-assembles them after the transfer.