After running its embedded function a node has a result state and result data, which can be connected to other nodes and used in the following nodes in the graph.
Nodes are connected together using edges which connect nodey by their ports. These edges transport events or data. A single nodes function is run when it receives an event on its ‘start’ event input port, after the node finishes the work it sends an event out on its ‘finished’ (or ‘failed’, depending on the nodes result state) port.
Nodes can be chosen from a catalog of already prepared nodes, more about which topics and functions our nodes cover can be found in the section on the next pages.
Special nodes ‘Resources’ serve as hardware abstractions (for example: robot arms) and interface to their (real or simulated) hardware counterparts. After setting up a resource node and configuring it with needed details (for example: IP address to connect to the real robots command interface; or: camera sensor settings like resolution or exposure time) it can be used later by function nodes that move the robot arm or take an image using the camera.
To aid in program overview and functionality reuse of parts of the node graph: multiple nodes and their edge connections can be grouped together.