Nodes send messages using json data. Sensors use zmq PUB/SUB. Actuators use zmq PUSH/PULL. Neurons use whatever they have to do get the job done, which means they SUB to sensors, and PUSH to actuators. | Nodes send messages using json data. Sensors use zmq PUB/SUB. Actuators use zmq PUSH/PULL. Neurons use whatever they have to do get the job done, which means they SUB to sensors, and PUSH to actuators. |