Unit
Unit is the logic block that have ports, thus can be recoginzed by the circuit board.
The basic structure of a unit.
Usually, it has solid dark base.
Off-board / On-board Mode
Some of the units have off-board mode, i.e. they can be placed anywhere to complete their task.
When configured as off-board, the unit will hide their physical ports and receive/send wireless signal.
Take off-board mode of Pose Sensor as example, when configured as off-board, there will be a mapper called Send Channel, specifying the channel through which the wireless signal is transmitted (will be discussed later in the Wireless chapter).
Behaviour
Logic units
When the signal from input/control ports changed, they will update the signals at output ports immediately (the update can happen multiple times per frame, dangerous, wasn't it)
Sensors
For each physical frame (every 0.01s), read the sensor configuration signals from input ports and generate outputs.
For many sensors, the ouput signal's type is package, containing multiple data. For example, IMU will ouput the package signal containing velocity (vector3), acceleration (vector3), angular velocity (vector3) and a place holder(null). You need to use UNPACKER to extract the information you want.
Executors
For each physical frame (every 0.01s), read the signals from input ports and perform the action, such as press a key, move to a certain angle, display something.
Similar with sensors, some of the executors receive package type input signal.