James Mc

Hi All, I am currently architecting a program where I have multiple parallel services running for a robotics application e.g. mapping and motion control. I am finding myself using a lot of notifiers to pass control signals between them for example I have a global e-stop notifier and check its status for a value. The reason I have gone for this is to a)Avoid local variables as I can pass notifier references easily into the 'sub-VIs' which are my services and can then be passed down to sub-VIs in them. b)Avoid shared variables, I am using shared variables for data e.g. my global 2D Pose but want maximum reliability for items like my E-Stop system and dont entirely trust shared variables for these. However I don't know too much about how they work under the hood. Am I correct in thinking that they have a low overhead and high reliability and speed of update? Also how do data references compare? Will be interested to hear everyones thoughts on this. Regards, James EDIT: I should also mention this code will be deployed on RT. As such should I use data references? I wonder because the in place structure blocks the reference to avoid race conditions but this is non deterministic, I am only writing in 1 place and reading at multiple others so wonder if there is a good alternative?