Before updating Alive OS to support qCAN (my CANbus-based protocol) I have the last thing to do. To simplify my live in future I need a CAN publisher that can publish messages to many subscribers. My main subscribe of course is AliveOS but also to display information about connected devices I need a second subscriber - a service listening only qCAN Present messages.

To do it I will use a ZeroMQ protocol - an extremely supported and documented for many programming languages standard. I’m going to update my brain_service to support the protocol and it will be responsible for all interaction with Raspberry Pi.

Updated code for the Sensor Unit with qCAN support is merged and documented!

• Source code: https://github.com/Zakhar-the-Robot/io_sensors
• Documentation: https://zakhar-the-robot.github.io/doc/docs/systems/io_sensors/