Yesterday I merged a big software update to the Zakhar’s Raspberry Pi Unit - brain_service.

The update brings a service providing the robot’s status (network, OS status) and access to the CAN bus for many simultaneously connected clients. Also, the service tracks the presence of other robot Units on the CAN bus.

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/

Author: Andrei Gramakov

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