robot control daemon

Runs a master process which monitors for Robot peripherals. For each one it finds, it opens a UNIX seqpacket socket in /var/robotd/<type>/<id> and runs a controller process to actually communicate with the board.

Currently just handles the motor board and cameras

Tour of the source

• robotd/master.py contains the main entry point, the UNIX socket listening code, and the bits to launch controller subprocesses.
• robotd/devices.py contains the actual classes which implement particular devices.
• robotd/devices_base.py contains some common code for devices.py.
• robotd.service is the systemd service which runs the thing in production.

Getting started

Since robotd vendors in April Tags for its vision support, which depends on libusb, you'll need to install the development package for libusb in order to build the python package:

sudo apt install libusb-1.0-0-dev

Without this you'll likely see errors building the apriltags source. However, once done you can pip install -e . as usual.

Building the debian package

# Install build tools:
sudo apt install build-essential devscripts debhelper dh-systemd equivs

# cd to the root of this project
cd path/to/robotd

# Install dependencies
sudo mk-build-deps -ir

# Build the package:
debuild -uc -us