Lawn-mower robotics - Zenoh integration of micro-services

Features

• The robot is composed of micro-services which communicate on a local bus via pub/sub
• The local bus can be a I2C,serial,USB or ESP-NOW, TCP, UDP,
• the protocol supports device discovery
• every device has a unique text id
• every device has properties which have a sequential id : 0... N or a field index
• the device will broadcast or answer queries on the specifics of a property
• with ESP-NOW there is no central broker , the broadcast is sufficient for now to support the subscribe and publish features.
• target is to use esp-now as another peer-to-peer protocol
• a bridge will provide a gateway to the rest of the network to support dashboards, logging and a central brain
• The services themselves will be a composition of actors
• The actors will response to ActorCmd and generate ActorEvent
• ActorEvent will be handled by non-blocking services
• Each Actor should be independent and not aware of others
• The inter-actor glue is provided in the main code

consumption ready

• zenoh-ps4 : Ps4 a bridge from bluetooth PS4 events to zenoh and back.

Features

Zenoh is feature rich and would permit my own design to be much more efficient

• data routing based
• timestamping
• discovery
• query
• speed
• optimized protocol

Looks good on paper, letś go.

Observations

• Memory size of executable is comparable to Redis ( which is my alternative )
• Should support shared memory