The USST Rover project has developed a multi-threaded Python 3 application designed to manage a system of interconnected embedded modules over a variety of networks.
Using the Python language and focusing on support from standard libraries, high-level abstraction of hardware interfaces and devices can be prototyped, tested and deployed in embedded environments and on the user's PC. The software supports defined configurations based on detected hardware, and multithreading allows for standalone modules to be easily swapped out.
Roveberrypy will be depreciated at some point before 2018. Future development will be focused on the Robocluster framework.
- Synchronizes state between an arbitrary number of independent Python processes using the multiprocessing library and a very simple global state dictionary
- Write any Python code, threads, classes or libraries with no restrictions
- Easy to use publish/subscribe based inter-process communication.
- Extends the global state on a numbner of network interfaces:
- Serial over USB with pyserial.
- Lightweight BottlePy WSGI web server (see rover-gui for the user interface software)
- Integration with VESC motor controllers with PyVESC
Documentation for Roveberrypy can be found at Read the Docs. If you are a member of the USST and are a member of our Github organization, you should have access to usstdocs.herokuapp.com. This site has various other tutorials and links to documentation for our projects, some aspects of which we prefer to keep secret due to the nature of the competitions we take part in. Unfortunately the authentication script can be a bit flakey and can block you out the first time you go there. Keep refreshing the page, try again in an hour or two, and contact Carl if issues persist.
The Navigation code is currently not tested very well, and probably doesn't work. Use with caution.
- Implement a lightweight standardized serialization protocol for communication with embedded peripherals
- Add database features
- Automated unit testing
- Rewrite the CAN server using python sockets
- Add a I2C server
We have a wiki page outlining our workflow.
- Pick an issue on the issue tracker or create an issue and have it assigned to a milestone
- Check out or create a feature branch.
- Code!
- Make a pull request to the dev branch.
- Stable code will be merged into master eventually.
For general information on how to contribue to USST projects please see the Wiki in the usst-docs repository. To get in touch with the team, visit www.usst.ca.