CODEWITHSUNDEEP
pythonrobotics
robvoi
robvoi

Reputation: 71

Python bus between processes

I am completely starting over with my robots brain. All is developed in Python.

I want to keep everything as modular as possible and allow the use of multiple CPU cores (Raspberry PI 2).

I thought of using multiple processes. One for serial communication, one for every sensor, one for every higher function. All connected by a steering "brain" function.

I want to connect processes by message busses. E.g. Should each sensor dart it's own bus. Higher functions and the brain can then sign in to the bus. In optimal case I would like to send whole objects too.

Upvotes: 2

Views: 290

Answers (1)

ndpu
ndpu

Reputation: 22571

Try nanomsg (follow-up project to ZeroMQ):

nanomsg is a socket library that provides several common communication patterns. It aims to make the networking layer fast, scalable, and easy to use. Implemented in C, it works on a wide range of operating systems with no further dependencies.

The communication patterns, also called "scalability protocols", are basic blocks for building distributed systems. By combining them you can create a vast array of distributed applications. The following scalability protocols are currently available:

  • PAIR - simple one-to-one communication
  • BUS - simple many-to-many communication
  • REQREP - allows to build clusters of stateless services to process user requests
  • PUBSUB - distributes messages to large sets of interested subscribers
  • PIPELINE - aggregates messages from multiple sources and load balances them among many destinations
  • SURVEY - allows to query state of multiple applications in a single go

Upvotes: 1

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