Zakhar Brain Service

A project log for Zakhar the Robot

A companion for your cats and dogs.

andrei-gramakovAndrei Gramakov 09/18/2022 at 21:160 Comments

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.

There is another service shipping with the same repository brain_service_display. This service connects to brain_service and shows some important information on a small OLED display:

The service structure is presented below:

The service publishes status information and incoming CAN messages to ZeroMQ subscribers. The service allows all TCP connections including connections from external machines. See brain_pycore for compatible subscriber and client implementation classes.