https://github.com/p4p-83/controller

The command & control that conducts the entire orchestra.
https://github.com/p4p-83/controller

julia webrtc websocket

Last synced: 5 days ago
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The command & control that conducts the entire orchestra.

• Host: GitHub
• URL: https://github.com/p4p-83/controller
• Owner: p4p-83
• Created: 2024-07-10T04:54:13.000Z (3 months ago)
• Default Branch: main
• Last Pushed: 2024-09-24T07:36:16.000Z (10 days ago)
• Last Synced: 2024-09-25T22:02:56.119Z (8 days ago)
• Topics: julia, webrtc, websocket
• Language: Julia
• Homepage: https://p4p.jamesnzl.xyz
• Size: 78.1 KB
• Stars: 0
• Watchers: 0
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# `controller`

> [!NOTE]

> Refer to [`p4p.jamesnzl.xyz/learn`](https://p4p.jamesnzl.xyz/learn) for full details.

This repository contains the command and control for our pick-and-place machine, and acts as the conduit between the [`p4p-83/gantry`](https://github.com/p4p-83/gantry), [`p4p-83/vision`](https://github.com/p4p-83/vision), and the [`p4p-83/interface`](https://github.com/p4p-83/interface).

## Usage

Firstly, clone this repository. Set up [SSH Agent Forwarding](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/using-ssh-agent-forwarding) on the Raspberry Pi if needed.

```sh

git submodule update --init

julia src/controller.jl

```

## Interfaces

### WebRTC

- WebRTC is used for the real-time low-latency video streaming from MediaMTX on the Raspberry Pi to the web interface.

### WebSocket

- A WebSocket is used for the real-time low-latency full-duplex data channel between the Raspberry Pi and the web interface.

#### Protocol Buffers

- [Protocol buffers](https://protobuf.dev/overview/) are used for data exchange.

- See [`p4p-83/protobufs`](https://github.com/p4p-83/protobufs) for the `.proto` definition(s).