brunodebus / tinq-core Goto Github PK

@brunodebus and @mouse256, trying to use this way to reach you (e-mail didn't work so far):

This is Víctor Mayoral Vilches, working at OSRF. Esteve contacted you a while ago showing our interest in Qeo and Tinq. I am the person pushing forward the ROS 2.0 development on the embedded/deep-embedded side and we are considering using Tinq's code for this purpose.

Our goal is to use a minimal DDS implementation in plain C (ideally ANSI C11) that can run in bare-metal (cortex-m3, -m4, -m0, msp430, ...) so we can't assume a POSIX interface.

So far we have the following architecture in mind:

• The Transport abstraction layer will hook up the embedded network stack (probably device dependant) with the DDS.
• We are hoping that the DCSP and RTPS layers can be provided by the tinq-core will provide once it has been stripped down from the POSIX networking and RT dependencies.
• The ROS client nano library API will abstract the users with a rossified API of the underlying DDS.

How does this sound to you? Would it be fine if we contributed to tinq-core to make it deep-embedded capable? If so, maybe you could clarify to me the following aspects:

• As tinq-core is coded right now, it assumes it's built on top of POSIX, right? How feasible is it to remove this dependency and provide an interface that allows the networking stack to be adaptable? (POSIX could be one option)
• I see that currently, libdds.so is 3.5 MB. We are targeting something around 200 KB. Do you believe it's possible stripping it down to this size?
• Is the real-time implementation depending on librt and if so, could this be bypassed easily?

After having spent some time looking at the code I admit that it's a quite amazing piece of work. I think it'll be great to use Tinq as a fundamental piece of software for embedded robotics.