Tze-Chien Chu tzechienchu

ZeroMQ vs Redis

This document is research for the selection of a communication platform for robot-net.

Goal

The purpose of this component is to enable rapid, reliable, and elegant communication between the various nodes of the network, including controllers, sensors, and actuators (robot drivers). It will act as the core of robot-net to create a standardized infrastructure for robot control.

Requirements:

	from migen import *
	from migen.genlib.cdc import MultiReg

	from litex.gen import *

	from litex.soc.interconnect.csr import *
	from litex.soc.integration.builder import *

	from litex.build.generic_platform import *
	from litex.build.xilinx import XilinxPlatform

	#! usr/bin/python

	### Firmata implementation for Micro Python
	### Protocol defined here: http://firmata.org/wiki/Protocol

	### Custom for each hardware port
	### Define the PINS and COMMS dictionaries below for each hardware device

	import os

	from migen import *
	from migen.genlib.cdc import MultiReg

	from litex.soc.interconnect.csr import *
	from litex.soc.interconnect.csr_eventmanager import *
	from litex.soc.integration.doc import AutoDoc, ModuleDoc

	import functools


	def force_async(fn):
	'''
	turns a sync function to async function using threads
	'''
	from concurrent.futures import ThreadPoolExecutor
	import asyncio
	pool = ThreadPoolExecutor()

	# ECP5 AsyncResetSynchronizer ----------------------------------------------------------------------

	class LatticeECP5AsyncResetSynchronizerImpl(Module):
	def __init__(self, cd, async_reset):
	rst1 = Signal()
	self.specials += [
	Instance("FD1S3BX",
	i_D = 0,
	i_PD = async_reset,
	i_CK = cd.clk,

	# iCE40 AsyncResetSynchronizer ---------------------------------------------------------------------

	class LatticeiCE40AsyncResetSynchronizerImpl(Module):
	def __init__(self, cd, async_reset):
	rst1 = Signal()
	self.specials += [
	Instance("SB_DFFS",
	i_D = 0,
	i_S = async_reset,
	i_C = cd.clk,


	from amaranth import Signal, Module, Cat, Elaboratable, Record, Mux
	from amaranth.hdl.rec import DIR_FANIN, DIR_FANOUT
	from amaranth.hdl.ast import Rose, Fell
	from amaranth.compat import TSTriple
	from amaranth.lib.cdc import FFSynchronizer

	class I2CTarget(Elaboratable):
	"""
	Simple I2C target.

	//Poisson function -- returns a single Poisson random variable
	int funPoissonSingle(double lambda)
	{
	double exp_lambda = exp(-lambda); //constant for terminating loop
	double randUni; //uniform variable
	double prodUni; //product of uniform variables
	int randPoisson; //Poisson variable

	//initialize variables
	randPoisson = -1;

	from machine import Pin, PWM
	import time
	import random
	import uasyncio

	t0 = 0
	ref0 = 0
	pinpwmin = Pin(5,Pin.IN)
	pindir = Pin(6,Pin.IN)