matt-attack/pubsub

A lightweight publisher subscriber system inspired by ROS. Intended for use on both embedded and full blown PCs.

pubsub's Issues

Add Alternative Transports

Possible transports:

1. Split UDP (for larger messages)
2. TCP
3. Shared Memory

Improve runtime complexity of data message handling

Currently is O(n) with the number of subscribers in the node. Should be normally O(1).

Add CI

Github actions seems like a prudent way to go about this.

Check Message Type Hashes

In most places only the message type name is checked. This allows things to potentially get out of sync.

Add Safety Checks

Currently lots of things can overflow/crash/do horrible things if you use topic or node names that are too long or if you have some insane really long message definition.

Need to add checks that throw errors if any of these happen and die normally.

Come up with a fun name

Ideas include CatROS (topic meow to pub)
Something acronym related, in a similar fashion to OMG.

Add Node Query

Lets you determine who and how a node is connected to others

Info Tool Uses Lots of CPU

Need to add a blocking variant of the spin function so it only runs when it has data.

Create wrapper with utility functions

This should enable:

• spinning in a background thread
• subscriber callbacks
• timers
• intra-process message passing
  • should be conditionally compiled in to disable on bare metal type embedded platforms

Subscribers aren't sending heartbeats

Currently the multicast subscriber advertisement is substituting this. When this moves to a

Queues do not correctly handle overflow.

Only the top message in the queue gets replaced, not the lower ones.

Implement distributed multi-master concept

Have nodes start up in interactive discovery mode (or have option to force to a particular master or disable this completely) then they will pick the nearest master if there is one. Otherwise continue in discovery mode.

If a node has a master it will query it for topic discovery and advertisement. This should greatly reduce non-data traffic and make the system actually scalable.

The masters should be able to discover and talk among themselves to sync topics between them.

Add series of examples

Recommend adding useful examples in addition to basic api demos.