The open source motion control software Machinekit is read for the internet of things. This talk explains the early progress made to implement the Machinetalk middleware. For more information visit https://machinekoder.com/ and http://www.machinekit.io/.

1. Machinekit
MachineControl
readyforthe InternetofThings
Alexander Rössler, BSc

2. 2
Overview
● About Me
● Machinekit
● Machinetalk
● Live Demo

3. 3
AboutMe
● Alexander Rössler
● Embedded Systems
● OpenSource community
● 3D printing
● The Cool Tool

4. 4
WhatisMachinekit?

5. 5
Roots
May 2014
Machinekit

6. 6
Roots
CNC Machines Desktop Computers

7. 7
Applications
Embedded Devices
TabletsSmartphones
Desktop ComputersCNC Machines
Robots Quadcopters
Machinekit
3D Printers
Other Applications
?

8. 8
Machinetalk
● Middleware
● Interaction between RT and non-RT
● Distributed setups

9. 9
Transport
SUBSUB SUB
PUB
Publish-Subscribe
REQ
REP
ROUTER
DEALER
REP REP
REQREQ
Router-Dealer
● ZeroMQ
● End-to-end
● Communication patterns
● Several transports (TCP, IPC, …)
● No startup order dependency
● Automatic reconnect

10. 10
Serialization
Object
0 1 1 0 1 0 0 1
Bytes
0
1
Serialization
Transport
● Protocol Buffers
● Wire format
● Binary data
● Highly optimized
● RT: nanopb

11. 12
ServiceDiscovery
● MDNS/DNS-SD
● Auto configuration
● No user interaction
● Decentralized
● Multicast
● Unicast
Client
Service
Discovery
Service
Service
Discovery
Service
Service
Discovery
Service
Client

12. 13
Webtalk
● Bridge
● Protobuf JSON→
● ZeroMQ websockets→

13. 14
7404
abcd
efgh
Hardware AbstractionLayer
● Configuration
– Components
– Pins
– Signals
● Realtime
● Userland

14. 15
HALRemoteComponent
● Like normal components
● Remote API
Real-time hostClient 1
Real-time environment
HAL instance
Haltalk
abcd
efgh
Client 2
12345

15. 16
HALGroups
● Grouping signals
● Value updates
Real-time host
Client
Real-time environment
HAL instance
Haltalk
abcd
efgh
X: 1.23
Y: 2.31
Z: 123.2
...

16. 17
HALNamedRingBuffers
● Queued command and response
● RT to non-RT interface
Real-time hostClient 1
Client 2
Real-time environment
HAL instance
Haltalk
abcd
efgh
G0 X1
G1 Y20.1
F20
...

17. 18
Showtime!

18. 19
Demo
M
A/B
Encoder
dt
du
dt
UI
dp
PID
command
feedback
P I D
velocity
acceleration
position
non-RT RT

19. 21
More Information
● machinekit.io
● Machinekit on Google Google Groups

20. 22
Questions?