HiROBO Robotics SDK

HiROBO is a high-performance, hybrid robotics SDK that combines a C++ core for heavy computations with a Python asyncio-based framework for flexible control and logic.

Features

• Hybrid Architecture: C++ core for PID loops and motor simulation, exposed to Python via pybind11.
• Async Framework: Built on Python's asyncio for non-blocking command scheduling.
• Command-Based: Structured Command, Subsystem, and Scheduler architecture inspired by WPILib.
• Web Dashboard: Integrated web-based simulator for visualizing robot state and telemetry.

Prerequisites

• CMake 3.15+
• C++17 compliant compiler (MSVC, GCC, Clang)
• Python 3.8+

Building the project

1. Create a build directory:

   mkdir build
   cd build

2. Configure with CMake:

   cmake ..

   Note: This will automatically fetch dependencies like pybind11.

3. Build the native modules:

   cmake --build .

   This will compile the C++ extensions (e.g., _hirobo_native.pyd or .so) and place them in the hirobo/ package directory.

Usage

To run the robot simulation:

python sim_robot.py

This will start the robot loop, which includes:

• Physics Simulation: Simulates motor physics and PID control.
• Dashboard Server: Starts a web server for telemetry.
• Robot Logic: Runs user commands and subsystems.

Project Structure

• hirobo/: Python package source.
  • _hirobo_native: Compiled C++ extension (after build).
  • commands/: Command-based framework classes.
  • hardware/: Hardware abstraction layer.
• src/: C++ source files for native extensions.
• sim_robot.py: Main entry point for the simulation robot.