Used featureset of zeromq

afrl-rq / OpenUxAS

Project for multi-UAV cooperative decision making

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Used featureset of zeromq #33

Closed touisteur closed 3 years ago

touisteur commented 3 years ago

Hi,

I've seen a presentation some time ago about OpenUXAS, and I was (pleasantly) surprised to see it used zeromq. Could you point me to the subset of zmq that you use? What kinds of sockets (rep/req, pub/sub, xpub/xsub, router, etc.) and which APIs?

It might seem a strange question, but I'm looking into building a subset of zmq in a 'safer' dev environment and am looking for some kind of 'completion' / 'usefulness' criterion.

I'd understand if you just said 'try to build it and see for yourself' but I wanted to ask first :-)

Thanks in advance for your kind help.

lhumphrey commented 3 years ago

The main developer of the ZMQ framework for UxAS no longer works on the project, but I think this is accurate:

OpenUxAS uses the ZeroMQ pub/sub pattern for all internal message exchange
It originally only used the C++ API
We now have examples that use the Python API, due to collaborators who use Python to interface with OpenUxAS
We now use the Ada API to enable services to that are written and verified in SPARK/Ada
OpenUxAS also uses Zyre to set up vehicle-to-vehicle communications. Zyre relies on the ZeroMQ C API, but I'm not sure exactly which zmq socket types it uses.

touisteur commented 3 years ago

Thanks for this. Sorry to write after you've closed the ticket but, would there be interest in a full Spark implementation of the necessary zmq bits?

lhumphrey commented 3 years ago

I think that sounds very difficult, but yes, there would be interest.