francOS

Efficient and barebone C++ middleware for robotics in embedded projects.

Features

• Callback-based pub/sub design over topics
• Intraprocess communication only (for now).
• Templated for easy user-defined message types.
• Minimal API: threads, publishers, subscribers and topics.
• Full control over the threading model and callback dispatching.
• Low latency with futexes (linux only).
• Highly-portable by replacing thread implementation.

Upcoming features

• Topics's message queues replace by reference-counted circular-buffers on shared memory will replace soon per-subscriber quueues.