Skip to content

dotbot/dotbot_simulator: add logic to load custom C based control loop function#222

Open
aabadie wants to merge 16 commits intoDotBots:mainfrom
aabadie:control_loop_ffi
Open

dotbot/dotbot_simulator: add logic to load custom C based control loop function#222
aabadie wants to merge 16 commits intoDotBots:mainfrom
aabadie:control_loop_ffi

Conversation

@aabadie
Copy link
Contributor

@aabadie aabadie commented Mar 13, 2026 •
edited
Loading

In simulator_init_state.toml, just add to each robot configuration the option custom_control_loop_library to specify the custom control loop library to use. Example:

[[dotbots]]
address = "BADCAFE111111111" # DotBot unique address
calibrated = 0xff # optional, defaults to only first lighthouse calibrated
pos_x = 400 # [0, 2_000] in mm
pos_y = 400 # [0, 2_000]
theta = 0.0 # [0.0, 2pi]
custom_control_loop_library = "librobotcontrol.so"  # <= line to add

The control loop is set per robot so each robot in the swarm can use its own control loop library. The default is to use the Python based version already available in the code base.

@aabadie aabadie added the enhancement New feature or request label Mar 13, 2026
@codecov
Copy link

codecov bot commented Mar 13, 2026 •
edited
Loading

Codecov Report

❌ Patch coverage is 36.36364% with 56 lines in your changes missing coverage. Please review.
✅ Project coverage is 68.79%. Comparing base (a22c58e) to head (b0ee900).
⚠️ Report is 1 commits behind head on main.

Files with missing lines Patch % Lines
dotbot/dotbot_simulator.py 36.36% 56 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main     #222      +/-   ##
==========================================
- Coverage   69.25%   68.79%   -0.47%     
==========================================
  Files          40       40              
  Lines        3789     3829      +40     
==========================================
+ Hits         2624     2634      +10     
- Misses       1165     1195      +30

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:
  • ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.
  • 📦 JS Bundle Analysis: Save yourself from yourself by tracking and limiting bundle sizes in JS merges.

@geonnave
Copy link
Contributor

geonnave commented Mar 17, 2026

Very interesting!

Just confirming I understood: with this we can copy/paste the update_control library to/from the dotbot firmware code and compile it with target=host, then use it from the simulator, is that it?

If so, would it make sense to also provide an example C file (and Makefile) in the examples folder?

@aabadie
Copy link
Contributor Author

aabadie commented Mar 18, 2026 •
edited
Loading

with this we can copy/paste the update_control library to/from the dotbot firmware code and compile it with target=host, then use it from the simulator, is that it?

The idea is to compile the source that is located in dotbot-firmware (or libs). There's no code to copy. The output library (.so or dylib) can be anywhere. The path to the .so/dylib is set in the simulator configuration file. I indeed plan to provide a helper Makefile or CMake project to compile the library and I'll probably move the .h/.c code in a segger library under DotBot-libs so it can be reused in dotbot-swarmit as well.

@aabadie
Copy link
Contributor Author

aabadie commented Mar 20, 2026

@geonnave I added a513149 which contains a CMake project to build the library locally. The readme explains how to use it.

@aabadie aabadie mentioned this pull request Mar 25, 2026
Open
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

enhancement New feature or request

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

2 participants

@aabadie @geonnave