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copper-project · Oct 29, 2024 · 392e8ae · 392e8ae
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-<!DOCTYPE html><html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1.0"><meta name="generator" content="rustdoc"><meta name="description" content="API documentation for the Rust `cu29` crate."><title>cu29 - Rust</title><script>if(window.location.protocol!=="file:")document.head.insertAdjacentHTML("beforeend","SourceSerif4-Regular-6b053e98.ttf.woff2,FiraSans-Regular-0fe48ade.woff2,FiraSans-Medium-e1aa3f0a.woff2,SourceCodePro-Regular-8badfe75.ttf.woff2,SourceCodePro-Semibold-aa29a496.ttf.woff2".split(",").map(f=>`<link rel="preload" as="font" type="font/woff2" crossorigin href="../static.files/${f}">`).join(""))</script><link rel="stylesheet" href="../static.files/normalize-9960930a.css"><link rel="stylesheet" href="../static.files/rustdoc-198729e5.css"><meta name="rustdoc-vars" data-root-path="../" data-static-root-path="../static.files/" data-current-crate="cu29" data-themes="" data-resource-suffix="" data-rustdoc-version="1.84.0-nightly (3f1be1ec7 2024-10-28)" data-channel="nightly" data-search-js="search-c5a66128.js" data-settings-js="settings-0f613d39.js" ><script src="../static.files/storage-59e33391.js"></script><script defer src="../crates.js"></script><script defer src="../static.files/main-5f194d8c.js"></script><noscript><link rel="stylesheet" href="../static.files/noscript-893ab5e7.css"></noscript><link rel="alternate icon" type="image/png" href="../static.files/favicon-32x32-6580c154.png"><link rel="icon" type="image/svg+xml" href="../static.files/favicon-044be391.svg"></head><body class="rustdoc mod crate"><!--[if lte IE 11]><div class="warning">This old browser is unsupported and will most likely display funky things.</div><![endif]--><nav class="mobile-topbar"><button class="sidebar-menu-toggle" title="show sidebar"></button></nav><nav class="sidebar"><div class="sidebar-crate"><h2><a href="../cu29/index.html">cu29</a><span class="version">0.3.1</span></h2></div><div class="sidebar-elems"><ul class="block"><li><a id="all-types" href="all.html">All Items</a></li></ul><section id="rustdoc-toc"><h3><a href="#">Sections</a></h3><ul class="block top-toc"><li><a href="#" title=""></a></li><li><a href="#copper" title="Copper">Copper</a><ul><li><a href="#technical-overview" title="Technical Overview">Technical Overview</a></li><li><a href="#what-features-are-already-implemented" title="What features are already implemented?">What features are already implemented?</a></li><li><a href="#what-features-are-missing-what-do-we-plan-to-implement-next" title="What features are missing? What do we plan to implement next?">What features are missing? What do we plan to implement next?</a></li><li><a href="#kickstarting-a-copper-project-for-the-impatients" title="Kickstarting a copper project for the impatients">Kickstarting a copper project for the impatients</a></li><li><a href="#how-does-a-copper-application-look-like" title="How does a Copper application look like?">How does a Copper application look like?</a></li><li><a href="#deployment-of-the-application" title="Deployment of the application">Deployment of the application</a></li><li><a href="#how-is-it-better-or-different-from-ros" title="How is it better or different from ROS?">How is it better or different from ROS?</a></li></ul></li></ul><h3><a href="#reexports">Crate Items</a></h3><ul class="block"><li><a href="#reexports" title="Re-exports">Re-exports</a></li><li><a href="#modules" title="Modules">Modules</a></li><li><a href="#macros" title="Macros">Macros</a></li><li><a href="#structs" title="Structs">Structs</a></li><li><a href="#enums" title="Enums">Enums</a></li><li><a href="#traits" title="Traits">Traits</a></li><li><a href="#types" title="Type Aliases">Type Aliases</a></li></ul></section><div id="rustdoc-modnav"></div></div></nav><div class="sidebar-resizer"></div><main><div class="width-limiter"><rustdoc-search></rustdoc-search><section id="main-content" class="content"><div class="main-heading"><h1>Crate <span>cu29</span><button id="copy-path" title="Copy item path to clipboard">Copy item path</button></h1><rustdoc-toolbar></rustdoc-toolbar><span class="sub-heading"><a class="src" href="../src/cu29/lib.rs.html#1-12">Source</a> </span></div><details class="toggle top-doc" open><summary class="hideme"><span>Expand description</span></summary><div class="docblock"><img align="right" width="100" src="https://github.com/copper-project/copper-rs/blob/master/doc/static/cu29.png?raw=true" alt="logo"/>
+<!DOCTYPE html><html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1.0"><meta name="generator" content="rustdoc"><meta name="description" content="API documentation for the Rust `cu29` crate."><title>cu29 - Rust</title><script>if(window.location.protocol!=="file:")document.head.insertAdjacentHTML("beforeend","SourceSerif4-Regular-6b053e98.ttf.woff2,FiraSans-Regular-0fe48ade.woff2,FiraSans-Medium-e1aa3f0a.woff2,SourceCodePro-Regular-8badfe75.ttf.woff2,SourceCodePro-Semibold-aa29a496.ttf.woff2".split(",").map(f=>`<link rel="preload" as="font" type="font/woff2" crossorigin href="../static.files/${f}">`).join(""))</script><link rel="stylesheet" href="../static.files/normalize-9960930a.css"><link rel="stylesheet" href="../static.files/rustdoc-198729e5.css"><meta name="rustdoc-vars" data-root-path="../" data-static-root-path="../static.files/" data-current-crate="cu29" data-themes="" data-resource-suffix="" data-rustdoc-version="1.84.0-nightly (3f1be1ec7 2024-10-28)" data-channel="nightly" data-search-js="search-c5a66128.js" data-settings-js="settings-0f613d39.js" ><script src="../static.files/storage-59e33391.js"></script><script defer src="../crates.js"></script><script defer src="../static.files/main-5f194d8c.js"></script><noscript><link rel="stylesheet" href="../static.files/noscript-893ab5e7.css"></noscript><link rel="alternate icon" type="image/png" href="../static.files/favicon-32x32-6580c154.png"><link rel="icon" type="image/svg+xml" href="../static.files/favicon-044be391.svg"></head><body class="rustdoc mod crate"><!--[if lte IE 11]><div class="warning">This old browser is unsupported and will most likely display funky things.</div><![endif]--><nav class="mobile-topbar"><button class="sidebar-menu-toggle" title="show sidebar"></button></nav><nav class="sidebar"><div class="sidebar-crate"><h2><a href="../cu29/index.html">cu29</a><span class="version">0.3.1</span></h2></div><div class="sidebar-elems"><ul class="block"><li><a id="all-types" href="all.html">All Items</a></li></ul><section id="rustdoc-toc"><h3><a href="#">Sections</a></h3><ul class="block top-toc"><li><a href="#" title=""></a></li><li><a href="#copper" title="Copper">Copper</a><ul><li><a href="#technical-overview" title="Technical Overview">Technical Overview</a></li><li><a href="#copper-drives-real-robots" title="Copper drives real robots…">Copper drives real robots…</a></li><li><a href="#-but-you-can-also-use-it-in-virtual-environments" title="… but you can also use it in virtual environments">… but you can also use it in virtual environments</a></li><li><a href="#what-features-are-already-implemented" title="What features are already implemented?">What features are already implemented?</a></li><li><a href="#what-features-are-missing-what-do-we-plan-to-implement-next" title="What features are missing? What do we plan to implement next?">What features are missing? What do we plan to implement next?</a></li><li><a href="#kickstarting-a-copper-project-for-the-impatients" title="Kickstarting a copper project for the impatients">Kickstarting a copper project for the impatients</a></li><li><a href="#how-does-a-copper-application-look-like" title="How does a Copper application look like?">How does a Copper application look like?</a></li><li><a href="#deployment-of-the-application" title="Deployment of the application">Deployment of the application</a></li><li><a href="#how-is-it-better-or-different-from-ros" title="How is it better or different from ROS?">How is it better or different from ROS?</a></li></ul></li></ul><h3><a href="#reexports">Crate Items</a></h3><ul class="block"><li><a href="#reexports" title="Re-exports">Re-exports</a></li><li><a href="#modules" title="Modules">Modules</a></li><li><a href="#macros" title="Macros">Macros</a></li><li><a href="#structs" title="Structs">Structs</a></li><li><a href="#enums" title="Enums">Enums</a></li><li><a href="#traits" title="Traits">Traits</a></li><li><a href="#types" title="Type Aliases">Type Aliases</a></li></ul></section><div id="rustdoc-modnav"></div></div></nav><div class="sidebar-resizer"></div><main><div class="width-limiter"><rustdoc-search></rustdoc-search><section id="main-content" class="content"><div class="main-heading"><h1>Crate <span>cu29</span><button id="copy-path" title="Copy item path to clipboard">Copy item path</button></h1><rustdoc-toolbar></rustdoc-toolbar><span class="sub-heading"><a class="src" href="../src/cu29/lib.rs.html#1-12">Source</a> </span></div><details class="toggle top-doc" open><summary class="hideme"><span>Expand description</span></summary><div class="docblock"><img align="right" width="100" src="https://github.com/copper-project/copper-rs/blob/master/doc/static/cu29.png?raw=true" alt="logo"/>
 <h2 id=""><a class="doc-anchor" href="#">§</a></h2><h2 id="copper"><a class="doc-anchor" href="#copper">§</a>Copper</h2>
 <p><a href="https://github.com/gbin/copper-project/actions/workflows/general.yml"><img src="https://github.com/gbin/copper-project/actions/workflows/general.yml/badge.svg" alt="copper" /></a>
 <img src="https://img.shields.io/github/last-commit/copper-project/copper-rs" alt="GitHub last commit" />
@@ -30,7 +30,8 @@ <h2 id=""><a class="doc-anchor" href="#">§</a></h2><h2 id="copper"><a class="do
 contributors to help us build the best robotics framework possible. If you are interested, please join us
 on <a href="https://gitter.im/copper-project/copper-rs">Gitter</a> or open an issue.</p>
 </blockquote>
-<p>Copper has been tested on: Linux (x86_64, armv7, aarch64 &amp; riskv64) and MacOS (arm64).</p>
+<p>Copper has been tested on: Linux (x86_64, armv7, aarch64 &amp; riskv64) and MacOS (arm64).
+Testers would be welcomed on Windows and other platforms.</p>
 <h4 id="technical-overview"><a class="doc-anchor" href="#technical-overview">§</a>Technical Overview</h4>
 <p>Copper is a data-oriented runtime with these key components:</p>
 <ul>
@@ -52,6 +53,17 @@ <h4 id="technical-overview"><a class="doc-anchor" href="#technical-overview">§<
 and ensuring high-speed textual logging.</p>
 </li>
 </ul>
+<h4 id="copper-drives-real-robots"><a class="doc-anchor" href="#copper-drives-real-robots">§</a>Copper drives real robots…</h4>
+<p><a href="https://www.youtube.com/watch?v=HkdUZ7So3_Q"><img src="https://img.youtube.com/vi/HkdUZ7So3_Q/maxresdefault.jpg" alt="Copper in action" /></a></p>
+<h4 id="-but-you-can-also-use-it-in-virtual-environments"><a class="doc-anchor" href="#-but-you-can-also-use-it-in-virtual-environments">§</a>… but you can also use it in virtual environments</h4>
+<p><a href="https://youtu.be/kC6sGRZUxLE"><img src="https://img.youtube.com/vi/kC6sGRZUxLE/maxresdefault.jpg" alt="Copper in virtual action" /></a></p>
+<p>Here is Copper in action driving a simulation of the same robot with <a href="https://crates.io/crates/bevy">Bevy</a> (Game Engine
+in Rust)
+and <a href="https://crates.io/crates/avian3d">Avian3d</a> (Physics Engine in Rust)</p>
+<p>You have a mac or a linux? You can try out this demo locally! Just be sure you have Rust installed and the simply run:</p>
+<div class="example-wrap"><pre class="language-bash"><code>$ cargo install cu-rp-balancebot
+$ balancebot-sim </code></pre></div>
+<p>The source code for this demo is available in the <a href="examples/cu_rp_balancebot">examples/cu_rp_balancebot</a> directory.</p>
 <h4 id="what-features-are-already-implemented"><a class="doc-anchor" href="#what-features-are-already-implemented">§</a>What features are already implemented?</h4>
 <ol>
 <li><strong>Basic task lifecycle interface</strong>: Should be relatively stable for you to start contributing new algorithms,
@@ -80,22 +92,22 @@ <h4 id="what-features-are-already-implemented"><a class="doc-anchor" href="#what
 <strong>Merging</strong>: Add a feature to merge messages from multiple sources as an input to a task.</li>
 <li><input disabled="" type="checkbox" checked=""/>
 <strong>Monitoring</strong>: We need a parallel system that can listen to monitoring messages and act accordingly.</li>
+<li><input disabled="" type="checkbox" checked=""/>
+<strong>Simulation</strong>: Standardized set of interfaces to control Copper based codebases in simulation.</li>
 <li><input disabled="" type="checkbox"/>
 <strong>Batching/Aligning</strong>: add a feature to batch messages for high frequency sources to reduce the number of Copper
 Lists.</li>
 <li><input disabled="" type="checkbox"/>
-<strong>Deterministic log replay + Sim</strong>: As the runtime is generated in a deterministic fashion, we need to add hooks
-to
-inject messages into an existing runtime.</li>
+<strong>Deterministic log replay</strong>: The ability to inject logs and replay them deterministically.</li>
+</ul>
+<p>To Reach RC1:</p>
+<ul>
 <li><input disabled="" type="checkbox"/>
 <strong>Parallel Copper Lists</strong>: Today Copper is monothreaded; this should enable concurrent Copper Lists to be executed
 at the same time with no contention.</li>
 <li><input disabled="" type="checkbox"/>
 <strong>ROS/DDS interfacing</strong>: Build a pair of sink and source to connect to existing ROS systems, helping users migrate
 their infra bit by bit.</li>
-</ul>
-<p>To Reach RC1:</p>
-<ul>
 <li><input disabled="" type="checkbox"/>
 <strong>Extensible scheduling</strong>: Enables a way to give hints to copper to schedule the workload</li>
 <li><input disabled="" type="checkbox"/>