p-ranav / zcm

A Lightweight Component Model using ZeroMQ

ZeroMQ Component Model

A lightweight component model using ZeroMQ

ZCM Dependencies

• Install library dependencies

$ sudo apt-get install autoconf automake libtool curl

• Install libzmq

$ git clone https://github.com/zeromq/libzmq
$ cd libzmq
$ ./autogen.sh && ./configure && make -j 4
$ make check && sudo make install && sudo ldconfig

• Download and copy cppzmq headers

$ git clone https://github.com/zeromq/cppzmq
$ cd cppzmq
$ sudo cp *.hpp /usr/local/include/.

Install ZCM

$ git clone https://github.com/pranav-srinivas-kumar/zcm
$ cd zcm
$ make
$ sudo make install
$ sudo ldconfig

Optional (Used in tests)

• Install protobuf with -fPIC flag

$ git clone https://github.com/google/protobuf
$ cd protobuf
$ ./autogen.sh
$ ./configure --prefix=/usr
$ `# Open src/Makefile and add -fPIC to CXXFLAGS`
$ make
$ make check
$ sudo make install
$ sudo ldconfig

• Install boost

$ sudo apt-get install libboost-all-dev

zcm's Issues

Supporting client-server interactions

In ZMQ, when a client requests a service from a remote server, the server should rec() this request and then immediately send back the response. The client is blocked till this response is received. In order for the server request to go through the operation queue, the server socket pointer has to be sent through so that the response can be sent back when the operation's function is actually called (later by the executor thread).

Implement timer queue instead of creating a new thread for every timer

Provide component name from config as variable in component object

perhaps also allow custom user config object to be passed in, or give access to command line arguments from within component context. (user config in json would be preferable :) )