The internal achitecture of aseba is explainded in the following
* ASEBA: A Modular Architecture for Event-Based Control of Complex Robots
Stéphane Magnenat, Philippe Rétornaz, Michael Bonani, Valentin
Longchamp, and Francesco Mondada. In IEEE/ASME Transactions on
Mechatronics, vol. 16, issue 2, pages 321–329
* Aseba Meets D-Bus: From the Depths of a Low-Level Event-Based
Architecture into the Middleware Realm. Stéphane Magnenat and Francesco
Mondada. In IEEE TC-Soft Workshop on Event-based Systems in Robotics
(EBS-RO), St. Louis, MO, USA, October 15, 2009.
and in the following Thesis (Chapter Aseba):
Software integration in mobile robotics, a science to scale up machine
Stéphane Magnenat. PhD thesis, EPFL, 2010
There are additional specifications here:
But none of them explain the low level "binary" protocol, as this
protocol is bus-dependent. The serial one is quite straightforward as it
is simply a serialisation of the 16 bits words on the serial port (or
TCP/IP). The thymio-II robot use a serial port emulation over USB, so
it's using the serial bus protocol.
The CAN one is a little bit more complex and has never been described
elsewhere than in the code.
The easiest way to get the protocol is to read this source code:
It's plain C and handle the low-level of the protocol before hitting the
Le 16/11/2012 17:54, Alex Brodsky a écrit :
I am investigating the possible use of Aseba/Thymio ii a course that I teach.
However, as part of the evaluation I need to understand the protocol being used
to issue commands to and download programs on the Thymio ii robot. I have been
scouring the aseba/thymio wiki site, trying to find a protocol specification,
with no avail. Is there a protocol specification (beyond me having to dwell
into source code)? If so, could you point me to it?
Faculty of Computer Science
To put it bluntly, we simply do not know yet what we should be talking about,
but that should not worry us, for it just illustrates what was meant by
"intangible goods and uncertain rewards".
-- Edsger Dijkstra, 'The End of Computer Science'
EPFL - STI - IMT - LSRO1
bureau MEB330, Station 9
CH-1015 Lausanne, Switzerland
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