This repository houses the code for PhysiCloud, a platform for programming and managing cyber-physical systems (CPS). This platform aims to provide platform-as-a-service (PaaS) capabilities to low-power, mobile CPS. Details about PhysiCloud's motivation and design philosophy are presented in [1].
The current release of the software provides programming abstractions for what we call cyber-physical resources: sensors, actuators, and computational results. All resources are modeled as channels, much like the resource model in the asynchronous distributed pi-calculus [2].
Developers implement controllers in Clojure and deploy each within a PhysiCloud task. PhysiCloud automatically handles the resource dependencies, whether they are internal or networked. Our framework leverages Clojure libraries to enable our abstractions, such as our own watershed and aleph.
PhysiCloud is tested on Linux and OSX based systems with the Java 7 JVM installed. It is also tested on the following embedded systems when a AOT compilation is run on the code:
- Beaglebone Black
- Raspberry Pi B+
- Udoo
For an example of how to construct a PhysiCloud instance, check out the introductory example source code.
To include PhysiCloud into your clojure project, use the following:
[hypower-org/physicloud "0.1.1"]
[1] P. Glotfelter, T. Eichelberger, and P. Martin. PhysiCloud: A Cloud-Computing Framework for Programming Cyber-Physical Systems. Multi-Conference on Systems and Control, 2014.
[2] M. Hennessy, A Distributed Pi-Calculus. Cambridge University Press, 2007.
This work was funded by the National Science Foundation through grant CNS-1239221.