Serial data synchronization for Cornell Autonomous Underwater Vehicle
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CUAUV Serial Daemon

The serial daemon is responsible for syncing variables between the main computer of CUAUV's submarines and their serial boards which control thrusters, actuators, sensors, and other devices. The serial daemon is largely what allows software on the main computer to query the sub’s environment and control the sub’s behavior. This new serial stack is more modular, clean, and robust than the previous implementation.

See my Technical Documentation for more info.

New Serial Stack Overview

New Serial Stack

Seriald Implementation Overview

Seriald Overview

Seriald Device Objects

Device Objects