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pamoja

Reference

C# reference#

Every Pamoja package, generated by DocFX from this commit. Each row below opens a package's API pages, and the same capability in the other three languages is one step away.

Browse the full API DocFX Install Guides

The XML documentation ships in each package too, so an editor shows the same text inline. Each capability is its own package and namespace, so a using names the capability it uses, and the page for each namespace lists its types. Pamoja installs all of them.

Each package is hand-written C# over Pamoja.Native, the compiled engine and its P/Invoke contract (Pamoja.Native.Interop.NativeMethods, mirroring the generated C header one-to-one), which stays available for anything the facades do not cover.

By domain#

Six of the chapters hold more than one capability, and each is a package of its own on NuGet, Pamoja.<Domain>, which brings its capabilities in and re-exports each under its own name:

Field I/O

Serial framing, Modbus RTU, CAN and J1939, I2C, SPI, and GPIO

dotnet add package Pamoja.FieldIo

Sensing and actuation

Sensor drivers, Actuator drivers

dotnet add package Pamoja.Sensing

Radio and reach

LoRa airtime, LoRaWAN, Mesh frames, Routing

dotnet add package Pamoja.Radio

Trust and operation

Audit log, Secured session, Signed updates, Power, Telemetry

dotnet add package Pamoja.Trust

Transports and testing

MQTT, CoAP, Loopback, Store and forward, Transport ladder, Event bus, Engine surface, Simulators

dotnet add package Pamoja.Transports

Profiles and robotics

Device profiles, ROS 2 rules, Zenoh keys

dotnet add package Pamoja.Profiles

Every package#

One row per capability: the install line, the namespace and its reference, the guide with the worked example, and the same capability on the other three reference pages, one step away.

Engine#

Engine surfacePamoja.Core

The transport every link shares (send, receive, subscribe, and a faulty wrapper for tests) and the runtime version

dotnet add package Pamoja.Core

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Identity#

Device identityPamoja.Security

ed25519 device identity: sign a reading and verify it, so a gateway can prove it is authentic

dotnet add package Pamoja.Security

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Codecs#

CodecsPamoja.Codec

CBOR, JSON, and raw codecs behind one trait, delta and varint batch packing, and an f32 quantizer for metered links

dotnet add package Pamoja.Codec

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Helpers#

HelpersPamoja.Kit

Plain-language helper math: smoothing, calibration, PID and thermostat control, trend and surge prediction, rolling windows, kinematics, and geo

dotnet add package Pamoja.Kit

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Field I/O#

Serial framingPamoja.Serial

SLIP and COBS byte stuffing with streaming decoders, so a UART byte stream carries discrete packets

dotnet add package Pamoja.Serial

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Modbus RTUPamoja.Modbus

Modbus RTU requests and replies with CRC-16/MODBUS for RS485 field devices

dotnet add package Pamoja.Modbus

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

CAN and J1939Pamoja.Can

CAN 2.0 and CAN-FD frames with 11- and 29-bit identifiers, plus J1939 decode and compose

dotnet add package Pamoja.Can

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

I2C, SPI, and GPIOPamoja.Gpio

I2C address frames with reserved-range checks, the four SPI clock modes, and active-high or active-low pins

dotnet add package Pamoja.Gpio

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Sensing and actuation#

Sensor driversPamoja.Sensors

Datasheet-anchored decoders for eleven parts: the BME280, BMP280, DS18B20, HDC1080, INA219, INA226, ADS1115, OPT3001, SCD4x, SHT3x, and TMP117

dotnet add package Pamoja.Sensors

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Actuator driversPamoja.Actuators

PCA9685 PWM and servo pulses, and stepper coil sequencing

dotnet add package Pamoja.Actuators

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Radio and reach#

LoRa airtimePamoja.Lora

Time-on-air, duty-cycle off-time, and the regional channel plans a LoRa node must keep to

dotnet add package Pamoja.Lora

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

LoRaWANPamoja.Lorawan

LoRaWAN 1.0.x MAC framing, AES-CMAC and AES encryption, and both halves of the OTAA join

dotnet add package Pamoja.Lorawan

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Mesh framesPamoja.Mesh

Addressed, hop-limited, CRC-checked frames and duplicate suppression that floods a packet exactly once

dotnet add package Pamoja.Mesh

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

RoutingPamoja.Routing

Reverse-path routing that learns the cheapest route from overheard traffic

dotnet add package Pamoja.Routing

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

MAVLink#

MAVLinkPamoja.Mavlink

MAVLink v1 and v2 framing, signing, named message fields, and the mission, command, and offboard protocols

dotnet add package Pamoja.Mavlink

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Trust and operation#

Audit logPamoja.Audit

A tamper-evident, hash-chained log; altering, reordering, or dropping a record breaks verification

dotnet add package Pamoja.Audit

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Secured sessionPamoja.Session

X25519 key agreement, HKDF, and ChaCha20-Poly1305 with an anti-replay window, with no TLS stack

dotnet add package Pamoja.Session

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Signed updatesPamoja.Update

Signed firmware manifests, streaming image verification, and A/B slots that fall back on their own

dotnet add package Pamoja.Update

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

PowerPamoja.Power

Duty cycling and an energy-aware governor that stretches work as the battery drains

dotnet add package Pamoja.Power

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

TelemetryPamoja.Telemetry

Observability that ships only what is worth the bytes as link cost rises, while counting everything

dotnet add package Pamoja.Telemetry

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Transports and testing#

MQTTPamoja.Mqtt

An MQTT client with the topic and wildcard rules, as the core transport

dotnet add package Pamoja.Mqtt

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

CoAPPamoja.Coap

A CoAP client over UDP with confirmable delivery and observe

dotnet add package Pamoja.Coap

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

LoopbackPamoja.Loopback

An in-process transport with topic matching and a fault injector, for testing with no broker

dotnet add package Pamoja.Loopback

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Store and forwardPamoja.Sync

Offline-first queues: in memory, and a crash-safe on-disk queue that survives power loss

dotnet add package Pamoja.Sync

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Transport ladderPamoja.Ladder

Cheapest reachable link first, buffering to a store when every link is down

dotnet add package Pamoja.Ladder

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Event busPamoja.Bus

An in-memory typed publish and subscribe event bus

dotnet add package Pamoja.Bus

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

SimulatorsPamoja.Sim

Noisy and replay sensors, a recording actuator, and a simulated robot that dead-reckons its pose

dotnet add package Pamoja.Sim

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Profiles and robotics#

Device profilesPamoja.Profile

Named, ready-to-run device profiles from plain data or a JSON manifest

dotnet add package Pamoja.Profile

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

ROS 2 rulesPamoja.Ros2

ROS 2 names, RIHS01 type hashes, CDR encoding, and rmw_zenoh key assembly, with no ROS 2 installed

dotnet add package Pamoja.Ros2

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

Zenoh keysPamoja.Zenoh

Zenoh key expressions: validity, canonical form, and wildcard matching

dotnet add package Pamoja.Zenoh

API reference Guide Worked example NuGet

Also in Rust TypeScript Python

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