Rust reference#
Every crate, generated by rustdoc from this commit. Each row below opens a crate's API pages, and the same capability in the other three languages is one step away.
The same documentation for each published version is on docs.rs. Each crate's README, on crates.io and in the repository, is its overview and getting-started page, generated from the same rustdoc.
By domain#
The pamoja crate is every capability crate behind a feature each, all on by
default; pamoja::mqtt is pamoja-mqtt, with the same types and documentation.
Six of its features name a domain instead of a single capability, one per chapter
that holds more than one:
cargo add pamoja --no-default-features --features std,field-iocargo add pamoja --no-default-features --features std,sensingcargo add pamoja --no-default-features --features std,radiocargo add pamoja --no-default-features --features std,trustcargo add pamoja --no-default-features --features std,transportscargo add pamoja --no-default-features --features std,profilesNaming features is what makes a Rust build small, and the install page measures how small per feature set.
Every capability#
One row per capability: the crate to add, its reference here and on docs.rs, the guide with the worked example, and the same capability on the other three reference pages, one step away.
Engine#
pamoja-coreA sensor and an actuator pamoja has never heard of, written against the core traits, run against a rule, and published with nothing plugged in
cargo add pamoja-corepamoja-coreThe transport every link shares (send, receive, subscribe, and a faulty wrapper for tests) and the runtime version
cargo add pamoja-corepamoja-coreA link pamoja does not ship, written in your language against the transport contract and composed like any other
cargo add pamoja-coreIdentity#
pamoja-securityed25519 device identity: sign a reading and verify it, so a gateway can prove it is authentic
cargo add pamoja-securityCodecs#
pamoja-codecCBOR, JSON, and raw codecs behind one trait, and batch packing for metered links: delta and varint for integers, and a quantizer for f32 readings
cargo add pamoja-codecHelpers#
pamoja-kitPlain-language helper math: smoothing, calibration, PID and thermostat control, a trigger with hysteresis, trend and surge prediction, rolling windows, unit conversions, geo, and robot motion
cargo add pamoja-kitField I/O#
pamoja-serialSLIP and COBS byte stuffing with streaming decoders, so a UART byte stream carries discrete packets
cargo add pamoja-serialpamoja-modbusModbus RTU for RS485 field devices: a client that polls them over a serial port with the line's timing, simulated devices that answer as real ones do, and the frames with their CRC-16/MODBUS
cargo add pamoja-modbuspamoja-canCAN 2.0 and CAN FD frames with 11- and 29-bit identifiers, J1939 decode and compose, and a node on a bus, simulated or a Linux interface through SocketCAN
cargo add pamoja-canpamoja-gpioI2C address frames with reserved-range checks, the four SPI clock modes, active-high or active-low switches and contacts, and GPIO lines opened on a Linux board
cargo add pamoja-gpiopamoja-halThe embedded-hal traits every driver takes, a bit-banged 1-Wire bus, simulated parts and scripted buses that stand in for hardware, the Linux backends over i2c-dev, spidev, and the GPIO character device, one I2C bus and one serial port a program and its drivers share, and delays that sleep or only count
cargo add pamoja-halSensing and actuation#
pamoja-sensorsDatasheet-anchored drivers for eleven parts, from every language: the BME280, BMP280, DS18B20, HDC1080, INA219, INA226, ADS1115, OPT3001, SCD4x, SHT3x, and TMP117
cargo add pamoja-sensorspamoja-actuatorsA PCA9685 driver for servos, LEDs, and valves, and stepper drivers for four coil lines or a step and direction chip, in every language
cargo add pamoja-actuatorsRadio and reach#
pamoja-loraTime-on-air, duty-cycle off-time, the regional channel plans a LoRa node must keep to, and the link budget that sets its range
cargo add pamoja-lorapamoja-lorawanLoRaWAN 1.0.x MAC framing, AES-CMAC and AES encryption, and both halves of the OTAA join
cargo add pamoja-lorawanpamoja-radiosThe Semtech SX126x and SX127x LoRa radios and the SX1302 and SX1303 gateway concentrators: their commands, registers, and decoders, the amplifier setting a regional EIRP ceiling allows, a duty-cycle guard, and simulated chips that stand in for a module
cargo add pamoja-radiospamoja-gatewayWhat a LoRaWAN gateway speaks: the Semtech packet forwarder protocol and the Basics Station protocol on both sides, the network side of a single site, and a bridge from the radio to the link that leaves it
cargo add pamoja-gatewaypamoja-meshAddressed, hop-limited, CRC-checked frames and duplicate suppression that floods a packet exactly once
cargo add pamoja-meshcargo add pamoja-routingMAVLink#
pamoja-mavlinkMAVLink v1 and v2 framing, signing, named message fields and enum values, and the mission, command, and offboard protocols
cargo add pamoja-mavlinkTrust and operation#
pamoja-auditA tamper-evident, hash-chained log; altering, reordering, or dropping a record breaks verification
cargo add pamoja-auditpamoja-sessionX25519 key agreement, HKDF, and ChaCha20-Poly1305 with an anti-replay window, with no TLS stack
cargo add pamoja-sessionpamoja-updateSigned firmware manifests, streaming image verification, and A/B slots that fall back on their own
cargo add pamoja-updatepamoja-powerDuty cycling and an energy-aware governor that stretches work as the battery drains and holds its mode against a wandering charge
cargo add pamoja-powerpamoja-telemetryObservability that ships only what is worth the bytes as link cost rises, while counting everything
cargo add pamoja-telemetryTransports and testing#
pamoja-mqttAn MQTT client with the topic and wildcard rules, acknowledged delivery, retained messages, a last will, and TLS, as the core transport
cargo add pamoja-mqttpamoja-coapA CoAP client and the server it reports to, over UDP, with confirmable delivery and observe
cargo add pamoja-coappamoja-loopbackAn in-process transport with topic matching, a fault injector, and outages on demand, for testing with no broker
cargo add pamoja-loopbackpamoja-syncOffline-first queues in memory or on disk, bounded or not, the on-disk one surviving power loss, and the drain that forwards them in order when a link returns
cargo add pamoja-syncpamoja-ladderCheapest reachable link first, buffering to a store when every link is down
cargo add pamoja-ladderpamoja-busAn in-memory typed publish and subscribe event bus, with publishers that never wait and subscribers that count what they miss
cargo add pamoja-buspamoja-simNoisy and replay sensors, a recording actuator, a simulated robot that dead-reckons its pose, and a link that loses sends on a pattern
cargo add pamoja-simProfiles and robotics#
pamoja-profileNamed, ready-to-run device profiles from plain data or a JSON manifest, run as a node in every language
cargo add pamoja-profilepamoja-coreRules between nodes as a file: a condition over one node's topic with hysteresis, and the actions that drive another node's actuator or publish, run by an engine off any link in every language, or judged reading by reading
cargo add pamoja-corepamoja-coreWheel speeds for differential, skid-steer, car-like, and mecanum chassis, a two-link arm and Denavit-Hartenberg forward kinematics, odometry, waypoint guidance, a safety gate, and servo, ESC, and encoder conversions
cargo add pamoja-corepamoja-ros2ROS 2 names, RIHS01 type hashes, CDR encoding, and rmw_zenoh key assembly, with no ROS 2 installed
cargo add pamoja-ros2pamoja-zenohZenoh key expressions: validity, canonical form, matching, and whether two expressions share or cover keys
cargo add pamoja-zenohThe engine and the bundle#
The engine crates define the traits (Transport, Device, Sensor, Actuator,
Store, the event bus) that every capability crate implements, the C ABI the
.NET binding rides on, and the fleet dashboard. The bundle is every capability
above behind a feature each.
| Chapter | Crate | What it does |
|---|---|---|
| Everything | pamoja | The whole pamoja device SDK in one crate: every capability behind a feature, all on by default, for IoT, robotics, and drones. |
| Engine | pamoja-core | Core engine for the pamoja device SDK: device model, transport, event bus, and error types. |
pamoja-ffi | Curated C ABI surface over the pamoja device SDK, for C, C++, and .NET. | |
pamoja-dashboard | Local-first device dashboard for pamoja: a node serves a hand-built, localized web UI on its local network from a language-neutral state snapshot, fully offline. |