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pamoja

Reference

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.

Browse the full API rustdoc Install Guides

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:

Field I/O

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

cargo add pamoja --features field-io

Sensing and actuation

Sensor drivers, Actuator drivers

cargo add pamoja --features sensing

Radio and reach

LoRa airtime, LoRaWAN, Mesh frames, Routing

cargo add pamoja --features radio

Trust and operation

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

cargo add pamoja --features trust

Transports and testing

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

cargo add pamoja --features transports

Profiles and robotics

Device profiles, ROS 2 rules, Zenoh keys

cargo add pamoja --features profiles

Naming 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#

Engine surfacepamoja-core

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

cargo add pamoja-core

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Identity#

Device identitypamoja-security

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

cargo add pamoja-security

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Codecs#

Codecspamoja-codec

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

cargo add pamoja-codec

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Helpers#

Helperspamoja-kit

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

cargo add pamoja-kit

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Field I/O#

Serial framingpamoja-serial

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

cargo add pamoja-serial

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Modbus RTUpamoja-modbus

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

cargo add pamoja-modbus

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

CAN and J1939pamoja-can

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

cargo add pamoja-can

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

I2C, SPI, and GPIOpamoja-gpio

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

cargo add pamoja-gpio

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

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

cargo add pamoja-sensors

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Actuator driverspamoja-actuators

PCA9685 PWM and servo pulses, and stepper coil sequencing

cargo add pamoja-actuators

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Radio and reach#

LoRa airtimepamoja-lora

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

cargo add pamoja-lora

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

LoRaWANpamoja-lorawan

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

cargo add pamoja-lorawan

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Mesh framespamoja-mesh

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

cargo add pamoja-mesh

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Routingpamoja-routing

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

cargo add pamoja-routing

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

MAVLink#

MAVLinkpamoja-mavlink

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

cargo add pamoja-mavlink

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Trust and operation#

Audit logpamoja-audit

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

cargo add pamoja-audit

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Secured sessionpamoja-session

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

cargo add pamoja-session

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Signed updatespamoja-update

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

cargo add pamoja-update

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Powerpamoja-power

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

cargo add pamoja-power

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Telemetrypamoja-telemetry

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

cargo add pamoja-telemetry

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Transports and testing#

MQTTpamoja-mqtt

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

cargo add pamoja-mqtt

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

CoAPpamoja-coap

A CoAP client over UDP with confirmable delivery and observe

cargo add pamoja-coap

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Loopbackpamoja-loopback

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

cargo add pamoja-loopback

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Store and forwardpamoja-sync

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

cargo add pamoja-sync

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Transport ladderpamoja-ladder

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

cargo add pamoja-ladder

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Event buspamoja-bus

An in-memory typed publish and subscribe event bus

cargo add pamoja-bus

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Simulatorspamoja-sim

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

cargo add pamoja-sim

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Profiles and robotics#

Device profilespamoja-profile

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

cargo add pamoja-profile

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

ROS 2 rulespamoja-ros2

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

cargo add pamoja-ros2

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

Zenoh keyspamoja-zenoh

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

cargo add pamoja-zenoh

API reference Guide Worked example crates.io docs.rs

Also in TypeScript Python C#

The 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 over its own hotspot from a language-neutral state snapshot, fully offline.

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