RoboOS — Robotic Payment Operating System

Complete guide to the RoboOS Arduino SDK for ESP32, ESP8266, and Arduino with Ethernet shield.

Arduino SDK

The RoboOS Arduino SDK enables Arduino-based robots to integrate with the RoboOS ecosystem. It's designed for embedded systems with limited memory and processing power, supporting ESP32, ESP8266, and Arduino with Ethernet shield.

This SDK provides essential RoboOS capabilities optimized for resource-constrained environments, including wallet management, task marketplace integration, and basic payment channel support.

Hardware Requirements

Supported Platforms: - ESP32 or ESP8266 (with WiFi built-in) - Arduino with Ethernet Shield - Minimum 64KB RAM (128KB+ recommended)

Software Requirements: - Arduino IDE 1.8.13 or newer - Required libraries: - ArduinoJson (v6.x or v7.x) - WiFi (for ESP32/ESP8266) - Ethernet (for Arduino with Ethernet shield)

Installation

Method 1: Arduino Library Manager (Recommended)

1. Open Arduino IDE 2. Go to Sketch → Include Library → Manage Libraries 3. Search for "RoboOS Arduino SDK" 4. Click Install

Method 2: Manual Installation

1. Download or clone the repository 2. Copy the `roboos-arduino` folder to your Arduino libraries directory: - Windows: `Documents/Arduino/libraries/` - macOS: `~/Documents/Arduino/libraries/` - Linux: `~/Arduino/libraries/` 3. Restart Arduino IDE

Install Dependencies:

Install ArduinoJson through Library Manager or from: https://github.com/bblanchon/ArduinoJson

Quick Start

Basic example for ESP32/ESP8266:

cpp

#include <RoboOS.h>

const char* ssid = "YOUR_WIFI_SSID";
const char* password = "YOUR_WIFI_PASSWORD";

using namespace RoboOS;

RobotSDK* sdk;
RobotWallet* wallet;
WiFiClient wifiClient;
HttpClient* httpClient;
BaseRobot* robot;

void setup() {
    Serial.begin(115200);
    
    // Connect WiFi
    WiFi.begin(ssid, password);
    while (WiFi.status() != WL_CONNECTED) {
        delay(500);
    }
    
    // Initialize SDK
    SDKOptions options;
    options.network = TESTNET;
    options.marketplaceEndpoint = "https://marketplace-testnet.theroboos.com";
    
    sdk = new RobotSDK(options);
    sdk->begin();
    
    httpClient = new HttpClient(&wifiClient);
    wallet = new RobotWallet(sdk->getLogger());
    wallet->create();
    
    // Create robot
    RoboOSConfig config = sdk->getConfig();
    robot = new BaseRobot("robot-001", wallet, config, httpClient, sdk->getLogger());
    robot->begin();
    robot->connect();
}

void loop() {
    // Query and execute tasks
    TaskMarketplace* marketplace = robot->getMarketplace();
    Task tasks[10];
    int taskCount = 0;
    
    TaskQuery query;
    query.status = TASK_PENDING;
    
    if (marketplace->queryTasks(query, tasks, 10, taskCount)) {
        for (int i = 0; i < taskCount; i++) {
            if (robot->canHandleTask(tasks[i])) {
                marketplace->acceptTask(tasks[i].taskId);
                robot->executeTask(tasks[i]);
            }
        }
    }
    
    delay(30000);
}

Forklift Robot Example

Example for a forklift robot:

cpp

#include <RoboOS.h>

using namespace RoboOS;

ForkliftRobot* forklift;

void setup() {
    // ... WiFi setup ...
    
    // Define forklift capabilities
    ForkliftCapabilities caps;
    caps.lifting = true;
    caps.transport = true;
    caps.stacking = true;
    caps.maxWeight = 2000.0; // kg
    caps.maxHeight = 5.0; // meters
    
    // Create forklift
    forklift = new ForkliftRobot(
        "forklift-001",
        wallet,
        config,
        httpClient,
        logger,
        caps
    );
    
    forklift->begin();
    forklift->connect();
}

void loop() {
    // Query material handling tasks
    TaskQuery query;
    query.type = "material_handling";
    
    Task tasks[10];
    int taskCount = 0;
    
    if (forklift->getMarketplace()->queryTasks(query, tasks, 10, taskCount)) {
        for (int i = 0; i < taskCount; i++) {
            if (forklift->canHandleTask(tasks[i])) {
                forklift->getMarketplace()->acceptTask(tasks[i].taskId);
                forklift->executeTask(tasks[i]);
            }
        }
    }
    
    delay(60000);
}

API Reference

RobotSDK - Main SDK initialization class:

cpp

SDKOptions options;
options.network = TESTNET;
options.marketplaceEndpoint = "https://marketplace-testnet.theroboos.com";

RobotSDK sdk(options);
sdk.begin();

RobotWallet - Wallet management:

cpp

RobotWallet wallet(logger);
wallet.create(); // Create new wallet
wallet.load(walletData); // Load existing wallet
String walletData = wallet.save(); // Save wallet
String publicKey = wallet.getPublicKey();
double balance = wallet.getBalance();

TaskMarketplace - Task marketplace client:

cpp

TaskMarketplace marketplace(config, httpClient, logger);
marketplace.begin(robotId);

TaskQuery query;
query.type = "delivery";
query.status = TASK_PENDING;

Task tasks[10];
int taskCount = 0;
marketplace.queryTasks(query, tasks, 10, taskCount);

marketplace.acceptTask(taskId);
marketplace.updateTaskStatus(taskId, TASK_COMPLETED);

BaseRobot - Base robot class:

cpp

BaseRobot robot(robotId, wallet, config, httpClient, logger);
robot.begin();
robot.connect();

if (robot.canHandleTask(task)) {
    robot.executeTask(task);
}

Robot Types

ForkliftRobot - Material handling robot:

cpp

ForkliftCapabilities caps;
caps.lifting = true;
caps.maxWeight = 2000.0;

ForkliftRobot forklift(id, wallet, config, httpClient, logger, caps);

AMRRobot - Autonomous Mobile Robot:

cpp

AMRCapabilities caps;
caps.navigation = true;
caps.maxPayload = 50.0;

AMRRobot amr(id, wallet, config, httpClient, logger, caps);

CleaningRobot - Cleaning robot:

cpp

CleaningCapabilities caps;
caps.vacuum = true;
caps.mopping = true;

CleaningRobot cleaner(id, wallet, config, httpClient, logger, caps);

Memory Management

For devices with limited memory:

1. Use fixed-size arrays for tasks 2. Limit the number of tasks queried at once 3. Disable logging if not needed:

cpp

options.enableLogging = false;

4. Use `DynamicJsonDocument` with appropriate size 5. Avoid storing large strings in memory 6. Process tasks one at a time when possible

Troubleshooting

WiFi Connection Failed: - Verify SSID and password are correct - Check WiFi signal strength - For ESP32, ensure WiFi mode is set correctly

HTTP Request Timeout: - Check internet connection - Verify endpoint URL - Increase timeout value:

cpp

httpClient->setTimeout(60000); // 60 seconds

Memory Issues: - Reduce JSON buffer size - Limit number of tasks queried - Disable logging - Use smaller data structures

Compilation Errors: - Ensure all dependencies are installed - Use latest Arduino IDE version - Check board selection (ESP32/ESP8266/Arduino)