adamo

Rust SDK for the Adamo Network — low-latency robotics pub/sub and video streaming.

use adamo::Session;

let session = Session::open_default("ak_…")?;
session.put("telemetry/heartbeat", b"hi", Default::default())?;

let sub = session.subscribe("commands/move")?;
let sample = sub.recv(Some(std::time::Duration::from_secs(5)))?;

Features

• Session — auth-aware Zenoh wrapper (open, put, publisher, subscribe).
• Robot (behind video feature) — declare hardware-accelerated video tracks against the local camera and stream them over Zenoh:

  use adamo::Robot;
  let mut robot = Robot::new_default("ak_…", Some("rover-01"))?;
  robot.attach_v4l2("front", "/dev/video0", 1280, 720, 30, 4000, false)?;
  robot.run()?; // blocks; capture → encode → publish
  

  Existing iceoryx2 shared-memory producers can be consumed directly. Use VideoOptions when you need the same knobs exposed by the Python SDK:

  use adamo::{VideoBackend, VideoOptions};
  
  let options = VideoOptions {
      width: 1280,
      height: 720,
      pixel_format: Some("BGRA".into()),
      codec: "h264".into(),
      encoder: None,
      bitrate_kbps: 4000,
      adaptive_bitrate: true,
      min_bitrate_kbps: Some(1000),
      max_bitrate_kbps: Some(6000),
      bitrate_priority: 1.0,
      fps: 30,
      keyframe_distance: 2.0,
      stereo: false,
      backend: VideoBackend::Auto,
  };
  robot.attach_shm_with_options(
      "front",
      "camera/front",
      &options,
  )?;
  

• Adamo time — adamo::fabric_now_us() returns microseconds on a shared clock derived from the relays' zenoh-plugin-adamo-time. Stamp every cross-node timestamp with this so glass-to-glass latency measurements aren't poisoned by NTP drift between machines.

How the binary is shipped

The crate's adamo-sys dependency bundles a precompiled libadamo.so for the supported target (currently aarch64-unknown-linux-gnu — Jetson / Ubuntu 22.04 arm64) inside its crate tarball. No network access is required at build time.

For local development against a freshly-built libadamo, set ADAMO_LIB_DIR=/path/to/dir/with/libadamo.so to override the bundled binary.

License

Apache-2.0. The bundled libadamo binary is proprietary and covered by the Adamo SDK license.