Redis key value guidelines

We need a coherent strategy to leverage redis in a systematic manner. For now, we're going to use c++ style namespace strategies with successive scopes to determine how robot information should be presented.

There's a tradeoff here. For once, we're in the process of serializing directly to json, which would be awesome for web compat. On the other hand, json seems to be a layer of complexity that we might not want for a variety of simple things. Moreover, to support the json stuff requires users to have somewhat more experience with programming. So perhaps we should push for that once we have either more sophisticated tutorials, or a core javascript programmer on the team who can shunt most of the work on to some scl libs.

Long story short, here's one proposal:

// Whether the robot is active
scl::robot::<robot-string-id> = {0,1}

// A robot's state
scl::robot::<robot-string-id>::sensors::q 
scl::robot::<robot-string-id>::sensors::dq

// A command we'd like to send to the robot
scl::robots::<robot-string-id>::actuators::fgc

This should provide a simple high level interface to standardize basic robot io.

We'll also provide a simple webpage to monitor a robot's state using these key value pairs.

This is going to be important for the upcoming human-robot collaborative manipulation stuff..

Comments (5)