vessel-bridge

Hardware Abstraction Layer for ESP32 to Jetson to Cloud. Unified sensor/actuator API across vessel domains.

Architecture

ESP32 (micro) ←→ UART/I2C/SPI ←→ Jetson (edge) ←→ MQTT/HTTP ←→ Cloud (cocapn)

Domains

• Marine — GPS, compass, sonar, depth, thrusters, rudder, winch
• Aerial — GPS, IMU, barometer, lidar, motors, servos
• Industrial — Proximity, force, encoders, conveyor, robot arm
• Home — Temperature, humidity, light, speakers, displays
• Medical — Biometric, proximity, haptic, display

Usage

from bridge import create_marine_vessel, VesselDomain

vessel = create_marine_vessel("fishing-boat-01")

# Read sensors
gps = vessel.read_sensor("gps_0")
compass = vessel.read_sensor("compass_0")

# Command actuators (auto-clamped to safe range)
vessel.command_actuator("thruster_port", "set", 0.7)
vessel.command_actuator("rudder", "set", -15.0)

# Register callbacks
vessel.on_reading("gps_0", lambda r: print(f"GPS: {r.values}"))

# Health check
health = vessel.get_health()

# Publish state (JSON for MQTT)
vessel.get_state_json()

ESP32 Protocol

Lightweight binary frame protocol for UART:

[0xAA][0x55][len_h][len_l][type][payload][crc8]

Sensor data uses compact binary encoding. Commands use JSON.

Part of the Lucineer ecosystem.