Overview

Asimov Manager runs on the Perception and Network Controller. It connects operators to the robot over the internet.

It does four things:

1. Video streaming - Capture from cameras, stream to operators via LiveKit

2. Audio - Stream mic to operators, play operator voice on speaker

3. Teleop commands - Receive commands from operators, forward to firmware

4. State broadcast - Get robot state from firmware, send to operators @ 50 Hz

        flowchart TB
    subgraph internet["Internet"]
        livekit["LiveKit Server"]
    end
    subgraph pnc["Perception & Network Controller"]
        manager["Asimov Manager"]
        cameras["Cameras"]
        mic["Mic"]
        speaker["Speaker"]
    end
    subgraph mcb["Motion Control Board"]
        firmware["Asimov Firmware"]
    end
    subgraph operator["Operator"]
        browser["Browser/App"]
    end

    cameras --> manager
    mic --> manager
    manager --> speaker
    manager <-->|"WebRTC"| livekit
    livekit <-->|"WebRTC"| browser
    manager <-->|"UDP nanopb"| firmware
    

Why Two Processes?

Asimov Firmware runs the real-time control loop. It talks to motors over CAN at 200 Hz. Adding network code would cause timing jitter.

Asimov Manager handles all the network stuff: WebRTC, video encoding, connection management. Runs on a separate board.

They talk nanopb over UDP.

Data Flow

Data	Direction	Transport	Rate
Video	Robot → Operator	WebRTC video tracks	30-50 fps
Audio (mic)	Robot → Operator	WebRTC audio track	48 kHz
Audio (speaker)	Operator → Robot	WebRTC audio track	48 kHz
Teleop commands	Operator → Robot	DataChannel (reliable)	On demand
Robot state	Robot → Operator	DataChannel (lossy)	50 Hz
Motor commands	Manager → Firmware	UDP :8888	On demand
Motor state	Firmware → Manager	UDP :8889	100 Hz

Source Files

File	What it does
main.c	Entry point, 100 Hz main loop
config/config.c	YAML config parser
control/control.c	UDP to firmware, nanopb serialization
media/publisher.c	Video/audio capture, LiveKit streaming
media/subscriber.c	Audio playback, DataChannel commands
teleop/teleop.c	Command/state binary packing