OpenSwarm Linux Slave Agent (openswarm-slave)

Turns any Linux SBC (Arduino UNO Q, Arduino Portenta X8, Raspberry Pi, Nvidia Jetson) or Linux Laptop into a Zero-Control-Logic OpenSwarm Slave Node.

Speaks the exact same UDP protocol (4210 / 4211) as the SwarmNode C++ microcontroller library—so the Central Linux Master (openswarm-master) controls ESP32s, RP2040s, Portenta X8s, Arduino UNO Qs, and Raspberry Pis through one unified API!

1. Installation (On Arduino UNO Q, Portenta X8, Raspberry Pi, or Linux Laptop)

# Option A: Install directly from official PyPI:
pip install openswarm-slave

# Option B: Clone and install locally for development:
git clone https://github.com/raihhann/OpenSwarm.git
cd OpenSwarm/slaves/linux
pip install -e .

2. Instant Terminal Launch (openswarm-slave CLI)

You can turn any Linux machine into an active Slave node with a single command:

openswarm-slave --id portenta_x8 --led-pin 2

Then from your Master terminal (or another terminal on the same laptop!), test it immediately using openswarm-master:

openswarm scan
openswarm blink portenta_x8 --ip 127.0.0.1

3. Declarative Python Slave Script (linux_slave_node.py)

Just like void setup() on the microcontroller, you only declare attached pins and sensors (supports both snake_case and Arduino camelCase methods):

from openswarm_slave import SwarmNode

node = SwarmNode("uno_q_node")

# Declare attached hardware ONLY — Zero Control Logic!
node.register_digital_output("led", 2)
node.register_l298n("drive", 14, 27, 26, 32, 25, 33)
node.register_ultrasonic("front_sonar", 5, 18)
node.register_cpu_temp("cpu_temp")
node.register_system_load("sys_load")
node.register_wifi_rssi("rssi")

# Start background daemon (500ms safety watchdog + 20Hz telemetry)
node.start()

4. Supported Linux Hardware Backends

• GPIO & PWM: Automatically uses RPi.GPIO (on Raspberry Pi), Linux kernel /sys/class/gpio (on Portenta X8, Arduino UNO Q, Jetson), or Virtual GPIO Simulation Mode when testing on a standard Linux/Windows laptop.
• Buses (I2C, SPI, UART): Supports /dev/i2c-* (register_mpu6050, register_lsm6dsox, register_generic_i2c, register_i2c_actuator) and /dev/tty* (register_uart_sensor, register_uart_actuator).
• Linux System Telemetry: register_cpu_temp() (°C), register_system_load() ([load_1m, ram_%]), and register_wifi_rssi() (dBm).