phyelds-argos

Run phyelds aggregate programs on any ARGoS3 robot: foot-bot, e-puck, eye-bot, Spiri, Pi-Puck, BuilderBot, drone, block or prototype. ARGoS owns the robots, physics and radios. Each robot runs a phyelds.vm.device.Device; its bytes travel through the robot's simulated radio, one round per tick.

Install this package into Python 3.12 or 3.13, with ARGoS3, a C++17 compiler and CMake 3.18+ installed. Build the plugin with the same Python that has your programs:

python -m phyelds.argos.build --build-dir build
# Without Qt/OpenGL (the controller still drives the LEDs):
python -m phyelds.argos.build --build-dir build-headless --no-gui

The package ships C++ sources, not a binary tied to a particular ARGoS/Python ABI. The command compiles libphyelds_argos.so and, unless --no-gui is used, libphyelds_argos_qt.so. It uses the calling interpreter and its development headers/shared library, rather than whichever python3 happens to be on the PATH. Rebuild after moving or replacing that Python environment.

In an ARGoS experiment use phyelds_controller, with library="build/libphyelds_argos" and <params program="your_module:your_function" source="0" max_speed="0.1" />. Robot names must end in a unique unsigned 32-bit integer, for example fb0, fb1. The controller uses the devices the experiment declares: it needs the positioning sensor and a range_and_bearing or simple_radios radio (actuator and sensor); motion (differential_steering, pipuck_differential_drive, builderbot_differential_drive, quadrotor_speed, drone_flight_system), proximity sensors and LEDs are optional, and outputs a robot cannot act on are ignored. Positioning supplies yaw only, unless gps="true".

Programs read time (seconds), source and heading; obstacle with a proximity sensor or rangefinders; the neighbors_distances and neighbors_vectors maps, keyed by numeric robot ID, with the range-and-bearing radio; and position with gps="true", which simple radios need for geometry. Distances are metres; vectors and headings share the global compass frame. The standard geometry helpers use the measured sensors without GPS.

Programs write velocity (an iterable with two or three components, m/s), led (three integer RGB channels, 0–255) and label (text). phyelds.argos names these sensors and actuators once, as typed objects: source.sense(), led.send((255, 0, 0)), velocity.send(v). The maps and position are read by the geometry helpers. Missing outputs mean zero velocity, black LEDs and an empty label. With the GUI enabled, <user_functions library="build/libphyelds_argos_qt" label="phyelds_qtuser_functions" /> draws the LED colour as a halo and the label above each robot.

Radio frames are [u32 sender][u16 length][Device payload], with the header encoded by ARGoS CByteArray, padded with zeros on the range-and-bearing radio. Compact paths are used by default; paths="debug" is available for debugging, but all communicating robots must use the same mode and program version. Use a sufficiently large rab_data_size (4096 in the examples). Oversize messages fail explicitly; they are never truncated. Bad frame lengths are ignored. Payload/codec errors stop the experiment with the robot ID and Python traceback. trace="true" logs each robot's label after every round for diagnostics.

See the integration guide for an experiment and the five-example project. The host build needs no Boost.Python, pybind11, FCPP or phyelds simulator. Python execution is protected by the GIL even when ARGoS uses worker threads; individual rounds are not executed in parallel.