mjlib

mjlib is a C++20 robotics library by mjbots. It provides foundational utilities, async I/O built on Boost.Asio, the multiplex communication protocol, binary telemetry/data recording, and microcontroller abstractions targeting STM32G4.

Modules

• mjlib/base/ — error handling, streams, serialization archives, algorithms (PID, CRC, windowed average).
• mjlib/io/ — async I/O: stream abstractions, stream factory (serial/TCP/stdio), timers, realtime executor.
• mjlib/micro/ — embedded layer: static allocation, async primitives without std::future, command manager, persistent config over flash.
• mjlib/multiplex/ — frame-based protocol over RS-485 / SocketCAN / FDCAN-USB, register-based RPC, client/server implementations, Python bindings.
• mjlib/telemetry/ — binary data recording / playback with snappy compression, schema system, JSON export, Python reader.
• mjlib/imgui/ — ImGui integration for visualization.

Building

A vendored bazel binary is at ./tools/bazel.

# Run all host tests (C++ and Python).
./tools/bazel test --config=host //:host

# Cross-compile for STM32G4.
./tools/bazel build --config=target //:target

License

Apache 2.0. See LICENSE.