THE ARCHITECTURE
Where composition happens.
MOST FRAMEWORKS
Composed at runtime
Components find each other and exchange messages while the robot runs.
camera driverSLAMplannermotor control
message bus · shared memory
Wiring is resolved while the robot runs. Every hop crosses the bus.
SHINRO
Composed at compile time
The toolchain reads your module descriptors and generates the inter-process plumbing into one binary.
MODULE DESCRIPTORS
$ cake build
generates the plumbing
one native binary
cross-compiled for the target
generated plumbing: shared memory, pipes, concurrency
cake kernel
distributed as-is
target hardware: any architecture
Deploying updates a module on the kernel, at runtime. The rest keeps running.
THE RESULT
less runtime discoveryfewer moving partsmore auditable buildscleaner deployment boundarieslive module updates
Shinro moves the hard part from runtime to compile time.