RoboParty RP Server

AT protocol gateway for RK3588. WebSocket / UDP / Serial / Bluetooth transport.

Frontend UI moved to Roboparty/roboparty_example

Architecture

transport/   WebSocket / Serial / Bluetooth / UDP     ← four transport channels
protocol/    AT parsing + dispatch                    ← core abstraction
drivers/     motors / imu / joy / policy              ← hardware drivers

Data Flow

App手柄 ──UDP:9000──┐
App ──WS:8765──────┼──→ AtHandler ──→ drivers ──→ Hardware
串口 ──UART───────┤
蓝牙 ──RFCOMM─────┘

REST API

Method	Path	Description
GET	`/health`	Health check + hardware status
GET	`/api/status`	Full hardware snapshot
GET	`/sysinfo`	CPU / memory / load
WS	`/ws`	AT protocol

AT Protocol

Commands:

Command	Params	Description
`AT+CONN?`	none	Connection status
`AT+BTN=<name>,<state>,<id>`	name:a/b/x/y/lb/rb, state:up/down, id:seq	Button event
`AT+JOY=<axis>,<value>`	axis:lx/ly/rx/ry, value:-1~1	Joystick axis
`AT+SYSINFO?`	none	CPU / memory / load
`AT+POLICY?`	none	Policy status
`AT+POLICY=<name>,start\|stop`	name:policy name	Start/stop inference
`AT+ERR?`	none	Motor error codes
`AT+RESET`	none	Emergency stop: zero joystick + clear errors + stop policy

Pushes (auto-broadcast):

Format	Rate	Content
`@IMU w x y z gx gy gz ax ay az temp`	50Hz	Attitude
`@BAT V A SoC temp`	50Hz	Battery
`@ERR id code name`	10Hz	Motor errors

Control Mapping

Direction	AT Command	Joystick	Effect
Forward	`AT+JOY=ry,-1`	Right stick ↑	Move forward
Backward	`AT+JOY=ry,1`	Right stick ↓	Move backward
Left turn	`AT+JOY=rx,-1`	Right stick ←	Turn left
Right turn	`AT+JOY=rx,1`	Right stick →	Turn right

Operation Sequence

X (enable) → A (reset) → B (inference) → joystick → robot moves

Quick Start (mock mode)

PYTHONPATH=src python3 -m rp_server --mock --port 8765

Production Deployment

Install

Install the deb package (see Install (deb) below). Its postinst enables and starts rp-server.service and rp-btwifi.service automatically.

Service Management

systemctl status rp-server
journalctl -u rp-server -f
systemctl restart rp-server

Environment Variables (`/etc/default/rp-server`)

Variable	Meaning
`RP_HOST` / `RP_PORT`	Listen address (default `0.0.0.0:8765`)
`RP_LOG_LEVEL`	Logging level
`RP_MOCK`	Force mock mode (DO NOT set in production)

Config Notes (`config/server.yaml`)

server.mock: must be false in production
hardware.required: default ["motors", "imu"]

Self-Check

WS receives +CONN and @IMU/@BAT
After reboot: systemctl is-active rp-server → active

RDK X5 (D-Robotics) Deployment

X5 uses ROS 2 colcon workspace under ~/atom01_deploy. Point RP_ROBOT_CONFIG (in /etc/default/rp-server) at the workspace config, then install the deb package.

Symlink pybind modules into dist-packages
X5 has no BMS — hardware.required: ["motors", "imu"]
For python3-evdev use the official deb — do NOT pip install
rp_server and start_robot.sh compete for CAN bus — only one at a time

Install (deb)

dpkg-buildpackage -us -uc -b
sudo dpkg -i ../roboparty-rp-server_*.deb

Logging

The server writes both file logs and console output for production troubleshooting.

Log files

File	Purpose
`rp_server.log`	Main log (system, errors, connection state)
`packets.log`	Packet log (raw data received over UDP/WebSocket)

Startup arguments

python3 -m rp_server --config config/server.yaml --mock --log-level DEBUG --log-dir logs

Argument	Description	Default
`--log-level`	Log level	`INFO`
`--log-dir`	Log file directory	`logs`

Configuration

Configure logging in config/server.yaml:

logging:
  level: "INFO"           # DEBUG/INFO/WARNING/ERROR/CRITICAL
  dir: "logs"             # log file directory
  file: "rp_server.log"   # main log file
  packet_file: "packets.log"  # packet log file
  max_size: 10485760      # max file size (bytes), 10MB
  backup_count: 5         # number of backups kept

Priority: command-line arguments > config file > defaults.

Log levels

Level	Use
`DEBUG`	Detailed debugging (AT commands, UDP packets)
`INFO`	Normal operation (connections, service status)
`WARNING`	Warnings (hardware anomalies, failed commands)
`ERROR`	Errors (hardware init failure, degraded service)
`CRITICAL`	Severe errors (service cannot start)

Sample output

System lifecycle:

2026-08-08 10:00:00 [rp_server] INFO 日志系统初始化完成 level=INFO dir=logs file=rp_server.log
2026-08-08 10:00:01 [rp_server.transport] INFO mock: skipping hardware driver init
2026-08-08 10:00:01 [rp_server.transport] INFO rp_server ready mock=True port_cfg={'host': '0.0.0.0', 'port': 9000}

Connection management:

2026-08-08 10:01:00 [rp_server.transport] INFO WebSocket 连接建立: 192.168.1.100
2026-08-08 10:01:05 [rp_server.transport] INFO WebSocket 连接断开: 192.168.1.100 (时长: 5.0s)
2026-08-08 10:02:00 [rp_server.udp] INFO UDP listener ready on 10.43.21.32:9000

AT commands (DEBUG level):

2026-08-08 10:01:02 [rp_server.transport] DEBUG WebSocket 收到命令: AT+BTN=a,down,1 (来源: 192.168.1.100)
2026-08-08 10:01:02 [rp_server.protocol] DEBUG AT 命令分发: AT+BTN (参数: ['a', 'down', '1'])
2026-08-08 10:01:03 [rp_server.transport] DEBUG UDP 数据包接收: 128 字节 (来源: 192.168.1.100:54321)

Hardware status:

2026-08-08 10:00:01 [rp_server.drivers.motors] INFO motors initialised: 4
2026-08-08 10:00:01 [rp_server.drivers.imu] INFO IMU initialised
2026-08-08 10:05:00 [rp_server.drivers.motors] WARNING motor_mit_cmd[0] failed: timeout

Packet log (packets.log):

2026-08-08 10:01:02 [rp_server.packets] WS_RECV src=192.168.1.100 data=AT+BTN=a,down,1
2026-08-08 10:01:03 [rp_server.packets] WS_RECV src=192.168.1.100 data=AT+JOY=lx,0.500
2026-08-08 10:02:00 [rp_server.packets] UDP_RECV src=192.168.1.100:54321 size=128 data={"type":"control","sequence":1,"left_stick_x":0.5}
2026-08-08 10:02:01 [rp_server.packets] UDP_RECV src=192.168.1.100:54321 size=96 data={"type":"control","sequence":2,"btn_a":true}

Viewing logs

Live tail:

tail -f logs/rp_server.log

Searching:

grep "ERROR" logs/rp_server.log
grep "192.168.1.100" logs/rp_server.log
grep "AT+BTN" logs/rp_server.log

Rotation

Log files rotate automatically once they reach max_size:

logs/
├── rp_server.log        # current
├── rp_server.log.1      # previous
├── rp_server.log.2      # older
├── ...
└── rp_server.log.5      # oldest backup

systemd deployment

Under systemd, logs are also written to the journal:

journalctl -u rp-server -f
tail -f /opt/roboparty/share/roboparty-rp-server/logs/rp_server.log

Name		Name	Last commit message	Last commit date
.github		.github
config		config
debian		debian
etc		etc
scripts		scripts
src/rp_server		src/rp_server
.gitattributes		.gitattributes
.gitignore		.gitignore
LICENSE		LICENSE
README.md		README.md

Navigation Menu

Uh oh!

Repository files navigation

RoboParty RP Server

Architecture

Data Flow

REST API

AT Protocol

Control Mapping

Operation Sequence

Quick Start (mock mode)

Production Deployment

Install

Service Management

Environment Variables (`/etc/default/rp-server`)

Config Notes (`config/server.yaml`)

Self-Check

RDK X5 (D-Robotics) Deployment

Install (deb)

Logging

Log files

Startup arguments

Configuration

Log levels

Sample output

Viewing logs

Rotation

systemd deployment

License

About

Releases

Packages

Contributors

Languages

Uh oh!

Latest commit

History

Folders and files

Repository files navigation

RoboParty RP Server

Architecture

Data Flow

REST API

AT Protocol

Control Mapping

Operation Sequence

Quick Start (mock mode)

Production Deployment

Install

Service Management

Environment Variables (/etc/default/rp-server)

Config Notes (config/server.yaml)

Self-Check

RDK X5 (D-Robotics) Deployment

Install (deb)

Logging

Log files

Startup arguments

Configuration

Log levels

Sample output

Viewing logs

Rotation

systemd deployment

License

About

Resources

Stars

Watchers

Forks

Releases

Packages

Contributors

Languages

Environment Variables (`/etc/default/rp-server`)

Config Notes (`config/server.yaml`)