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Tafyd - Tafy Node Agent

Tafyd is the Go-based node agent for the Tafy Studio Robot Distributed Operation System (RDOS). It runs on each compute node in a robot cluster, managing local resources and facilitating communication between hardware and the control plane.

Overview​

Tafyd acts as the local orchestrator on each node (MCU, Raspberry Pi, Jetson, x86), providing:

  • Hardware abstraction layer (HAL) message routing
  • Local resource management and monitoring
  • NATS messaging integration
  • Health checking and telemetry reporting
  • Container/process lifecycle management

Architecture​

Tafyd follows a modular architecture:

  • Core: Main agent loop and lifecycle management
  • HAL: Hardware abstraction layer implementation
  • Transport: NATS messaging and communication
  • Monitor: Resource monitoring and telemetry
  • Registry: Service and capability registration

Getting Started​

Prerequisites​

  • Go 1.21 or higher
  • NATS server (or connection to cluster)
  • Linux-based operating system (Ubuntu, Debian, Alpine)

Installation​

# Build from source
go build -o tafyd ./cmd/tafyd

# Run with default configuration
./tafyd

# Run with custom NATS server
./tafyd --nats-url nats://localhost:4222

Configuration​

Tafyd can be configured via:

  1. Command-line flags
  2. Environment variables
  3. Configuration file (/etc/tafy/tafyd.yaml)

Key configuration options:

# tafyd.yaml
nats:
  url: nats://localhost:4222
  cluster: tafy-cluster
  
node:
  id: auto  # Auto-generate node ID
  name: robot-node-1
  capabilities:
    - motor.differential:v1.0
    - sensor.range:v1.0
    
telemetry:
  interval: 10s
  enabled: true

Development​

Building​

# Build for current platform
go build -o tafyd ./cmd/tafyd

# Cross-compile for ARM64 (Jetson/Pi)
GOOS=linux GOARCH=arm64 go build -o tafyd-arm64 ./cmd/tafyd

# Build with version info
go build -ldflags "-X main.version=v0.1.0" -o tafyd ./cmd/tafyd

Testing​

# Run unit tests
go test ./...

# Run tests with coverage
go test -cover ./...

# Run integration tests
go test -tags=integration ./...

Project Structure​

tafyd/
├── cmd/
│   └── tafyd/        # Main application entry point
├── pkg/
│   ├── agent/        # Core agent implementation
│   ├── hal/          # Hardware abstraction layer
│   ├── transport/    # NATS messaging
│   └── monitor/      # Telemetry and monitoring
├── go.mod
├── go.sum
└── Dockerfile

Deployment​

Docker​

# Build Docker image
docker build -t tafystudio/tafyd:latest .

# Run container
docker run -d \
  --name tafyd \
  --network host \
  -v /etc/tafy:/etc/tafy \
  tafystudio/tafyd:latest

Systemd​

# /etc/systemd/system/tafyd.service
[Unit]
Description=Tafy Node Agent
After=network.target

[Service]
Type=simple
ExecStart=/usr/local/bin/tafyd
Restart=always
RestartSec=10

[Install]
WantedBy=multi-user.target

API​

Tafyd exposes a local API for health checks and debugging:

  • GET /health - Health check endpoint
  • GET /metrics - Prometheus metrics
  • GET /debug/pprof - Go profiling data (debug mode only)

Contributing​

See the main project CONTRIBUTING.md for guidelines.

License​

Apache 2.0 - See LICENSE for details.