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The IOCOM library implements communication between a control computer and IO devices over a TCP network or full-duplex serial communication wire. The library supports scalable range of functionality. The minimum configuration supports only serial communication on plain metal, while some applications may require multi-threading and secure TLS communication over the Internet.
Micro-controllers can be plain metal, equipped with Arduino derived libraries, FreeRTOS (currently testing), possibly RT-Thread (under consideration), LWIP for networking, and TLS security. The IOCOM is not bound tightly to any underlying system, so it can be ported to any environment with sufficient resources for the task.
Besides of micro-controllers, the same code runs on Windows and Linux. Linux on should cover Raspberry PI and similar devices.
See project web site https://iocafe.org