I've spent all the time since lat post only by writing the SW. The latest version can be now found at github if someone is interested: https://github.com/Hyna/basePnP

Implemented features:

• communication module - GCODE sender/receiver
• Simple board alignment - use only bottom left corner of PCB as zero position
• Fully automatic board alignment - use vision to find the fiducials and then affine transform coordinates
• device manager - static tape implemented

So the SW is almost ready for the first job :) Now is the time to hack on Z axis and vacuum.