V3SProtoComm 2.1.0

Pacote para comunicação e controle de robôs via Protobuf

V3SProtoComm

V3SProtoComm is a library for communication and control of robots via Protobuf. The library supports the following communications:

• Receiving vision data in polling and multithread mode
• Sending speed commands in polling and multithread mode
• Receiving game data from the VSSReferee in polling mode
• Sending replacement packages to the VSSReplacer in polling mode

Installation

You can install the package directly from GitHub with pip:

    pip install git+https://github.com/TauraBots/V3SProtoComm.git

Or, if you have cloned the repository, install the dependencies from the requirements file:

    pip3 install -r requirements.txt

Usage

To test the package, run the "gotoball.py" example:

python3 gotoball.py

The example uses vision data to control a differential drive robot, directing it towards the ball by rotating to align its orientation and moving forward until it is close enough (i.e., when it "dominates" the ball).

Project Structure

V3SProtoComm/
├── core
│   ├── comm
│   │   ├── controls.py
│   │   ├── __init__.py
│   │   ├── protocols
│   │   │   ├── command_pb2.py
│   │   │   ├── common_pb2.py
│   │   │   ├── __init__.py
│   │   │   ├── packet_pb2.py
│   │   │   ├── protobuf
│   │   │   │   ├── firasim
│   │   │   │   │   ├── command.proto
│   │   │   │   │   ├── common.proto
│   │   │   │   │   ├── packet.proto
│   │   │   │   │   ├── protobuf.sh
│   │   │   │   │   └── replacement.proto
│   │   │   │   ├── __init__.py
│   │   │   │   └── vssreferee
│   │   │   │       ├── protobuf.sh
│   │   │   │       ├── vssref_command.proto
│   │   │   │       ├── vssref_common.proto
│   │   │   │       └── vssref_placement.proto
│   │   ├── __init__.py
│   │   ├── receiver.py
│   │   ├── referee.py
│   │   ├── replacer.py
│   │   ├── thread_job.py
│   │   ├── transmitter.py
│   │   └── vision.py
├── gotoball.py
├── README.txt
├── requirements.txt
└── tests.py

[!NOTE] To ensure that the non-Python files (such as the .proto files in the protobuf directory) are included in the package, a MANIFEST.in file is used with the following directive:

---

  recursive-include core/comm/protocols/protobuf *

Contributing

Contributions are welcome! Feel free to open issues or submit pull requests.