colav-protobuf-utils

This package simplifies the generation of COLAV Protobuf messages as defined in colav-protobuf, allowing you to work with structured data without needing in-depth knowledge of Protobuf. Simply provide the required data to the relevant functions, and they will return the corresponding Protobuf messages. Additionally, the package includes built-in serialization and deserialization functionality for seamless data handling.

Table of Contents

• Installation
• Structure
• Usage
• License

Installation

pip install colav-protobuf-utils

Structure

The source code in colav_protobuf_utils is organized into the following main directories:

• Tests: Contains tests that ensure the continued working state of this package as part of the CI/CD workflow.
• src/colav_protobuf_utils: Contains the package source code.
  • protobuf_generator: Contains several Python functions for simplifying the generation of different colav_protobuf messages. Examples of usage for this package can be found in the Usage section.
  • deserialization: Contains functions that provide abstract deserialization functionality and validation for different colav-protobuf messages.
  • serialization: Contains functions that abstract Protobuf serialization functionality and validate the different colav-protobuf messages.

Usage

Once the package has been installed into your environment, usage is simple.

Imports

# Protobuf generation imports
from colav_protobuf_utils.protobuf_generator import (
    gen_mission_request,  # Mission Request 
    VesselType,
    gen_mission_response,  # Mission Response
    MissionResponseTypeEnum,
    gen_agent_update,  # Agent Update
    gen_obstacles_update,  # Obstacles update
    gen_static_obstacle, 
    StaticObstacleTypeEnum,
    gen_dynamic_obstacle,
    DynamicObstacleTypeEnum,
    gen_controller_feedback,  # Controller Feedback
    CtrlStatus,
    CtrlMode,
)

# Protobuf serialization import
from colav_protobuf_utils.serialization import serialize_protobuf

# Protobuf deserialization import
from colav_protobuf_utils.deserialization import deserialize_protobuf
from colav_protobuf_utils import ProtoType, Stamp

Sample Mission Request Creation

mission_req_proto = gen_mission_request(
    tag="sample_mission_tag",
    stamp=Stamp(sec=int(1010), nanosec(123)),
    vessel_tag="sample_vessel",
    vessel_type=VesselType.VESSEL.value,
    vessel_max_acceleration=2.0,
    vessel_max_deceleration=1.0,
    vessel_max_velocity=30.0,
    vessel_min_velocity=15.0,
    vessel_max_yaw_rate=0.2,
    vessel_loa=2.0,
    vessel_beam=0.5,
    vessel_safety_radius=5.0,
    cartesian_init_position=(30002.0, 2312.0, 10.0),
    cartesian_goal_position=(30402.0, 2000.0, 10.0),
    goal_safety_radius=10
)

Sample Serialization

serialized_msg = serialize_protobuf(mission_req_proto)

Sample Deserialization

deserialized_msg = deserialize_protobuf(serialized_msg, proto_type=ProtoType.MISSION_REQUEST)

License

colav-protobuf-utils is distributed under the terms of the MIT license.