colav-protobuf 0.0.2

A package for working with the COLAV protobuf format

colav_protobuf

This package contains python protobuf compilations for easy import as well as mock examples of each of these messages you can import via examples.

Message types include:

• missionRequest
• missionResponse
• agentUpdate
• obstaclesUpdate
• controllerFeedback

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Table of Contents

• Installation
• License

Installation

pip install colav-protobuf

Structure

The src code in colav_protobuf shows that the project is organised into main directories:

• Tests: The tests directory contains a variety of unit tests ensuring that the pkg is working as expected and are called as apart of the CI/CD pipeline defined by the github_action
• src: The src contains three pkgs
  • colav_protothe original proto files which were compiled by protobuf compiler protos these are un-importable but will give you a good idea of the proto structure.
  • colav_protobuf: This is the importable python pkg you can import the different messages types as follows:
  • examples: This pkg contains mock of each of the protobufs for example and testing purposes.

Usage

Using this pkg is simpl importing the proto messages is simple:

    from colav_protobuf import MissionRequest
    from colav_protobuf import MissionResponse
    from colav_protobuf import AgentUpdate
    from colav_protobuf import ObstaclesUpdate
    from colav_protobuf import ControllerFeedback

Examples of these object initiations are shown in the examples which contains a number of importable message exmaples. how to publish it via a python socket:

Here is a sample of proto creation of a agent configuration message: and

    from colav_protobuf import AgentUpdate
    import socket 

    agent_update = AgentUpdate
    agent_update.mission_tag = "COLAV_MISSION_NORTH_BELFAST_TO_SOUTH_FRANCE"
    agent_update.agent_tag = "EF12_WORKBOAT"
    agent_update.state.pose.position.x =   float(3_675_830.74)
    agent_update.state.pose.position.y = float(-272_412.13)
    agent_update.state.pose.position.z =  float(4_181_577.70)
    agent_update.state.pose.orientation.x = 0
    agent_update.state.pose.orientation.y = 0
    agent_update.state.pose.orientation.z = 0
    agent_update.state.pose.orientation.w = 1

    agent_update.state.velocity = 20
    agent_update.state.yaw_rate = 0.2
    agent_update.state.acceleration = 1

    agent_update.timestamp = "1708853235"
    agent_update.timestep = "000000000012331"

    aserialised_agent_update = agent_update.SerializeToString()

    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
    sock.sendto(serialized_agent_update, ("192.168.1.100", 7200))

License

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