colav-protobuf 0.2.0

A Python package for importing and working with COLAV Protobuf message types, including mission requests, agent updates, obstacles updates, and controller feedback.

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 and their proto formatting include:

• missionRequest
• missionResponse
• agentUpdate
• obstaclesUpdate
• controllerFeedback

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Table of Contents

• Installation
• Structure
• Usage
• 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

When pkg is installed, Using it is simple imports are as follows.

    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.stamp.sec = int(170)
    agent_update.stamp.nanosec = int(423)

    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.