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Communication
tsb4 edited this page Jun 10, 2020
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The FIRASim communication is thought Google ProtoBuf (v.3 or up, as described in ReadME). It consists in receiving the packages with the command to the robots (wheel speeds) and sending the Vision Buffer to strategy code.
Here, it will be described which INFO are being passed in each Package.
The Packet corresponds to the information received by simulator.
Packet { Commands cmd = 1; Replacement replace = 2; }
The command corresponds to the information to move the robots. Replacement is used to the arbiter communicates with the Simulator (NOT USED. The arbiter is already inside the simulator).