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Inter Robot Communication
brindza edited this page Mar 15, 2012
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Communication between the robots is done through a wireless network. Periodically, throughout the game, each robot broadcasts a UDP message that contains the state information for that particular robot. All the robots store the messages from their team members and use the information contained in them to determine their behavior.
The Comm modules are the actual interfaces to the network. These can vary with the robot platform so they are located in the Lib/Platform/ directory for each robot platform.
In order for the Comm modules we provide for the Nao and Darwin OP, each robot or computer must be on the same subnet (e.g. 192.168.0.xxx) and the modules must reflect that network. In the luaNaoComm.cc and luaOPComm.cc files change the defined IP variable to the network mask you are on.
// set network mask
#define IP "192.168.0.255"Also, check to make sure the defined PORT variables are the same for each robot.
We use serialized Lua data structures as the payload of the UDP packets. The serialization.lua module provides the necessary functions for serializing and de-serializing the Lua data structures. Because Lua is an interpreted language serialization becomes pretty simple. All that needs to be done is format the data into a code string that can be evaluated into the original data structure. For the basic Lua data types this is fairly simple and we provide a function that will accomplish this.
The following example will show how you can use serialization.serialize and serialization.deserialize to serialize and de-serialize basic Lua tables respectively.
> require('serialization')
>
> -- create a table to test with
> testTable = {pose={x=2, y=4, a=math.pi}, s='this is a string', v={0,1,2,3}};
> for k,v in pairs(testTable) do print(k,v) end
s this is a string
pose table: 0x96b6b50
v table: 0x96b6b28
> for k,v in pairs(testTable.pose) do print(k,v) end
y 4
x 2
a 3.1415926535898
> for k,v in pairs(testTable.v) do print(k,v) end
1 0
2 1
3 2
4 3
>
> -- serialize the table
> s = serialization.serialize(testTable);
> print(s)
{["s"]="this is a string",["pose"]={["y"]=4,["x"]=2,["a"]=3.1415926535898,},["v"]={[1]=0,[2]=1,[3]=2,[4]=3,},}
>
> -- de-serialize the table
> deserializedTable = serialization.deserialize(s);
> for k,v in pairs(deserializedTable) do print(k,v) end
pose table: 0x96a4568
s this is a string
v table: 0x969f430
> for k,v in pairs(deserializedTable.pose) do print(k,v) end
y 4
x 2
a 3.1415926535898
> for k,v in pairs(deserializedTable.v) do print(k,v) end
1 0
2 1
4 3
3 2You may find yourself wanting to send userdata (C array) variables, e.g. images for debugging purposes. This is not as simple as the normal Lua serialization. First, the data needs to be converted into a valid, null terminated C string. This is accomplished by converting the array data into a hex string. Second, you will want to retain the array metadata such as width/height and datatype. Finally, it may be the case that the array is larger than the maximum UDP packet size. This requires you to break up the array into multiple smaller packets and include enough information to reconstruct the array from, possibly out of order, messages.
We have defined a custom format for userdata serialization in order to meet these requirements. We refer to this data structure as an array table. The array table is a special Lua table with the following fields:
name -- string name of the array
width -- width of the array
height -- height of the array
dtype:
name -- string name of the C data type ('int8', 'int32', 'float64', etc)
nbytes -- number of bytes per element
data -- hex string of the dataWe use the name field of the array to distinguish between different arrays and also to support breaking up larger arrays. The array name has the following format:
'[array name].[array id (count)].[part number].[total number of parts]'We provide a function, serialization.serialize_array, that converts a given userdata array into the table format for serialization. The following example shows how to use it to serialize a userdata array:
> require('serialization');
> require('carray');
> require('cutil');
>
> -- create test array (one that exceeds the max UDP packet size)
> arr = carray.new('i', 160*120);
> for i = 1,#arr do
>> arr[i] = i;
>> end
>
> -- convert the array into 'array table' format
> arrayTables = serialization.serialize_array(carray.pointer(arr), 160, 120, 'int32', 'test_array', 0);
> print(#arrTables)
3
> for k,v in pairs(arrTables[3]) do print(k,v) end
name test_array.0.3.3
height 24
dtype table: 0x99b8048
data 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width 160
>
> -- serialize each table
> serializedArrTables = {};
> for i = 1,#arrTables do
>> serializedArrTables[i] = serialization.serialize(arrTables[i]);
>> end
> print(serializedArrTables[3])
{["name"]="test_array.0.3.3",["height"]=24,["dtype"]={["name"]="int32",["nbytes"]=4,},["data"]="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>After the data is serialized it needs to actually be sent over the network to the other robots. This is handled by the Comm module. This module is one of the platform dependent modules but we provide implementations for the Nao, DARwIn OP and Webots. After serializing the data you want to transmit it is just a simple call to Comm to send the serialized data.
> -- init.lua will include subpaths and C-libraries
> dofile('init.lua');
> require('serialization')
> require('Comm')
>
> -- create a table to test with
> testTable = {pose={x=2, y=4, a=math.pi}, s='this is a string', v={0,1,2,3}};
>
> -- serialize the table
> s = serialization.serialize(testTable);
>
> -- send the data
> Comm.send(s);
>Then any other robot on the network can receive the data and de-serialize it:
> -- init.lua will include subpaths and C-libraries
> dofile('init.lua');
> require('serialization')
> require('Comm')
>
> -- receive the packet
> s = Comm.receive();
>
> -- de-serialize the table
> deserializedTable = serialization.deserialize(s);
> for k,v in pairs(deserializedTable) do print(k,v) end
pose table: 0x96a4568
s this is a string
v table: 0x969f430
> for k,v in pairs(deserializedTable.pose) do print(k,v) end
y 4
x 2
a 3.1415926535898
> for k,v in pairs(deserializedTable.v) do print(k,v) end
1 0
2 1
4 3
3 2