VSS-SampleCpp

Mais informações podem ser encontradas em VSS-SDK.

Lendo um pacote state

global_state.balls(0).pose().x();       // Pos X
global_state.balls(0).pose().y();       // Pos Y

global_state.robots_yellow(i).pose().x();       // Pos X
global_state.robots_yellow(i).pose().y();       // Pos Y
global_state.robots_yellow(i).pose().yaw();     // Rot Z

global_state.robots_blue(i).pose().x();         // Pos X
global_state.robots_blue(i).pose().y();         // Pos Y
global_state.robots_blue(i).pose().yaw();       // Rot Z

Montando um pacote commands

global_commands = vss_command::Global_Commands();

global_commands.set_situation(NONE);
global_commands.set_name("Nome_do_time");
global_commands.set_is_team_yellow(true);

for(int i = 0 ; i < 3 ; i++){
    vss_command::Robot_Command *robot = global_commands.add_robot_commands();
    robot->set_id(i);
    robot->set_left_vel(5.0);
    robot->set_right_vel(-5.0);
}

Montando um pacote debug

global_debug = vss_debug::Global_Debug();
	
for(int i = 0 ; i < 3 ; i++){
    vss_debug::Pose *steps = global_debug.add_step_poses();
    steps->set_id(i);
    steps->set_x(5.0);
    steps->set_y(33.0);
    steps->set_yaw(1.0);
}

for(int i = 0 ; i < 3 ; i++){
    vss_debug::Pose *finals = global_debug.add_final_poses();
    finals->set_id(i);
    finals->set_x(6.0);
    finals->set_y(22.0);
    finals->set_yaw(2.0);
}

Trocando pacotes (state, commands e debug)

void createSocketReceiveState(vss_state::Global_State*, string addr_client_multicast = "tcp://localhost:5555");
void receiveState();

void createSendCommandsTeam1(vss_command::Global_Commands*, string addr_client_simulator_team1 = "tcp://localhost:5556");
void sendCommandTeam1();

void createSendCommandsTeam2(vss_command::Global_Commands*, string addr_client_simulator_team2 = "tcp://localhost:5557");
void sendCommandTeam2();

void createSendDebugTeam1(vss_debug::Global_Debug*, string addr_client_debug_team1 = "tcp://localhost:5558");
void sendDebugTeam1();

void createSendDebugTeam2(vss_debug::Global_Debug*, string addr_client_debug_team2 = "tcp://localhost:5559");
void sendDebugTeam2();

Installation

INSTALL

Cloning

$ git clone --recursive https://github.com/SIRLab/VSS-SampleCpp.git

Development and Use

$ make proto
$ make 
$ ./VSS-SampleCpp -c [yellow || blue]

License

This code is licensed under the GNU GENERAL PUBLIC LICENSE Version 3, of which a textual copy is available at LICENSE.txt.

You are allowed and encouraged to use this software on the IEEE Very Small Size Soccer competitions. If you do, please let us know.

danielbrezoi / VSS-SampleCpp