Serial Communication Protocol
User(Robot) sends message: “MD #B #F”
MILES responds by sending contents of metadata file corresponding to building and floor specified line by line.
Ends the send with <END>
MD 37 4
x: 1||y: 10||Location: Lofaro Labs||Description: The laboratory of Dr. Lofaro that his senior design students and other robotics students use.||
x: 10||y: 1||Location: Elevator||Description: The center 4th floor elevator.||
x: 15||y: 15||Location: Room 4402||Description: This is Professor Someones Room.|| <END>
User(Robot) sends message: “MAP #B #F”
MILES responds by sending map corresponding to the building and floor specified.
MAP 37 4
Sends 2D map .pgm file line by line
User(Robot) sends message “LONCE”
MILES responds by sending the current location calculated by our Localization algorithm
X: %f||Y: %f||z:%d||O:%f
HINT: O stands for Orientation
User(Robot) sends message “LAUTO”
MILES responds by sending the current location calculated by our localization algorithm and continues to send at 5 Hz.
User(Robot) can send message “LSTOP” to stop MILES from sending messages