Serial Communication Protocol

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Metadata Format:

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>


Ex:

Robot:

 MD 37 4

MILES:

 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>



Map

User(Robot) sends message: “MAP #B #F”

 MILES responds by sending map corresponding to the building and floor specified.


Ex:

Robot:

 MAP 37 4


MILES:

 Sends 2D map .pgm file line by line


Location Once:

User(Robot) sends message “LONCE”

MILES responds by sending the current location calculated by our Localization algorithm


Ex:

Robot:

 LONCE


MILES:

 X: %f||Y: %f||z:%d||O:%f


HINT: O stands for Orientation

Location Auto:

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

--Brandhaw (talk) 17:43, 22 April 2015 (EDT)