bubble_protocol package

This module maintains the functions related to robot communication, and the sub-module relationship is shown in the figure below:

bubble_protocol.protocol module

class bubble_protocol.protocol.BCP_FRAME

Bases: object

combineCheck() → None

getData() → bytearray

setData(data: bytes) → None

class bubble_protocol.protocol.BCP_TX_FRAME

Bases: bubble_protocol.protocol.BCP_FRAME

INFO = None

d_addr = None

bubble_protocol.dispatch module

License: GNU General Public License v3.0. See LICENSE file in root directory. Author: Ligcox Date: 2022-05-30 01:08:04 FilePath: /bubble_bringup/home/nvidia/Desktop/bubble/src/bubble_core/bubble_protocol/bubble_protocol/dispatch.py LastEditors: Ligcox LastEditTime: 2022-07-02 19:57:11 E-mail: robomaster@birdiebot.top

class bubble_protocol.dispatch.RobotAPI(name='standard')

Bases: rclpy.node.Node

api_init()

barrel_callback(msg)

ex_chassis_callback(msg)

ex_odom_callback(msg: geometry_msgs.msg._pose_with_covariance.PoseWithCovariance)

gimbal_callback(msg)

heartbeat()

init_robot(name)

mode_ctrl_callback(msg)

bubble_protocol.hardware module

Author: Ligcox Date: 2022-01-27 06:41:01 FilePath: /bubble_bringup/home/nvidia/Desktop/bubble/src/bubble_core/bubble_protocol/bubble_protocol/hardware.py LastEditors: Ligcox LastEditTime: 2022-06-08 23:40:49 License: GNU General Public License v3.0. See LICENSE file in root directory. Copyright (c) 2022 Birdiebot R&D Department Shanghai University Of Engineering Science. All Rights Reserved

class bubble_protocol.hardware.RobotSerial(name, *, port='/dev/ttyUSB0', baudrate=921600, timeout_T=0)

Bases: serial.serialposix.Serial

init_device(port, baudrate, timeout_T): description: USART device initialization param {port: com port path, baudrate: serial port baudrate, timeout_T: timeout} return {}

init_protocol(name)

onboard_data_analysis(current_packet: bubble_protocol.protocol.BCP_FRAME) → None

process()

reset_rx_buffer(): description: 重置接收buffer param {*} return {*}

rx_function(): description: UART接收及处理 param {*} return {*}

send(data: bytearray) → None

send_data(name: str, info: list)

setFrameData(frame: bubble_protocol.protocol.BCP_TX_FRAME, info: list, data: collections.OrderedDict)

bubble_protocol.robot_status module

Author: Ligcox Date: 2022-01-28 08:05:30 FilePath: /bubble_bringup/home/nvidia/Desktop/bubble/src/bubble_core/bubble_protocol/bubble_protocol/robot_status.py LastEditors: Ligcox LastEditTime: 2022-07-02 19:49:03 License: GNU General Public License v3.0. See LICENSE file in root directory. Copyright (c) 2022 Birdiebot R&D Department Shanghai University Of Engineering Science. All Rights Reserved

class bubble_protocol.robot_status.RobotStatus(status, node)

Bases: object

non_realtime_status()

status_init()

bubble_protocol.bcp_core module

License: GNU General Public License v3.0. See LICENSE file in root directory. Author: Ligcox Date: 2022-05-10 18:59:22 FilePath: /bubble_bringup/home/nvidia/Desktop/bubble/src/bubble_core/bubble_protocol/bubble_protocol/bcp_core.py LastEditors: Ligcox LastEditTime: 2022-05-12 04:44:57 E-mail: robomaster@birdiebot.top

bubble_protocol.bcp_core.main(args=None)