RCLL Mqtt Bridge

This is a tool to wrap the communication of the rcll-refbox with a team over json via mqtt. The advantage for this is that a new team does not need to implement the protocol.

Building

The build is done via gradle, run ./gradlew build

Running

If you are using the rcll-get-started repositor to start the refbox, there is build in support for this via the environment, please take a look there. If you want to directly start it you can use a command like:
java -jar mqtt-bridge-0.1-all.jar -b tcp://localhost:1883 -k randomkey -r localhost -t GRIPS
, note that all the arguments are required. Note that if you miss an argument it will print out a usage message.

Features

Implemented:

• Messages Refbox to Public
• Messages Refbox to Private
• Prepare Machines

Messages Refbox to Public/Private

Best is you use the mqtt explorer to take a look what is published where. But there are 2 large groups (public/private) which publish the messages that are received on the according refbox peer. See images below.

Setup Phase:

Production Phase:

Robot Beacon Signals

The bridge supports publishing Robot Beacon signals for a team. Topics: <TEAM>/beacon/R1 <TEAM>/beacon/R2 <TEAM>/beacon/R3 Payload: { "name": <ROBOT_NAME>, "x": <X_COORDINATE>, "y": <Y_COORDINATE>, "yaw": <YAW> }

Prepare Machines

The bridge is also listening to the following topics: Team is the value of the configure team name, i.e with the above starting command the name would be GRIPS. This applyes to all machine types below.

Base Station

Topic: <TEAM>/prepare/BS/<SIDE> Payloads:

• Red
• Silver

• Black

  SIDE is which side of the station to move the base to, it can either be input or output.

Cap Station

Topic: <TEAM>/prepare/<CAP_STATION> Payloads:

• RetrieveCap
• MountCap

CAP_STATION is which station to use, it is either CS1 or CS2.

Ring Station

Topic: <TEAM>/prepare/<RING_STATION> Payloads:

• Blue
• Green
• Orange
• Yellow

RING_STATION is which station to use, it is either RS1 or RS2.

Delivery Station

Topic: <TEAM>/prepare/DS Payloads:

• <ORDER_ID>

ORDER_ID is the id of the delivered order.

Report machine as explored

Topic: <TEAM>/report Payload: { "machine": <FULL_MACHINE_NAME>, "x": <X_COORDINATE>, "y": <Y_COORDINATE>, "yaw": <YAW> }

Missing Features

tion was prepared remember that this was done, then we could publish a more strong game state which does not need to be kept in the teams planning implementation but can be handled here.