vision_sender_example.cpp File Reference

Example on how to use the VisionSender with protobuf. More...

#include <iostream>
#include <string>
#include <google/protobuf/util/json_util.h>
#include <google/protobuf/text_format.h>
#include "travesim_adapters/protobuf/vision_sender.hpp"

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Functions
int	main ()

Detailed Description

Example on how to use the VisionSender with protobuf.

Author

Lucas Haug lucas.nosp@m..hau.nosp@m.g@thu.nosp@m.nera.nosp@m.tz.or.nosp@m.g

Date

04/2021

Copyright

MIT License - Copyright (c) 2021 ThundeRatz

Definition in file vision_sender_example.cpp.

Function Documentation

main()

int main

(

)

Definition at line 24 of file vision_sender_example.cpp.

           {
    const short multicast_port = 30001;
    const std::string multicast_address_str = "239.255.0.1";

    travesim::proto::VisionSender my_sender(multicast_address_str, multicast_port);

    travesim::FieldState field_state;

    field_state.ball.position.x = 2.4;
    field_state.ball.velocity.y = 0.7;
    field_state.yellow_team[0].angular_velocity = 1.54;
    field_state.blue_team[2].angular_position = 3.14;

    fira_message::sim_to_ref::Environment env_data = my_sender.field_state_to_env_pb_msg(&field_state);

    std::string buffer;

    google::protobuf::util::JsonPrintOptions options;
    options.add_whitespace = true;
    options.always_print_primitive_fields = true;

    google::protobuf::util::MessageToJsonString(env_data, &buffer, options);

    std::cout << buffer;

    return 0;
}

References travesim::FieldState::ball, travesim::FieldState::blue_team, travesim::proto::VisionSender::field_state_to_env_pb_msg(), travesim::EntityState::position, travesim::EntityState::velocity, travesim::Vector2D::x, travesim::Vector2D::y, and travesim::FieldState::yellow_team.

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