TACTICOM

TACTINSA serial communication protocol for the French Robotic Cup robots

This library provides easy and reliable communication between two devices through a serial port. We mainly use it between RaspberryPi and Arduino through the Python and Arduino implementation.

Communication protocol

Message are sent through command: PREFIX+[answer_code]command_name[ask_code]=arg1,arg2

• PREFIX is a small string prefixing all messages. (eg: We use R1 for our first robot, R2 for the second, ...)
• answer_code is a string to identify the answer to a command. It is omitted if the message isn't a reply
• command_name is a string that identify the data being exchanged
• ask_code is a string to identify the command as a request for data. It is omitted if the message isn't a request
• args are transmitted encoded as string and separated by commas. If no arguments are exchanged, the = is omitted

Message types

Event <=> A message that doesn't require an answer
Request <=> A message that requires an answer
Reply <=> An answer to a request

The name of the event/request/reply is called a command

Implementation

Python

Documentation for Python library

Arduino

Documentation for Arduino library