Merge pull request #19 from UNSWComputing/jayenashar-networking

Add roboviz
UNSWComputing · May 1, 2020 · 68fc772 · 68fc772
2 parents 8b97f5f + 5eb7a22
commit 68fc772
Showing 1 changed file with 27 additions and 21 deletions.
diff --git a/source/networking.rst b/source/networking.rst
@@ -2,24 +2,30 @@
 Networking
 ##########
 
-============== ============== ============= ======= ============================================
-From           To             Port          UDP/TCP Description
-============== ============== ============= ======= ============================================
-Nao            Nao            10000 - 10250 TCP     Team Communication, not serialised
--------------- -------------- ------------- ------- --------------------------------------------
-Nao            Offnao (PC)    10125         TCP     Debug information, serialised using protobuf
--------------- -------------- ------------- ------- --------------------------------------------
-Offnao (PC)    Nao            10125         TCP     Sends commands, sent as text
--------------- -------------- ------------- ------- --------------------------------------------
-Nao            GameController 3939          UDP     Notifies GameController that robot is alive
--------------- -------------- ------------- ------- --------------------------------------------
-GameController Nao            3838          UDP     Sends game and player statuses
--------------- -------------- ------------- ------- --------------------------------------------
-Remote Control Nao            2000          UDP     Sends remote control signals to Nao
--------------- -------------- ------------- ------- --------------------------------------------
-Simulated Nao  Offnao (PC)    10125 - 11661 TCP     Debug information, serialised using protobuf
--------------- -------------- ------------- ------- --------------------------------------------
-Simulated Nao  rcssserver3d   3100          TCP     Sends joint requests
--------------- -------------- ------------- ------- --------------------------------------------
-rcssserver3d   Simulated Nao  3100          TCP     Sends joint angles and vision information
-============== ============== ============= ======= ============================================
+============== ============== ======== =================== ======= ============================================
+From           To             Listener Port                UDP/TCP Description
+============== ============== ======== =================== ======= ============================================
+Nao            Nao/GC         Nao/GC   10000+team          UDP     Team Communication, serialised as in memory
+-------------- -------------- -------- ------------------- ------- --------------------------------------------
+Nao            Offnao (PC)    Nao      10125               TCP     Debug information, serialised using protobuf
+-------------- -------------- -------- ------------------- ------- --------------------------------------------
+Offnao (PC)    Nao            Nao      10125               TCP     Sends commands, serialised using protobuf
+-------------- -------------- -------- ------------------- ------- --------------------------------------------
+Nao            GameController GC       3939                UDP     Notifies GameController that robot is alive
+-------------- -------------- -------- ------------------- ------- --------------------------------------------
+GameController Nao            Nao      3838                UDP     Sends game and player statuses
+-------------- -------------- -------- ------------------- ------- --------------------------------------------
+Remote Control Nao            Nao      2000                UDP     Sends remote control signals to Nao
+-------------- -------------- -------- ------------------- ------- --------------------------------------------
+Simulated Nao  Offnao (PC)    Offnao   10125+6*team+player TCP     Debug information, serialised using protobuf
+-------------- -------------- -------- ------------------- ------- --------------------------------------------
+Simulated Nao  rcssserver3d   rcsss3d  3100                TCP     Sends joint angles
+-------------- -------------- -------- ------------------- ------- --------------------------------------------
+rcssserver3d   Simulated Nao  rcsss3d  3100                TCP     Sends perceptor readings (joints, imu, etc.)
+-------------- -------------- -------- ------------------- ------- --------------------------------------------
+rcssserver3d   roboviz        rcsss3d  3200                TCP     Sends scene graphs
+-------------- -------------- -------- ------------------- ------- --------------------------------------------
+simserver      browser        ss       5000                TCP     Sends the webpage
+-------------- -------------- -------- ------------------- ------- --------------------------------------------
+browser        simserver      ss       5000                TCP     Launches simulations
+============== ============== ======== =================== ======= ============================================