communication.xml

<?xml version='1.0' encoding='UTF-8' ?>
<!DOCTYPE rca SYSTEM "communication.dtd">
<rca version="1.0">

<!-- Basic data types -->
<builtin name="int8_t" size="1" />
<builtin name="int16_t" size="2" />
<builtin name="int32_t" size="4" />
<builtin name="uint8_t" size="1" />
<builtin name="uint16_t" size="2" />
<builtin name="uint32_t" size="4" />
<builtin name="float" size="4" />
<builtin name="char" size="1" />

<typedef name="Bool" type="uint8_t">
	<description>On x86 systems the bool-type has 4 bytes and on AVRs it has 1 byte.
		This type is defined to make it possible to send bools from everywhere.</description>
</typedef>

<!-- Aggregated data types -->
<struct name="position">
	<description>Position of the Robot on the Playground.</description>
	
	<element name="x" type="int16_t" unit="mm" />
	<element name="y" type="int16_t" unit="mm" />
</struct>

<struct name="Location">
	<description>Lage = Position + Orientierung</description>
	<element name="x"   type="int16_t" unit="mm"  />
	<element name="y"   type="int16_t" unit="mm"  />
	<element name="phi" type="float"   unit="rad" />
</struct>

<!-- Events -->
<event name="Robot Location" type="Location" id="0x13">
	<description>The current Location of the Robot. Pivot point of the differential drive.</description>
</event>

<!-- Components -->
<component name="sender" id="0x01">
	
</component>

<component name="receiver" id="0x02">
	<actions>
		<action name="set position" id="0x01" parameterType="position" />
		<action name="get position" id="0x02" returnType="position" />
	</actions>
</component>

<component name="odometry" id="0x03">
	<actions>
		<action name="set led red" id="0x09" parameterType="Bool" />
	</actions>
	<events>
		<publish>
			<event name="Robot Location" />
			<!-- <event name="Odometry Speed" /> -->
			<!-- <event name="Odometry Encoder Integration" /> -->
		</publish>
	</events>
</component>

<component name="gui" id="0x04">
	<events>
		<subscribe>
			<event name="Robot Location" />
		</subscribe>
	</events>
</component>

<!-- Containers -->
<container name="sender" id="0x10">
	<component name="sender" />
</container>

<container name="receiver" id="0x20">
	<component name="receiver" />
</container>

<container name="odometry" id="0x30">
	<component name="odometry" />
</container>

<container name="sender receiver" id="0x40">
	<component name="sender" />
	<component name="receiver" />
</container>

<container name="gui" id="0x50">
	<component name="gui" />
</container>

</rca>