Assisi communication protocol

Messages published by CASUs

Name	Device	Command	Data Message Type	Note
<Casu Name>	Temp	Temperatures	TemperatureArray	bla
<Casu Name>	IR	Ranges	RangeArray	(Change naming)
<Casu Name>	Fft	Measurements	VibrationArray	Single reading only, containing an array of frequencies and a corresponding array of amplitudes of the main spectrum components.
<Casu Name>	Peltier	On	Temperature	Temperature setpoint
<Casu Name>	Peltier	Off	Temperature	Temperaturesetpoint
<Casu Name>	Airflow	On	Airflow	Airflow intensity setpoint
<Casu Name>	Airflow	Off	Airflow	Airflow intensity setpoint
<Casu Name>	DiagnosticLed	On	ColorStamped	Color setpoint
<Casu Name>	DiagnosticLed	Off	ColorStamped	Color setpoint
<Casu Name>	Speaker	On	VibrationSetpoint	Vibration setpoint
<Casu Name>	Speaker	Off	VibrationSetpoint	Data ignored
<Casu Name>	VibrationPattern	On	VibrationPattern	Vibration pattern setpoint
<Target Name>	CommEth	<Casu Name>	String	(Comunication message, addressed directly to target!)

Messages subscribed to by CASUs

Name	Device	Command	Data Message Type
<Casu Name>	IR	Standby	0
<Casu Name>	IR	Activate	0
<Casu Name>	DiagnosticLed	On	ColorStamped
...	...	Off	ColorStamped
<Casu Name>	Peltier	On	Temperature
<Casu Name>	Peltier	Off	Temperature
...	Speaker	On	VibrationSetpoint
...	Speaker	Off	VibrationSetpoint
<Casu Name>	VibrationPattern	On	VibrationPattern
...	Airflow	On	Airflow
...	Airflow	Off	Airflow
<Casu Name>	CommEth	<Source Casu>	String

Messages published by the Simulator

Name	Device	Command	Data Message Type
Sim	Spawn	<Object Name>	Spawn
...	Teleport	<Object Name>	PoseStamped

Messages published by simulated Bees

Name	Device	Command	Data Message Type
<Bee Name>	Base	Enc	DiffDrive
...	...	VelRef	DiffDrive
...	...	GroundTruth	PoseStamped
...	Object	Ranges	ObjectArray
...	Light	Readings	ColorStamped
...	Color	ColorVal	ColorSamped

Messages subscribed to by simulated Bees

Name	Device	Command	Data Message Type
<Bee Name>	Base	Vel	DiffDrive