SimulatorManager

By: Floris Heinen, October 2021

A c++ manager that abstracts the connection to a simulator that follows the SSL simulation protocol. This manager handles all the underlying logic and networking necessary to connect to the simulator, resulting in only 4 functions:

• sendRobotControlCommand(command, team)

  This will send the given command that specifies robot control to the simulator.

• sendConfigurationCommand(command)

  This will send a configuration command to the simulator to configure its settings.

• setRobotControlFeedbackCallback(function)

  This will set the callback for receiving feedback to a robot control command.

• setConfigurationFeedbackCallback(function)

  This will set the callback for receiving feedback to a configuration command.

According to the SSL simulation protocol, bidirectional UDP connections should be used. GrSim, however, does not implement this (as of Oct 2021), so the feedback is sent on a different port than on which the robot control messages should be sent. Be sure to set the feedback ports accordingly instead of using the default ports if you use that simulator.

Requirements

• Protobuf >= 3.9.1
• QtNetworking

TODOs

• Implement configuration commands that support changing the dimension properties of the field