UDPComms

This is a simple library to enable communication between different processes (potentially on different machines) over a network using UDP. It's goals a simplicity and easy of understanding and reliability. It works for devices on the 10.0.0.X subnet although this can easiliy be changed.

Currently it works in python 2 and 3 but it should be relatively simple to extend it to other languages such as C (to run on embeded devices) or Julia (to interface with faster solvers).

This new verison of the library automatically determines the type of the message and trasmits it along with it, so the subscribers can decode it correctly. While faster to prototype with then systems with explicit type declaration (such as ROS) its easy to shoot yourself in the foot if types are mismatched between publisher and subscriber.

To Send Messages

>>> from UDPComms import Publisher
>>> a = Publisher(5500)
>>> a.send({"name":"Bob", "age": 20, "height": 180.5, "mass": 70.1})

To Receive Messages

recv Method

Note: before using the Subsciber.recv() method read about the Subsciber.get() and understand the difference between them. The Subsciber.recv() method will pull a message from the socket buffer and it won't necessary be the most recent message. If you are calling it too slowly and there is a lot of messages you will be getting old messages. The Subsciber.recv() can also block for up to timeout seconds messing up timing.

>>> from UDPComms import Subscriber
>>> a = Subscriber(5500)
>>> message = a.recv()
>>> message['age']
20
>>> message['height']
180.5
>>> message['name']
"Bob"
>>> message
{"name":"Bob", "age": 20, "height": 180.5, "mass": 70.1}

get Method

The preferred way of accessing messages is the Subsciber.get() method (as opposed to the recv() method). It is guaranteed to be nonblocking so it can be used in places without messing with timing. It checks for any new messages and returns the newest one.

If the newest message is older then timeout seconds it raises the UDPComms.timeout exception. This is an important safety feature! Make sure to catch the timeout using try: ... except UDPComms.timeout: ... and put the robot in a safe configuration (e.g. turn off motors, when the joystick stop sending messages)

Note that if you call .get immediately after creating a subscriber it is possible its hasn't received any messages yet and it will timeout. In general it is better to have a short timeout and gracefully catch timeouts then to have long timeouts

>>> from UDPComms import Subscriber, timout
>>> a = Subscriber(5500)
>>> while 1:
>>>     try:
>>>         message = a.get()
>>>         print("got", message)
>>>     except timeout:
>>>         print("safing robot")

get_list Method

Although UDPComms isn't ideal for commands that need to be processed in order (as the underlying UDP protocol has no guarantees of deliverry) it can be used as such in a pinch. The Subsciber.get_list() method will return all the messages we haven't seen yet in a list

>>> from UDPComms import Subscriber, timout
>>> a = Subscriber(5500)
>>> messages = a.get_list()
>>> for message in messages:
>>>     print("got", message)

Publisher Arguments

• port The port the messages will be sent on. If you are part of Stanford Student Robotics make sure there isn't any port conflicts by checking the UDP Ports sheet of the CS Comms System document. If you are not I recommend keep track of your port numbers somewhere. It's possible that in the future UDPComms will have a system of naming (with a string) as opposed to numbering publishers.
• ip By default UDPComms sends to the 10.0.0.X subnet, but can be changed to a different ip using this argument. Set to localhost (127.0.0.1) for development on the same computer.

Subscriber Arguments

• port The port the subscriber will be listen on.
• timeout If the recv() method don't get a message in timeout seconds it throws a UDPComms.timeout exception

Rover

The library also comes with the rover command that can be used to interact with the messages manually.

Command	Descripion
rover peek port	print messages sent on port port
rover poke port rate	send messages to port once every rate milliseconds. Type message in json format and press return

There are more commands used for starting and stoping services described in this repo

To Install

$git clone https://github.com/stanfordroboticsclub/UDPComms.git
$sudo bash UDPComms/install.sh

To Update

$cd UDPComms
$git pull
$sudo bash install.sh

Developing without hardware

Because this library expects you to be connected to the robot (10.0.0.X) network you won't be able to send messages between two programs on your computer without any other hardware connected. You can get around this by forcing your (unused) ethernet interface to get an ip on the rover network without anything being connected to it. On my computer you can do this using this command:

sudo ifconfig en1 10.0.0.52 netmask 255.255.255.0

Note that the exact command depends which interface on your computer is unused and what ip you want. So only use this if you know what you are doing.

If you have internet access a slightly cleaner way to do it is to setup RemoteVPN on your development computer and simply connect to a development network (given if you are the only computer there)

Known issues:

• Macs have issues sending large messages. They are fine receiving them. I think it is related to this issue. I wonder does it work on Linux by chance (as the packets happen to be in order) but so far we didn't have issues.

• Messages over the size of one MTU (typically 1500 bytes) will be split up into multiple frames which reduces their chance of getting to their destination on wireless networks.