Messaging

  • uses protocol buffers for schema and serialization
  • framing described later
  • 2 main messages types
    • Command: PC -> Cube
    • Reply: Cube -> PC

Command msg

  • used for instruction Cube on what to do next
  • random ID for identification
  • always includes instruction (can be nop)
  • optional payload with data for instruction

Reply msg

  • replies to the command message
  • has nested Status msg
  • includes ID of the incoming Command msg that it is replying to
  • includes result of instruction(fail, success, etc.)
  • optional payload with data

Status msg

  • nested into Reply msg
  • contains info about Cube - errors, IO status, position, mode

Framing

  • header: 0x55 0x55 0x55
  • message type
  • length

  • message encoded by protobuff

  • message type:

    • 0x01 - command
    • 0x02 - reply