Rover Satellite Communications Protocol

Rover Satellite Communications Protocol is a protocol for communicating with a rover over a serial connection. This project is designed for Anatolian Rover Challenge (ARC).

<h2>If you are a competitor in <strong>ARC'25</strong>, please watch this repository to get notified about the updates.</h2>

Also check out Discussions for updates and questions.

Issue Tracking

Please use the GitHub issue tracker to report issues or request features. https://github.com/anatolianroverchallenge/rscp/releases

Releases

The latest release can be found on the GitHub releases page. If you cannot see any releases, hold tight! We are working hard.

Rover Satellite Communications Protocol
Issue Tracking
Releases
Table of Contents
Details
- Frame Format
- Communication Sequence
Getting Started
- Installation of python package
- Examples
License
Authors
Acknowledgements

Details

RSCP now uses Google Protocol Buffers for serialization and deserialization of messages. This means you don't have to manually serialize/deserialize RSCP messages.

You can use the provided .proto files under proto directory to generate the necessary classes for your language. Refer to the official documentation for more information. You can use the official protoc compiler to generate the necessary classes for your language, or you can use the pre-generated classes provided in this repository, which can be found in the releases. Always use the latest release for the most up-to-date classes.

The releases will have c.zip cpp.zip rscp_protobuf.zip nanopb.zip index.html files which contain the necessary classes for the respective languages, generated using the .proto files in the proto directory using the protoc compiler.

| Language | File | Description | | ------------- | --------------------------------------------------------------------------------------------------------------- | --------------------------------------------------- | | C | c.zip | C source files | | C++ | cpp.zip | C++ source files | | rscp_protobuf | rscp_protobuf.zip | Python source files (pip3 install <url> to install) | | nanopb | nanopb.zip | C source and header files for nanopb library | | docs | index.html | Documentation for the protocol |

You may use rscp_protobuf.zip under the releases to install the python package using pip3 install https://github.com/anatolianroverchallenge/rscp/releases/latest/download/rscp_protobuf.zip

The nanopb library is used to generate the C/C++ source and header files that can be used in embedded systems. Refer to the official documentation and nanopb examples for more information.

You may find the latest Protobuf documentation of the protocol here

Frame Format

To communicate with the RSCP module, all you need to do is:

Create a rscp.ResponseEnvelope object
Fill out the appropriate fields
Serialize the object using the SerializeToString method
Encode it with cobs encoding. For python you can use the cobs package.
Send the encoded message to the rover over serial

To receive an instruction from the RSCP module, you need to:

Receive the message from the serial port and accumulate it over a buffer
If 0x00 is received, decode the message using cobs decoding
Parse the message using the rscp.RequestEnvelope object
Use request.WhichOneof('request') to determine the type of the message
Use the appropriate method to handle the data

Communication Sequence

RSCP client module will be sending host messages to the rovers in rscp.RequestEnvelope format. The rovers will be sending responses to the host in rscp.ResponseEnvelope format.

Stage 1 Antenna Installation

| Message Type | Direction | Description | light | | -------------------------- | ---------------- | --------------------------------------------------- | --------------- | | SetStage(1) | HM -> CM | -- | :heart: | | SetStage(1) | CM -> Rover | Rover sets the stage to 1 | :heart: | | Acknowledge | Rover -> CM | Rover acknowledges the stage setting | :heart: | | Acknowledge | CM -> HM | -- | :heart: | | ArmDisarm(arm=True) | HM -> CM | -- | :heart: | | ArmDisarm(arm=True) | CM -> Rover | Rover arms itself | :green_heart: | | Acknowledge | Rover -> CM | Rover acknowledges the arming request | :green_heart: | | Acknowledge | CM -> HM | -- | :green_heart: | | SearchArea(lat1,lon1,rad1) | HM -> CM | -- | :green_heart: | | SearchArea(lat1,lon1,rad1) | CM -> Rover | Rover starts receives area coordinates | :green_heart: | | Acknowledge | Rover -> CM | Rover acknowledges and starts navigation and search | :yellow_heart: | | Acknowledge | CM -> HM | -- | :yellow_heart: | | no message sent | -- | finished navigating and searching | :yellow_heart: | | no message sent | -- | install antenna | :yellow_heart: | | GPSCoordinate(lat2,lon2) | Rover -> CM | Rover sends coordinates of the peak | :yellow_heart: | | GPSCoordinate(lat2,lon2) | CM -> HM | -- | :yellow_heart: | | TaskCompleted | Rover -> CM | rover reports navigation finished | :green_heart: | | TaskCompleted | CM -> HM | -- | :green_heart: |

Rscp

Install / Use

README