This module serves to define the protocol for sending and receiving messages containing control libraries data across any network.
The basis of the module is the Google Protocol Buffer, protobuf.
The protobuf directory contains the raw .proto message definitions as well as a set of bindings by language that are generated by the protobuf compiler (protoc). These bindings are not intended to be directly user-facing.
The clproto_cpp directory contains the actual user-facing library, with the translation between control libraries data and proto message formats hidden behind a neat header file. The API allows compatible objects to be easily encoded into a serialized binary string for transmitting across. Equivalently, well-formatted string messages can be decoded back into the equivalent objects.
The C++ clproto library requires control libraries state_representation
and Google Protobuf
to be installed on your computer, which includes the compiler protoc and the runtime library libprotobuf.so.
An install script is provided in this directory. Run ./install.sh -h for more information.
The easiest way to install clproto is to use the included install script in automatic mode.
By supplying the --auto flag to this script, it will automatically and recursively install any dependencies.
If Protobuf is not yet installed, this step will take some time.
git clone https://github.com/epfl-lasa/control-libraries.git
sudo control-libraries/protocol/install.sh --autoIf you are using Docker, the Protobuf dependencies are already built in the development-dependencies image.
Since building and installing Protobuf from source takes quite a long time, you can instead copy the final artefacts
from this image into your image using docker COPY functionality:
COPY --from=ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest /usr/local/include/google /usr/local/include/google
COPY --from=ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest /usr/local/lib/libproto* /usr/local/lib
COPY --from=ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest /usr/local/bin/protoc /usr/local/bin
RUN ldconfig