AMQP notifications

During the simulation, streamsim posts notifications in an AMQP broker, to be used from UIs or other upper level wrappers.

Communications

Streamsim publishes information in the following topic (where {SIMULATION_NAME} is streamsim by default):

{SIMULATION_NAME}.notifications

Dispatched information

Log messages

{
    "type": "new_message",
    "data": {
        "type": <logs>,
        "message": _ 
    }
}

Robot pose

{
  type: 'robot_pose',
  data: {
    name: _,
    x: _,
    y: _,
    theta: _,
  }
}

Detections

{
    "type": "detection",
    "data": {
        "name": _, # sensor name
        "device_type": _,
        "type": _, # detection type
        "id": id, # detection id
        "state": "end", # this means it ended
        "result": decision, # True or False
        "info": info, # Detection-specific information
        "frm": frm # from what actor or anything else the detection occured
    }
}

Sensor pose

This is used for sensors that move with pan-tilts

{
  'type': 'sensor_pose',
  'data': {
    "name": _,
    "x": _,
    "y": _,
    "theta": _
  }
}

Effectors commands

This is used when a command is given to an effector. For now we have leds/lights, speakers, humidifiers, relays, thermostats

{
    'type': 'effector_command',
    'data': {
        "name": _,
        "value": _
    }
}

Alarms

This is sent when an alarm is triggered (even when a robot is in the area alarm this is triggered only when it enters the area)

{
    'type': 'alarm',
    'data': {
        "name": self.name,
        "triggers": triggers # numbers of total triggers thus far
    }
}

RFID readers

This is sent when rfids are detected

{
    'type': 'rfid_tags',
    'data': {
        "name": self.name,
        "tags": XXX # list of tags
    }
}