design/communication-protocol.md

+# Communicaiton protocol
+We have chosen for a JSON protocol because it is very easy to read and is still very compact.
+
+## Connect/disconnect
+To connect or disconnect the following message is sent, these message can only be sent by OpenTCS:  
+```json
+{
+    "connection": "connect/disconnect"
+}
+```
+The robot has to respond with the following message, in case of connection, so OpenTCS can set the necessary variables:
+```json
+{
+    "point": {
+        "x": "<Integer>",
+        "y": "<Integer>",
+        "orientation": "<Integer>"
+    },
+    "battery": "<Integer between 1 and 100>",
+    "state": "CHARGING|ERROR|EXECUTING|IDLE|UNAVAILABLE|UNKNOWN",
+    "operations": ["NOP", "Load cargo", "Unload cargo", "Charge:100", "Charge:50", "Drill", "Cut"]
+}
+```   
+The robot has to respond with the following message, in case of disconnecting:  
+```json
+{
+    "connection": "disconnected"
+}
+```
+
+## Transport order
+Every point the robot has to travel to is an individual message as shown below:
+```json
+{
+    "point": {
+        "x": "<Integer>",
+        "y": "<Integer>",
+        "orientation": "<Integer>"
+    },
+    "operation": "NOP|Load cargo|Unload cargo|Charge:100|Charge:50|Drill|Cut",
+    "final": "true|false"
+}
+```
+If the robot arrived at a certain point it sends the following message to OpenTCS:
+```json
+{
+    "point": {
+        "x": "<Integer>",
+        "y": "<Integer>",
+        "orientation": "<Integer>"
+    },
+    "battery": "<Integer between 1 and 100>",
+    "state": "CHARGING|ERROR|EXECUTING|IDLE|UNAVAILABLE|UNKNOWN"
+}
+```
+
+[home](https://git.fhict.nl/I312980/move-it/wikis/home)
\ No newline at end of file