Protobuf Python

Setup

See Protobuf Basics

Protobuf message

// robot.proto
syntax = "proto3";

package robot;

message ServoState {
  double angle = 1;
}

message GimbalState {
  ServoState servoPitch = 1;
  ServoState servoYaw = 2;
}

Compile

protoc --python_out=. ./robot.proto

Encoding and Decoding

import robot_pb2
gimbal = robot_pb2.GimbalState()
gimbal.servoPitch.angle = 10.0
gimbal.servoYaw.angle = -15.5

encoded = gimbal.SerializeToString()
print(len(encoded))   # 22

decoded = robot_pb2.GimbalState()
decoded.ParseFromString(encoded)
print(decoded.servoYaw.angle)   # 10.0 -15.5

Note:

• decoded.ParseFromString returns 22 which can be used to parse streams.