FleetLevel-Interface-JSON
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Contents
TCP/IP Communication Protocol based in JSON to use FleetLevel Services
This page describes the interface for the json branch of smartsoft-robotino running on Ubuntu 16.04.
Fleet Management Commands Pushed to the Fleet / Master
Command-Type | Usage Example | Description |
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Position Handling | ||
teach-position | Teaches a list of positions. If position ID already exists position is overwritten. Type could be of value pose or parking, parking positions will be used to park idle robots in automatic job assignment mode. | |
replace-positions | Similar as teach-position, but all existing positions are replaced by the new ones. | |
replace-stations | Replace the memorized stations with new ones. station-type: SMALL-MPS CS-MPS MANUAL-STATION docking-type: LASER-IR LASER VISION approach-location: id of the pose to approach the station | |
delete-position | Delete position with PositionID. If there is no position with PositionID nothing happens. | |
delete-all-positions | Deletes all positions. | |
delete-all-stations | Deletes all stations. | |
teach-current-position | Assign the current global position the robot with the RobotinoID the ID 1 | |
Map Handling | ||
start-mapping | Start creation of a new map (SLAM) using a specific robot. The mapname is optional, if none is given a time-stamp is used (map-YYYY-MM-DD_HH-MM-SS). | |
abort-mapping | Abort the creation of a new map (new map is discarded). The current default map is reloaded in the localization (global localization is triggered). The RobtinoID is optional of not given the command is forwarded to all robots. | |
stop-mapping | Stop map creation. New map is saved in the MapStorageDirectory. The new map is set as default map and is used for localization. | |
reload-default-map | ReLoadDeafault map for navigation and localization, as well as the corresponding poses from file. Global localization is used unless SetRobotPose is called afterwards. | |
COORDINATED NAVIGATION HANDLING | ||
reload-default-paths | ReloadDefaultPaths path-map for paths based navigation. | |
clear-all-path-network-nodes | Frees all nodes currently allocated by the robot (is acknowledged by command-response TODO add LINK) | |
SET OPERATION MODE | ||
set-operation-mode |
| |
shutdown-robot | Stop all SmartSoft components in a coordinated manner and remove robot from fleet. In case the master is shutdown the slaves are as well. | |
manual-acknowledge | Acknowledge the Robotino that the box is placed/removed from it after reaching the manual pose(no docking station) | |
clear-error | ||
abort-job-and-clear-error | ||
OTHER | ||
set-robot-pose | Set the current pose of the robot x y in meter phi in DEG. | |
end-task | Terminates the ongoing task and stops any movement --> set robot mode to OUTOFSERVICE The RobotinoID is optional, without the id the command is distributed to all robots. | |
pause-robot | Halt the Robotinos movement, (jobs or other activities are not affected) The RobotinoID is optional, without the id the command is distributed to all robots. | |
continue-robot | Resumes the robots movement The RobotinoID is optional, without the id the command is distributed to all robots. |
Information Queries send to the Fleet / Master
Information Query Examples JSON
Command-Type | Usage Example | Description |
---|---|---|
Information Queries | ||
get-all-positions | Reads the list of all kown positions with its ID and Name | |
get-all-stations | Reads the list of all taught station | |
get-robot-fleet-type | Get the fleet-type of the robotino (transport, manipulation, etc.) | |
get-robot-info |
| |
get-all-robot-ids | Reads all the RobotinoIDs | |
get-fleet-state | Get state of all robots in the fleet. | |
get-robot-id-master-master-components-run-on | Get the id of the robot the master components run on (-1) of the components are not running on a robot within the fleet. |
Jobs Pushed to the Fleet
Command | Usage Example | Description |
---|---|---|
Push Job | ||
PushJob JOBTYPE JOBID PRIORITY ROBOTINOID ..... | Push an job to the fleet (parameters depend on job type) | |
goto-position |
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deliver-from-to |
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commissioning |
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follow-person |
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mps-docking |
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mps-loading |
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battery-charger-docking |
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robot-gripper |
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Update Job | ||
update-job follow-person start-follow-person |
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End/Delete Job | ||
delete-job | Delete an already pushed, but not yet started, job. --> response: DeleteJob jobid:"id" success OR DeleteJob jobid:"id" failed if the job is already running or fished | |
end-job | JOBID unique number generated by the MES | |
<NOT YET> intercept-job | Intercept the job, other commands can be executed meanwhile | |
<NOT YET> continue-job | Continue the intercepted job. |
Response from Fleet / Master
Command | Usage Example | Description | ||||||||||||||||||||||||||||
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FleetState key:value key:value | FleetState robotinoid:3 x:0.5 y:11.4 phi:56.32 batteryvoltage:22.5 ipaddress:192.168.1.241 robotinoid:3 x:0.5 .... | info of all robots in the fleet | ||||||||||||||||||||||||||||
RobotIDMasterComponentsRunOn id | RobotIDMasterComponentsRunOn 1 | |||||||||||||||||||||||||||||
RobotFleetType robotinoId master or slave | RobotFleetType 1 master | the fleet type of robotino asked | ||||||||||||||||||||||||||||
AllPosition id x y phi type, id x y phi type... | AllPosition 1 0.4 3.7. 10 pose | If id is not a number id must not contain comma (0x2C) or whitespace. | ||||||||||||||||||||||||||||
AllStation id x y phi numbelts type docking-type approach-location, id x y phi numbelts type docking-type approach-location... | AllStation 1 0.4 3.7. 10 1 SMALL-MPS LASER-IR 22 | If id is not a number id must not contain comma (0x2C) or whitespace. If no approach-location is set the value will be -1 | ||||||||||||||||||||||||||||
AllRobotinoID ID, ID ... | AllRobotinoID 1, 2 ... | ID must not contain comma (0x2C) | ||||||||||||||||||||||||||||
<NOT YET> EstimatedJobDuration TimeInSec | TimeInSec = TimeToCompleteCurrentJob + TimeToCompleteReqestedJob | |||||||||||||||||||||||||||||
AckClearAllPathNetworkNodes RobotinoID | Pushed by SmartSoft when ClearAllPathNetworkNodes is called and all nodes have been cleared. | |||||||||||||||||||||||||||||
GetManualAcknowledge RobotinoID | Pushed by SmartSoft when manual pose(no docking station) reached and waiting for his acknowledgement after placing/removing the box | |||||||||||||||||||||||||||||
DeleteJob jobid:"id" success OR failed | DeleteJob jobid:11 failed | Pushed by JobDispatcher as response to the DeleteJob message. | ||||||||||||||||||||||||||||
Robot State or Job Messages | ||||||||||||||||||||||||||||||
RobotInfo key:value key:value ... | RobotInfo robotinoid:3 x:0.5 y:11.4 phi:56.32 batteryvoltage:22.5 current:1.614 laserwarning:0 lasersafety:0 boxpresent:1 state:Idle | Response to GETROBOTINFO or pushed by SmartSoft if cyclic response is enabled.State can be IDLE/BUSY/ERROR. | ||||||||||||||||||||||||||||
JobInfo key:value key:value ... | DeliverFromTo: JobInfo robotinoid:10 jobid:10 priority:1 fromstation:2 frombelt:1 tostation:3 tobelt:4 state:STARTED GotoPosition: JobInfo robotinoid:10 jobid:10 state:STARTED |
with STATE being one of the following strings
Pushed by SmartSoft on state change. | ||||||||||||||||||||||||||||
JobError key:value key:value ... | JobError robotinoid:1 jobid:10 error:"DockTo NO_DOCK_STATION" |
Pushed by SmartSoft when error occurs. |