Difference between revisions of "InformationForApp"
From RobotinoWiki
| (7 intermediate revisions by the same user not shown) | |||
| Line 1: | Line 1: | ||
Information needed by the App itself: | Information needed by the App itself: | ||
| + | |||
FROM ALL ROBOTS: | FROM ALL ROBOTS: | ||
| − | |||
{|class="wikitable" | {|class="wikitable" | ||
! Information | ! Information | ||
| Line 16: | Line 16: | ||
|- | |- | ||
|POSE (x,y,phi) | |POSE (x,y,phi) | ||
| − | | | + | |BaserServer --> RPCB(each) |
|APP | |APP | ||
|- | |- | ||
| Line 23: | Line 23: | ||
|APP | |APP | ||
|- | |- | ||
| − | | | + | |SUBSTATE (NIL or FREE-NAV or PATH-NAV) |
| | | | ||
|APP | |APP | ||
|- | |- | ||
| − | | | + | |MODE (OUTOFSERVICE or MANUAL or AUTO) |
| | | | ||
| + | |APP | ||
| + | |- | ||
| + | |LASERSCAN | ||
| + | |LaserServer --> RPCB(each) | ||
| + | |APP | ||
| + | |- | ||
| + | |BATTERYINFO (voltage, current) | ||
| + | |rpc direct? | ||
|APP | |APP | ||
|- | |- | ||
|FREENAVINFO (goal and subgoals) | |FREENAVINFO (goal and subgoals) | ||
| − | | | + | |Planner --> RPCB(each) |
|APP | |APP | ||
|- | |- | ||
|PATHNAVINFO () | |PATHNAVINFO () | ||
| − | | | + | |?? --> RPCB(each) |
|APP | |APP | ||
| + | |- | ||
| + | |LASERSTATE (warning and safety fields) | ||
| + | |LaserServer or Digital IO | ||
| + | |?? | ||
| + | |- | ||
| + | |BOXLOADED (status of inductive sensor for box detection) | ||
| + | |Digital IO (e.g. BaseServer) | ||
| + | |?? | ||
|- | |- | ||
|} | |} | ||
| Line 49: | Line 65: | ||
|- | |- | ||
|IP Address of all Robots | |IP Address of all Robots | ||
| − | | | + | |MASTER-KB --> RPCB(master) |
| − | |? | + | |?? APP or RPC Daemon? |
|- | |- | ||
|GRIDMAP | |GRIDMAP | ||
| − | | | + | |Mapper or GMapping --> RPCB(master) |
| + | |APP | ||
| + | |- | ||
| + | |PATH-NETWORK-LAYOUT | ||
| + | |from file? | ||
|APP | |APP | ||
|- | |- | ||
| − | |PATH-NETWORK | + | |PATH-NETWORK STATE |
| − | | | + | |PathNavServer --> RPCB(master) |
|APP | |APP | ||
|- | |- | ||
|LOCATIONS | |LOCATIONS | ||
| − | | | + | |MASTER-KB --> RPCB(master) |
|APP | |APP | ||
|- | |- | ||
|} | |} | ||
Latest revision as of 11:19, 19 April 2016
Information needed by the App itself:
FROM ALL ROBOTS:
| Information | Source | Destination |
|---|---|---|
| RobotID | APP | |
| ROBOTTYP (master or slave) | APP | |
| POSE (x,y,phi) | BaserServer --> RPCB(each) | APP |
| STATE (IDLE or BUSY or ERROR) | APP | |
| SUBSTATE (NIL or FREE-NAV or PATH-NAV) | APP | |
| MODE (OUTOFSERVICE or MANUAL or AUTO) | APP | |
| LASERSCAN | LaserServer --> RPCB(each) | APP |
| BATTERYINFO (voltage, current) | rpc direct? | APP |
| FREENAVINFO (goal and subgoals) | Planner --> RPCB(each) | APP |
| PATHNAVINFO () | ?? --> RPCB(each) | APP |
| LASERSTATE (warning and safety fields) | LaserServer or Digital IO | ?? |
| BOXLOADED (status of inductive sensor for box detection) | Digital IO (e.g. BaseServer) | ?? |
FROM MASTER ONLY:
| Information | Source | Destination |
|---|---|---|
| IP Address of all Robots | MASTER-KB --> RPCB(master) | ?? APP or RPC Daemon? |
| GRIDMAP | Mapper or GMapping --> RPCB(master) | APP |
| PATH-NETWORK-LAYOUT | from file? | APP |
| PATH-NETWORK STATE | PathNavServer --> RPCB(master) | APP |
| LOCATIONS | MASTER-KB --> RPCB(master) | APP |
