Difference between revisions of "InformationForApp"
From RobotinoWiki
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Information needed by the App itself: | Information needed by the App itself: | ||
+ | |||
FROM ALL ROBOTS: | FROM ALL ROBOTS: | ||
− | |||
{|class="wikitable" | {|class="wikitable" | ||
! Information | ! Information | ||
! Source | ! Source | ||
+ | ! Destination | ||
|- | |- | ||
|RobotID | |RobotID | ||
| | | | ||
+ | |APP | ||
|- | |- | ||
|ROBOTTYP (master or slave) | |ROBOTTYP (master or slave) | ||
| | | | ||
+ | |APP | ||
|- | |- | ||
|POSE (x,y,phi) | |POSE (x,y,phi) | ||
− | | | + | |BaserServer --> RPCB(each) |
+ | |APP | ||
|- | |- | ||
|STATE (IDLE or BUSY or ERROR) | |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) | |FREENAVINFO (goal and subgoals) | ||
− | | | + | |Planner --> RPCB(each) |
+ | |APP | ||
|- | |- | ||
|PATHNAVINFO () | |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: | FROM MASTER ONLY: | ||
− | -- | + | {|class="wikitable" |
− | -- PATH-NETWORK | + | ! 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 | ||
+ | |- | ||
+ | |} |
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 |