Difference between revisions of "SmartFestoFleetCom 16.04"
From RobotinoWiki
(→GetAllPosition) |
(→TCP/IP Communication Protocol B/W Fleet Manager and SmartFestoFleetCom) |
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|GetNameForPosition PositionID||GetNameForPosition 1||Reads the tag for PostionID 1 if ID and tag exists | |GetNameForPosition PositionID||GetNameForPosition 1||Reads the tag for PostionID 1 if ID and tag exists | ||
+ | |- | ||
+ | |[[SmartFestoFleetCom#GetAllPosition|GetListOfMaps]]||GetListOfMaps||Get the list of maps available on Robotino | ||
|- | |- | ||
|colspan="3"| '''SmartSoft to FleetManager (Cyclic every 500ms)''' | |colspan="3"| '''SmartSoft to FleetManager (Cyclic every 500ms)''' | ||
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Return value format | Return value format | ||
<pre> | <pre> | ||
− | id x y phi | + | id x y phi name,id x y phi name ... |
+ | </pre> | ||
+ | name must not contain comma (0x2C) | ||
+ | |||
+ | ==GetListOfMaps== | ||
+ | Return value format | ||
+ | <pre> | ||
+ | filename1,filename2 ... | ||
</pre> | </pre> | ||
− | + | filename must not contain comma (0x2C) | |
[[Smartsoft]] | [[Smartsoft]] |
Revision as of 14:54, 30 October 2013
TCP/IP Communication Protocol B/W Fleet Manager and SmartFestoFleetCom
Commands in both the directions has the format, CommandName CommandArgument1 CommandArgument2 ie, Space between command name and its arguments, and additional commands appended with a newline character.
FleetManager to SmartSoft | ||
---|---|---|
Command | Usage Example | Description |
DeliverFromTo SourceStationID SourceBeltID DestinationStationID DestinationBeltID | DeliverFromTo 1 1 2 2 | Drive to Position 1, dock to Belt 1, Load, Undock, Drive to Position 2, dock to Belt 2, Unload, Undock |
GotoStation StationID BeltID | GotoStation 1 1 | Drives to Position 1 Belt 1 |
DockTo BeltID | DockTo 1 | Docks to Belt 1 |
Undock | Undock | Undocks if already docked |
LoadBox | LoadBox | Loads on Box if no box already loaded on the belt and transport station ready to load |
UnloadBox | UnloadBox | Unloads the Box if box present on the belt and transport station ready to receive |
Stop | Stop | Halt the Robotino, put the task on hold |
Continue | Continue | Resumes the task if a task is on hold |
EndTask | EndTask | Terminates the ongoing task and go to Home Position |
TeachPosition PositionID x y z | TeachPosition 1 0.54 23.5 45.0 | Teach Position with ID 1, in global coordinates x(in meters):0.54 y(in meters):23.5 theta(in degrees):45 |
TeachCurrentPosition PositionID | TeachCurrentPosition 1 | Assign the current global position the ID 1 |
GetAllPosition | GetAllPosition | Reads the list of all taught positions with its ID and Name |
SetNameForPosition PositionID name | SetNameForPosition 1 RedParts | Sets a tag RedParts for PostionID 1 if exists |
GetNameForPosition PositionID | GetNameForPosition 1 | Reads the tag for PostionID 1 if ID and tag exists |
GetListOfMaps | GetListOfMaps | Get the list of maps available on Robotino |
SmartSoft to FleetManager (Cyclic every 500ms) | ||
RobotPose x y z | RobotPose 0.5 12.56 12.5 | Position of robot in x=0.5(in meters),y=12.56(in meters)and angle=12.5 in degree |
BatteryState voltage voltageLow | BatteryState 18 1 | Battery voltage is 18Volts and voltage low is true |
SystemState CurrentCommand CommandArgs CurrentCommand: NoJob, StartJob, JobDone, JobError| |
SystemState NoJob | Robot Idle and waiting for task |
SystemState StartJob DeliverFromTo 1 1 2 2 | A Job has been started to Drive to Position 1, dock to Belt 1, Load, Undock, Drive to Position 2, dock to Belt 2, Unload, Undock | |
SystemState JobDone DeliverFromTo 1 1 2 2 | Box transported from Position 1, Belt 1, to Position 2,Belt 2 | |
SystemState JobError DeliverFromTo PATH_BLOCKED | Robot path blocked to complete the task | |
SystemState JobError DockTo NO_DOCK_STATION | Robot path blocked to complete the task | |
SystemState JobError LoadBox NO_RESPONSE_FROM_STATION | Robot path blocked to complete the task | |
SystemState JobError UnloadBox NO_BOX | Robot path blocked to complete the task | |
Progress | Progress 40 | 40% of the Job is complete |
GetAllPosition
Return value format
id x y phi name,id x y phi name ...
name must not contain comma (0x2C)
GetListOfMaps
Return value format
filename1,filename2 ...
filename must not contain comma (0x2C)