Difference between revisions of "SmartFestoFleetCom 16.04"
From RobotinoWiki
(→TCP/IP Communication Protocol B/W Fleet Manager and SmartFestoFleetCom) |
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filename1,filename2 ... | filename1,filename2 ... | ||
</pre> | </pre> | ||
− | filename must not contain comma (0x2C) | + | filename must not contain comma (0x2C). filename is the full path to the map file. We will display only the basename without extension in the web interface. |
[[Smartsoft]] | [[Smartsoft]] |
Revision as of 15:00, 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 |
SetDefaultMap filename | SetDefaultMap factory4 | Set the given map as the default map. When (re)starting navigation the default map is used. |
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). filename is the full path to the map file. We will display only the basename without extension in the web interface.