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| − | =Robotino-SmartSoft-FleetManager= | + | =SMartSoft components= |
| | [[Image:FM-SS-Structure.PNG]] | | [[Image:FM-SS-Structure.PNG]] |
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| − | ----
| + | * [[SmartFestoFleetCom]] |
| − | =TCP/IP Communication Protocol B/W Fleet Manager and SmartFestoFleetCom=
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| − | | |
| − | Commands in both the directions has the format, CommandName CommandArgument1 CommandArgument2
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| − | ie, Space between command name and its arguments, and additional commands appended with a newline character.
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| − | | |
| − | {|class="wikitable"
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| − | ! FleetManager to SmartSoft
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| − | |-
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| − | |'''Command'''||'''Usage Example'''||'''Description'''
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| − | |-
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| − | |DeliverFromTo SourceStationID SourceBeltID DestinationStationID DestinationBeltID||DeliverFromTo 1 0 2 0||Drive to Position 1, dock to Belt 0, Load, Undock, Drive to Position 2, dock to Belt 0, Unload, Undock
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| − | |-
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| − | |GotoStation StationID||GotoStation 1||Drives to Position 1
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| − | |-
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| − | |DockTo BeltID||DockTo 0||Docks to Belt 0
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| − | |-
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| − | |Undock||Undock||Undocks if already docked
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| − | |-
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| − | |LoadBox||LoadBox||Loads on Box if no box already loaded and box available to load
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| − | |-
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| − | |UnLoadBox||UnLoadBox||Loads on Box if no box already loaded
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| − | |-
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| − | |Stop||Stop||Halt the Robotino, put the task on hold
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| − | |-
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| − | |Continue||Continue||Resumes the task if a task is on hold
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| − | |-
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| − | |EndTask||EndTask||Terminates the ongoing task and go to Home Position
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| − | |-
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| − | |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
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| − | |-
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| − | |TeachCurrentPosition PositionID||TeachCurrentPosition 1||Assign the current global position the ID 1
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| − | |-
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| − | |GetAllPosition ||GetAllPosition||Reads the list of all taught positions with its ID and Name
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| − | |-
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| − | |SetNameForPosition PositionID name||SetNameForPosition 1 RedParts||Sets a tag RedParts for PostionID 1 if exists
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| − | |-
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| − | |GetNameForPosition PositionID||GetNameForPosition 1||Reads the tag for PostionID 1 if ID and tag exists
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| − | |-
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| − | |colspan="3"| '''SmartSoft to FleetManager (Cyclic every 500ms)'''
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| − | |-
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| − | |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
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| − | |-
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| − | |BatteryState voltage voltageLow||BatteryState 18 1||Battery voltage is 18Volts and voltage low is true
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| − | |-
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| − | |Rowspan="4"|SystemState CurrentCommand CommandArgs <br> '''CurrentCommand:''' NoJob, StartJob, JobDone, JobError||SystemState StartJob 1 0 2 0||A Job has been started to Drive to Position 1, dock to Belt 0, Load, Undock, Drive to Position 2, dock to Belt 0, Unload, Undock
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| − | |-
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| − | |SystemState NoJob||Robot Idle and waiting for task
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| − | |-
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| − | |SystemState JobDone 1 0 2 0||Box transported from Position 1, Belt 0, to Position 2,Belt 0
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| − | |-
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| − | |SystemState JobError PATH_BLOCKED||Robot path blocked to complete the task
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| − | |-
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| − | |Progress||Progress 40||40% of the Job is complete
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| − | |}
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