Smartsoft

Robotino-SmartSoft-FleetManager

---

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 0 2 0	Drive to Position 1, dock to Belt 0, Load, Undock, Drive to Position 2, dock to Belt 0, Unload, Undock
GotoStation StationID	GotoStation 1	Drives to Position 1
DockTo BeltID	DockTo 0	Docks to Belt 0
Undock	Undock	Undocks if already docked
LoadBox	LoadBox	Loads on Box if no box already loaded and box available to load
UnLoadBox	UnLoadBox	Loads on Box if no box already loaded
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
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 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
	SystemState NoJob	Robot Idle and waiting for task
	SystemState JobDone 1 0 2 0	Box transported from Position 1, Belt 0, to Position 2,Belt 0
	SystemState JobError PATH_BLOCKED	Robot path blocked to complete the task
Progress	Progress 40	40% of the Job is complete