Difference between revisions of "SmartFestoFleetCom 16.04"
From RobotinoWiki
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*'''ROBOTINOID''' ID of robot to request the ROBOTINFO from | *'''ROBOTINOID''' ID of robot to request the ROBOTINFO from | ||
*'''CYCLETIME (optional)''' If >0 than ROBOTINFO response is send cyclic every CYCLETIME ms. If CYCLETIME is smaller than 100ms CYCLETIME is set to 100ms. If CYCLETIME is 0 than cyclic sending is disabled and you get only one response to this request. If CYCLETIME is omitted the cyclic sending is not altered and you receive a single response to this request. | *'''CYCLETIME (optional)''' If >0 than ROBOTINFO response is send cyclic every CYCLETIME ms. If CYCLETIME is smaller than 100ms CYCLETIME is set to 100ms. If CYCLETIME is 0 than cyclic sending is disabled and you get only one response to this request. If CYCLETIME is omitted the cyclic sending is not altered and you receive a single response to this request. | ||
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==SmartSoft response to FleetManager requests== | ==SmartSoft response to FleetManager requests== |
Revision as of 10:06, 30 May 2014
TCP/IP Communication Protocol B/W Fleet Manager and SmartFestoFleetCom
FleetManager to SmartSoft
Command | Usage Example | Description | |||||||||||||||||||||||||||||||||||||||||||
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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 | |||||||||||||||||||||||||||||||||||||||||||
GotoPosition PositionID | GotoPosition 1 | Drives to Position 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 | |||||||||||||||||||||||||||||||||||||||||||
<NOT YET> Stop | Stop | Halt the Robotino, put the task on hold | |||||||||||||||||||||||||||||||||||||||||||
<NOT YET> Continue | Continue | Resumes the task if a task is on hold | |||||||||||||||||||||||||||||||||||||||||||
EndTask | EndTask | Terminates the ongoing task and stops any movement | |||||||||||||||||||||||||||||||||||||||||||
TeachPosition PositionID x y phi | 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, phi(in degrees):45 If position ID already exists position is overwritten. | |||||||||||||||||||||||||||||||||||||||||||
TeachPositionWithName PositionID x y phi "name" | TeachPositionWithName 1 0.54 23.5 45.0 "Station #1" | Teach Position with ID 1, in global coordinates x(in meters):0.54, y(in meters):23.5, phi(in degrees):45 with name "Station #1". If position ID already exists position is overwritten. | |||||||||||||||||||||||||||||||||||||||||||
DeletePosition PositionID | DeletePosition 3 | Delete position with PositionID. If there is no position with PositionID nothing happens. | |||||||||||||||||||||||||||||||||||||||||||
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 | |||||||||||||||||||||||||||||||||||||||||||
ReloadPositionStorage | ReloadPositionStorage | Triggers a reload of the position storage file. This is neccessary after transfering a position storage file from another Robotino. | |||||||||||||||||||||||||||||||||||||||||||
StartMapping | StartMapping | Start creation of a new map. | |||||||||||||||||||||||||||||||||||||||||||
StopMapping | StopMapping | Stop map creation. Map is saved as new map with date and time (map-YYYY-MM-DD_HH-MM-SS), in the MapStorageDirectory. (eg. map-2013-11-28_10-00-18.yaml map-2013-11-28_10-00-18.pgm) | |||||||||||||||||||||||||||||||||||||||||||
ReLoadDefaultMap | ReLoadDefaultMap | ReLoadDeafault map for navigation and localization. Global localization is used unless SetRobotPose is called afterwards. | |||||||||||||||||||||||||||||||||||||||||||
SetRobotPose x y phi | SetRobotPose 1.2 2.5 90 | Set the current pose of the robot x y in meter phi in DEG. | |||||||||||||||||||||||||||||||||||||||||||
GetSystemState | GetSystemState | Get a SystemState message once | |||||||||||||||||||||||||||||||||||||||||||
PUSHJOB JOBID PRIORITY ROBOTINOID FROMSTATION FROMBELT IsFromManual TOSTATION TOBELT IsToManual |
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SETOPERATIONMODE ROBOTINOID MODE |
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GETJOBINFO JOBID | |||||||||||||||||||||||||||||||||||||||||||||
GETJOBERROR JOBID | |||||||||||||||||||||||||||||||||||||||||||||
ErrorAcknowledge RobotinoID CLEARERROR | |||||||||||||||||||||||||||||||||||||||||||||
ErrorAcknowledge RobotinoID ABORTJOB | |||||||||||||||||||||||||||||||||||||||||||||
ManualAcknowlege RobotinoID | Acknowledge the Robotino that the box is placed/removed from it after reaching the manual pose(no docking station) | ||||||||||||||||||||||||||||||||||||||||||||
GETESTIMATEDJOBDURATION RobotinoID FROMSTATION FROMBELT TOSTATION TOBELT | |||||||||||||||||||||||||||||||||||||||||||||
GETROBOTINFO ROBOTINOID [CYCLETIME] |
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GetAllRobotinoID |
SmartSoft response to FleetManager requests
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