Difference between revisions of "SmartFestoFleetCom 16.04"
From RobotinoWiki
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**'''MANUAL''' do NOT auto-assign jobs to Robotino, but assign to target Robotino when individual task received. | **'''MANUAL''' do NOT auto-assign jobs to Robotino, but assign to target Robotino when individual task received. | ||
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− | | | + | |GetJobInfo JOBID |
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− | | | + | |GetRobotInfo ROBOTINOID <span style="background:#FF0000"><strike> [CYCLETIME] </strike> </span> |
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Revision as of 11:15, 5 June 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 | semantic ? | |
ErrorAcknowledge RobotinoID ABORTJOB | semantic ? | |
ManualAcknowlege RobotinoID | Acknowledge the Robotino that the box is placed/removed from it after reaching the manual pose(no docking station) | |
<NOT YET> GETESTIMATEDJOBDURATION RobotinoID FROMSTATION FROMBELT TOSTATION TOBELT | ||
GetRobotInfo ROBOTINOID |
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GetAllRobotinoID | Reads all the RobotinoID |
SmartSoft response to FleetManager requests
Command | Usage Example | Description | ||||||||||||||||||||||
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GetAllPosition id x y phi "name",id x y phi "name" ... | name must not contain comma (0x2C) | |||||||||||||||||||||||
AllRobotinoID ID |
AllRobotinoID 1 |
ID | ||||||||||||||||||||||
ROBOTINFO ROBOTINOID key:value,key_value,... | ROBOTINFO 3 x:0.5,y:11.4,phi:56,batteryvoltage:22.5,isBatteryLow:0, |
Response to GETROBOTINFO or pushed by SmartSoft if cyclic response is enabled.State can be IDLE/BUSY/ERROR. | ||||||||||||||||||||||
JOBINFO JOBID PRIORITY ROBOTINOID FROMSTATION FROMBELT TOSTATION TOBELT STATE | with STATE being one of the following strings
Pushed by SmartSoft on state change. | |||||||||||||||||||||||
GetErrorAcknowledge JOBID RobotinoID ERROR |
Pushed by SmartSoft when error occurs. | |||||||||||||||||||||||
<NOT YET> EstimatedJobDuration TimeInSec | TimeInSec = TimeToCompleteCurrentJob + TimeToCompleteReqestedJob | |||||||||||||||||||||||
GetManualAcknowledge RobotinoID | Pushed by SmartSoft when manual pose(no docking station) reached and waiting for his acknowledgement after placing/removing the box |