Difference between revisions of "SmartFestoFleetCom 16.04"
From RobotinoWiki
(→FleetManager to SmartSoft) |
(→FleetManager to SmartSoft) |
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|GetMyRobotinoId || GetMyRobotinoId || Get the ID of the robotino | |GetMyRobotinoId || GetMyRobotinoId || Get the ID of the robotino | ||
+ | |- | ||
+ | |GetRobotFleetType robotinoId || GetRobotFleetType 1 || Get the fleet-type of the robotino (master or slave) | ||
|- | |- | ||
!colspan="3"|Commands for MASTER robot in Fleet | !colspan="3"|Commands for MASTER robot in Fleet |
Revision as of 11:52, 20 January 2015
TCP/IP Communication Protocol B/W Fleet Manager and SmartFestoFleetCom
FleetManager to SmartSoft
Command | Usage Example | Description |
---|---|---|
DeliverFromTo 1 1 2 2 | Is now handled by pushjob | |
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 --> set robot mode to OUTOFSERVICE |
<?deprecated?> 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. |
TeachPosition PositionID x y phi numBelts distance | TeachPosition 1 0.54 23.5 45.0 3 0.85 | Teach Position with ID 1, in global coordinates x(in meters):0.54, y(in meters):23.5, phi(in degrees):45. In front of the position there is a station with 3 belts. The distance from position to station is 0.85m. If position ID already exists position is overwritten. If the position is not connected to a station set numBelts=0. |
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 |
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 | Is now handled by getRobotInfo | |
GetMyRobotinoId | GetMyRobotinoId | Get the ID of the robotino |
GetRobotFleetType robotinoId | GetRobotFleetType 1 | Get the fleet-type of the robotino (master or slave) |
Commands for MASTER robot in Fleet | ||
PushJob JOBTYPE JOBID PRIORITY ROBOTINOID FROMSTATION FROMBELT IsFromManual TOSTATION TOBELT IsToManual | PushJob DeliverFromTo 2 3 1 2 1 0 3 2 0 |
|
PushCommand RobotinoID Command_parameters | PushCommand 1 GoToPosition 2 | This command is used to send out individual commands.(GoToPosition,DockTo,LoadBox,Undock,UnloadBox,EndTask) |
SetOperationMode ROBOTINOID MODE |
| |
GetJobInfo JOBID | ||
GetJobError JOBID | ||
ClearError RobotinoID | Clears the robot error state and continue with job (and redo failed part) | |
AbortJobAndClearError RobotinoID | Abort the current job and clear the robot error state | |
ManualAcknowledge 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 |
| |
GetAllRobotinoID | Reads all the RobotinoID | |
GetFleetState | Get state of all robots in the fleet. |
SmartSoft response to FleetManager requests
Command | Usage Example | Description | ||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
FleetState key:value key:value | FleetState robotinoid:3 x:0.5 y:11.4 phi:56.32 batteryvoltage:22.5,robotinoid:3 x:0.5 .... | info of all robots in the fleet | ||||||||||||||||||||||
GetAllPosition id x y phi numBelts distance,id x y phi numBelts distance ... | GetAllPosition 1 0.4 3.7. 10 3 0.85 | If id is not a number id must not contain comma (0x2C) or whitespace. If the position is not connected to a station than numBelts=0 | ||||||||||||||||||||||
AllRobotinoID ID, ID ... | AllRobotinoID 1, 2 ... | ID must not contain comma (0x2C) | ||||||||||||||||||||||
RobotInfo key:value key:value ... | RobotInfo robotinoid:3 x:0.5 y:11.4 phi:56.32 batteryvoltage:22.5 laserwarning:0 lasersafety:0 boxpresent:1 |
Response to GETROBOTINFO or pushed by SmartSoft if cyclic response is enabled.State can be IDLE/BUSY/ERROR. | ||||||||||||||||||||||
JobInfo key:value key:value ... | JobInfo robotinoid:10 jobid:10 priority:1 fromstation:2 frombelt:1 tostation:3 tobelt:4 state:STARTED | with STATE being one of the following strings
Pushed by SmartSoft on state change. | ||||||||||||||||||||||
CommandInfo key:value key:value ...<NOT YET IMPLEMENTED> | CommandInfo robotinoid:10 state:StartedGoToPosition | with STATE being one of the following strings
Pushed by SmartSoft on state change. | ||||||||||||||||||||||
JobError key:value key:value ... | JobError robotinoid:1 jobid:10 error:"DockTo NO_DOCK_STATION" |
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 |