Difference between revisions of "SmartFestoFleetCom 16.04"
From RobotinoWiki
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|Frees all nodes currently allocated by the robot | |Frees all nodes currently allocated by the robot |
Revision as of 10:27, 10 June 2016
Contents
TCP/IP Communication Protocol B/W Fleet Manager and SmartFestoFleetCom
FleetManager to SmartSoft
Command | Usage Example | Description |
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GotoPosition RobotinoID PositionID | GotoPosition 1 1 | Drives to Position 1 |
DockTo BeltID | DockTo 1 | Docks to MPS station Belt 1 |
Undock | Undock | Undocks from MPS station if already docked |
DockToCharger | DockToCharger | Docks to robotino charger |
UnDockCharger | UnDockCharger | UnDockCharger from robotino charger |
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 |
PauseRobot (RobotinoID) | StopRobot 1 | Halt the Robotinos movement, (jobs or other activities are not affected) The RobotinoID is optional, without the id the command is distributed to all robots. |
ContinueRobot (RobotinoID) | ContinueRobot 1 | Resumes the robots movement The RobotinoID is optional, without the id the command is distributed to all robots. |
<NOT YET> InterceptJob RobotID | InterceptJob | Intercept the job, other commands can be executed meanwhile |
<NOT YET> ContinueJob RobotID | JobID | Continue the intercepted job. |
EndTask (RobotinoID) | EndTask 1 | Terminates the ongoing task and stops any movement --> set robot mode to OUTOFSERVICE The RobotinoID is optional, without the id the command is distributed to all robots. |
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 and distance=0. |
DeletePosition PositionID | DeletePosition 3 | Delete position with PositionID. If there is no position with PositionID nothing happens. |
DeleteAllPositions | DeleteAllPositions | Deletes all positions. |
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 |
StartMapping (mapname) | StartMapping "MapName" | Start creation of a new map (SLAM). The mapname is optional, if none is given a time-stamp is used (map-YYYY-MM-DD_HH-MM-SS). |
AbortMapping | AbortMapping | Abort the creation of a new map (new map is discarded). The current default map is reloaded in the localization (global localization is triggered). |
StopMapping | StopMapping | Stop map creation. New map is saved in the MapStorageDirectory. The new map is set as default map and is used for localization. |
ReloadDefaultMap | ReLoadDefaultMap | ReLoadDeafault map for navigation and localization, as well as the corresponding poses from file. Global localization is used unless SetRobotPose is called afterwards. |
ReloadDefaultPaths | ReloadDefaultPaths | ReloadDefaultPaths path-map for paths based navigation. |
SetRobotPose RobotinoID x y phi | SetRobotPose 1 1.2 2.5 90 | Set the current pose of the robot x y in meter phi in DEG. |
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 ..... | Push an job to the fleet (parameters depend on job type) | |
PushJob GotoPosition JOBID PRIORITY ROBOTINOID POSE | PushJob GotoPosition 2 3 1 1 |
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PushJob DeliverFromTo JOBID PRIORITY ROBOTINOID FROMSTATION FROMBELT IsFromManual TOSTATION TOBELT IsToManual | PushJob DeliverFromTo 2 3 1 2 1 0 3 2 0 |
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PushCommand RobotinoID Command_parameters | PushCommand 1 GoToPosition 2 | This command is used to send out individual commands.(GoToPosition,DockTo,LoadBox,Undock,UnloadBox,EndTask,DockToCharger,UnDockCharger) |
SetOperationMode ROBOTINOID MODE |
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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 | ||
RemoveRobotFromPathNetwork RobotinoID | Frees all nodes currently allocated by the robot | |
GetRobotInfo RobotinoID |
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GetAllRobotinoID | Reads all the RobotinoID | |
GetFleetState | Get state of all robots in the fleet. | |
<NOT YET> SetDriveSystem X_speed Y_speed Teta_speed | SetDriveSystem 0 0 0 | This command overrides the default set value in Robot base server. |
SmartSoft response to FleetManager requests
Command | Usage Example | Description | ||||||||||||||||||||||
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FleetState key:value key:value | FleetState robotinoid:3 x:0.5 y:11.4 phi:56.32 batteryvoltage:22.5 ipaddress:192.168.1.241 robotinoid:3 x:0.5 .... | info of all robots in the fleet | ||||||||||||||||||||||
MyRobotinoId id | MyRobotinoId 1 | the id of the asked robotino | ||||||||||||||||||||||
RobotFleetType robotinoId master or slave | RobotFleetType 1 master | the fleet type of robotino asked | ||||||||||||||||||||||
AllPosition id x y phi numBelts distance,id x y phi numBelts distance ... | AllPosition 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 state:Idle | Response to GETROBOTINFO or pushed by SmartSoft if cyclic response is enabled.State can be IDLE/BUSY/ERROR. | ||||||||||||||||||||||
JobInfo key:value key:value ... | DeliverFromTo: JobInfo robotinoid:10 jobid:10 priority:1 fromstation:2 frombelt:1 tostation:3 tobelt:4 state:STARTED GotoPosition: JobInfo robotinoid:10 jobid:10 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:"Started-* or Finished-* or Error-*" | 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 |
fleetcom_request topic items handled by fleetcomd
Command | Usage Example | Description |
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GetMapList | ||
SetDefaultMap | ||
UploadMap | ||
DownloadMap | ||
RenameMap | ||
DeleteMap |