Difference between revisions of "SmartFestoFleetCom 16.04"
From RobotinoWiki
(→SmartSoft response to FleetManager requests) |
(→FleetManager to SmartSoft) |
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! Description | ! Description | ||
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− | |DeliverFromTo SourceStationID SourceBeltID DestinationStationID DestinationBeltID||DeliverFromTo 1 1 2 2|| | + | | <span style="background:#FF0000"><strike> DeliverFromTo SourceStationID SourceBeltID DestinationStationID DestinationBeltID </strike> </span>||DeliverFromTo 1 1 2 2|| <span style="background:#FF0000"> Is now handled by pushjob </span> |
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|GotoPosition PositionID ||GotoPosition 1 ||Drives to Position 1 | |GotoPosition PositionID ||GotoPosition 1 ||Drives to Position 1 | ||
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*'''IsToManual''' True if drop-off station is a manual position(No docking station) | *'''IsToManual''' True if drop-off station is a manual position(No docking station) | ||
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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) | + | |<span style="background:#ffff00"> <NOT YET> PushCommand RobotinoID Command_parameters</span>||PushCommand 1 GoToPosition 2||This command is used to send out individual commands.(GoToPosition,DockTo,LoadBox,Undock,UnloadBox,EndTask) |
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|SetOperationMode ROBOTINOID MODE | |SetOperationMode ROBOTINOID MODE | ||
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|ClearError RobotinoID | |ClearError RobotinoID | ||
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− | | | + | |Clears the robot error state and continue with job (and redo failed part) |
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|AbortJobAndClearError RobotinoID | |AbortJobAndClearError RobotinoID | ||
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− | | | + | |Abort the current job and clear the robot error state |
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− | |ManualAcknowlege RobotinoID | + | |<span style="background:#ffff00"> <NOT YET> ManualAcknowlege RobotinoID </span> |
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|Acknowledge the Robotino that the box is placed/removed from it after reaching the manual pose(no docking station) | |Acknowledge the Robotino that the box is placed/removed from it after reaching the manual pose(no docking station) |
Revision as of 11:53, 11 July 2014
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 |
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 JOBTYPE JOBID PRIORITY ROBOTINOID FROMSTATION FROMBELT IsFromManual TOSTATION TOBELT IsToManual |
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<NOT YET> 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 |
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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 | |
<NOT YET> 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, ID ... | AllRobotinoID 1, 2 ... | ID must not contain comma (0x2C) | ||||||||||||||||||||||
RobotInfo key:value key:value ... | RobotInfo id: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 | |||||||||||||||||||||||
<NOT YET> GetManualAcknowledge RobotinoID | Pushed by SmartSoft when manual pose(no docking station) reached and waiting for his acknowledgement after placing/removing the box |