SmartFestoFleetCom 16.04
From RobotinoWiki
TCP/IP Communication Protocol B/W Fleet Manager and SmartFestoFleetCom
Commands in both the directions has the format, CommandName CommandArgument1 CommandArgument2 ie, Space between command name and its arguments, and additional commands appended with a newline character.
| FleetManager to SmartSoft | ||
|---|---|---|
| Command | Usage Example | Description |
| 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 |
| GotoStation StationID BeltID | GotoStation 1 1 | Drives to Position 1 Belt 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 |
| Stop | Stop | Halt the Robotino, put the task on hold |
| Continue | Continue | Resumes the task if a task is on hold |
| EndTask | EndTask | Terminates the ongoing task and go to Home Position |
| TeachPosition PositionID x y z | 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 theta(in degrees):45 |
| 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 |
| GetNameForPosition PositionID | GetNameForPosition 1 | Reads the tag for PostionID 1 if ID and tag exists |
| SmartSoft to FleetManager (Cyclic every 500ms) | ||
| RobotPose x y z | RobotPose 0.5 12.56 12.5 | Position of robot in x=0.5(in meters),y=12.56(in meters)and angle=12.5 in degree |
| BatteryState voltage voltageLow | BatteryState 18 1 | Battery voltage is 18Volts and voltage low is true |
| SystemState CurrentCommand CommandArgs CurrentCommand: NoJob, StartJob, JobDone, JobError| |
SystemState NoJob | Robot Idle and waiting for task |
| SystemState StartJob DeliverFromTo 1 1 2 2 | A Job has been started to Drive to Position 1, dock to Belt 1, Load, Undock, Drive to Position 2, dock to Belt 2, Unload, Undock | |
| SystemState JobDone DeliverFromTo 1 1 2 2 | Box transported from Position 1, Belt 1, to Position 2,Belt 2 | |
| SystemState JobError DeliverFromTo PATH_BLOCKED | Robot path blocked to complete the task | |
| SystemState JobError DockTo NO_DOCK_STATION | Robot path blocked to complete the task | |
| SystemState JobError LoadBox NO_RESPONSE_FROM_STATION | Robot path blocked to complete the task | |
| SystemState JobError UnloadBox NO_BOX | Robot path blocked to complete the task | |
| Progress | Progress 40 | 40% of the Job is complete |
