SmartFestoFleetCom 16.04

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Revision as of 14:48, 31 October 2013 by Tianlan (talk | contribs) (TCP/IP Communication Protocol B/W Fleet Manager and SmartFestoFleetCom)

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 If position ID already exists position is overwritten.
TeachPositionWithName PositionID x y z "name" TeachPosition 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 theta(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
GetNameForPosition PositionID GetNameForPosition 1 Reads the tag for PostionID 1 if ID and tag exists
GetMapStorageDirectory GetMapStorageDirectory Get the fullpath to the directory where maps are stored.
GetPositionStorageFileName GetPositionStorageFileName Get the full path of the file positions are stored in.
ReloadPositionStorage ReloadPositionStorage Triggers a reload of the position storage file. This is neccessary after transfering a position storage file from another Robotino.
SetDefaultMap "filename" SetDefaultMap "factory4" Set the given map as the default map. When (re)starting navigation the default map is used. filename is relative to the map storage directory.
GetDefaultMapName GetDefaultMapName Returns the filename (relative to map storage directory) of the default map.
StartMapping StartMapping Start creation of a new map. Map is saved as "New map". If "New map" already exists, the old map file is overwritten.
StopMaping StopMapping Stop map creation.
StartNavigation StartNavigation Start navigation using the default map.
StopNavigation StopNavigation Stop navigation.
GetMode GetMode Returns "GetMode mapping" if in mapping mode. Returns "GetMode navigation" if in navigation mode. Returns "GetMode idle" otherwise.
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

GetAllPosition

Return value format

GetAllPosition id x y phi "name",id x y phi "name" ...

name must not contain comma (0x2C)

GetMapStorageDirectory

Return value format

"fulldirectorypath"

Smartsoft