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 |
| 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 |
| <NOT YET> EndTask | EndTask | Terminates the ongoing task and go to Home Position |
| 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 |
| 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. |
| 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 |
| SmartSoft to FleetManager (Cyclic every 500ms) | ||
| RobotPose x y phi | 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 Setup | Robot in Setup state, mapping etc. | |
| 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 GoToStation PATH_BLOCKED | Robot path blocked to complete the task | |
| SystemState JobError DockTo NO_DOCK_STATION | Robot not close to the docking station(If the laser scanner intensity value is not as desired) | |
| SystemState JobError LoadBox BOX_PRESENT | Robot is already having a box on top(detected by "Box available" digital signal) | |
| SystemState JobError LoadBox NO_RESPONSE_FROM_STATION | The transport station has nothing to load(detected by "Station Ready" digital signal) | |
| SystemState JobError LoadBox NO_BOX | The box was not sucessfully loaded from the transport station(detected by "Box available" digital signal) | |
| SystemState JobError UnloadBox NO_RESPONSE_FROM_STATION | The transport station is not ready to receive a box(detected by "Station Ready" digital signal) | |
| SystemState JobError UnloadBox NO_BOX | No box on top of the Robot(detected by "Box available" digital signal) | |
| SystemState EndJob UnloadBox BOX_PRESENT | Task terminated but a box is still present on the robot(detected by "Box available" digital signal) | |
| SystemState EndJob UnloadBox BOX_ABSENT | Task terminated no box on the robot(detected by "Box available" digital signal) | |
| 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"
