Robot Mower Communications Standard: Unterschied zwischen den Versionen
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+ | NOTE: THIS IS ONLY AN IDEA - NOT IMPLEMENTED IN ARDUMOWER (YET) | ||
− | Robot Mower Communications Standard (RMCS) | + | =Abstract= |
+ | Robot Mower Communications Standard (RMCS) '''DRAFT''' | ||
Describes message format used to externally control a robot mower (e.g. Ardumower-based) using a serial line (PC/Raspberry/Android etc.) | Describes message format used to externally control a robot mower (e.g. Ardumower-based) using a serial line (PC/Raspberry/Android etc.) | ||
+ | |||
+ | TODO: | ||
+ | *add robot setup commands | ||
=Requirements= | =Requirements= | ||
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commands: | commands: | ||
*$RMREQ: Request an event or configure message event command (frequency, one-time events etc.) | *$RMREQ: Request an event or configure message event command (frequency, one-time events etc.) | ||
+ | *$RMTRG: Configure a sensor trigger | ||
*$RMMOW: Set mowing state command (start mowing, stop mowing, go to docking station) | *$RMMOW: Set mowing state command (start mowing, stop mowing, go to docking station) | ||
*$RMMOV: Move robot until sensor trigger command | *$RMMOV: Move robot until sensor trigger command | ||
Zeile 36: | Zeile 42: | ||
events: | events: | ||
*$RMSTA: Robot state event (robot state, errors, battery, charger) | *$RMSTA: Robot state event (robot state, errors, battery, charger) | ||
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*$RMCFG: Robot mower configuration event (protocol version, available sensors) | *$RMCFG: Robot mower configuration event (protocol version, available sensors) | ||
*$RMMOT: motor current sensor event | *$RMMOT: motor current sensor event | ||
Zeile 48: | Zeile 53: | ||
*$RMBEA: beacons ranging data event (e.g. DW1000) | *$RMBEA: beacons ranging data event (e.g. DW1000) | ||
− | =Request | + | =Command: Request or onfigure a message event (frequency, one-time events)= |
This command is used to configure the frequency for an event message or to request a certain message once. | This command is used to configure the frequency for an event message or to request a certain message once. | ||
− | $RMREQ,MSG,f<cr><lf> | + | $RMREQ,MSG,f,t<cr><lf> |
*MSG: the message type (CFG, STA, TRG, MOT, SON, BUM etc.) | *MSG: the message type (CFG, STA, TRG, MOT, SON, BUM etc.) | ||
*f: frequency (0 - 10.0 Hz), 0 means turn off periodic events for this message, -1 means fire message once | *f: frequency (0 - 10.0 Hz), 0 means turn off periodic events for this message, -1 means fire message once | ||
+ | *t: enable trigger for this message (0/1) | ||
− | =Set mowing state | + | =Command: Set mowing state (start,stop,dock)= |
This command is used to for remote controlling the mower actions. | This command is used to for remote controlling the mower actions. | ||
Zeile 61: | Zeile 67: | ||
*s: stop mowing (0), start mowing (1), go to docking station (2) | *s: stop mowing (0), start mowing (1), go to docking station (2) | ||
− | =Move robot until sensor trigger | + | =Command: Move robot until sensor trigger= |
This command is used to control the robot movements directly. Once a sensor triggers (bumper, perimeter, etc.), the robot should stop. | This command is used to control the robot movements directly. Once a sensor triggers (bumper, perimeter, etc.), the robot should stop. | ||
Zeile 73: | Zeile 79: | ||
*d: PID_Kd | *d: PID_Kd | ||
− | =Keep ongoing action | + | =Command: Keep ongoing action (mower communications saftety)= |
This command is used to control the robot movements directly. The mower will stop motors if not receiving another message within 2 seconds. | This command is used to control the robot movements directly. The mower will stop motors if not receiving another message within 2 seconds. | ||
Zeile 79: | Zeile 85: | ||
$RMKOA<cr><lf> | $RMKOA<cr><lf> | ||
− | =Robot state | + | =Event: Robot state (robot state, errors, battery, charger)= |
Robot will send current state via this message. | Robot will send current state via this message. | ||
Zeile 94: | Zeile 100: | ||
*d: moved distance in meter since last message | *d: moved distance in meter since last message | ||
− | = | + | =Event: Robot mower configuration (protocol version, type of sensors)= |
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Robot will send a summary of the robot's configuration via this message. | Robot will send a summary of the robot's configuration via this message. | ||
− | $RMCFG,p,m,d,pfl,pfr,pfc,prl,prr,prc,ih,ip,o,g,ul,ur,uc<cr><lf> | + | $RMCFG,p,m,d,pfl,pfr,pfc,prl,prr,prc,ih,ip,o,g,ul,ur,uc,dl,dr<cr><lf> |
*p: robot is using protocol version (currently 1) | *p: robot is using protocol version (currently 1) | ||
*m: robot requires minimum protocol version (currently 1) | *m: robot requires minimum protocol version (currently 1) | ||
Zeile 137: | Zeile 121: | ||
*ur: ultrasonicRight available (1/0) | *ur: ultrasonicRight available (1/0) | ||
*uc: ultrasonicCenter available (1/0) | *uc: ultrasonicCenter available (1/0) | ||
+ | *dl: dropSensorLeft available (1/0) | ||
+ | *dr: dropSensorRight available (1/0) | ||
− | =motor current sensor | + | =Event: motor current sensor data= |
− | $RMMOT,ts, ml, mr, mm | + | $RMMOT,ts, ml, mr, mm, mlt, mrt, mmt |
*ts: timestamp ms | *ts: timestamp ms | ||
− | *ml: left motor current | + | *ml: left motor current (Ampere) |
− | *mr: right motor current | + | *mr: right motor current (Ampere) |
− | *mm: mower motor current | + | *mm: mower motor current (Ampere) |
+ | *mlt: left motor stall triggered (0/1) | ||
+ | *mrt: left motor stall triggered (0/1) | ||
+ | *mmt: mower motor stall triggered (0/1) | ||
− | =ultrasonic sensor | + | =Event: ultrasonic sensor data= |
− | $RMSON,ts, ul, ur, uc | + | $RMSON,ts,ul,ur,uc,ult,urt,uct |
*ts: timestamp ms | *ts: timestamp ms | ||
− | *ul: ultrasonicLeft | + | *ul: ultrasonicLeft meter |
− | *ur: ultrasonicRight | + | *ur: ultrasonicRight meter |
− | *uc: ultrasonicCenter | + | *uc: ultrasonicCenter meter |
+ | *ult: ultrasonicLeft triggered (0/1) | ||
+ | *urt: ultrasonicRight triggered (0/1) | ||
+ | *uct: ultrasonicCenter triggered (0/1) | ||
− | =bumper sensor | + | =Event: bumper sensor data= |
− | $RMBUM,ts, bl, br, bc | + | $RMBUM,ts,bl,br,bc,blt,brt,bct |
*ts: timestamp ms | *ts: timestamp ms | ||
− | *bl: bumperLeft | + | *bl: bumperLeft value |
− | *br: bumperRight | + | *br: bumperRight value |
− | *bc: bumperCenter | + | *bc: bumperCenter value |
+ | *blt: bumperLeft triggered (0/1) | ||
+ | *brt: bumperRight triggered (0/1) | ||
+ | *bct: bumperCenter triggered (0/1) | ||
− | =odometry | + | =Event: odometry data= |
$RMODO,ts, ol, or | $RMODO,ts, ol, or | ||
Zeile 169: | Zeile 164: | ||
*or: right odometry | *or: right odometry | ||
− | =GPS | + | =Event: GPS data= |
$RMGPS,ts, ga, go | $RMGPS,ts, ga, go | ||
Zeile 176: | Zeile 171: | ||
*go: GPSlongitude | *go: GPSlongitude | ||
− | =perimeter sensor | + | =Event: perimeter sensor data= |
− | $RMPER,ts, pfl, pfr, pfc, prl, prr, prc | + | $RMPER,ts,pfl,pfr,pfc,prl,prr,prc,pflr,pfrt,pfct,prlt,prrt,prct |
+ | *ts: timestamp ms | ||
+ | *pfl: perimeterFrontLeft value | ||
+ | *pfr: perimeterFrontRight value | ||
+ | *pfc: perimeterFrontCenter value | ||
+ | *prl: perimeterRearLeft value | ||
+ | *prr: perimeterRearRight value | ||
+ | *prc: perimeterRearCenter value | ||
+ | *pflt: perimeterFrontLeft triggered (0/1) | ||
+ | *pfrt: perimeterFrontRight triggered (0/1) | ||
+ | *pfct: perimeterFrontCenter triggered (0/1) | ||
+ | *prlt: perimeterRearLeft triggered (0/1) | ||
+ | *prrt: perimeterRearRight triggered (0/1) | ||
+ | *prct: perimeterRearCenter triggered (0/1) | ||
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+ | =Event: drop sensor data= | ||
+ | $RMDRO,ts,dl,dr,dlt,drt | ||
*ts: timestamp ms | *ts: timestamp ms | ||
− | * | + | *dl: left drop sensor value (0/1) |
− | * | + | *dr: right drop sensor value (0/1) |
− | * | + | *dlt: left drop sensor triggered (0/1) |
− | * | + | *drt: right drop sensor triggered (0/1) |
− | + | ||
− | + | ||
− | =IMU | + | =Event: IMU data= |
− | $RMIMU,ts, ih, ip, ir | + | $RMIMU,ts,ih,ip,ir,tr |
*ts: timestamp ms | *ts: timestamp ms | ||
*ih: IMUcompassHeading degree | *ih: IMUcompassHeading degree | ||
*ip: IMUpitch degree | *ip: IMUpitch degree | ||
*ir: IMUroll degree | *ir: IMUroll degree | ||
+ | *tr: tilt triggered (0/1) | ||
− | =beacon ranging data | + | =Event: beacon ranging data (e.g. DW1000)= |
$RMBEA,t,b1,b2,b3,b4,...<cr><lf> | $RMBEA,t,b1,b2,b3,b4,...<cr><lf> | ||
*t: timestamp ms | *t: timestamp ms | ||
*b1,b2,b3,b4,...: beacons ranging in meter | *b1,b2,b3,b4,...: beacons ranging in meter | ||
− | =Proprietary= | + | =Proprietary messages= |
*Any proprietary message types not defined by this protocol | *Any proprietary message types not defined by this protocol |
Aktuelle Version vom 24. Mai 2018, 20:02 Uhr
NOTE: THIS IS ONLY AN IDEA - NOT IMPLEMENTED IN ARDUMOWER (YET)
Inhaltsverzeichnis
- 1 Abstract
- 2 Requirements
- 3 Message format
- 4 Messages
- 5 Command: Request or onfigure a message event (frequency, one-time events)
- 6 Command: Set mowing state (start,stop,dock)
- 7 Command: Move robot until sensor trigger
- 8 Command: Keep ongoing action (mower communications saftety)
- 9 Event: Robot state (robot state, errors, battery, charger)
- 10 Event: Robot mower configuration (protocol version, type of sensors)
- 11 Event: motor current sensor data
- 12 Event: ultrasonic sensor data
- 13 Event: bumper sensor data
- 14 Event: odometry data
- 15 Event: GPS data
- 16 Event: perimeter sensor data
- 17 Event: drop sensor data
- 18 Event: IMU data
- 19 Event: beacon ranging data (e.g. DW1000)
- 20 Proprietary messages
Abstract
Robot Mower Communications Standard (RMCS) DRAFT
Describes message format used to externally control a robot mower (e.g. Ardumower-based) using a serial line (PC/Raspberry/Android etc.)
TODO:
- add robot setup commands
Requirements
- Serial interface (or serial USB)
- ...
Message format
NMEA 0183 compatible format (ASCII encoded)
message structure: $IDMSG,data,*XX<cr><lf>
message components:
- $: start of message symbol
- ID: device ID (the destination of a command message or source of an event message) - examples: RM (robot mower), DW (ranging beacons), ...
- MSG: message type (see below)
- data: comma separated message data (see below) - if a value is not existing it should be empty
- XX: checksum: representation of two hexadecimal characters of an XOR of all characters in the sentence between – but not including – the $ and the * character.
- <cr><lf>: end of message symbol
example: $RMSTA,145984,1,,,179.8,,,0,0*3F<cr><lf>
Messages
There are command and event messages. Command messages are received by the robot, event messages are sent by the robot.
commands:
- $RMREQ: Request an event or configure message event command (frequency, one-time events etc.)
- $RMTRG: Configure a sensor trigger
- $RMMOW: Set mowing state command (start mowing, stop mowing, go to docking station)
- $RMMOV: Move robot until sensor trigger command
- $RMKOA: Keep ongoing action command (mower communications saftety)
events:
- $RMSTA: Robot state event (robot state, errors, battery, charger)
- $RMCFG: Robot mower configuration event (protocol version, available sensors)
- $RMMOT: motor current sensor event
- $RMSON: ultrasonic sensor event
- $RMBUM: bumper sensor event
- $RMODO: odometry event
- $RMGPS: GPS event
- $RMPER: perimeter sensor event
- $RMDRO: drop sensor event
- $RMIMU: IMU event
- $RMBEA: beacons ranging data event (e.g. DW1000)
Command: Request or onfigure a message event (frequency, one-time events)
This command is used to configure the frequency for an event message or to request a certain message once.
$RMREQ,MSG,f,t<cr><lf>
- MSG: the message type (CFG, STA, TRG, MOT, SON, BUM etc.)
- f: frequency (0 - 10.0 Hz), 0 means turn off periodic events for this message, -1 means fire message once
- t: enable trigger for this message (0/1)
Command: Set mowing state (start,stop,dock)
This command is used to for remote controlling the mower actions.
$RMMOW,s<cr><lf>
- s: stop mowing (0), start mowing (1), go to docking station (2)
Command: Move robot until sensor trigger
This command is used to control the robot movements directly. Once a sensor triggers (bumper, perimeter, etc.), the robot should stop.
$RMMOV,m,l,r,p,i,d<cr><lf>
- m: mowing motor on (1) or off (0)
- l: left motor target rpm
- r: right motor target rpm
- p: PID_Kp
- i: PID_Ki
- d: PID_Kd
Command: Keep ongoing action (mower communications saftety)
This command is used to control the robot movements directly. The mower will stop motors if not receiving another message within 2 seconds.
$RMKOA<cr><lf>
Event: Robot state (robot state, errors, battery, charger)
Robot will send current state via this message.
$RMSTA,ts,s,e,b,bl,c,h,d<cr><lf>
- ts: timestamp ms
- s: robot state: stopped (0), mowing (1), busy (2), error (3), going to dock (4)
- o: docking state: not docked (0), docked (1)
- e: error code
- b: battery percent
- bl: battery low (0/1)
- c: charging percent
- h: absolute compass heading in degree
- d: moved distance in meter since last message
Event: Robot mower configuration (protocol version, type of sensors)
Robot will send a summary of the robot's configuration via this message.
$RMCFG,p,m,d,pfl,pfr,pfc,prl,prr,prc,ih,ip,o,g,ul,ur,uc,dl,dr<cr><lf>
- p: robot is using protocol version (currently 1)
- m: robot requires minimum protocol version (currently 1)
- d: Docking station available (1/0)
- pfl: perimeterFrontLeft available (1/0)
- pfr: perimeterFrontRight available (1/0)
- pfc: perimeterFrontCenter available (1/0)
- prl: perimeterRearLeft available (1/0)
- prr: perimeterRearRight available (1/0)
- prc: perimeterRearCenter available (1/0)
- ih: IMU compass available (1/0)
- ip: IMU pitch/roll available (1/0)
- o: Odometry available (1/0)
- g: GPS available (1/0)
- ul: ultrasonicLeft available (1/0)
- ur: ultrasonicRight available (1/0)
- uc: ultrasonicCenter available (1/0)
- dl: dropSensorLeft available (1/0)
- dr: dropSensorRight available (1/0)
Event: motor current sensor data
$RMMOT,ts, ml, mr, mm, mlt, mrt, mmt
- ts: timestamp ms
- ml: left motor current (Ampere)
- mr: right motor current (Ampere)
- mm: mower motor current (Ampere)
- mlt: left motor stall triggered (0/1)
- mrt: left motor stall triggered (0/1)
- mmt: mower motor stall triggered (0/1)
Event: ultrasonic sensor data
$RMSON,ts,ul,ur,uc,ult,urt,uct
- ts: timestamp ms
- ul: ultrasonicLeft meter
- ur: ultrasonicRight meter
- uc: ultrasonicCenter meter
- ult: ultrasonicLeft triggered (0/1)
- urt: ultrasonicRight triggered (0/1)
- uct: ultrasonicCenter triggered (0/1)
Event: bumper sensor data
$RMBUM,ts,bl,br,bc,blt,brt,bct
- ts: timestamp ms
- bl: bumperLeft value
- br: bumperRight value
- bc: bumperCenter value
- blt: bumperLeft triggered (0/1)
- brt: bumperRight triggered (0/1)
- bct: bumperCenter triggered (0/1)
Event: odometry data
$RMODO,ts, ol, or
- ts: timestamp ms
- ol: left odometry
- or: right odometry
Event: GPS data
$RMGPS,ts, ga, go
- ts: timestamp ms
- ga: GPSlatitude
- go: GPSlongitude
Event: perimeter sensor data
$RMPER,ts,pfl,pfr,pfc,prl,prr,prc,pflr,pfrt,pfct,prlt,prrt,prct
- ts: timestamp ms
- pfl: perimeterFrontLeft value
- pfr: perimeterFrontRight value
- pfc: perimeterFrontCenter value
- prl: perimeterRearLeft value
- prr: perimeterRearRight value
- prc: perimeterRearCenter value
- pflt: perimeterFrontLeft triggered (0/1)
- pfrt: perimeterFrontRight triggered (0/1)
- pfct: perimeterFrontCenter triggered (0/1)
- prlt: perimeterRearLeft triggered (0/1)
- prrt: perimeterRearRight triggered (0/1)
- prct: perimeterRearCenter triggered (0/1)
Event: drop sensor data
$RMDRO,ts,dl,dr,dlt,drt
- ts: timestamp ms
- dl: left drop sensor value (0/1)
- dr: right drop sensor value (0/1)
- dlt: left drop sensor triggered (0/1)
- drt: right drop sensor triggered (0/1)
Event: IMU data
$RMIMU,ts,ih,ip,ir,tr
- ts: timestamp ms
- ih: IMUcompassHeading degree
- ip: IMUpitch degree
- ir: IMUroll degree
- tr: tilt triggered (0/1)
Event: beacon ranging data (e.g. DW1000)
$RMBEA,t,b1,b2,b3,b4,...<cr><lf>
- t: timestamp ms
- b1,b2,b3,b4,...: beacons ranging in meter
Proprietary messages
- Any proprietary message types not defined by this protocol