56 lines
1.3 KiB (Stored with Git LFS)
Markdown
56 lines
1.3 KiB (Stored with Git LFS)
Markdown
|
|
## Protocol Stack
|
|
```
|
|
| Gobot-RPC |
|
|
| --------- |
|
|
| CAN-TP |
|
|
| --------- |
|
|
| CAN |
|
|
```
|
|
|
|
## Address (CAN-Address)
|
|
|
|
| Address | Node |
|
|
| ------- | ------------ |
|
|
| `0x000` | Broadcast |
|
|
| `0x010` | RPi |
|
|
| `0x020` | X-Y-Controll |
|
|
| `0x030` | Head |
|
|
| `0x040` | Vacume |
|
|
|
|
## Gobot-RPC-Protocol
|
|
Package Length: max. 128
|
|
|
|
| Byte | Function |
|
|
| ---- | -------- |
|
|
| 0 | Header |
|
|
| 1-n | Data |
|
|
#### Header
|
|
| Bit | Function |
|
|
| --- | ------------------------- |
|
|
| 0 | Type: Request or Response |
|
|
| 1-5 | RPC-ID |
|
|
|
|
### RPS
|
|
|
|
#### X-Y-Controller
|
|
| RPC-ID | RPC | Request | Response |
|
|
| ------ | ------------------- | ----------------- | ----------------- |
|
|
| `0x1` | `cal()` | | x: int32, y:int32 |
|
|
| `0x2` | `goto()` | x: int32, y:int32 | |
|
|
| `0x3` | `goto_board()` | x: int8, y: int8 | |
|
|
| `0x4` | `home()` | | |
|
|
| `0x5` | `release()` | | |
|
|
| `0x6` | `set_board_param()` | see bellow | |
|
|
```json
|
|
Board Parameters:
|
|
{
|
|
front_margin_width: int32,
|
|
front_margin_height: int32,
|
|
width: int32,
|
|
height: int32,
|
|
width_field: int8,
|
|
height_field: int8
|
|
}
|
|
|