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specifications:protocol [2015/10/02 06:17]
Guvalif 		specifications:protocol [2015/11/16 03:50]
Guvalif
Line 3: Line 3:
 ======== ========
  
-fix me.+## Basic Specification 
 +In sending a command, firstly send header that defined as 3 characters. 
 +Secondly formatting and send each argument. 
 + 
 +Before sending a command, client must convert binary-expression to ascii-expression. 
 +(If the client sending a command without conversion, PLEN's moving is different from you intended.) 
 + 
 +No differences the command line made of upper case or lower case. 
 + 
 + 
 +## Group of Controller Command 
 +### $AN (Apply Native Value) 
 + 
 +|Args     |Roles                     |Min (dec)|Max (dec)|Format               | 
 +|:--------|:-------------------------|:-------:|:-------:|:--------------------| 
 +|DEVICE_ID|Set a device id.          |0        |23       |0 padding，hex，2byte| 
 +|VALUE    |Set to apply native value.|-2048    |2047     |0 padding，hex，3byte| 
 + 
 +*example*:   
 +If you want to apply **1000** to device **10**, send command below. 
 + 
 +``` 
 +$an0a3e8 
 +``` 
 + 
 +### $AD (Apply Diff Value) 
 + 
 +|Args     |Roles                   |Min (dec)|Max (dec)|Format               | 
 +|:--------|:-----------------------|:-------:|:-------:|:--------------------| 
 +|DEVICE_ID|Set a device id.        |0        |23       |0 padding，hex，2byte| 
 +|VALUE    |Set to apply diff value.|-2048    |2047     |0 padding，hex，3byte| 
 + 
 +*example*:   
 +If you want to apply **home value - 100** to device **4**, send command below. 
 + 
 +``` 
 +$ad04f9c 
 +``` 
 + 
 +### $PM (Play a Motion) 
 + 
 +**Attention!**   
 +You could also use "$MP", but this is **[[deprecated]]**. 
 + 
 +|Args|Roles            |Min (dec)|Max (dec)|Format               | 
 +|:---|:----------------|:-------:|:-------:|:--------------------| 
 +|SLOT|Set to read slot.|0        |89       |0 padding，hex，2byte| 
 + 
 +*example*:   
 +If you want to play slot **4**, send command below. 
 + 
 +``` 
 +$pm04 
 +``` 
 + 
 +### $SM (Stop a Motion) 
 + 
 +**Attention!**   
 +You could also use "$MS", but this is **[[deprecated]]**. 
 + 
 +*example*:   
 +If you want to stop a motion, send command below. 
 + 
 +``` 
 +$sm 
 +``` 
 + 
 +### $HP (Apply Home Position) 
 + 
 +*example*:   
 +If you want to apply home position, send command below. 
 + 
 +``` 
 +$hp 
 +``` 
 + 
 + 
 +## Group of Interpreter Command 
 +### #PU (Push a Function) 
 + 
 +|Args      |Roles              |Min (dec)|Max (dec)|Format               | 
 +|:---------|:------------------|:-------:|:-------:|:--------------------| 
 +|SLOT      |Set to read slot.  |0        |89       |0 padding，hex，2byte| 
 +|LOOP_COUNT|Set number of play.|0        |255      |0 padding，hex，2byte| 
 + 
 +*example*:   
 +If you want to push function that plays slot **10** **three** times, send command below. 
 + 
 +``` 
 +#pu0a03 
 +``` 
 + 
 +### #PO (Pop a Function) 
 + 
 +*example*:   
 +If you want to pop a function, send command below. 
 + 
 +``` 
 +#po 
 +``` 
 + 
 +### #RI (Reset the Interpreter) 
 + 
 +*example*:   
 +If you want to reset the interpreter, send command below. 
 + 
 +``` 
 +#ri 
 +``` 
 + 
 + 
 +## Group of Setter Command 
 +### >IN (Install a Motion) 
 + 
 +**Attention!**   
 +This is **[[deprecated]]**. Obsolescent at firmware version 2.x. 
 +Please using **>MH** and **>MF** that are described after basically. 
 + 
 +|Args              |Roles                        |Min (dec)|Max (dec)|Format                     | 
 +|:-----------------|:----------------------------|:-------:|:-------:|:--------------------------| 
 +|SLOT              |Set to write slot.           |0        |89       |0 padding，hex，2byte      | 
 +|NAME              |Set a motion name.           |---      |---      |white space padding，20byte| 
 +|FUNC              |Set a function. (*1)         |0        |255      |0 padding，hex，2byte      | 
 +|ARG0              |Set a function's arg 0. (*1) |0        |255      |0 padding，hex，2byte      | 
 +|ARG1              |Set a function's arg 1. (*1) |0        |255      |0 padding，hex，2byte      | 
 +|FRAME_LENGTH      |Set a frame length.          |1        |20       |0 padding，hex，2byte      | 
 +|TRANSITION_TIME_MS|Set a transition time (msec).|32       |65535    |0 padding，hex，4byte      | 
 +|VALUE[DEVICE_ID]  |Set to apply value. (*2)     |-32768   |32767    |0 padding，hex，4byte      | 
 + 
 +**(*1) Type of function and role of args are described below.** 
 + 
 +|"FUNC"'s Values|Roles                                                    | 
 +|:--------------|:--------------------------------------------------------| 
 +|0              |---                                                      | 
 +|1              |Play a motion with infinite loop between arg 0 and arg 1.| 
 +|2              |Jump to arg 0 if then stopped the motion.                | 
 + 
 +**(*2) Sum of devices is 24 and all are servo motor.** 
 + 
 +*example*:   
 +Let install a motion below. 
 + 
 +|Args              |Values| 
 +|:-----------------|:-----| 
 +|SLOT              |0     | 
 +|NAME              |Test  | 
 +|FUNC              |0     | 
 +|ARG0              |0     | 
 +|ARG1              |0     | 
 +|FRAME_LENGTH      |2     | 
 +|TRANSITION_TIME_MS|100   | 
 +|OUTPUT[EVEN]      |0     | 
 +|OUTPUT[ODD]       |-1    | 
 + 
 +Please send command below. (There are no CR, LF, or CRLF actually.) 
 + 
 +``` 
 +>in 
 +00Test                00000002 
 +0064 
 +0000ffff0000ffff0000ffff0000ffff 
 +0000ffff0000ffff0000ffff0000ffff 
 +0000ffff0000ffff0000ffff0000ffff 
 +0064 
 +0000ffff0000ffff0000ffff0000ffff 
 +0000ffff0000ffff0000ffff0000ffff 
 +0000ffff0000ffff0000ffff0000ffff 
 +``` 
 + 
 +### >MH (Set a Motion Header) 
 + 
 +|Args        |Roles                       |Min (dec)|Max (dec)|Format                     | 
 +|:-----------|:---------------------------|:-------:|:-------:|:--------------------------| 
 +|SLOT        |Set to write slot.          |0        |89       |0 padding，hex，2byte      | 
 +|NAME        |Set a motion name.          |---      |---      |white space padding，20byte| 
 +|FUNC        |Set a function. (*1)        |0        |255      |0 padding，hex，2byte      | 
 +|ARG0        |Set a function's arg 0. (*1)|0        |255      |0 padding，hex，2byte      | 
 +|ARG1        |Set a function's arg 1. (*1)|0        |255      |0 padding，hex，2byte      | 
 +|FRAME_LENGTH|Set a frame length          |1        |20       |0 padding，hex，2byte      | 
 + 
 +Please get more detail at ">IN" section. 
 + 
 +### >MF (Set a Motion Frame) 
 + 
 +|Args              |Roles                        |Min (dec)|Max (dec)|Format               | 
 +|:-----------------|:----------------------------|:-------:|:-------:|:--------------------| 
 +|SLOT              |Set to write slot.           |0        |89       |0 padding，hex，2byte| 
 +|FRAME_ID          |Set a frame id.              |1        |20       |0 padding，hex，2byte| 
 +|TRANSITION_TIME_MS|Set a transition time (msec).|32       |65535    |0 padding，hex，4byte| 
 +|VALUE[DEVICE_ID]  |Set to apply value. (*2)     |-32768   |32767    |0 padding，hex，4byte| 
 + 
 +Please get more detail at ">IN" section. 
 + 
 +### >JS (Reset the Joint Settings) 
 + 
 +*example*:   
 +If you want to reset the joint settings, send command below. 
 + 
 +``` 
 +>js 
 +``` 
 + 
 +### >HO (Set a Home Value) 
 + 
 +|Args     |Roles                   |Min (dec)|Max (dec)|Format               | 
 +|:--------|:-----------------------|:-------:|:-------:|:--------------------| 
 +|DEVICE_ID|Set a device id.        |0        |23       |0 padding，hex，2byte| 
 +|VALUE    |Set to apply home value.|-2048    |2047     |0 padding，hex，3byte| 
 + 
 +*example*:   
 +If you want to apply **100** as home value to device **0**, send command below. 
 + 
 +``` 
 +>ho00064 
 +``` 
 + 
 +### >MA (Set a Max Value) 
 + 
 +|Args     |Roles                  |Min (dec)|Max (dec)|Format               | 
 +|:--------|:----------------------|:-------:|:-------:|:--------------------| 
 +|DEVICE_ID|Set a device id.       |0        |23       |0 padding，hex，2byte| 
 +|VALUE    |Set to apply max value.|-2048    |2047     |0 padding，hex，3byte| 
 + 
 +*example*:   
 +If you want to apply **100** as max value to device **0**, send command below. 
 + 
 +``` 
 +>ma00064 
 +``` 
 + 
 +### >MI (Set a Min Value) 
 + 
 +|Args     |Roles                  |Min (dec)|Max (dec)|Format               | 
 +|:--------|:----------------------|:-------:|:-------:|:--------------------| 
 +|DEVICE_ID|Set a device id.       |0        |23       |0 padding，hex，2byte| 
 +|VALUE    |Set to apply min value.|-2048    |2047     |0 padding，hex，3byte| 
 + 
 +*example*:   
 +If you want to apply **-1** as min value to device **10**, send command below. 
 + 
 +``` 
 +>mi0afff 
 +``` 
 + 
 +## Group of Getter Command 
 +### <JS (Dump the Joint Settings) 
 + 
 +*example*:   
 +If you want to dump the joint settings, send command below. 
 + 
 +``` 
 +<js 
 +``` 
 + 
 +At that time, outputting result like json below. 
 + 
 +``` 
 +[ 
 + { 
 + "max": <integer>, 
 + "min": <integer>, 
 + "home": <integer> 
 + }, 
 + ... 
 +] 
 +``` 
 + 
 +### <MO (Dump a Motion) 
 + 
 +|Args|Roles            |Min (dec)|Max (dec)|Format               | 
 +|:---|:----------------|:-------:|:-------:|:--------------------| 
 +|SLOT|Set to read slot.|0        |89       |0 padding，hex，2byte| 
 + 
 +*example*:   
 +If you want to dump slot **0**, send command below. 
 + 
 +``` 
 +<mo00 
 +``` 
 + 
 +At that time, outputting result like "motion.json". ([See also...](https://github.com/plenproject/PLEN2/tree/master/motion)) 
 +However, property "device"'s type is not **string** but **integer** defined as device id in "[device_map.json](https://github.com/plenproject/plen__control_server/blob/master/control_server/device_map.json)". 
 + 
 +### <VI (Dump the Version Information) 
 + 
 +*example*:   
 +If you want to dump the version information, send command below. 
 + 
 +``` 
 +<vi 
 +``` 
 + 
 +At that time, outputting result like json below. 
 + 
 +``` 
 +{ 
 + "device": <string>, 
 + "codename": <string>, 
 + "version": <string> 
 +} 
 +```
 </markdown> </markdown>
specifications/protocol.txt · Last modified: 2021/04/01 13:51 (external edit)

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