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specifications:protocol [2015/10/07 15:36]
Guvalif 		specifications:protocol [2017/01/05 01:43]
Guvalif
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 <markdown> <markdown>
 Protocol Protocol
-========+===============================================================================
  
-Translate 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. 
 +Required baud-rate is **2,000,000**. 
 + 
 + 
 +## Group of Controller Command 
 +### $AN (Apply Native Value) 
 + 
 +|Args     |Roles                     |Min (dec)|Max (dec)|Format                 | 
 +|:--------|:-------------------------|:-------:|:-------:|:----------------------| 
 +|DEVICE_ID|Set a device id.          |0        |23       |0 padding，hex，2 bytes| 
 +|VALUE    |Set to apply native value.|-2048    |2047     |0 padding，hex，3 bytes| 
 + 
 +*example*:   
 +If you want to apply **1000** to device **10**, send command below. 
 + 
 +``` 
 +$an0a3e8 
 +``` 
 + 
 +### $AD (Apply Diff Value) 
 + 
 +|Args     |Roles                   |Min (dec)|Max (dec)|Format                 | 
 +|:--------|:-----------------------|:-------:|:-------:|:----------------------| 
 +|DEVICE_ID|Set a device id.        |0        |23       |0 padding，hex，2 bytes| 
 +|VALUE    |Set to apply diff value.|-2048    |2047     |0 padding，hex，3 bytes| 
 + 
 +*example*:   
 +If you want to apply **home value - 100** to device **4**, send command below. 
 + 
 +``` 
 +$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，2 bytes| 
 + 
 +*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，2 bytes| 
 +|LOOP_COUNT|Set number of play.|0        |255      |0 padding，hex，2 bytes| 
 + 
 +*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 
 +### >MH (Set a Motion Header) 
 + 
 +|Args        |Roles                                     |Min (dec)|Max (dec)|Format                       | 
 +|:-----------|:-----------------------------------------|:-------:|:-------:|:----------------------------| 
 +|SLOT        |Set to write slot.                        |0        |89       |0 padding，hex，2 bytes      | 
 +|NAME        |Set a motion name.                        |---      |---      |White space padding，20 bytes| 
 +|USE_LOOP    |Use loop function or not.                 |0        |1        |True (1) or false (0), 1 byte| 
 +|LOOP_BEGIN  |Set a loop beginning frame.               |0        |255      |0 padding，hex，2 bytes      | 
 +|LOOP_END    |Set a loop ending frame.                  |0        |255      |0 padding，hex，2 bytes      | 
 +|LOOP_COUNT  |Set a loop count. (255 as infinity.)      |0        |255      |0 padding，hex，2 bytes      | 
 +|USE_JUMP    |Use jump function or not.                 |0        |1        |True (1) or false (0), 1 byte| 
 +|JUMP_SLOT   |Jump to the slot after stopped the motion.|0        |255      |0 padding，hex，2 bytes      | 
 +|USE_EXTRA   |Use extra function or not. (WIP)          |0        |1        |True (1) or false (0), 1 byte| 
 +|FRAME_LENGTH|Set a frame length.                       |1        |20       |0 padding，hex，2 bytes      | 
 + 
 +*example*:   
 +Please get more details at ">MF" section. 
 + 
 +### >MF (Set a Motion Frame) 
 + 
 +|Args              |Roles                        |Min (dec)|Max (dec)|Format                 | 
 +|:-----------------|:----------------------------|:-------:|:-------:|:----------------------| 
 +|SLOT              |Set to write slot.           |0        |89       |0 padding，hex，2 bytes| 
 +|FRAME_ID          |Set a frame id.              |1        |20       |0 padding，hex，2 bytes| 
 +|TRANSITION_TIME_MS|Set a transition time (msec).|32       |65535    |0 padding，hex，4 bytes| 
 +|VALUE[DEVICE_ID]  |Set to apply value. (*1)     |-32768   |32767    |0 padding，hex，4 bytes| 
 + 
 +**(*1) Sum of devices is 24 and the all are servo motors in current implementation.** 
 + 
 +*example*   
 +Introduce how to install a motion below. 
 + 
 +|Args              |Values| 
 +|:-----------------|:-----| 
 +|SLOT              |0     | 
 +|NAME              |Test  | 
 +|USE_LOOP          |True  | 
 +|LOOP_BEGIN        |0     | 
 +|LOOP_END          |1     | 
 +|LOOP_COUNT        |3     | 
 +|USE_JUMP          |True  | 
 +|JUMP_SLOT         |50    | 
 +|USE_EXTRA         |False | 
 +|FRAME_LENGTH      |2     | 
 + 
 +|Args              |Values| 
 +|:-----------------|:-----| 
 +|TRANSITION_TIME_MS|100   | 
 +|VALUE[EVEN]       |0     | 
 +|VALUE[ODD]        |-1    | 
 + 
 +Please send command below. (Do not need to insert CR, LF, or CRLF actually.) 
 + 
 +``` 
 +>MH00 
 +Test                 
 +1 
 +00 
 +01 
 +03 
 +1 
 +32 
 +0 
 +02 
 + 
 +>MF 
 +00 
 +00 
 +0064 
 +0000ffff0000ffff0000ffff0000ffff 
 +0000ffff0000ffff0000ffff0000ffff 
 +0000ffff0000ffff0000ffff0000ffff 
 + 
 +>MF 
 +00 
 +01 
 +0064 
 +0000ffff0000ffff0000ffff0000ffff 
 +0000ffff0000ffff0000ffff0000ffff 
 +0000ffff0000ffff0000ffff0000ffff 
 +``` 
 + 
 +If you are interested deeply, please see also 
 +[the implementation on the Control Server](https://github.com/plenprojectcompany/plen-ControlServer/blob/master/control_server/protocol/protocol.py). 
 + 
 +### >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，2 bytes| 
 +|VALUE    |Set to apply home value.|-2048    |2047     |0 padding，hex，3 bytes| 
 + 
 +*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，2 bytes| 
 +|VALUE    |Set to apply max value.|-2048    |2047     |0 padding，hex，3 bytes| 
 + 
 +*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，2 bytes| 
 +|VALUE    |Set to apply min value.|-2048    |2047     |0 padding，hex，3 bytes| 
 + 
 +*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. 
 + 
 +``` 
 +[ 
 +    { 
 +        "@device": <integer>, 
 +        "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，2 bytes| 
 + 
 +*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/plenprojectcompany/PLEN2/tree/master/motions)) 
 +However, property "device"'s type is not **string** but **integer** defined as device id in "[device_map.json](https://github.com/plenprojectcompany/plen-ControlServer/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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