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specifications:protocol

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specifications:protocol [2017/01/05 01:43]
Guvalif 		specifications:protocol [2021/04/01 13:51]
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-<markdown> 
-Protocol 
-=============================================================================== 
  
-## 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> 
specifications/protocol.txt · Last modified: 2021/04/01 13:51 (external edit)

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