Seeder control software
If you use plug-ins, please refer to the following tcp instructions
Example 1: MSG p1c2
If you click Ready, it means sending p1c20t.
If you click Start, it means sending p1c21t.
EN:
------Hangzhou jushitong Network Technology Co., Ltd. copyright v1.5
Remote control protocol of seeder software scene
1、 Protocol type: TCP / IP network protocol connection
Remote: client (external control device)
Local: server (seeder robot)
Binding port: default (5000) adjustable in the seeder software interface
Note: different robot devices correspond to different ports
2、 Agreement rules
-
Keep your heart beating Function: judge whether the two parties are connected. Content: send the "heart \ R \ n" character back and forth to keep the heartbeat. The robot device sends the character 'heart \ R \ n' by default.
-
Data format: Packet: P < parameter 1 > C < parameter 2 > T < parameter 3 > \ R \ n (ASCII) Description: the data packet starts with 'p', ends with a carriage return character ('\ R') and a line feed character ('\ n'), and takes the characters' p ',' C 'and't' as the parameter intervals. < parameter 1 >: indicates the program number range: 1-32 (ASCII) < parameter 2 >: indicates the range of serial number: 10, 11, 20, 21..... 160161 (ASCII) < parameter 3 >: reservation command, which can be customized according to customer needs. Example 1: p1c10t represents the to start the starting point of the first sequence of program 1. Where the first bit 1 of 10 in C10 represents the sequence number and 0 represents the sequence starting point. Example 2: p1c21t represents to start the trajectory of the second sequence of program 1. Where the first digit 2 of 21 in C21 represents the sequence number and 1 represents the sequence trajectory motion. Example 3: p3c71t represents to start the trajectory of the seventh sequence of the program 3. Special switch command: p1c200t represents stop. P1c201t represents return to zero.
-
Data response If the data packet is correct, reply "good \ R \ n" Good indicates that the data is correct. If the packet is wrong, reply "error \ R \ n" Error indicates format error or data range is out of range. Exercise start: reply t (time) s \ R \ n indicates exercise time. End of movement: Reply "P (program) C (sequence) end \ R \ n" to indicate the end of movement. Example 1: t10.5s indicates that the sequence starts to move, and the estimated time is 10.5s. Example 2: p3c71end indicates the end of the trajectory movement of the seventh sequence of the start program 3. Common error format: Example 1: p1c2 \ R \ n forgetting to write “t” is an error. Example 2: p42c2t \ R \ n the range of parameter 1 is out of range. Example 3: p1sqc2it \ R \ n an error will also be returned if there are other undefined characters in the data.
-
Data interval The packet transmission interval is about 25 milliseconds to 3 seconds. This type of communication does not require a large amount of bandwidth, but requires low latency. By default, the control card judges that the time interval for disconnection is 10 seconds.
-
Confirmation of machine position number The slot number is determined by the port number bound by TCP / IP. Different port numbers correspond to different slots. Each robot device can set a unique port number.
------杭州聚视通网络技术有限公司版权所有V1.5
seeder软件场景远程控制协议
一、协议类型：TCP/IP 网络协议连接 远端：client （外部控制设备） 本地：server （seeder机器人设备） 绑定端口：默认（5000）在seeder软件界面可调
注：不同的机器人设备对应不同的端口 二、协议规则 1、保持心跳
作用：判断双方是否处于连接状态。 内容：往返发送”Heart\r\n”字符保持心跳，机器人设备默认发送字符’Heart\r\n’。
2、数据格式
数据包： p<参数一>c<参数二>t<参数三>\r\n (ASCII)
说明：数据包以'p'开头， 回车符（‘\r’）和换行符（‘\n’）结尾，以字符’p’ 、‘c’、’t’为参数的间隔。
<参数一>：表示节目号 范围：1-32 (ASCII)
<参数二>：表示序列号 范围：10，11 20，21 .....160,161 (ASCII)
<参数三>：预留指令，可根据客户需求定制。
例1：p1c10t 表示启动节目1的第1个序列的起点。其中c10中的10的第一位1表示序列号，0表示序列起点。
例2：p1c21t 表示启动节目1的第2个序列的轨迹。其中c21中的21的第一位2表示序列号，1表示序列轨迹运动。
例3：p3c71t 表示启动节目3的第7个序列的轨迹。
特殊开关指令： p1c200t 代表停止。
P1c201t 代表回零。
3、数据应答
如数据包正确： 回复 “Good\r\n”. Good表示数据正确。
如数据包错误： 回复 “Error\r\n”. Error表示格式错误或数据范围超出。
运 动 开 始： 回复 t（时间）s\r\n表示运动时间。
运 动 结 束： 回复 “p（节目）c（序列）end\r\n”表示运动结束。
例1：t10.5s 表示序列开始运动，预计时间10.5秒。
例2：p3c71end 表示启动节目3的第7个序列的轨迹运动结束。
常见错误格式：
例1：p1c2\r\n 忘记写t属于错误。
例2：P42C2T\r\n 参数一的范围超出。
例3：p1sqc2it\r\n 数据中存在其他未定义字符也会返回错误。
4、数据间隔
数据包发送间隔是大约25毫秒到3秒，这种类型的通信不需要大量的带宽，但需要低延迟。控制卡默认判断掉线时间间隔10秒。
5、机位号确认
机位号由TCP/IP绑定的端口号来决定，不同的端口号对应不同的机位，每台机器人设备都可以设置唯一的端口号。