rflex-protocol.txt

卡耐基.梅隆大学的机器人仿真软件（Redhat linux 9下安装）

Before you begin, understand 

Packet Header:
==============================================================================
PKT_STX     | 2 bytes | 0x1b 0x02
PORT        | 1 byte  | 0x01 - System Module
                        0x02 - Motion 
                        0x03 - Joystick
                        0x04 - Sonar
                        0x05 - Digital I/O (Bump panels)
                        0x06 - IR
PACKET_ID   | 1 byte  | Not used, but packets returned from base
		        have increasing ID's
OPCODE      | 1 byte  | Depends on module and command
DATA_LENGTH | 1 byte  | Length of following data
DATA        | n bytes | Actual data
CHECKSUM    | 1 byte  | xor of all bytes from PORT to end of DATA 
PKT_ETX     | 2 bytes | 0x1b 0x03

Opcodes and Packet Descriptions
==============================================================================

SYS_LCD_DUMP            0
=======================================
Timestamp             | 4 bytes
Row		      | 1 byte
Number of bytes	      | 1 byte
LCD Screen contents   | Variable

SYS_STATUS              1
=======================================
Timestamp	      | 4 bytes
Volts		      | 4 bytes
Brake Status	      | 1 byte


Motion Opcodes
==============================================================================
Motion Axis:
0 - translation
1 - rotation
2 & 3 - not used

MOT_AXIS_GET_SYSTEM      0
=======================================
Axis		      | 1 byte

MOT_AXIS_GET_MODEL       1
=======================================
Axis		      | 1 byte

MOT_AXIS_GET_TARGET      2
=======================================
Axis		      | 1 byte

MOT_AXIS_SET_DIR         7
=======================================
Axis		      | 1 byte
Velocity	      | 4 bytes
Acceleration	      | 4 byte
Torque		      | 4 bytes
Direction	      | 1 byte

MOT_AXIS_SET_POS         8
=======================================
Axis		      | 1 byte
Velocity	      | 4 bytes
Acceleration	      | 4 byte
Torque		      | 4 bytes
Position	      | 4 bytes

MOT_AXIS_GET_MODE        9
=======================================
Axis		      | 1 byte

MOT_SET_DEFAULTS        10
=======================================
No Data Segment

MOT_BRAKE_SET           11
=======================================
No Data Segment

MOT_BRAKE_RELEASE       12
=======================================
No Data Segment

MOT_SYSTEM_REPORT       33
=======================================
rv		      | 4 bytes  | Unknown data
Timestamp	      | 4 bytes  
Axis		      | 1 byte
Position	      | 4 bytes
Velocity	      | 4 bytes
Acceleration	      | 4 byte
Torque		      | 4 bytes

MOT_SYSTEM_REPORT_REQ   34
=======================================
Period		      | 4 bytes  | Time between published system reports
Mask		      | 4 bytes  | Which axes to publish for. 
		                 | Mask |= 1 << axis

Unused Opcodes:
========================================
MOT_AXIS_SET_LIMITS      3
MOT_AXIS_GET_LIMITS      4
MOT_AXIS_SET_POS_LIMITS  5
MOT_AXIS_GET_POS_LIMITS  6
MOT_GET_NAXES           65
MOT_SET_GEARING         66
MOT_GET_GEARING         67
MOT_MOTOR_SET_MODE      68
MOT_MOTOR_GET_MODE      69
MOT_MOTOR_SET_PARMS     70
MOT_MOTOR_GET_PARMS     71
MOT_MOTOR_SET_LIMITS    72
MOT_MOTOR_GET_LIMITS    73
MOT_MOTOR_GET_DATA      74
MOT_AXIS_SET_PARMS      75
MOT_AXIS_GET_PARMS      76
MOT_AXIS_SET_PWM_LIMIT  77
MOT_AXIS_GET_PWM_LIMIT  78
MOT_AXIS_SET_PWM        79
MOT_AXIS_GET_PWM        80

Motion Opcodes
==============================================================================

From client to base:
JSTK_GET_STATE           0
========================================
No Data Segment

From base to client:
JSTK_GET_STATE           0
========================================
Timestamp	      | 4 bytes  
X		      | 4 bytes  
Y		      | 4 bytes  
Buttons		      | 1 byte

Sonar Opcodes
==============================================================================

SONAR_RUN          0
========================================
Echo Delay	      | 4 bytes  | Default is 30000
Ping Delay	      | 4 bytes  | Default is 0
Set Delay	      | 4 bytes  | Default is 0
Mode		      | 1 byte   | 0 off
				   2 on  

SONAR_GET_UPDATE   1
========================================
Timestamp	      | 4 bytes	 

SONAR_REPORT       2
========================================
Retval		      | 4 bytes  | Unknown data
Timestamp	      | 4 bytes	 
Sonar ID	      | 1 byte   | There are a variable number of these, given
Range		      | 2 bytes  | by (DATA_LENGTH - 8)/2

Digital I/O Opcodes
==============================================================================
DIO_REPORTS_REQ  0
========================================
Period		      | 4 bytes	 

From base to client:
DIO_REPORTS_REQ  0
========================================
Retval		      | 4 bytes  | Unknown data
Timestamp	      | 4 bytes	 

DIO_REPORT       1
========================================
Timestamp	      | 4 bytes
Net ID		      | 1 byte
Offset 		      | 1 byte
State		      | 1 byte

From client to base:
DIO_GET_UPDATE   2
========================================
Timestamp	      | 4 bytes	 

From base to client:
DIO_GET_UPDATE   2
========================================
Retval		      | 4 bytes  | Unknown data
Timestamp	      | 4 bytes	 
Count		      | 4 bytes	 | Unknown data

DIO_UPDATE       3
========================================
Timestamp	      | 4 bytes
Net ID		      | 1 byte
Offset 		      | 1 byte
State		      | 1 byte

From client to base:
DIO_SET          4
========================================
Net ID		      | 1 byte
Offset 		      | 1 byte
State		      | 1 byte
Mask		      | 1 byte

From base to client:
DIO_SET          4
========================================
Retval		      | 4 bytes  | Unknown data
Timestamp	      | 4 bytes	 

I/R Opcodes
==============================================================================
There are no used I/R opcodes
IR_RUN          0
IR_REPORT       1