Modules - Standard v0.2

The intention of this standard is to keep internal coherence and compatability with RoboticsLab robot modules who follow this standard. It is intended to be a description of existing and future modules, their interfaces and data flow representation. Port interface is referred to TCP/UDP/MCAST/SHMEM cloud side, not CAN or USB (that can coexist in hardware-related modules). Current dependencies are on YARP 2.2.6 compiled with ACE 5.7.1.0.

Nomenclature: D for double, I for integer, S for string.

Drivers

These modules should recieve joint (q) commands. While any q is in movement, a callback should be a set up to be able to receive Stop or Status Poll command. On the other hand, the module should send a message when a command has been performed (w/ info on degree of accomplishment) or stopped.

Module: drv_name
Ports: name_q

In:
- Stop:               "I:-1" (bottle_q_i)
- Status poll:        "I:0" (bottle_q_i)
- Absolute position:  "I:1 S:tag1 D:Q1pos ... S:tagn D:Qnpos D:Qgenvel" (bottle_q_i)
- Relative position:  "I:2 S:tag1 D:Q1pos ... S:tagn D:Qnpos D:Qgenvel" (bottle_q_i)
- Velocity:           "I:3 S:tag1 D:Q1vel ... S:tagn D:Qnvel" (bottle_q_i)
- Syncronize:         "I:4 I:motor" (bottle_q_i)

Out:
- Status in Repose:   "I:0 D:Q1pos ... D:Qnpos" (bottle_q_o)
- Status in Movement: "I:1 D:Q1pos ... D:Qnpos" (bottle_q_o)

Units: Degrees, ¿¿Degrees per second??, ¿¿N/m??.
Tags: q1, q2, ..., qn.

Hmi

This groups GUIs, voice recognition modules...

Module: hmi_name
Ports: any input and output from other modules

Trajectory

This module should be able to take the description from a file and generate joint solutions for proposed cartesian goal.

Module: trj_name
Port: name_xi_io
 - Data: bottle_xi_io "I:code D:X D:Y D:Z D:ROLL D:PITCH D:YAW D:genvel"
Port: name_q_io
 - Data: bottle_q_o "I:code D:Q1pos ... D:Qnpos D:Qgenvel"
 - Data: bottle_q_o "I:code D:Q1vel ... D:Qnvel"
 - Data: bottle_q_i "I:code D:Q1pos ... D:Qnpos"

Code:
 - 10: Read absolute position, base coordinate
 - 11: Absolute position with wait, base coordinate
 - 12: Relative position with wait, base coordinate
 - 13: Relative position with wait, tool coordinate
 - 14: Absolute position without wait, base coordinate
 - 15: Relative position without wait, base coordinate
 - 16: Relative position without wait, tool coordinate

Planning

Module: pln_name
Ports:

Stabilizers

Module: stb_name
Ports:

Tools

Module: tol_name
Ports:

Vision

The output of this module is a cartesian goal (derived from a distance and orientation).

Module: vis_name
Ports: name_xg_o
 - Data: bottle_xg_o "D:X D:Y D:Z D:ROLL D:PITCH D:YAW"