Diagnostic station/Server communication¶

Message format¶

• Human readable
• #: display, don't interpret
• every messages ends with one of \r, \n, \r\n
• empty lines are ignored
• Numbers:
  • Zero-indexed
  • BOM: 0..15
  • Motors: 0/1
  • Rangefinders: 0..4
  • Encoders: 0/1

Messages¶

Server -> Station¶

help¶

• Outputs list of commands
• Use # for output

Starting tests¶

All tests:

• start_test all

All tests for one component:

• start_test rangefinder all
• start_test encoder all
• start_test motor all
• start_test bom all
• start_test bom emitter all
• start_test bom detector all

Tests for one individual component

• start_test rangefinder <num>
• start_test enocoder <num>
• start_test motor <num>
• start_test bom <num>
• start_test bom emitter <num>
• start_test bom detector <num>

Misc¶

• stop
• interactive (or short i): switch to interactive mode

Station -> Server¶

data messages¶

BOM:

• data bom emitter <num> top/<value> left/<value> right/<value>
• data bom detector <num> in/<value> out/<value>

Rangefinders:

• data rangefinder <num> <direction> <wall_distance>/<rangefinder_reading>...
• direction: in/out

Motors:

• data motor <num> <direction> <acceleration> <pwm>/<velocity>...
• num: 1/2
• direction: forward/backward
• acceleration: increasing/decreasing/constant
• velocity: dynamo steps per second

Encoders:

• data encoder <num> <direction> <dynamo_value>/<encoder_value>
• direction: forward/backward

Misc¶

• finished

Example¶

> start_test all
< # Testing rangefinders
< # Testing rangefinder 1
< # Rangefinder 1 test finished
< data rangefinder 1 ...
< # ...
< # Testing rangefinders finished
< # Testing BOM
< # ...
< # All tests finished
> start_test rangefinder 3
> # ...
> data rangefinder 3 ...

Enhancements¶

• robot died
• error conditions
  • warning <message>
  • error <message>
• start_test <component> num, num, num, ...
• finished_test
  • mandatory for all tests where starting_test was sent
  • optional for detailed messages
• starting_test <test specification>
  • rangefinder <num>
  • motors <num>
  • enocder <num>
  • bom <num>
  • starting_test rangefinder 4