Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- trigger:rps [2021/02/09 15:29] – angelegt oliver
+++ trigger:rps [2021/03/25 16:37] (aktuell) – oliver
@@ Zeile 1: / Zeile 1: @@
-===== RPS Trigger integration =====
+===== Artiminds RPS WebSocket Trigger integration =====
-This is an incomplete implementation only which only loads and start the robot program via RPS. The next-cylce mechanim must be handled otherwise, e.g. by the ROS-Trigger implementation.
+This implementation implements only loading and starting the robot program via Artiminds RPS HttpSocket interface. The next-cylce mechanim must be handled otherwise, e.g. by the ROS-Trigger implementation.
 ^ Property name 	^ Description ^ Optional |
-^ robot_cmd_program_name | Path to the RPS program to load and start.  | No |
+^ robot_cmd_program_name | Absolute path to the Artiminds RPS program to load and start it. Maybe a relative path relative to the executable of the RPS itself is possible. | No |
 ^ loading_robot_program_timeout | Timeout in seconds waiting for a response after invocation of loading a robot program. Default value is 10s | Yes |
 ^ starting_robot_program_timeout | Timeout in seconds waiting for a response after invocation of starting a robot program. Default value is 10s | Yes |
+<code xml>
+...
+<TrialType name="kirkdefault" duration="2"
+              labelset="Input.xml" measurementSystemConfigIds="default">
+  <PropertyGroup name="RPSTrigger">
+        <Property name="robot_cmd_program_name"
+                  value="C:/Olive/Users/RPS-Programme/artm/CSVStateList.artm"/>
+  </PropertyGroup>
+  <!-- Handling of the next cycle mechanism via the ROS trigger implementation -->
+  <PropertyGroup name="ROSTrigger">
+              <Property name="robot_cmd_node_name" value="robot_command_server"/>
+              <Property name="robot_cmd_service_name" value="robotCommand"/>
+              <Property name="nextcycle_cmd_node_name" value="robot_nextcycle"/>
+              <Property name="nextcycle_cmd_service_name" value="nextCycle"/>
+              <Property name="nextcycle_cmd_service_timeout" value="120"/>
+  </PropertyGroup>
+  ...
+</code>
+The needed uri configuration to connect the RPS is read from the RPS Measurement System configuration.