kktk-KO / mujinvision

Library for Coordinating Vision Application and MUJIN Controller

mujinvision

Library for Coordinating Vision Application and MUJIN Controller

ZeroMQ (REQ) RPC Messages

Everything is in JSON.

Input

{
  "command":"RunMyCommand",
  "param1":1
}

param1 - command specific parameters

Output

When everything is ok, return parameters depending on command:

{
  "retvalue":"something",
  "retvalue2":[],
}

When error happens, response will be filled with an error field:

{
  "error":
  {
    "type":"InvalidArguments",
    "desc":"more thorough description of what happened"
  }
}

• type - comes from the MujinVisionErrorCode enum. Use GetErrorCodeString(MVC_X).
• desc - context specific

Handling Errors

For command implementation in the vision server:

• whenever any inputs is bad, throw an exception with MVE_InvalidArgument
• if vision server is busy doing something else and cannot process command, throw MVE_Busy

Regular Command List

Regular commands controls the detection process:

• Initialize
• StartDetectionLoop
• StopDetectionLoop
• DetectObjects
• SendPointCloudObstacleToController
• VisualizePointCloudOnController
• ClearVisualizationOnController
• UpdateDetectedObjects
• SyncRegion
• SyncCameras
• GetCameraId

Configuration Command List

Configuration commands controls the vision manager itself:

• Cancel
• Quit

ZeroMQ Status Messages

{
  "timestamp":1000,
  "status":"Active",
  "message":"detail status message"
}

• status - the string part of MujinVisionManager::ManagerStatus
• timestamp - linux time in ms