Body Monitoring Protocol (TCP)

Software Requirements

• robot_server version V3.0.26 or later;
• Full system package version V4.0.0 or later.

To check the robot_server version, log in to the navigation host (default address 192.168.1.106) and run:

dpkg -l robot_server

Protocol General Rules

This protocol applies to communication between the robot body and a host computer (external board or system).

Protocol Layers

This protocol	Application layer (Layer 7)
TCP/IP or UDP/IP	Transport layer (Layer 4)
	Network layer (Layer 3)
Ethernet	Data link layer (Layer 2)
	Physical layer (Layer 1)

Protocol Port

When using this protocol, the robot body acts as the TCP server and the host computer acts as the TCP client. The TCP server port is 192.168.1.106:30000.

Interaction Mechanism

This protocol primarily uses a request/response mechanism. The host computer can actively send data queries and control commands to the robot body, and the robot body replies via responses.

Application Protocol Data Unit

The protocol APDU (Application Protocol Data Unit) uses a “protocol header + ASDU (Application Service Data Unit)” structure, where each APDU can carry one ASDU.

Protocol Header Structure

The protocol header is fixed at 16 bytes:

No.	Content	Length	Value	Remarks
1	Sync char	1	0xeb	Fixed
2	Sync char	1	0x91	Fixed
3	Sync char	1	0xeb	Fixed
4	Sync char	1	0x90	Fixed
5	Length	2		ASDU byte length, little-endian, low byte first. Max ASDU length: 65535 bytes
6	Message ID	2		Unique identifier per frame, incrementing from 0, wraps at 65535. Little-endian
7	Reserved	8	0x00	Reserved 8 bytes, fill with 0

ASDU Structure

The ASDU data content uses XML format with the following generic fields:

Field	Description
Type	Message type
Command	Message command code
Time	Send time, local timezone, format: YYYY-MM-DD HH:MM:SS
Items	Parameter items carried by the message

ASDU example:

<?xml version="1.0" encoding="UTF-8"?>
<PatrolDevice>
  <Type>1002</Type>
  <Command>1</Command>
  <Time>2023-01-01 00:00:00</Time>
  <Items/>
</PatrolDevice>

ASDU message types:

Type Value	Message Type
1002	Get real-time basic status
1003	Send navigation task
1004	Cancel navigation task
1007	Query navigation task execution status
1101	Smart controller indicator light control
2001	Battery information
2101	Initialize localization
1008	Get motor temperature
0	Request message error feedback

Request Message Error Feedback

When the client sends an incorrect request, the robot returns a response with Type=0:

<?xml version="1.0" encoding="UTF-8"?>
<PatrolDevice>
  <Type>0</Type>
  <Command>0</Command>
  <Time>0000-00-00 00:00:00</Time>
  <Items>
    <ErrorCode>0</ErrorCode>
  </Items>
</PatrolDevice>

Parameter	Description	Value Description
ErrorCode	Request format error type	Protocol header missing=1, Protocol header error=2, Data length abnormal=3, Data format parsing completed=4