huaileitang / crcl

Canonical Robot Command Language

The "Canonical Robot Command Language" (CRCL) provides generic command and status definitions that implement the functionality of typical industrial robots without being specific either to the language of a plan that is being executed or to the language used by a robot controller that executes CRCL commands. It can be used with offline planners that create output to be stored in CRCL files or online where CRCL is communicated in both directions via TCP. CRCL commands and status could also be exchanged over TCP between an operator interface and a robot controller or proxy for a robot controller.

This repository contains the reference documentation in doc/REFERENCE.md. XML Schema Language files for validation and code generation in schemas subdirectory and example instance files in the instances subdirectory. The tools subdirectory contains language-specific tools for parsing CRCL in C++, Java, and Python.