SmartRobotinoMasterRPCBridge
From RobotinoWiki
Contents
- 1 REST API
- 1.1 GET methods
- 1.1.1 /localizationMap
- 1.1.2 /navigationMap
- 1.1.3 /map-preview
- 1.1.4 /data/station-types
- 1.1.5 /data/status
- 1.1.6 /data/mclayout
- 1.1.7 /data/mcstatus
- 1.1.8 /data/localizationMode
- 1.1.9 /data/smartnavigationplan
- 1.1.10 /data/smartlocations
- 1.1.11 /data/smartstations
- 1.1.12 /data/smartrobotinfo
- 1.1.13 /data/pathnetwork
- 1.1.14 /data/smartjoblist
- 1.1.15 /data/fleetcomResponse
- 1.1.16 /data/mapDirInfo
- 1.2 PUT methods
- 1.1 GET methods
REST API
SmartRobotinoMasterRPCBridge listens at port 8153 for incoming connections to its REST API.
GET methods
/localizationMap
Returns the current localization map as PNG image with resolution information.
PNG Header | PNG Data | 00 | JSON Data JSON Data: rootObj["datasize"] = mapData.size(); rootObj["width"] = width; rootObj["height"] = height; rootObj["resolution"] = resolution; rootObj["offsetx"] = offsetx; rootObj["offsety"] = offsety;
Returns the current navigation map as PNG image with resolution information. See localizationMap.
/map-preview
Returns a preview image as PNG of map file name.
http://127.0.0.1:8153/map-preview?name:NewMap
/data/station-types
/data/status
/data/mclayout
The example shows e path network with two pathes (path 1 and path 2). Each path contains 3 nodes. id 0,1,2 are the nodes of path 1 and id 3,4,5 the nodes of path 2.
{ "DATA": [ { "id": 0, "path": 1, "pose": 0, "x": -1.77, "y": 2.22 }, { "id": 1, "path": 1, "pose": 0, "x": -0.03, "y": 1.65 }, { "id": 2, "path": 1, "pose": 0, "x": 1.64, "y": 0.2 }, { "id": 3, "path": 2, "pose": 0, "x": -2.39, "y": -1.73 }, { "id": 4, "path": 2, "pose": 0, "x": -1.11, "y": -1.88 }, { "id": 5, "path": 2, "pose": 0, "x": 0.34, "y": -1.65 } ] }
/data/mcstatus
/data/localizationMode
/data/smartlocations
/data/smartstations
/data/smartrobotinfo
/data/pathnetwork
XML representation of the path network. Example shows two pathes each of which contains 3 nodes.
<root> <paths> <path width="1" direction="1" id="1"> <nodes> <node id="1"> <x>-1.77</x> <y>2.22</y> </node> <node id="2"> <x>-0.03</x> <y>1.65</y> </node> <node id="3"> <x>1.64</x> <y>0.2</y> </node> </nodes> </path> <path width="1" direction="1" id="2"> <nodes> <node id="1"> <x>-2.39</x> <y>-1.73</y> </node> <node id="2"> <x>-1.11</x> <y>-1.88</y> </node> <node id="3"> <x>0.34</x> <y>-1.65</y> </node> </nodes> </path> </paths> <areas/> </root>