701 lines
13 KiB
Markdown
701 lines
13 KiB
Markdown
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# 机器人相关模块文档 (Python版本)
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## 机器人相关
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### 校验机器人是否存在
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* 方法说明
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校验机器人是否存在。
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```python
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async def is_robot_exist(robot_name: str) -> bool
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```
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* 输入参数
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`robot_name`: string 类型，机器人名称。
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* 输出参数
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* `True`: 存在。
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* `False`: 不存在。
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* 异常
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本方法不抛出异常。
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### 获取机器人基本信息
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* 方法说明
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获取机器人基本信息。
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```python
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async def get_lite_robots_status() -> str
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```
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* 输入参数
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无。
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* 输出参数
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```json
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[
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{
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"battery_level": 1,
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"confidence": 1,
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"currentGroup": "unnamed",
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"current_map": "newCHACHECPD-15_1",
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"current_map_invalid": false,
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"dI": [],
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"dO": [],
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"disconnect": false,
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"dispatchable": true,
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"dispatchable_status": 0,
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"errors": [],
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"ip": "",
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"low_battery": false,
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"reloc_status": 1,
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"task_status": 0,
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"unconfirmed_reloc": false,
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"unlock": 0,
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"uuid": "sim_01"
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},
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{
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"battery_level": 1,
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"confidence": 1,
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"currentGroup": "RobotGroup-01",
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"current_map": "newCHACHECPD-15_1",
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"current_map_invalid": false,
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"dI": [],
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"dO": [],
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"disconnect": false,
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"dispatchable": true,
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"dispatchable_status": 0,
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"errors": [],
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"ip": "",
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"low_battery": false,
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"orderId": "ab913f4b-9a35-4cdf-a4e5-07928897e0d2",
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"reloc_status": 1,
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"state": "FINISHED",
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"task_status": 4,
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"unconfirmed_reloc": false,
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"unlock": 0,
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"uuid": "sim_02"
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}
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]
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```
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* 异常
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本方法抛出异常。
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### 根据ID获取机器人基本信息
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* 方法说明
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根据ID获取机器人基本信息。
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```python
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async def get_lite_robots_status_by_id(agv_id: str) -> str
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```
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* 输入参数
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`agv_id`: string 类型，机器人ID。
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* 输出参数
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```json
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{
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"battery_level": 1,
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"confidence": 1,
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"currentGroup": "unnamed",
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"current_map": "newCHACHECPD-15_1",
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"current_map_invalid": false,
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"dI": [],
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"dO": [],
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"disconnect": false,
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"dispatchable": true,
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"dispatchable_status": 0,
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"errors": [],
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"ip": "",
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"low_battery": false,
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"reloc_status": 1,
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"task_status": 0,
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"unconfirmed_reloc": false,
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"unlock": 0,
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"uuid": "sim_01"
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}
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```
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* 异常
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本方法会抛出异常。
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### 根据ID获取机器人位置
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* 方法说明
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根据机器人ID获取机器人的位置。
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```python
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async def get_vehicle_station(agv_id: str) -> str
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```
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* 输入参数
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`agv_id`: string 类型，机器人ID。
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* 输出参数
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```json
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{
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"lastStation": "LM32",
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"station": "AP25"
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}
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```
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如果与调度断连返回空对象 `{}`。
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* 异常
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本方法不抛出异常。
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### 获取Core报错信息
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* 方法说明
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获取Core报错信息。
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```python
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async def get_core_alarms() -> str
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```
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* 输入参数
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无。
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* 输出参数
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```json
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{
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"errors": [
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{
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"code": 52106,
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"desc": "(AMB-01: blocked by chengpin-02 in occupy path. blocked by chengpin-02 in block group's edge BlockGroup102)(AMB-02: blocked by AMB-05 in occupy path. blocked by AMB-05 in block group's edge BlockGroup94)(AMB-03: blocked by AMB-05 in block group's lm BlockGroup94)(AMB-05: blocked by AMB-03 in block group's lm BlockGroup105)(chengpin-02: blocked by AMB-01 in occupy path. blocked by AMB-01 in block group's edge BlockGroup102)",
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"times": 5,
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"timestamp": 1681110467
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},
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{
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"code": 52201,
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"desc": "(AMB-01,chengpin-02, in BlockGroup102, whose max number is 1 ), The number of robots in same block group is over max number.",
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"times": 1,
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"timestamp": 1681110452
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}
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],
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"warnings": [
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{
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"code": 54000,
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"desc": "AMB-02,AMB-05,chengpin-03,chengpin-08, unable to reach park point.",
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"times": 1,
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"timestamp": 1681110462
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}
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]
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}
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```
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当与调度断连时，本方法会返回 `None`。
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* 异常
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本方法不会抛出异常。
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async ### 根据ID获取Core报错信息
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* 方法说明
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根据ID获取Core报错信息。
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```python
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async def get_core_alarms_by_id(code: int) -> str
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```
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* 输入参数
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`code`: int类型，错误码。
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* 输出参数
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```json
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{
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"errors": [
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{
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"code": 52201,
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"desc": "(AMB-01,chengpin-02, in BlockGroup102, whose max number is 1 ), The number of robots in same block group is over max number.",
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"times": 1,
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"timestamp": 1681110452
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}
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]
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}
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```
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当与调度断连时，本方法会返回 `None`。
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* 异常
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本方法不会抛出异常。
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### 获取Rbk报错信息
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* 方法说明
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获取Rbk报错信息。
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```python
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async def get_rbk_alarms() -> str
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```
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* 输入参数
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无。
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* 输出参数
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```json
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{
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"errors": [
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{
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"code": 52200,
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"desc": "Blocked by : chengpin-02",
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"times": 1,
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"timestamp": 1681116822857
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},
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{
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"code": 52200,
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"desc": "Blocked by : AMB-01",
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"times": 1,
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"timestamp": 1681116822858
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}
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]
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}
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```
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当与调度断连时，本方法会返回 `None`。
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* 异常
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本方法不会抛出异常。
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### 根据ID获取Rbk报错信息
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* 方法说明
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根据ID获取Rbk报错信息。
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```python
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async def get_rbk_alarms_by_id(code: int) -> str
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```
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* 输入参数
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`code`: int类型，错误码。
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* 输出参数
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```json
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{
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"errors": [
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{
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"code": 52200,
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"desc": "Blocked by : chengpin-02",
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"times": 1,
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"timestamp": 1681117052956
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},
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{
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"code": 52200,
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"desc": "Blocked by : AMB-01",
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"times": 1,
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"timestamp": 1681117052956
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}
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]
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}
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```
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当与调度断连时，本方法会返回 `None`。
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* 异常
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本方法不会抛出异常。
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### 设置机器人软急停
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* 方法说明
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设置机器人软急停。
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```python
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async def set_soft_stop(vehicle_id: str, status: bool) -> bool
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```
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* 输入参数
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`vehicle_id`: string 类型，机器人名称。
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`status`: boolean类型，`True`: 设置机器人软急停，`False`: 取消机器人软急停。
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* 输出参数
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* `True`: 成功。
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* `False`: 失败。
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* 异常
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本方法不抛出异常。
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### 获取机器人所有信息
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* 方法说明
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获取机器人所有信息。
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```python
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async def get_robots_status() -> str
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```
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* 输入参数
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无。
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* 输出参数
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```json
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{
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"dynamic_obstacle": {},
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"errors": [
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{
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"52101": 1634020173,
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"desc": "hu-test-1,hu-test-3, have no charge point in map.",
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"times": 1
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},
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{
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"52103": 1634020173,
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"desc": "hu-test-1,hu-test-3, have no park point in map.",
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"times": 1
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},
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{
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"53200": 1634020174,
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"desc": "[{\"error_msg\":\"old: hu-test-1, now: AMB-01, please change back!\",\"ip\":\"106.14.198.1\"}]",
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"times": 1
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}
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],
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"fatals": [],
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"notices": [],
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"report": [
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{
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"area_resources_occupied": [
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{
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"area_name": "new",
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"avoidObs_area_occupied": {
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"radius": -1,
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"x": 0,
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"y": 0
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},
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"blocks_occupied": [],
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|
|
"path_occupied": [
|
|||
|
|
{
|
|||
|
|
"end_id": "AP1",
|
|||
|
|
"end_percentage": 0.7882161028093827,
|
|||
|
|
"source_id": "AP61",
|
|||
|
|
"start_percentage": 0.7882161028093827
|
|||
|
|
}
|
|||
|
|
]
|
|||
|
|
}
|
|||
|
|
],
|
|||
|
|
"basic_info": {
|
|||
|
|
"current_map": "20200529150233136",
|
|||
|
|
"dsp_version": "simulation",
|
|||
|
|
"ip": "106.14.198.1",
|
|||
|
|
"model": "AMB-150",
|
|||
|
|
"robot_note": "",
|
|||
|
|
"version": "v3.3.4.51"
|
|||
|
|
},
|
|||
|
|
"changes": {
|
|||
|
|
"maps": [
|
|||
|
|
"20200529150233136.smap",
|
|||
|
|
"default.smap",
|
|||
|
|
"wwww(1).smap"
|
|||
|
|
],
|
|||
|
|
"model": true
|
|||
|
|
},
|
|||
|
|
"chassis": {
|
|||
|
|
"goods_region": {
|
|||
|
|
"name": "",
|
|||
|
|
"point": []
|
|||
|
|
},
|
|||
|
|
"head": 0.42,
|
|||
|
|
"radius": 0.0,
|
|||
|
|
"shape": 1,
|
|||
|
|
"tail": 0.38,
|
|||
|
|
"width": 0.56
|
|||
|
|
},
|
|||
|
|
"connection_status": 1,
|
|||
|
|
"current_order": {},
|
|||
|
|
"dispatchable": false,
|
|||
|
|
"is_error": false,
|
|||
|
|
"lock_info": {
|
|||
|
|
"desc": "",
|
|||
|
|
"ip": "58.34.135.130",
|
|||
|
|
"locked": true,
|
|||
|
|
"nick_name": "DESKTOP-27FKEEM(0d50b)",
|
|||
|
|
"port": 54733,
|
|||
|
|
"time_t": "1634023715",
|
|||
|
|
"type": 2
|
|||
|
|
},
|
|||
|
|
"network_delay": 100,
|
|||
|
|
"rbk_report": {
|
|||
|
|
"DI": [],
|
|||
|
|
"DO": [],
|
|||
|
|
"angle": -1.5626,
|
|||
|
|
"battery_level": 1.0,
|
|||
|
|
"blocked": false,
|
|||
|
|
"brake": false,
|
|||
|
|
"charging": false,
|
|||
|
|
"confidence": 0.996,
|
|||
|
|
"current": -1.0,
|
|||
|
|
"current_map": "20200529150233136",
|
|||
|
|
"current_map_md5": "72a91de898406e10b9cedfed51a3a5f9",
|
|||
|
|
"current_station": "LM1",
|
|||
|
|
"emergency": false,
|
|||
|
|
"errors": [],
|
|||
|
|
"fatals": [],
|
|||
|
|
"fork": {
|
|||
|
|
"fork_auto_flag": true,
|
|||
|
|
"fork_height": -0.0,
|
|||
|
|
"fork_height_in_place": false,
|
|||
|
|
"forward_in_place": false,
|
|||
|
|
"forward_val": 0.0
|
|||
|
|
},
|
|||
|
|
"info": {},
|
|||
|
|
"jack": {
|
|||
|
|
"jack_emc": false,
|
|||
|
|
"jack_enable": false,
|
|||
|
|
"jack_error_code": 0,
|
|||
|
|
"jack_height": 0.0,
|
|||
|
|
"jack_isFull": false,
|
|||
|
|
"jack_load_times": 0,
|
|||
|
|
"jack_mode": false,
|
|||
|
|
"jack_speed": 0,
|
|||
|
|
"jack_state": 0
|
|||
|
|
},
|
|||
|
|
"last_station": "CP2",
|
|||
|
|
"lock_info": {
|
|||
|
|
"desc": "",
|
|||
|
|
"ip": "58.34.135.130",
|
|||
|
|
"locked": true,
|
|||
|
|
"nick_name": "DESKTOP-27FKEEM(0d50b)",
|
|||
|
|
"port": 54733,
|
|||
|
|
"time_t": "1634023715",
|
|||
|
|
"type": 2
|
|||
|
|
},
|
|||
|
|
"notices": [],
|
|||
|
|
"odo": 24.771,
|
|||
|
|
"received_on": {
|
|||
|
|
"data_nsec": "1110998989197957",
|
|||
|
|
"frame_id": "",
|
|||
|
|
"pub_nsec": "1110998989197957",
|
|||
|
|
"seq": "0"
|
|||
|
|
},
|
|||
|
|
"reloc_status": 1,
|
|||
|
|
"requestCurrent": -0.0,
|
|||
|
|
"requestVoltage": -0.0,
|
|||
|
|
"roller": {
|
|||
|
|
"roller_emc": false,
|
|||
|
|
"roller_enable": false,
|
|||
|
|
"roller_error_code": 0,
|
|||
|
|
"roller_isFull": false,
|
|||
|
|
"roller_mode": false,
|
|||
|
|
"roller_speed": 0,
|
|||
|
|
"roller_state": 0
|
|||
|
|
},
|
|||
|
|
"soft_emc": false,
|
|||
|
|
"steer": -0.0,
|
|||
|
|
"time": 104303118,
|
|||
|
|
"today_odo": 15.812,
|
|||
|
|
"total_time": 444534615,
|
|||
|
|
"voltage": 1.0,
|
|||
|
|
"vx": -0.0,
|
|||
|
|
"vy": -0.0,
|
|||
|
|
"w": -0.0,
|
|||
|
|
"warnings": [
|
|||
|
|
{
|
|||
|
|
"55001": 1634020734,
|
|||
|
|
"desc": "The robot is in the dispatching state. If you need to control, please regain control and go offline during dispatching.",
|
|||
|
|
"times": 1
|
|||
|
|
}
|
|||
|
|
],
|
|||
|
|
"x": -0.3316,
|
|||
|
|
"y": -1.4711
|
|||
|
|
},
|
|||
|
|
"undispatchable_reason": {
|
|||
|
|
"current_map_invalid": false,
|
|||
|
|
"disconnect": false,
|
|||
|
|
"dispatchable_status": 0,
|
|||
|
|
"low_battery": false,
|
|||
|
|
"unconfirmed_reloc": false,
|
|||
|
|
"unlock": 1
|
|||
|
|
},
|
|||
|
|
"uuid": "hu-test-1",
|
|||
|
|
"vehicle_id": "AMB-01"
|
|||
|
|
}
|
|||
|
|
],
|
|||
|
|
"scene_md5": "b481893504019cd71c03484f4b2419e1",
|
|||
|
|
"warnings": []
|
|||
|
|
}
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
当与调度断连时，本方法会返回 `None`。
|
|||
|
|
|
|||
|
|
* 异常
|
|||
|
|
|
|||
|
|
本方法抛出异常。
|
|||
|
|
|
|||
|
|
### 查询所有机器人充电阈值
|
|||
|
|
|
|||
|
|
* 方法说明
|
|||
|
|
|
|||
|
|
获取所有机器人充电阈值信息。
|
|||
|
|
|
|||
|
|
```python
|
|||
|
|
async def query_charge_param() -> str
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
* 输入参数
|
|||
|
|
|
|||
|
|
无。
|
|||
|
|
|
|||
|
|
* 输出参数
|
|||
|
|
|
|||
|
|
```json
|
|||
|
|
[
|
|||
|
|
{
|
|||
|
|
"vehicle": "AMB-01",
|
|||
|
|
"params": {
|
|||
|
|
"chargeNeed": 40.0,
|
|||
|
|
"chargeOnly": 30.0,
|
|||
|
|
"chargedOK": 50.0,
|
|||
|
|
"chargedFull": 90.0
|
|||
|
|
}
|
|||
|
|
},
|
|||
|
|
{
|
|||
|
|
"vehicle": "AMB-02",
|
|||
|
|
"params": {
|
|||
|
|
"chargeNeed": 50.0,
|
|||
|
|
"chargeOnly": 20.0,
|
|||
|
|
"chargedOK": 60.0,
|
|||
|
|
"chargedFull": 80.0
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
]
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
当与调度断连时，本方法会返回 `None`。
|
|||
|
|
|
|||
|
|
* 异常
|
|||
|
|
|
|||
|
|
本方法不抛出异常。
|
|||
|
|
|
|||
|
|
### 查询机器人充电阈值
|
|||
|
|
|
|||
|
|
* 方法说明
|
|||
|
|
|
|||
|
|
根据机器人名称获取机器人充电阈值信息。
|
|||
|
|
|
|||
|
|
```python
|
|||
|
|
async def query_charge_param_by_vehicles(vehicles: str) -> str
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
* 输入参数
|
|||
|
|
|
|||
|
|
`vehicles`: JSON 格式的字符串(将数组转成字符串格式)，查询指定数量的机器人充电阈值信息。
|
|||
|
|
|
|||
|
|
* 输出参数
|
|||
|
|
|
|||
|
|
```json
|
|||
|
|
[
|
|||
|
|
{
|
|||
|
|
"vehicle": "AMB-01",
|
|||
|
|
"params": {
|
|||
|
|
"chargeNeed": 40.0,
|
|||
|
|
"chargeOnly": 30.0,
|
|||
|
|
"chargedOK": 50.0,
|
|||
|
|
"chargedFull": 90.0
|
|||
|
|
}
|
|||
|
|
},
|
|||
|
|
{
|
|||
|
|
"vehicle": "AMB-02",
|
|||
|
|
"params": {
|
|||
|
|
"chargeNeed": 50.0,
|
|||
|
|
"chargeOnly": 20.0,
|
|||
|
|
"chargedOK": 60.0,
|
|||
|
|
"chargedFull": 80.0
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
]
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
* 异常
|
|||
|
|
|
|||
|
|
本方法不抛出异常。
|
|||
|
|
|
|||
|
|
### 修改机器人充电阈值
|
|||
|
|
|
|||
|
|
* 方法说明
|
|||
|
|
|
|||
|
|
根据机器人名称修改机器人充电阈值信息。
|
|||
|
|
|
|||
|
|
```python
|
|||
|
|
async def modify_charge_param(param: str) -> bool
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
* 输入参数
|
|||
|
|
|
|||
|
|
`param`: JSON 格式的字符串，包含要修改的机器人名称和对应的阈值。
|
|||
|
|
|
|||
|
|
* 输出参数
|
|||
|
|
* `True`: 修改成功。
|
|||
|
|
* `False`: 修改失败。
|
|||
|
|
|
|||
|
|
* 异常
|
|||
|
|
|
|||
|
|
本方法不抛出异常。
|
|||
|
|
|
|||
|
|
* 示例：
|
|||
|
|
|
|||
|
|
```python
|
|||
|
|
def boot():
|
|||
|
|
# 指定要修改的机器人名称，以及对应的阈值
|
|||
|
|
req = {
|
|||
|
|
"vehicles": ["sim_01"],
|
|||
|
|
"params": {
|
|||
|
|
"chargeNeed": 30
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
# 查询修改前的阈值信息
|
|||
|
|
before = jj.query_charge_param_by_vehicles(json.dumps(["sim_01"]))
|
|||
|
|
|
|||
|
|
# 使用 modify_charge_param 修改阈值
|
|||
|
|
data = jj.modify_charge_param(json.dumps(req))
|
|||
|
|
|
|||
|
|
# 查询修改后的阈值信息
|
|||
|
|
after = jj.query_charge_param_by_vehicles(json.dumps(["sim_01"]))
|
|||
|
|
|
|||
|
|
# 打印结果
|
|||
|
|
jj.script_log("info", "Charge", f"query = {before}")
|
|||
|
|
jj.script_log("info", "Charge", f"modify = {data}")
|
|||
|
|
jj.script_log("info", "Charge", f"query = {after}")
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
得到以下打印信息，表示修改 chargeNeed 参数成功：
|
|||
|
|
|
|||
|
|
|