# 机器人相关模块文档 (Python版本) ## 机器人相关 ### 校验机器人是否存在 * 方法说明 校验机器人是否存在。 ```python async def is_robot_exist(robot_name: str) -> bool ``` * 输入参数 `robot_name`: string 类型，机器人名称。 * 输出参数 * `True`: 存在。 * `False`: 不存在。 * 异常 本方法不抛出异常。 ### 获取机器人基本信息 * 方法说明 获取机器人基本信息。 ```python async def get_lite_robots_status() -> str ``` * 输入参数 无。 * 输出参数 ```json [ { "battery_level": 1, "confidence": 1, "currentGroup": "unnamed", "current_map": "newCHACHECPD-15_1", "current_map_invalid": false, "dI": [], "dO": [], "disconnect": false, "dispatchable": true, "dispatchable_status": 0, "errors": [], "ip": "", "low_battery": false, "reloc_status": 1, "task_status": 0, "unconfirmed_reloc": false, "unlock": 0, "uuid": "sim_01" }, { "battery_level": 1, "confidence": 1, "currentGroup": "RobotGroup-01", "current_map": "newCHACHECPD-15_1", "current_map_invalid": false, "dI": [], "dO": [], "disconnect": false, "dispatchable": true, "dispatchable_status": 0, "errors": [], "ip": "", "low_battery": false, "orderId": "ab913f4b-9a35-4cdf-a4e5-07928897e0d2", "reloc_status": 1, "state": "FINISHED", "task_status": 4, "unconfirmed_reloc": false, "unlock": 0, "uuid": "sim_02" } ] ``` * 异常 本方法抛出异常。 ### 根据ID获取机器人基本信息 * 方法说明 根据ID获取机器人基本信息。 ```python async def get_lite_robots_status_by_id(agv_id: str) -> str ``` * 输入参数 `agv_id`: string 类型，机器人ID。 * 输出参数 ```json { "battery_level": 1, "confidence": 1, "currentGroup": "unnamed", "current_map": "newCHACHECPD-15_1", "current_map_invalid": false, "dI": [], "dO": [], "disconnect": false, "dispatchable": true, "dispatchable_status": 0, "errors": [], "ip": "", "low_battery": false, "reloc_status": 1, "task_status": 0, "unconfirmed_reloc": false, "unlock": 0, "uuid": "sim_01" } ``` * 异常 本方法会抛出异常。 ### 根据ID获取机器人位置 * 方法说明 根据机器人ID获取机器人的位置。 ```python async def get_vehicle_station(agv_id: str) -> str ``` * 输入参数 `agv_id`: string 类型，机器人ID。 * 输出参数 ```json { "lastStation": "LM32", "station": "AP25" } ``` 如果与调度断连返回空对象 `{}`。 * 异常 本方法不抛出异常。 ### 获取Core报错信息 * 方法说明 获取Core报错信息。 ```python async def get_core_alarms() -> str ``` * 输入参数 无。 * 输出参数 ```json { "errors": [ { "code": 52106, "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)", "times": 5, "timestamp": 1681110467 }, { "code": 52201, "desc": "(AMB-01,chengpin-02, in BlockGroup102, whose max number is 1 ), The number of robots in same block group is over max number.", "times": 1, "timestamp": 1681110452 } ], "warnings": [ { "code": 54000, "desc": "AMB-02,AMB-05,chengpin-03,chengpin-08, unable to reach park point.", "times": 1, "timestamp": 1681110462 } ] } ``` 当与调度断连时，本方法会返回 `None`。 * 异常 本方法不会抛出异常。 async ### 根据ID获取Core报错信息 * 方法说明 根据ID获取Core报错信息。 ```python async def get_core_alarms_by_id(code: int) -> str ``` * 输入参数 `code`: int类型，错误码。 * 输出参数 ```json { "errors": [ { "code": 52201, "desc": "(AMB-01,chengpin-02, in BlockGroup102, whose max number is 1 ), The number of robots in same block group is over max number.", "times": 1, "timestamp": 1681110452 } ] } ``` 当与调度断连时，本方法会返回 `None`。 * 异常 本方法不会抛出异常。 ### 获取Rbk报错信息 * 方法说明 获取Rbk报错信息。 ```python async def get_rbk_alarms() -> str ``` * 输入参数 无。 * 输出参数 ```json { "errors": [ { "code": 52200, "desc": "Blocked by : chengpin-02", "times": 1, "timestamp": 1681116822857 }, { "code": 52200, "desc": "Blocked by : AMB-01", "times": 1, "timestamp": 1681116822858 } ] } ``` 当与调度断连时，本方法会返回 `None`。 * 异常 本方法不会抛出异常。 ### 根据ID获取Rbk报错信息 * 方法说明 根据ID获取Rbk报错信息。 ```python async def get_rbk_alarms_by_id(code: int) -> str ``` * 输入参数 `code`: int类型，错误码。 * 输出参数 ```json { "errors": [ { "code": 52200, "desc": "Blocked by : chengpin-02", "times": 1, "timestamp": 1681117052956 }, { "code": 52200, "desc": "Blocked by : AMB-01", "times": 1, "timestamp": 1681117052956 } ] } ``` 当与调度断连时，本方法会返回 `None`。 * 异常 本方法不会抛出异常。 ### 设置机器人软急停 * 方法说明 设置机器人软急停。 ```python async def set_soft_stop(vehicle_id: str, status: bool) -> bool ``` * 输入参数 `vehicle_id`: string 类型，机器人名称。 `status`: boolean类型，`True`: 设置机器人软急停，`False`: 取消机器人软急停。 * 输出参数 * `True`: 成功。 * `False`: 失败。 * 异常 本方法不抛出异常。 ### 获取机器人所有信息 * 方法说明 获取机器人所有信息。 ```python async def get_robots_status() -> str ``` * 输入参数 无。 * 输出参数 ```json { "dynamic_obstacle": {}, "errors": [ { "52101": 1634020173, "desc": "hu-test-1,hu-test-3, have no charge point in map.", "times": 1 }, { "52103": 1634020173, "desc": "hu-test-1,hu-test-3, have no park point in map.", "times": 1 }, { "53200": 1634020174, "desc": "[{\"error_msg\":\"old: hu-test-1, now: AMB-01, please change back!\",\"ip\":\"106.14.198.1\"}]", "times": 1 } ], "fatals": [], "notices": [], "report": [ { "area_resources_occupied": [ { "area_name": "new", "avoidObs_area_occupied": { "radius": -1, "x": 0, "y": 0 }, "blocks_occupied": [], "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： ![修改充电阈值](data:image/png;base64...)