701 lines
13 KiB
Markdown
701 lines
13 KiB
Markdown
# 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": [
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{
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"end_id": "AP1",
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"end_percentage": 0.7882161028093827,
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"source_id": "AP61",
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"start_percentage": 0.7882161028093827
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}
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]
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}
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],
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"basic_info": {
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"current_map": "20200529150233136",
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"dsp_version": "simulation",
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"ip": "106.14.198.1",
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"model": "AMB-150",
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"robot_note": "",
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"version": "v3.3.4.51"
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},
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"changes": {
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"maps": [
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"20200529150233136.smap",
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"default.smap",
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"wwww(1).smap"
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],
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"model": true
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},
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"chassis": {
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"goods_region": {
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"name": "",
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"point": []
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},
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"head": 0.42,
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"radius": 0.0,
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"shape": 1,
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"tail": 0.38,
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"width": 0.56
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},
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"connection_status": 1,
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"current_order": {},
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"dispatchable": false,
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"is_error": false,
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"lock_info": {
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"desc": "",
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"ip": "58.34.135.130",
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"locked": true,
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"nick_name": "DESKTOP-27FKEEM(0d50b)",
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"port": 54733,
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"time_t": "1634023715",
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"type": 2
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},
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"network_delay": 100,
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"rbk_report": {
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"DI": [],
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"DO": [],
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"angle": -1.5626,
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"battery_level": 1.0,
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"blocked": false,
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"brake": false,
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"charging": false,
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"confidence": 0.996,
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"current": -1.0,
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"current_map": "20200529150233136",
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"current_map_md5": "72a91de898406e10b9cedfed51a3a5f9",
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"current_station": "LM1",
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"emergency": false,
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"errors": [],
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"fatals": [],
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"fork": {
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"fork_auto_flag": true,
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"fork_height": -0.0,
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"fork_height_in_place": false,
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"forward_in_place": false,
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"forward_val": 0.0
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},
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"info": {},
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"jack": {
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"jack_emc": false,
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"jack_enable": false,
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"jack_error_code": 0,
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"jack_height": 0.0,
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"jack_isFull": false,
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"jack_load_times": 0,
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"jack_mode": false,
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"jack_speed": 0,
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"jack_state": 0
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},
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"last_station": "CP2",
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"lock_info": {
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"desc": "",
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"ip": "58.34.135.130",
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"locked": true,
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"nick_name": "DESKTOP-27FKEEM(0d50b)",
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"port": 54733,
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"time_t": "1634023715",
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"type": 2
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},
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"notices": [],
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"odo": 24.771,
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"received_on": {
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"data_nsec": "1110998989197957",
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"frame_id": "",
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"pub_nsec": "1110998989197957",
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"seq": "0"
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},
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"reloc_status": 1,
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"requestCurrent": -0.0,
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"requestVoltage": -0.0,
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"roller": {
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"roller_emc": false,
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"roller_enable": false,
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"roller_error_code": 0,
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"roller_isFull": false,
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"roller_mode": false,
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"roller_speed": 0,
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"roller_state": 0
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},
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"soft_emc": false,
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"steer": -0.0,
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"time": 104303118,
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"today_odo": 15.812,
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"total_time": 444534615,
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"voltage": 1.0,
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"vx": -0.0,
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"vy": -0.0,
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"w": -0.0,
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"warnings": [
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{
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"55001": 1634020734,
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"desc": "The robot is in the dispatching state. If you need to control, please regain control and go offline during dispatching.",
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"times": 1
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}
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],
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"x": -0.3316,
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"y": -1.4711
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},
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"undispatchable_reason": {
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"current_map_invalid": false,
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"disconnect": false,
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"dispatchable_status": 0,
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"low_battery": false,
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"unconfirmed_reloc": false,
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"unlock": 1
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},
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"uuid": "hu-test-1",
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"vehicle_id": "AMB-01"
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}
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],
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"scene_md5": "b481893504019cd71c03484f4b2419e1",
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"warnings": []
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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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本方法抛出异常。
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### 查询所有机器人充电阈值
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* 方法说明
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获取所有机器人充电阈值信息。
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```python
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async def query_charge_param() -> 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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"vehicle": "AMB-01",
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"params": {
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"chargeNeed": 40.0,
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"chargeOnly": 30.0,
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"chargedOK": 50.0,
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"chargedFull": 90.0
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}
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},
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{
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"vehicle": "AMB-02",
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"params": {
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"chargeNeed": 50.0,
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"chargeOnly": 20.0,
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"chargedOK": 60.0,
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"chargedFull": 80.0
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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`。
|
||
|
||
* 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：
|
||
|
||
 |