机器人控制器开发(通讯——机器人通讯协议API定义)

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简介

底盘开放机器人操作的相关API。整套API采用TCP websocket的方式，机器人作为服务器
接受客户端的请求并向客户端作出应答。数据为序列化后的json数据；
截取数据信息并进行反序列化得到相应的JSON对象。

获取机器人状态

请求
命令：getAgvStatus
描述：建议每秒请求1次
JSON数据区：见下表

{"cmd":"getAgvStatus"}

返回

{"cmd": "agvStatus_result","data": {"agvSpeed": {"t": 0.6170379519462585,"x": 0.19427035748958588},"agvStop": 103,"chargestatu": {"actionresult": 0,"againtime": 8,"chargeio": 0,"chargestu": "idle","ele": 0,"failedchargetime": 127,"frontpowerdistane": 0.3,"iotouch": false,"isautoinit": true,"ismanualinit": true,"manualchargeio": 5,"manualtriggerio": 0,"pos": {"mapname": "0715","theta": 3.109114408493042,"x": 2.0219881534576416,"y": -0.6580021381378174},"powerquantity": 50,"state": -1,"talk": "chargeState","touchio": 4,"touchiosteptime": -410101712,"touchiotime": 0},"chargestep": -1,"collisionwarning": false,"currentBv": -10000,"currentFv": -10000,"currentglobalid": 10001,"electriccurrentin": 0,"electriccurrentout": 0.8100000023841858,"emgstop": false,"errcode": 0,"errorcode": [],"goalfinish": 0,"inbuildmap": false,"inmanualcharge": -1,"innavmap": true,"issoftpause": false,"movement": 1,"odomhz": 82.44235144327548,"pos": {"mapname": "0715","theta": -1.2728080749511719,"x": 2.039482593536377,"y": -0.7376319766044617,"z": -1.2728080749511719},"pose_probability": 0.5259189605712891,"power": 49.02000045776367,"powerquantity": 50,"robotid": "TEST1","scanhz": 15.389884984819952,"version": "20241231","wheellock": false},"seq": 0,"talk": "agvStatu","time": "08:00:58"
}

获取建立地图数据

请求
命令：getBuildMap
描述：获取建立地图数据
JSON数据区：见下表

{"cmd":"getBuildMap"}

返回

{"cmd": "getBuildMap_result","data": {"format": "JPG","map": "FFD8FFE000104A46494600010101006400640000FFDB00430001...","mappos": [-32.4,-19.6,0],"name": "A2","resolution": 0.05000000074505806,"statuCode": 2,"time": "16:35:53"}
}

建立地图

1.开始建立地图
请求
命令：buildAMap
描述：开始建立地图
JSON数据区：见下表

{"cmd":"buildAMap"}

2.结束建立地图
请求
命令：endCreateMap
描述：结束建立地图
JSON数据区：见下表

{"cmd":"endCreateMap"}

3.保存建立的地图 注意：先保存成功地图能读取到保存的地图后再结束建立地图
请求
命令：saveBuildMap
描述：保存建立的地图
JSON数据区：见下表

{"cmd": "saveBuildMap","mapName": "333","floor": "1"
}

marker管理

1.获取地图的点位
命令：marker
描述：管理点位标记
JSON数据区：见下表

{"cmd": "marker","command":"getMapAll","data":{"mapName":"xxxx"}
}

2.添加点位
命令：marker
描述：管理点位标记
JSON数据区：见下表

{"cmd": "marker","command":"add","data":{"mapName":"xxxx","name":"name","floor":"1","x":0,"y":0,"t":0,"type":1}
}

3.删除点位按ID
命令：marker
描述：管理点位标记
JSON数据区：见下表

{"cmd": "marker","command":"del","data":{"id":