Difference between revisions of "Rest api"
(→/data/omnidrive) |
(→/data/bumper) |
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</pre> | </pre> | ||
value being true or false. | value being true or false. | ||
+ | |||
+ | ===/data/distancesensorarray=== | ||
+ | Readings from Robotinos distance sensors | ||
+ | <pre> | ||
+ | { | ||
+ | [val1,val2,...,val9] | ||
+ | } | ||
+ | </pre> | ||
===/data/scan0=== | ===/data/scan0=== |
Revision as of 11:52, 14 March 2019
Contents
- 1 Installation
- 2 GET
- 3 PUT or POST
Installation
REST-API is already running at http://RobotinoIP. |
Package linksThe restapid is part of robotino-daemons package. |
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GET
/cam0
Get camera image from cam0. The response is image/jpeg.
Matlab example
img=webread('http://192.168.0.1/cam0') imshow(img)
/data/festoolcharger
Get data from Festool Li-Ion batteries.
/data/powermanagement
Get information about voltage and system current.
/data/charger0
Data for build in charger 0
/data/charger1
Data for build in charger 1
/data/controllerinfo
HW and SW version.
/data/services
Data of Robotino specific services.
/data/servicestatus/xxx
Status of service xxx.
/data/analoginputarray
Data of all analog inputs.
{ [val0,val1,val2,...,val7] }
/data/digitalinputarray
Data of all digital inputs.
{ [val0,val1,val2,...,val7] }
values being true or false
/data/bumper
Status of Robotinos bumper
{ "value" : value }
value being true or false.
/data/distancesensorarray
Readings from Robotinos distance sensors
{ [val1,val2,...,val9] }
/data/scan0
Data of the first Laser ranefinder.
{ "seq" : sequence number, "stamp" : time stamp, "angle_min" : minimum angle, "angle_max" : maximum angle, "angle_increment" : angle increment, "time_increment" : time increment, "scan_time" : scan time, "range_min" : minimum range, "range_max" : maximum range, "ranges" : [], "intensities" : [] }
PUT or POST
/data/omnidrive
Set forwward and rotational velocity. You have to send data periodically at least every 200ms. If no data is received for more than 200ms Robotino will stop.
{ "vx": "x-vel in m/s", "vy" : "y-vel in m/s", "omega" : "rot-vel in rad/s" }
Matlab example
webwrite('http://192.168.1.192/data/omnidrive',jsonencode(struct('vx',0.1,'vy',0,'omega',0)))
/data/digitaloutputarray
{ [val0,val1,....val7] }
value being true or false
/data/relayarray
{ [val0,val1] }
val0,val1 being false or true
/data/uploadProgram
Upload Robotino View program to /home/robotino/programs.
{ "name" : "filename with extension", "size" : size of raw (unencoded) binary data, "data" : file data base64 encoded }
Response
{ "message" : "message what happend on the server", "success" : boolean showing if operation was successfull }