Difference between revisions of "Rest api"
(→/data/omnidrive) |
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[vx,vy,omega] | [vx,vy,omega] | ||
} | } | ||
| + | |||
vx : x-vel in m/s" | vx : x-vel in m/s" | ||
vy : "y-vel in m/s" | vy : "y-vel in m/s" | ||
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</pre> | </pre> | ||
====Matlab example==== | ====Matlab example==== | ||
| − | <pre>webwrite('http://192.168.1.192/data/omnidrive', | + | <pre>webwrite('http://192.168.1.192/data/omnidrive',[vx vy omega])</pre> |
===/data/digitaloutputarray=== | ===/data/digitaloutputarray=== | ||
Revision as of 15:32, 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. |
|---|
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,vy,omega]
}
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',[vx vy omega])
/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
}
