Difference between revisions of "Rest api"
From RobotinoWiki
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Data of all analog inputs. | Data of all analog inputs. | ||
<pre> | <pre> | ||
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[val0,val1,val2,...,val7] | [val0,val1,val2,...,val7] | ||
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</pre> | </pre> | ||
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Data of all digital inputs. | Data of all digital inputs. | ||
<pre> | <pre> | ||
| − | |||
[val0,val1,val2,...,val7] | [val0,val1,val2,...,val7] | ||
| − | |||
</pre> | </pre> | ||
values being true or false | values being true or false | ||
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Status of all digital outputs. | Status of all digital outputs. | ||
<pre> | <pre> | ||
| − | |||
[val0,val1,val2,...,val7] | [val0,val1,val2,...,val7] | ||
| − | |||
</pre> | </pre> | ||
values being true or false | values being true or false | ||
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Status of all relays. | Status of all relays. | ||
<pre> | <pre> | ||
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[val0,val1] | [val0,val1] | ||
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</pre> | </pre> | ||
values being true or false | values being true or false | ||
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Status of Robotinos bumper | Status of Robotinos bumper | ||
<pre> | <pre> | ||
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"value" : value | "value" : value | ||
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</pre> | </pre> | ||
value being true or false. | value being true or false. | ||
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Readings from Robotinos distance sensors | Readings from Robotinos distance sensors | ||
<pre> | <pre> | ||
| − | |||
[val1,val2,...,val9] | [val1,val2,...,val9] | ||
| − | |||
</pre> | </pre> | ||
===/data/scan0=== | ===/data/scan0=== | ||
| − | Data of the first Laser | + | Data of the first Laser rangefinder. |
<pre> | <pre> | ||
{ | { | ||
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Robotino's odometry. | Robotino's odometry. | ||
<pre> | <pre> | ||
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[x,y,rot,vx,vy,omega,seq] | [x,y,rot,vx,vy,omega,seq] | ||
| − | |||
x : x position in m | x : x position in m | ||
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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. | 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. | ||
<pre> | <pre> | ||
| − | |||
[vx,vy,omega] | [vx,vy,omega] | ||
| − | |||
vx : x-vel in m/s" | vx : x-vel in m/s" | ||
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===/data/digitaloutputarray=== | ===/data/digitaloutputarray=== | ||
<pre> | <pre> | ||
| − | |||
[val0,val1,....val7] | [val0,val1,....val7] | ||
| − | |||
</pre> | </pre> | ||
value being true or false | value being true or false | ||
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===/data/relayarray=== | ===/data/relayarray=== | ||
<pre> | <pre> | ||
| − | |||
[val0,val1] | [val0,val1] | ||
| − | |||
</pre> | </pre> | ||
val0,val1 being false or true | val0,val1 being false or true | ||
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Upload Robotino View program to /home/robotino/programs. | Upload Robotino View program to /home/robotino/programs. | ||
<pre> | <pre> | ||
| − | |||
"name" : "filename with extension", | "name" : "filename with extension", | ||
"size" : size of raw (unencoded) binary data, | "size" : size of raw (unencoded) binary data, | ||
"data" : file data base64 encoded | "data" : file data base64 encoded | ||
| − | |||
</pre> | </pre> | ||
'''Response''' | '''Response''' | ||
<pre> | <pre> | ||
| − | |||
"message" : "message what happend on the server", | "message" : "message what happend on the server", | ||
"success" : boolean showing if operation was successfull | "success" : boolean showing if operation was successfull | ||
| − | |||
</pre> | </pre> | ||
Revision as of 21:49, 26 October 2019
Contents
- 1 Introduction
- 2 GET
- 2.1 /cam0
- 2.2 /sensorimage
- 2.3 /data/festoolcharger
- 2.4 /data/powermanagement
- 2.5 /data/charger0
- 2.6 /data/charger1
- 2.7 /data/controllerinfo
- 2.8 /data/services
- 2.9 /data/servicestatus/xxx
- 2.10 /data/analoginputarray
- 2.11 /data/digitalinputarray
- 2.12 /data/digitaloutputstatus
- 2.13 /data/relaystatus
- 2.14 /data/bumper
- 2.15 /data/distancesensorarray
- 2.16 /data/scan0
- 2.17 /data/odometry
- 3 PUT or POST
Introduction
|
With the latest robotino-daemons package Robotino's web-interface is based on a Restful server listening at port 80 on Robotino. The server not only makes data available to Robotino's web interface but can also be used to access Robotino's sensors and actors. |
GET
/cam0
Get camera image from cam0. The response is image/jpeg.
Matlab example
img=webread('http://192.168.0.1/cam0')
imshow(img)
/sensorimage
Get image showing distance sensors and bumper. The response is image/png.
Matlab example
img=webread('http://192.168.0.1/sensorimage')
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/digitaloutputstatus
Status of all digital outputs.
[val0,val1,val2,...,val7]
values being true or false
/data/relaystatus
Status of all relays.
[val0,val1]
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 rangefinder.
{
"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" : []
}
/data/odometry
Robotino's odometry.
[x,y,rot,vx,vy,omega,seq] x : x position in m y : y position in m rot : rotation in rad vx : x vel in m/s vy : y vel in m/s omega : rot vel in rad/s seq : sequence number
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
