Robokit 功能文档

帮助中心入门指南

机构脚本接口字典

一、SimModule 模块接口

1.1 SimModule 模块接口速览表

	接口	描述	参数	返回数据类型
控制类接口	setDO	控制DO开关	id:int, status:bool	bool
	setMotorSpeed	控制电机以某个速度运转	name:str, vel:float, stopDI:int	bool
	setMotorPosition	控制电机运转到指定位置	motor_name:str, pos:float, maxVel:float, stopDI:int	bool
	publishSpeed	将电机控制方案，进行速度规划后下发	无	bool
	resetMotor	将电机重置为不启用状态	motor_name:str	bool
	setPathOnWorld	控制agv在世界坐标系下以特定线路行走	x:list, y:list, angle:float	无
	setPathOnRobot	控制agv在AGV坐标系下以特定线路行走	x:list, y:list, angle:float	无
	setPathReachDist	设置路径导航的到点精度	a:float	无
	setPathReachAngle	设置路径导航的到点角度精度	a:float	无
	setPathBackMode	设置路径导航是否倒走	a:bool	无
	setPathUseOdo	设置路径导航是否启用里程定位	a:bool	无
	setPathMaxSpeed	设置路径导航的最大速度	a:float	无
	setPathMaxRot	设置路径导航的最大角速度	a:float	无
	setSound	播放音频文件	name:str, flag:bool	无
	stopSound	停止播放音频文件	flag:bool	无
	switchMap	切换地图	map:str, switchPoint:str	int
	goPath	控制AGV移动	无	无
	resetPath	控制agv沿着规划的线路行驶	无	无
	stopRobot	控制agv停下来	flag:bool	无
	setNextSpeed	设置准备下发的速度	nav:str	bool
	speedDecomposition	将导航速度分解，目前只有单舵轮和双舵轮有效	nav:str	str
	addMoveTask	增加任务，对应3051	msg:str	无
	addMoveTaskList	增加任务队列，对应3066	msg:str	无
	resetTriggleScript	重置Triggle信息	无	无
	resetRecAndGoPathDi	重置识别行走的动作	无	无
	recAndGoPathDi	识别并且会行走	task:str	int
	openSpeed	控制小车行走速度	vx:float, vy: float, vw:float	无
	resetGoMapPath	行走的动作	无	无
	goMapPath	按地图路线行走	task:str	int
	armBinTask	调用机械臂动作	task_id: int, cmd: str	无
	armStop	停止机械臂动作	无	无
	armPause	暂停机械臂动作	无	无
	armResume	恢复机械臂动作	无	无
	scannerCode	机械臂识别二维码	task_id: int	无
	stopMotor	停止所有非行走电机	无	无
识别和状态类接口	doRec	进行识别	filename:str	无
	resetRec	重置识别模块	无	无
	getRecResult	获取识别结果	无	dict
	doRecWithAngle	进行识别,包含识别机构在agv坐标系下的角度	filename:str, a:float	无
	getRecStatus	获取识别状态: 0 初始化，1 识别中，2 获得结果, 3 识别出错, -1 未知错误	无	int
	setLocalShelfArea	加载顶升上的货物模型	object_model_path:str	bool
	resetLocalShelfArea	取消顶升上的货架模型	无	bool
	setGoodsShape	设置货物形状，并且告诉rbk车上装载有货物了	head:float, tail:float, width:float	无
	hasGoods	获取身上是否有货物的状态	无	bool
	clearGoodsShape	去除agv身上的状态	无	bool
	getForkPressure	货叉测得重量	无	float
	getForkPressureADC	货叉压力传感器adc值	无	float
	getRecFileFromTask	通过任务获取识别文件	无	str
	setContainer	设置车子上库位或者背篓货物	container_name:str, goods_id:str, desc:str	bool
	getContainers	获取当前车子上库位或者背篓货物的状态	无	list
	clearContainer	清除车上特定库位或者背篓的状态	container_name:str	bool
	clearContainerByGoodsId	根据goodsId清除车上特定库位或者背篓的状态	goods_id:str	bool
	laserCollision	检测激光点是否和自身碰撞	ids: list	bool
	RecognizeBarCode 3.3.5.78	获取一维码信息	name (str): 其中输入为识别文件的目录，如: tag/t0001.tag	str: 为识别到的条形码的编码符号。如未识别到，返回值为空
	forkGoods	货叉上加载或卸载货物模型及货物检测DI	load: bool, recfile: str	int
数据查询类接口	isMotorReached	查询电机是否运转到位	motor_name:str	bool
	isAllMotorsReached	查询所有电机是否运转到位	无	bool
	isMotorPositionReached	查询电机是否到达特定位置	motor_name:str, pos:float, stopDI:int	bool
	isMotorStop	查询电机是否处于停止状态	motor_name:str	bool
	isPathReached	查询agv是否完成线路	无	bool
	getMsg	获取消息名称	type_name:str	dict
	getCount	获取当前任务循环的次数	无	int
	odo	获得里程数据	无	dict
	loc	获取AGV定位数据	无	dict
	navSpeed	获取当前速度数据	无	dict
	getNextSpeed	获取当前NavSpeed的速度	无	dict
	battery	获取电池数据	无	dict
	rfid	获得rfid数据	无	dict
	magnetic	获得磁条数据	无	dict
	Di	获取机器人DI数据	无	dict
	Do	获取机器人DO数据	无	dict
	pgv	获得pgv数据	无	dict
	sound	获得音频数据	无	dict
	controller	获取AGV控制器数据	无	dict
	fork	获取AGV货叉数据	无	dict
	jack	获取AGV顶升数据	无	dict
	moveTask	获取AGV任务数据	无	dict
	getArmInfo	获取机械臂信息	无	dict
	getDistanceSensor	获取距离节点信息	无	list
	sensorPointCloud	获得后视激光点云信息	无	dict
	getTriggleScriptName	获取TriggleScript的名称	无	str
	getTriggleScriptArgs	获取TriggleScript的参数	无	str
	hasTriggleScript	监测是否有TriggleScript触发	无	bool
	robokitVersion	获取 robokit 版本号, from: 3.3.5.11	无	str
	initForkCollisionCheck	初始化货叉移动时的碰撞检测，读取模型文件fork设备BackLaser相应的参数	无	无
	forkCollisionCheck	货叉移动时后视激光碰撞检测	ss:str	bool
	getLM3.3.5.78	获取点位坐标	name (str): 站点或者库位名称 flag (bool): True 返回的坐标是地图坐标系， False返回的坐标是机器人坐标系	tuple: 0-> x (m); 1->y (m); 2->theta (rad); 3-> id (-1 表示不存在)
	getMinDynamicObs	获取离小车最近的动态障碍物坐标	无	list
脚本调试类接口	logInfo	输出数据到log文件中，等级为Info	ss:str	无
	logWarn	输出数据到log文件中，等级为Warning	ss:str	无
	logError	输出数据到log文件中，等级为Error	ss:str	无
	logDebug	输出数据到log文件中，等级为Debug	ss:str	无
	setInfo	输出脚本调试信息	ss:str	无
	setNotice	输出报警码为57300的Notice	ss:str	无
	setWarning	输出报警码为55300的Warning	ss:str	无
	setUserWarning	输出自定义报警码(55900~55999)的Warning	ss:str	无
	setError	输出报警码为53000的Error	ss:str	无
	setUserError	输出自定义报警码(53900~53999)的Error	code:int, ss:str	无
	setPickRobotError	多料箱车专用报错码（53800~53899）	code:int, ss:str	无
	clearError	清除特定编号的Error	code:int	无
	clearWarning	清除特定编号的Warning	code:int	无
	clearNotice3.3.5.78	清除特定编号的Notice	code:int	无
	warningExits	查询特定编号的Warning是否存在	code:int	bool
	errorExits	查询特定编号的Error是否存在	code:int	bool
	errorExists3.3.5.78	查询特定编号的Error是否存在	code:int	bool
	warningExists3.3.5.78	查询特定编号的Error是否存在	code:int	bool
	noticeExists3.3.5.78	查询特定编号的Error是否存在	code:int	bool
	setBlockError	设置阻挡52200错误	无	无
	clearBlockError	清除阻挡52200错误	无	无
	setBlockReason	设置阻挡原因，collision_type (int): 阻挡原因见rbk.py脚本中的CollisionType类，x (float): 障碍物位置，y (float): 障碍物位置，id (float): 障碍物id	collision_type: int, x: float, y: float, id: int	无
	getRobotFile	获取模型文件的原始数据	无	dict
	getRecFile	获取识别文件的原始数据	name:str	dict

二、数据查询字段解析

2.1 获取当前任务循环的次数

接口	描述	参数	返回数据类型
getCount	获取当前任务循环的次数	无	int

方法调用示例：

python

msg = r.getCount()
print(msg)

1
2

接口返回数据示例：

python

Output: 15

2.2 获取电池数据

接口	描述	参数	返回数据类型
battery	获取电池数据	无	dict

方法调用示例：

python

battery_data = r.battery()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "charge_current": -1,
        "charge_voltage": 1，
        "cycle": 0,
        "is_charging": false
        "max_charge_current": 0,
        "max_charge_voltage": 0,
        "percetage": 1,
        "temperature": 0,
        "user_data": ""
    }

1
2
3
4
5
6
7
8
9
10
11
12

返回字段解释：

字段	数据类型	示例值	描述
charge_current	int	-1	当前充电状态
charge_voltage	int	1
cycle	int	0
is_charging	bool	false	是否正在充电中
max_charge_current	int	0
max_charge_voltage	int	0
percetage	int	1
temperature	int	0	电池温度
user_data	string	""

2.3 获取里程数据

接口	描述	参数	返回数据类型
odo	获得里程数据	无	dict

方法调用示例：

python

msg = r.odo()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "angle": -4.5602541, 
        "cycle": 4651341, 
        "detect_skid": false, 
        "follow_err": false, 
        "header": {
            "data_nsec": "415223169185955", 
            "frame_id": "/odo", 
            "pub_nsec": "415223169186125", 
            "seq": "0"
        }, 
        "is_stop": true, 
        "motor_info": [
            {
                "calib": false, 
                "can_id": 2, 
                "can_router": 1, 
                "current": 1, 
                "emc": false, 
                "encoder": 0, 
                "err": false, 
                "error_code": 0, 
                "follow_err": false, 
                "motor_name": "motor_Right", 
                "passive": false, 
                "position": 0, 
                "raw_position": 0, 
                "speed": 0, 
                "stop": false, 
                "temperature": 1, 
                "type": 0, 
                "voltage": 0
            }, 
            {
                "calib": false, 
                "can_id": 1, 
                "can_router": 1, 
                "current": 1, 
                "emc": false, 
                "encoder": 0, 
                "err": false, 
                "error_code": 0, 
                "follow_err": false, 
                "motor_name": "motor_Left", 
                "passive": false, 
                "position": 0, 
                "raw_position": 0, 
                "speed": 0, 
                "stop": false, 
                "temperature": 1, 
                "type": 0, 
                "voltage": 0
            }
        ], 
        "vel_rotate": 0, 
        "vel_x": 0, 
        "vel_y": 0, 
        "x": 26.302389137252263, 
        "y": -16.080223023014746
    }

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61

返回字段解释：

字段	数据类型	示例值	描述
angle	int	-4.5602541	小车当前角度
cycle	int	4651341
detect_skid	bool	false	小车是否打滑
follow_err	bool	false
is_stop	bool	true	小车是否静止
vel_rotate	int	0
vel_x	int	0
vel_y	int	0
x	int	26.302389137252263	世界坐标系下 x 轴坐标
y	int	-16.080223023014746	世界坐标系下 y 轴坐标

header 字段解释：

字段	数据类型	示例值	描述
data_nsec	string	"415223169185955"
frame_id	string	/odo	执行的函数名称
pub_nsec	string	"415223169186125"
seq	string	"0"

motor_info 字段解释：

字段	数据类型	示例值	描述
calib	bool	false
can_id	int	1	can 的 id
can_router	int	1	can 的路由
current	int	1
emc	bool	false	是否急停
encoder	int	0
err	bool	false
error_code	int	0
follow_err	bool	false
motor_name	string	"motor_Left"	电机名称
passive	bool	false
position	int	0
raw_position	int	0
speed	int	0
stop	bool	false
temperature	int	1	电机温度
type	int	0
voltage	int	0

2.4 获取定位数据

接口	描述	参数	返回数据类型
loc	获取AGV定位数据	无	dict

方法调用示例：

python

msg = r.loc()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "angle": -3.01641845703125, 
        "confidence": 0.2693849443659164, 
        "correction_errs": [0.004627956391526823, -0.012603017829776946, 0.035735549737506714], 
        "header": {
            "data_nsec": "417519229609708", 
            "frame_id": "", 
            "pub_nsec": "0", 
            "seq": "0"
        }, 
        "in_forbidden_area": false, 
        "loc_method": 0, 
        "loc_state": 0, 
        "reliabilities": [0, 0, 0, 0], 
        "similarity": 0, 
        "update_reason": 0, 
        "x": 14.005484914171664, 
        "y": -5.584118684568884
    }

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20

返回字段解释：

字段	数据类型	示例值	描述
angle	int	-3.01641845703125	小车当前角度
confidence	int	0.2693849443659164	小车当前的置信度
correction_errs	list	0.004627956391526823,0.035735549737506714
in_forbidden_area	bool	false
loc_method	int	0
loc_state	int	0
reliabilities	list	0, 0, 0, 0
similarity	int	0
update_reason	int	0
x	int	14.005484914171664	世界坐标系下 x 轴坐标
y	int	-5.584118684568884	世界坐标系下 y 轴坐标

2.5 获取当前速度数据

接口	描述	参数	返回数据类型
navSpeed	获取当前速度数据	无	dict

方法调用示例：

python

msg = r.navSpeed()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "header": {
            "data_nsec": "418162132735146", 
            "frame_id": "", 
            "pub_nsec": "418162132735146", 
            "seq": "0"
        }, 
        "is2move": true, 
        "motor_cmd": [
            {
                "can_id": 0, 
                "can_router": 0, 
                "io_cmd": 3, 
                "motor_name": "motor_Left", 
                "type": 0, "value": 0
            }, 
            {
                "can_id": 0, 
                "can_router": 0, 
                "io_cmd": 3, 
                "motor_name": "motor_Right", 
                "type": 0, 
                "value": 0
            }
        ], 
        "rotate": 0, 
        "x": 0, 
        "y": 0
    }}

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30

返回字段解释：

字段	数据类型	示例值
is2move	bool	true
rotate	int	0
x	int	0
y	int	0

motor_cmd 字段解释:

字段	数据类型	示例值	描述
can_id	int	0	can 的 id
can_router	int	0	can 的路由
io_cmd	int	3
motor_name	string	"motor_Right"	电机名称
type	int	0
value	int	0

2.6 获取当前 NavSpeed 的速度

接口	描述	参数	返回数据类型
getNextSpeed	获取当前NavSpeed的速度	无	dict

方法调用示例：

python

msg = r.getNextSpeed()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "header": {
            "data_nsec": "419669544810406", 
            "frame_id": "", 
            "pub_nsec": "419669544810406", 
            "seq": "0"
        }, 
        "is2move": false, 
        "motor_cmd": [
            {
                "can_id": 0, 
                "can_router": 0, 
                "io_cmd": 3, 
                "motor_name": "motor_Left", 
                "type": 0, "value": 0
            }, 
            {
                "can_id": 0, 
                "can_router": 0, 
                "io_cmd": 3, 
                "motor_name": "motor_Right", 
                "type": 0, 
                "value": 0
            }
        ], 
        "rotate": 0, 
        "x": 0, 
        "y": 0
    }

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30

返回字段解释：

字段	数据类型	示例值
is2move	bool	false
rotate	int	0
x	int	0
y	int	0

motor_cmd 字段解释:

字段	数据类型	示例值	描述
can_id	int	0	can 的 id
can_router	int	0	can 的路由
io_cmd	int	3
motor_name	string	"motor_Right"	电机名称
type	int	0
value	int	0

2.7 获取 rfid 数据

接口	描述	参数	返回数据类型
rfid	获得rfid数据	无	dict

方法调用示例：

python

msg = r.rfid()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "rfid_nodes": []
    }

1
2
3
4

返回字段解释：

字段	数据类型	示例值	描述
rfid_nodes	list	[]

2.8 获取磁条数据

接口	描述	参数	返回数据类型
magnetic	获得磁条数据	无	dict

方法调用示例：

python

msg = r.magnetic()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "magnetic_nodes": []
    }

1
2
3
4

返回字段解释：

字段	数据类型	示例值	描述
magnetic_nodes	list	[]

2.9 获取机器人 DI 数据

接口	描述	参数	返回数据类型
Di	获取机器人DI数据	无	dict

方法调用示例：

python

msg = r.Di()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "max_node": 0, 
        "node": [
            {
                "forbidden": false, 
                "func": "", 
                "id": 8, 
                "maxdist": 0, 
                "mindist": 0, 
                "posx": [], 
                "posy": [], 
                "range": 0, 
                "shape": "", 
                "source": "virtual", 
                "status": false, 
                "type": "", 
                "x": 0, 
                "y": 0, 
                "yaw": 0, 
                "z": 0
            }, 
            {
                "forbidden": false, 
                "func": "", 
                "id": 7, 
                "maxdist": 0, 
                "mindist": 0, 
                "posx": [], 
                "posy": [], 
                "range": 0, 
                "shape": "", 
                "source": "virtual", 
                "status": false, 
                "type": "", 
                "x": 0, 
                "y": 0, 
                "yaw": 0, 
                "z": 0
            }, 
            {
                "forbidden": false, 
                "func": "", 
                "id": 6, 
                "maxdist": 0, 
                "mindist": 0, 
                "posx": [], 
                "posy": [], 
                "range": 0, 
                "shape": "", 
                "source": "virtual", 
                "status": false, 
                "type": "", 
                "x": 0, 
                "y": 0, 
                "yaw": 0, 
                "z": 0
            }, 
            {
                "forbidden": false, 
                "func": "", 
                "id": 5, 
                "maxdist": 0, 
                "mindist": 0, 
                "posx": [], 
                "posy": [], 
                "range": 0, 
                "shape": "", 
                "source": "virtual", 
                "status": false, 
                "type": "", 
                "x": 0, 
                "y": 0, 
                "yaw": 0, 
                "z": 0
            }
        ]
    }

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78

返回字段解释：

字段	数据类型	示例值	描述
max_node	int	0

node 字段解释:

字段	数据类型	示例值	描述
forbidden	bool	false
func	string	""
id	int	5
maxdist	int	0
mindist	int	0
posx	list	[]
posy	list	[]
range	int	0
shape	string	""
source	string	"virtual"	虚拟 DI
status	bool	false
type	string	""
x	int	0
y	int	0
yaw	int	0
z	int	0

2.10 获取机器人 DO 数据

接口	描述	参数	返回数据类型
Do	获取机器人DO数据	无	dict

方法调用示例：

python

msg = r.Do()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "max_node": 0, 
        "node": [
            {
                "func": "", 
                "id": 6, 
                "source": "", 
                "status": false
            }, 
            {
                "func": "", 
                "id": 5, 
                "source": "", 
                "status": false
            }, 
            {
                "func": "", 
                "id": 4, 
                "source": "", 
                "status": true
            }, 
            {
                "func": "", 
                "id": 3, 
                "source": "", 
                "status": false
            }, 
            {
                "func": "", 
                "id": 2, 
                "source": "", 
                "status": false
            }, 
            {
                "func": "", 
                "id": 1, 
                "source": "", 
                "status": true
            }, 
            {
                "func": "", 
                "id": 0, 
                "source": "", 
                "status": true
            }
        ]
    }

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48

返回字段解释：

字段	数据类型	示例值	描述
max_node	int	0

node 字段解释:

字段	数据类型	示例值
func	string	""
id	int	0
source	string	""
status	bool	true

2.11 获取 pgv 数据

接口	描述	参数	返回数据类型
pgv	获得pgv数据	无	dict

方法调用示例：

python

msg = r.pgv()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "pgvs": []
    }

1
2
3
4

返回字段解释：

字段	数据类型	示例值	描述
pgvs	list	[]

2.12 获取音频数据

接口	描述	参数	返回数据类型
sound	获得音频数据	无	dict

方法调用示例：

python

msg = r.sound()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "loop": true, 
        "sound_name": "navigation.wav", 
        "status": 2
    }

1
2
3
4
5
6

返回字段解释：

字段	数据类型	示例值	描述
loop	bool	true	是否循环播放，true：循环播放，false：不循环播放
sound_name	string	"navigation.wav"	播放的音频名称
status	int	2	0：未播放音频，1：音频暂停播放中，2：音频播放中

2.13 获取控制器数据

接口	描述	参数	返回数据类型
controller	获取AGV控制器数据	无	dict

方法调用示例：

python

msg = r.controller()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "autoCharge": false, 
        "brake": false, 
        "driverEmc": false, 
        "electric": false, 
        "emc": false, 
        "humi": 0, 
        "isExternalControl": false, 
        "isIMUCalibrating": false, 
        "manualCharge": false, 
        "softEMC": false, 
        "temp": 0, 
        "voltage": 0, 
        "voltagebyAdc": 0
    }

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16

返回字段解释：

字段	数据类型	示例值
autoCharge	bool	false
brake	bool	false
driverEmc	bool	false
electric	bool	false
emc	bool	false
humi	int	0
isExternalControl	bool	false
isIMUCalibrating	bool	false
manualCharge	bool	false
softEMC	bool	false
temp	int	0
voltage	int	0
voltagebyAdc	int	0

2.14 获取货叉数据

接口	描述	参数	返回数据类型
fork	获取AGV货叉数据	无	dict

方法调用示例：

python

msg = r.fork()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "fork_error": 0, 
        "fork_val": 0, 
        "forward_in_place": false, 
        "forward_val": 0, 
        "get_goods": false, 
        "height": 0, 
        "height_in_place": false, 
        "incline": 0, 
        "incline_in_place": false, 
        "incline_val": 0, 
        "pressure_actual": 0, 
        "pressure_adc": 0
    }

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

返回字段解释：

字段	数据类型	示例值
fork_error	int	0
fork_val	int	0
forward_in_place	bool	false
forward_val	int	0
get_goods	bool	false
height	int	0
height_in_place	bool	false
incline	int	0
incline_in_place	bool	false
incline_val	int	0
pressure_actual	int	0
pressure_adc	int	0

2.15 获取顶升数据

接口	描述	参数	返回数据类型
jack	获取AGV顶升数据	无	dict

方法调用示例：

python

msg = r.jack()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "emc": false, 
        "enable": false, 
        "errorCode": 0, 
        "height": 0, 
        "isFull": false, 
        "mode": false, 
        "speed": 0, 
        "state": 0
    }

1
2
3
4
5
6
7
8
9
10
11

返回字段解释：

字段	数据类型	示例值
emc	bool	false
enable	bool	false
errorCode	int	0
height	int	0
isFull	bool	false
mode	bool	false
speed	int	0
state	int	0

2.16 获取任务数据

接口	描述	参数	返回数据类型
moveTask	获取AGV任务数据	无	dict

方法调用示例：

python

msg = r.moveTask()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "dec_obs_expansion": 0.2, 
        "max_acc": 1, 
        "max_dec": 1, 
        "max_rot": 0.782907095366736, 
        "max_rot_acc": 2.0943951023931953, 
        "max_rot_dec": 1.5707963267948966, 
        "max_speed": 0.7853981633974483, 
        "obs_dec_dist": 3, 
        "obs_dec_speed": 0.2, 
        "obs_expansion": 0.1, 
        "obs_stop_dist": 1, 
        "params": [
            {
                "key": "operation", 
                "string_value": "Script"
            }, 
            {
                "key": "script_name", 
                "string_value": "lin/test.py"
            }, 
            {
                "bool_value": true, 
                "key": "allow_free_go"
            }
        ], 
        "reach_angle": 0.008726646259971648, 
        "reach_dist": 0.005, 
        "reach_method": "forward", 
        "skill_name": "Action", 
        "target_name": "9"
    }

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33

返回字段解释：

字段	数据类型	示例值
dec_obs_expansion	int	0.2
max_acc	int	1
max_dec	int	1
max_rot	int	0.782907095366736
max_rot_acc	int	2.0943951023931953
max_rot_dec	int	1.5707963267948966
max_speed	int	0.7853981633974483
obs_dec_dist	int	3
obs_dec_speed	int	0.2
obs_expansion	int	0.1
obs_stop_dist	int	1
reach_angle	int	0.008726646259971648
reach_dist	int	0.005
reach_method	string	"forward"
skill_name	string	"Action"
target_name	string	"9"

params 字段:

字段	数据类型	示例值
key	string	"operation"
string_value	string	Script

key	string	"script_name"
string_value	string	"lin/test.py"

bool_value	bool	true
key	string	"allow_free_go"

2.17 获取机械臂信息

接口	描述	参数	返回数据类型
getArmInfo	获得机械臂信息	无	dict

方法调用示例:

python

msg = r.getArmInfo()
print(msg)

1
2

接口返回数据示例：

python

Output: 
	{
        "DI": [], 
        "DO": [], 
        "enabled": false, 
        "robot_status_bits": [], 
        "safety_mode": 0, 
        "safety_status_bits": [], 
        "taskId": 0, 
        "task_status": 0
    }

1
2
3
4
5
6
7
8
9
10
11

返回字段解释：

字段	数据类型	示例值	描述
DI	list	[]
DO	list	[]
enabled	bool	false	是否启用机械臂，true = 启用，false = 不启用
robot_status_bits	list	[]
safety_mode	int	0
safety_status_bits	list	[]
taskId	int	0
task_status	int	0

2.18 获取距离节点信息

接口	描述	参数	返回数据类型
getDistanceSensor	获得距离节点信息	无	dict

方法调用示例:

python

msg = r.getDistanceSensor()
print(msg)

1
2

接口返回数据示例：

python

Output: 
	{
        "node": []
    }

1
2
3
4

返回字段解释：

字段	数据类型	示例值	描述
node	list	[]

2.19 获取后视激光点云信息

接口	描述	参数	返回数据类型
sensorPointCloud	获得后视激光点云信息	无	dict

方法调用示例：

python

msg = r.sensorPointCloud()
print(msg)

1
2

接口返回数据示例：

python

Output: 
    {
        "global_cluster": [
            {
                "header": 
                {
                    "data_nsec": "423939395152396", 
                    "frame_id": "", 
                    "pub_nsec": "0", 
                    "seq": "0"
                }, 
                "id": "1", 
                "point": [
                    {
                        "is_obstacle": true, 
                        "rssi": 100, 
                        "x": 24.781345578357573, 
                        "y": -12.40421655491872, 
                        "z": 0
                    }, 
                    {
                        "is_obstacle": true, 
                        "rssi": 100, 
                        "x": 26.920356728196996, 
                        "y": -13.95355462811719, 
                        "z": 0
                    }, 
                    {
                        "is_obstacle": true, 
                        "rssi": 100, 
                        "x": 24.96300860843852, 
                        "y": -12.314360624573617, 
                        "z": 0
                    }, 
                    {
                        "is_obstacle": true, 
                        "rssi": 100, "x": 25.154097313239248, 
                        "y": -12.319513761761758, 
                        "z": 0
                    }, 
                    {
                        "is_obstacle": true, 
                        "rssi": 100, 
                        "x": 25.18682711936516, 
                        "y": -12.206342445234426, 
                        "z": 0
                    }, 
                    {
                        "is_obstacle": true, 
                        "rssi": 100, 
                        "x": 25.19041497687728, 
                        "y": -12.073297463125794, 
                        "z": 0
                    }
                ], 
                "type": 5
            }, 
            {
                "header": {
                    "data_nsec": "423939437107877", 
                    "frame_id": "", 
                    "pub_nsec": "0", 
                    "seq": "0"
                }, 
                "id": "", 
                "point": [], 
                "type": 6
            }
        ]
    }

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70

global_cluster 字段解释：

字段	数据类型	示例值	描述
id	string	"1"
type	int	5

point 字段解释：

字段	数据类型	示例值	描述
is_obstacle	bool	true	是否阻碍，true：阻碍，false：不阻碍
rssi	int	100	信号强度
x	int	25.19041497687728	点云在世界坐标系下的 x 坐标轴
y	int	-12.073297463125794	点云在世界坐标系下的 y 坐标轴
z	int	0	点云在世界坐标系下的 z 坐标轴

2.20 获取模型文件的原始数据

接口	描述	参数	返回数据类型
getRobotFile	获得模型文件的原始数据	无	dict

方法调用示例：

python

robotmodel = r.getRobotFile()

接口返回数据示例：

python

{"deviceTypes": [{"desc": "REk=", "devices": [{"desc": "REk=", "deviceParams": [{"arrayParam": {"params": [{"cloneEnable": false, "desc": "SDEuMi4xMOS7peWJjTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtOCAKVmlydHVhbCBpZOiMg+WbtO+8mjktMTYgCk1vZGJ1cyBpZOiMg+WbtO+8mjE3LTgwIAoKSDEuMi4xMOS7peWJjSjlkKtjdXJ0aXPmianlsZVJTyk6IApOb3JtYWwgaWTojIPlm7TvvJowLTE2IApWaXJ0dWFsIGlk6IyD5Zu077yaMTctMjQgCk1vZGJ1cyBpZOiMg+WbtO+8mjI1LTgwIAoKSDEuMi4xMOWPiuS7peWQjjogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTAgClZpcnR1YWwgaWTojIPlm7TvvJoxMS0xOCAKTW9kYnVzIGlk6IyD5Zu077yaMTktODAgCgpIMS4yLjEw5Y+K5Lul5ZCOKOWQq2N1cnRpc+aJqeWxlUlPKTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTggClZpcnR1YWwgaWTojIPlm7TvvJoxOS0yNiAKTW9kYnVzIGlk6IyD5Zu077yaMjctODA=", "key": "id", "type": "uint32", "uint32Maxvalue": 80, "uint32Minvalue": 0, "uint32Value": 1, "unit": ""}, {"boolValue": false, "cloneEnable": false, "desc": "5Y+N5ZCR55S15bmz6Kem5Y+RKOiZmuaLn0RJ5ZKMY3VydGlza+aJqeWxlURJ6Zmk5aSWKQ==", "key": "inverse", "type": "bool", "unit": ""}]}, "cloneEnable": false, "desc": "5Z+656GA5Y+C5pWw", "key": "basic", "type": "arrayParam"}], "isDisplay": false, "isEnabled": true, "name": "DI1"}, {"desc": "REk=", "deviceParams": [{"arrayParam": {"params": [{"cloneEnable": false, "desc": "SDEuMi4xMOS7peWJjTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtOCAKVmlydHVhbCBpZOiMg+WbtO+8mjktMTYgCk1vZGJ1cyBpZOiMg+WbtO+8mjE3LTgwIAoKSDEuMi4xMOS7peWJjSjlkKtjdXJ0aXPmianlsZVJTyk6IApOb3JtYWwgaWTojIPlm7TvvJowLTE2IApWaXJ0dWFsIGlk6IyD5Zu077yaMTctMjQgCk1vZGJ1cyBpZOiMg+WbtO+8mjI1LTgwIAoKSDEuMi4xMOWPiuS7peWQjjogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTAgClZpcnR1YWwgaWTojIPlm7TvvJoxMS0xOCAKTW9kYnVzIGlk6IyD5Zu077yaMTktODAgCgpIMS4yLjEw5Y+K5Lul5ZCOKOWQq2N1cnRpc+aJqeWxlUlPKTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTggClZpcnR1YWwgaWTojIPlm7TvvJoxOS0yNiAKTW9kYnVzIGlk6IyD5Zu077yaMjctODA=", "key": "id", "type": "uint32", "uint32Maxvalue": 80, "uint32Minvalue": 0, "uint32Value": 2, "unit": ""}, {"boolValue": false, "cloneEnable": false, "desc": "5Y+N5ZCR55S15bmz6Kem5Y+RKOiZmuaLn0RJ5ZKMY3VydGlza+aJqeWxlURJ6Zmk5aSWKQ==", "key": "inverse", "type": "bool", "unit": ""}]}, "cloneEnable": false, "desc": "5Z+656GA5Y+C5pWw", "key": "basic", "type": "arrayParam"}], "isDisplay": false, "isEnabled": true, "name": "DI2"}, {"desc": "REk=", "deviceParams": [{"arrayParam": {"params": [{"cloneEnable": false, "desc": "SDEuMi4xMOS7peWJjTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtOCAKVmlydHVhbCBpZOiMg+WbtO+8mjktMTYgCk1vZGJ1cyBpZOiMg+WbtO+8mjE3LTgwIAoKSDEuMi4xMOS7peWJjSjlkKtjdXJ0aXPmianlsZVJTyk6IApOb3JtYWwgaWTojIPlm7TvvJowLTE2IApWaXJ0dWFsIGlk6IyD5Zu077yaMTctMjQgCk1vZGJ1cyBpZOiMg+WbtO+8mjI1LTgwIAoKSDEuMi4xMOWPiuS7peWQjjogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTAgClZpcnR1YWwgaWTojIPlm7TvvJoxMS0xOCAKTW9kYnVzIGlk6IyD5Zu077yaMTktODAgCgpIMS4yLjEw5Y+K5Lul5ZCOKOWQq2N1cnRpc+aJqeWxlUlPKTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTggClZpcnR1YWwgaWTojIPlm7TvvJoxOS0yNiAKTW9kYnVzIGlk6IyD5Zu077yaMjctODA=", "key": "id", "type": "uint32", "uint32Maxvalue": 80, "uint32Minvalue": 0, "uint32Value": 3, "unit": ""}, {"boolValue": true, "cloneEnable": false, "desc": "5Y+N5ZCR55S15bmz6Kem5Y+RKOiZmuaLn0RJ5ZKMY3VydGlza+aJqeWxlURJ6Zmk5aSWKQ==", "key": "inverse", "type": "bool", "unit": ""}]}, "cloneEnable": false, "desc": "5Z+656GA5Y+C5pWw", "key": "basic", "type": "arrayParam"}], "isDisplay": false, "isEnabled": true, "name": "DI3"}, {"desc": "REk=", "deviceParams": [{"arrayParam": {"params": [{"cloneEnable": false, "desc": "SDEuMi4xMOS7peWJjTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtOCAKVmlydHVhbCBpZOiMg+WbtO+8mjktMTYgCk1vZGJ1cyBpZOiMg+WbtO+8mjE3LTgwIAoKSDEuMi4xMOS7peWJjSjlkKtjdXJ0aXPmianlsZVJTyk6IApOb3JtYWwgaWTojIPlm7TvvJowLTE2IApWaXJ0dWFsIGlk6IyD5Zu077yaMTctMjQgCk1vZGJ1cyBpZOiMg+WbtO+8mjI1LTgwIAoKSDEuMi4xMOWPiuS7peWQjjogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTAgClZpcnR1YWwgaWTojIPlm7TvvJoxMS0xOCAKTW9kYnVzIGlk6IyD5Zu077yaMTktODAgCgpIMS4yLjEw5Y+K5Lul5ZCOKOWQq2N1cnRpc+aJqeWxlUlPKTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTggClZpcnR1YWwgaWTojIPlm7TvvJoxOS0yNiAKTW9kYnVzIGlk6IyD5Zu077yaMjctODA=", "key": "id", "type": "uint32", "uint32Maxvalue": 80, "uint32Minvalue": 0, "uint32Value": 4, "unit": ""}, {"boolValue": true, "cloneEnable": false, "desc": "5Y+N5ZCR55S15bmz6Kem5Y+RKOiZmuaLn0RJ5ZKMY3VydGlza+aJqeWxlURJ6Zmk5aSWKQ==", "key": "inverse", "type": "bool", "unit": ""}]}, "cloneEnable": false, "desc": "5Z+656GA5Y+C5pWw", "key": "basic", "type": "arrayParam"}], "isDisplay": false, "isEnabled": false, "name": "DI4"}, {"desc": "REk=", "deviceParams": [{"arrayParam": {"params": [{"cloneEnable": false, "desc": "SDEuMi4xMOS7peWJjTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtOCAKVmlydHVhbCBpZOiMg+WbtO+8mjktMTYgCk1vZGJ1cyBpZOiMg+WbtO+8mjE3LTgwIAoKSDEuMi4xMOS7peWJjSjlkKtjdXJ0aXPmianlsZVJTyk6IApOb3JtYWwgaWTojIPlm7TvvJowLTE2IApWaXJ0dWFsIGlk6IyD5Zu077yaMTctMjQgCk1vZGJ1cyBpZOiMg+WbtO+8mjI1LTgwIAoKSDEuMi4xMOWPiuS7peWQjjogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTAgClZpcnR1YWwgaWTojIPlm7TvvJoxMS0xOCAKTW9kYnVzIGlk6IyD5Zu077yaMTktODAgCgpIMS4yLjEw5Y+K5Lul5ZCOKOWQq2N1cnRpc+aJqeWxlUlPKTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTggClZpcnR1YWwgaWTojIPlm7TvvJoxOS0yNiAKTW9kYnVzIGlk6IyD5Zu077yaMjctODA=", "key": "id", "type": "uint32", "uint32Maxvalue": 80, "uint32Minvalue": 0, "uint32Value": 5, "unit": ""}, {"boolValue": false, "cloneEnable": false, "desc": "5Y+N5ZCR55S15bmz6Kem5Y+RKOiZmuaLn0RJ5ZKMY3VydGlza+aJqeWxlURJ6Zmk5aSWKQ==", "key": "inverse", "type": "bool", "unit": ""}]}, "cloneEnable": false, "desc": "5Z+656GA5Y+C5pWw", "key": "basic", "type": "arrayParam"}], "isDisplay": false, "isEnabled": true, "name": "DI5"}, {"desc": "REk=", "deviceParams": [{"arrayParam": {"params": [{"cloneEnable": false, "desc": "SDEuMi4xMOS7peWJjTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtOCAKVmlydHVhbCBpZOiMg+WbtO+8mjktMTYgCk1vZGJ1cyBpZOiMg+WbtO+8mjE3LTgwIAoKSDEuMi4xMOS7peWJjSjlkKtjdXJ0aXPmianlsZVJTyk6IApOb3JtYWwgaWTojIPlm7TvvJowLTE2IApWaXJ0dWFsIGlk6IyD5Zu077yaMTctMjQgCk1vZGJ1cyBpZOiMg+WbtO+8mjI1LTgwIAoKSDEuMi4xMOWPiuS7peWQjjogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTAgClZpcnR1YWwgaWTojIPlm7TvvJoxMS0xOCAKTW9kYnVzIGlk6IyD5Zu077yaMTktODAgCgpIMS4yLjEw5Y+K5Lul5ZCOKOWQq2N1cnRpc+aJqeWxlUlPKTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTggClZpcnR1YWwgaWTojIPlm7TvvJoxOS0yNiAKTW9kYnVzIGlk6IyD5Zu077yaMjctODA=", "key": "id", "type": "uint32", "uint32Maxvalue": 80, "uint32Minvalue": 0, "uint32Value": 6, "unit": ""}, {"boolValue": true, "cloneEnable": false, "desc": "5Y+N5ZCR55S15bmz6Kem5Y+RKOiZmuaLn0RJ5ZKMY3VydGlza+aJqeWxlURJ6Zmk5aSWKQ==", "key": "inverse", "type": "bool", "unit": ""}]}, "cloneEnable": false, "desc": "5Z+656GA5Y+C5pWw", "key": "basic", "type": "arrayParam"}], "isDisplay": false, "isEnabled": true, "name": "DI6"}, {"desc": "REk=", "deviceParams": [{"arrayParam": {"params": [{"cloneEnable": false, "desc": "SDEuMi4xMOS7peWJjTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtOCAKVmlydHVhbCBpZOiMg+WbtO+8mjktMTYgCk1vZGJ1cyBpZOiMg+WbtO+8mjE3LTgwIAoKSDEuMi4xMOS7peWJjSjlkKtjdXJ0aXPmianlsZVJTyk6IApOb3JtYWwgaWTojIPlm7TvvJowLTE2IApWaXJ0dWFsIGlk6IyD5Zu077yaMTctMjQgCk1vZGJ1cyBpZOiMg+WbtO+8mjI1LTgwIAoKSDEuMi4xMOWPiuS7peWQjjogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTAgClZpcnR1YWwgaWTojIPlm7TvvJoxMS0xOCAKTW9kYnVzIGlk6IyD5Zu077yaMTktODAgCgpIMS4yLjEw5Y+K5Lul5ZCOKOWQq2N1cnRpc+aJqeWxlUlPKTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTggClZpcnR1YWwgaWTojIPlm7TvvJoxOS0yNiAKTW9kYnVzIGlk6IyD5Zu077yaMjctODA=", "key": "id", "type": "uint32", "uint32Maxvalue": 80, "uint32Minvalue": 0, "uint32Value": 7, "unit": ""}, {"boolValue": false, "cloneEnable": false, "desc": "5Y+N5ZCR55S15bmz6Kem5Y+RKOiZmuaLn0RJ5ZKMY3VydGlza+aJqeWxlURJ6Zmk5aSWKQ==", "key": "inverse", "type": "bool", "unit": ""}]}, "cloneEnable": false, "desc": "5Z+656GA5Y+C5pWw", "key": "basic", "type": "arrayParam"}], "isDisplay": false, "isEnabled": true, "name": "DI7"}, {"desc": "REk=", "deviceParams": [{"arrayParam": {"params": [{"cloneEnable": false, "desc": "SDEuMi4xMOS7peWJjTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtOCAKVmlydHVhbCBpZOiMg+WbtO+8mjktMTYgCk1vZGJ1cyBpZOiMg+WbtO+8mjE3LTgwIAoKSDEuMi4xMOS7peWJjSjlkKtjdXJ0aXPmianlsZVJTyk6IApOb3JtYWwgaWTojIPlm7TvvJowLTE2IApWaXJ0dWFsIGlk6IyD5Zu077yaMTctMjQgCk1vZGJ1cyBpZOiMg+WbtO+8mjI1LTgwIAoKSDEuMi4xMOWPiuS7peWQjjogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTAgClZpcnR1YWwgaWTojIPlm7TvvJoxMS0xOCAKTW9kYnVzIGlk6IyD5Zu077yaMTktODAgCgpIMS4yLjEw5Y+K5Lul5ZCOKOWQq2N1cnRpc+aJqeWxlUlPKTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTggClZpcnR1YWwgaWTojIPlm7TvvJoxOS0yNiAKTW9kYnVzIGlk6IyD5Zu077yaMjctODA=", "key": "id", "type": "uint32", "uint32Maxvalue": 80, "uint32Minvalue": 0, "uint32Value": 8, "unit": ""}, {"boolValue": false, "cloneEnable": false, "desc": "5Y+N5ZCR55S15bmz6Kem5Y+RKOiZmuaLn0RJ5ZKMY3VydGlza+aJqeWxlURJ6Zmk5aSWKQ==", "key": "inverse", "type": "bool", "unit": ""}]}, "cloneEnable": false, "desc": "5Z+656GA5Y+C5pWw", "key": "basic", "type": "arrayParam"}], "isDisplay": false, "isEnabled": true, "name": "DI8"}, {"desc": "REk=", "deviceParams": [{"arrayParam": {"params": [{"cloneEnable": false, "desc": "SDEuMi4xMOS7peWJjTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtOCAKVmlydHVhbCBpZOiMg+WbtO+8mjktMTYgCk1vZGJ1cyBpZOiMg+WbtO+8mjE3LTgwIAoKSDEuMi4xMOS7peWJjSjlkKtjdXJ0aXPmianlsZVJTyk6IApOb3JtYWwgaWTojIPlm7TvvJowLTE2IApWaXJ0dWFsIGlk6IyD5Zu077yaMTctMjQgCk1vZGJ1cyBpZOiMg+WbtO+8mjI1LTgwIAoKSDEuMi4xMOWPiuS7peWQjjogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTAgClZpcnR1YWwgaWTojIPlm7TvvJoxMS0xOCAKTW9kYnVzIGlk6IyD5Zu077yaMTktODAgCgpIMS4yLjEw5Y+K5Lul5ZCOKOWQq2N1cnRpc+aJqeWxlUlPKTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTggClZpcnR1YWwgaWTojIPlm7TvvJoxOS0yNiAKTW9kYnVzIGlk6IyD5Zu077yaMjctODA=", "key": "id", "type": "uint32", "uint32Maxvalue": 80, "uint32Minvalue": 0, "uint32Value": 9, "unit": ""}, {"boolValue": false, "cloneEnable": false, "desc": "5Y+N5ZCR55S15bmz6Kem5Y+RKOiZmuaLn0RJ5ZKMY3VydGlza+aJqeWxlURJ6Zmk5aSWKQ==", "key": "inverse", "type": "bool", "unit": ""}]}, "cloneEnable": false, "desc": "5Z+656GA5Y+C5pWw", "key": "basic", "type": "arrayParam"}], "isDisplay": false, "isEnabled": true, "name": "DI9"}, {"desc": "REk=", "deviceParams": [{"arrayParam": {"params": [{"cloneEnable": false, "desc": "SDEuMi4xMOS7peWJjTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtOCAKVmlydHVhbCBpZOiMg+WbtO+8mjktMTYgCk1vZGJ1cyBpZOiMg+WbtO+8mjE3LTgwIAoKSDEuMi4xMOS7peWJjSjlkKtjdXJ0aXPmianlsZVJTyk6IApOb3JtYWwgaWTojIPlm7TvvJowLTE2IApWaXJ0dWFsIGlk6IyD5Zu077yaMTctMjQgCk1vZGJ1cyBpZOiMg+WbtO+8mjI1LTgwIAoKSDEuMi4xMOWPiuS7peWQjjogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTAgClZpcnR1YWwgaWTojIPlm7TvvJoxMS0xOCAKTW9kYnVzIGlk6IyD5Zu077yaMTktODAgCgpIMS4yLjEw5Y+K5Lul5ZCOKOWQq2N1cnRpc+aJqeWxlUlPKTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTggClZpcnR1YWwgaWTojIPlm7TvvJoxOS0yNiAKTW9kYnVzIGlk6IyD5Zu077yaMjctODA=", "key": "id", "type": "uint32", "uint32Maxvalue": 80, "uint32Minvalue": 0, "uint32Value": 10, "unit": ""}, {"boolValue": false, "cloneEnable": false, "desc": "5Y+N5ZCR55S15bmz6Kem5Y+RKOiZmuaLn0RJ5ZKMY3VydGlza+aJqeWxlURJ6Zmk5aSWKQ==", "key": "inverse", "type": "bool", "unit": ""}]}, "cloneEnable": false, "desc": "5Z+656GA5Y+C5pWw", "key": "basic", "type": "arrayParam"}], "isDisplay": false, "isEnabled": true, "name": "DI10"}, {"desc": "REk=", "deviceParams": [{"arrayParam": {"params": [{"cloneEnable": false, "desc": "SDEuMi4xMOS7peWJjTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtOCAKVmlydHVhbCBpZOiMg+WbtO+8mjktMTYgCk1vZGJ1cyBpZOiMg+WbtO+8mjE3LTgwIAoKSDEuMi4xMOS7peWJjSjlkKtjdXJ0aXPmianlsZVJTyk6IApOb3JtYWwgaWTojIPlm7TvvJowLTE2IApWaXJ0dWFsIGlk6IyD5Zu077yaMTctMjQgCk1vZGJ1cyBpZOiMg+WbtO+8mjI1LTgwIAoKSDEuMi4xMOWPiuS7peWQjjogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTAgClZpcnR1YWwgaWTojIPlm7TvvJoxMS0xOCAKTW9kYnVzIGlk6IyD5Zu077yaMTktODAgCgpIMS4yLjEw5Y+K5Lul5ZCOKOWQq2N1cnRpc+aJqeWxlUlPKTogCk5vcm1hbCBpZOiMg+WbtO+8mjAtMTggClZpcnR1YWwgaWTojIPlm7TvvJoxOS0yNiAKTW9kYnVzIGlk6IyD5Zu077yaMjctODA=", "key": "id", "type": "uint32", "uint32Maxvalue": 80, "uint32Minvalue": 0, "uint32Value": 0, "unit": ""}, {"boolValue": false, "cloneEnable": false, "desc": "5Y+N5ZCR55S15bmz6Kem5Y+RKOiZmuaLn0RJ5ZKMY3VydGlza+aJqeWxlURJ6Zmk5aSWKQ==", "key": "inverse", "type": "bool", "unit": ""}]}, "cloneEnable": false, "desc": "5Z+656GA5Y+C5pWw", "key": "basic", "type": "arrayParam"}], "isDisplay": false, "isEnabled": true, "name": "DI0"}], "maxCount": 81, "name": "DI", "ord": 0}, {"desc": "RElTZW5zb3I=", "devices": [{"desc": "RElTZW5zb3I=", "deviceParams": [{"cloneEnable": false, "comboParam": {"childKey": "collision", "childParams": [{"desc": "Z29vZHMgZGV0ZWN0aW9u", "key": "goodsDetect", "params": []}, {"desc": "aWdub3JlIHRhc2sgaW5zdHJ1Y3Rpb24=", "key": "ignoreTask", "params": []}, {"desc": "56m6", "key": "none", "params": []}, {"desc": "56Kw5pKe5p2h", "key": "collision", "params": []}, {"desc": "57qi5aSW", "key": "infrared", "params": []}, {"desc": "6LaF5aOw", "key": "ultrasonic", "params": []}, {"desc": "6Ziy6LeM6JC9", "key": "fallingDown", "params": []}]}, "desc": "57G75Z6L", "key": "type", "type": "comboParam"}, {"arrayParam": {"params": [{"cloneEnable": false, "desc": "6YCJ5oup55u45bqU55qEREnluo/lj7c=", "key": "id", "type": "uint32", "uint32Maxvalue": 80, "uint32Minvalue": 0, "uint32Value": 5, "unit": ""}]}, "cloneEnable": false, "desc": "5Z+656GA5Y+C5pWw", "key": "basic", "type": "arrayParam"}, {"cloneEnable": false, "comboParam": {"childKey": "vertex", "childParams": [{"desc": "5omH5b2i", "key": "arc", "params": [{"cloneEnable": false, "desc": "eA==", "doubleMaxvalue": 1000, "doubleMinvalue": -1000, "doubleValue": 0, "key": "x", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "eQ==", "doubleMaxvalue": 1000, "doubleMinvalue": -1000, "doubleValue": 0, "key": "y", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "eg==", "doubleMaxvalue": 1000, "doubleMinvalue": -1000, "doubleValue": 0, "key": "z", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "eWF3", "doubleMaxvalue": 180, "doubleMinvalue": -180, "doubleValue": 0, "key": "yaw", "type": "double", "unit": "deg"}, {"cloneEnable": false, "desc": "5pyA6L+R6Led56a7", "doubleMaxvalue": 999.99, "doubleMinvalue": 0, "doubleValue": 0, "key": "minDist", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "5pyA6L+c6Led56a7", "doubleMaxvalue": 999.99, "doubleMinvalue": 0, "doubleValue": 0.1, "key": "maxDist", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "6KeS5bqm6IyD5Zu0", "doubleMaxvalue": 360, "doubleMinvalue": 0, "doubleValue": 0, "key": "range", "type": "double", "unit": "deg"}]}, {"desc": "5aSa6L655b2i", "key": "vertex", "params": [{"cloneEnable": false, "desc": "", "doubleValue": 0.5133333333333333, "key": "posX0", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "", "doubleValue": 0.34666666666666673, "key": "posY0", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "", "doubleValue": 0.5166666666666666, "key": "posX1", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "", "doubleValue": -0.37999999999999995, "key": "posY1", "type": "double", "unit": "m"}]}]}, "desc": "5b2i54q2", "key": "shape", "type": "comboParam"}, {"cloneEnable": false, "comboParam": {"childKey": "stop", "childParams": [{"desc": "56m6", "key": "none", "params": []}, {"desc": "5YGc5q2i", "key": "stop", "params": []}, {"desc": "5YeP6YCf", "key": "slowdown", "params": []}]}, "desc": "5Yqf6IO9", "key": "func", "type": "comboParam"}], "isDisplay": true, "isEnabled": true, "name": "Bumper"}, {"desc": "RElTZW5zb3I=", "deviceParams": [{"cloneEnable": false, "comboParam": {"childKey": "collision", "childParams": [{"desc": "Z29vZHMgZGV0ZWN0aW9u", "key": "goodsDetect", "params": []}, {"desc": "aWdub3JlIHRhc2sgaW5zdHJ1Y3Rpb24=", "key": "ignoreTask", "params": []}, {"desc": "56m6", "key": "none", "params": []}, {"desc": "56Kw5pKe5p2h", "key": "collision", "params": []}, {"desc": "57qi5aSW", "key": "infrared", "params": []}, {"desc": "6LaF5aOw", "key": "ultrasonic", "params": []}, {"desc": "6Ziy6LeM6JC9", "key": "fallingDown", "params": []}]}, "desc": "57G75Z6L", "key": "type", "type": "comboParam"}, {"arrayParam": {"params": [{"cloneEnable": false, "desc": "6YCJ5oup55u45bqU55qEREnluo/lj7c=", "key": "id", "type": "uint32", "uint32Maxvalue": 80, "uint32Minvalue": 0, "uint32Value": 8, "unit": ""}]}, "cloneEnable": false, "desc": "5Z+656GA5Y+C5pWw", "key": "basic", "type": "arrayParam"}, {"cloneEnable": false, "comboParam": {"childKey": "vertex", "childParams": [{"desc": "5omH5b2i", "key": "arc", "params": [{"cloneEnable": false, "desc": "eA==", "doubleMaxvalue": 1000, "doubleMinvalue": -1000, "doubleValue": 0, "key": "x", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "eQ==", "doubleMaxvalue": 1000, "doubleMinvalue": -1000, "doubleValue": 0, "key": "y", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "eg==", "doubleMaxvalue": 1000, "doubleMinvalue": -1000, "doubleValue": 0, "key": "z", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "eWF3", "doubleMaxvalue": 180, "doubleMinvalue": -180, "doubleValue": 0, "key": "yaw", "type": "double", "unit": "deg"}, {"cloneEnable": false, "desc": "5pyA6L+R6Led56a7", "doubleMaxvalue": 999.99, "doubleMinvalue": 0, "doubleValue": 0, "key": "minDist", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "5pyA6L+c6Led56a7", "doubleMaxvalue": 999.99, "doubleMinvalue": 0, "doubleValue": 0.1, "key": "maxDist", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "6KeS5bqm6IyD5Zu0", "doubleMaxvalue": 360, "doubleMinvalue": 0, "doubleValue": 0, "key": "range", "type": "double", "unit": "deg"}]}, {"desc": "5aSa6L655b2i", "key": "vertex", "params": [{"cloneEnable": false, "desc": "", "doubleValue": -0.5166666666666667, "key": "posX0", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "", "doubleValue": -0.3899999999999999, "key": "posY0", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "", "doubleValue": -0.5133333333333335, "key": "posX1", "type": "double", "unit": "m"}, {"cloneEnable": false, "desc": "", "doubleValue": 0.3533333333333332, "key": "posY1", "type": "double", "unit": "m"}]}]}, "desc": "5b2i54q2", "key": "shape", "type": "comboParam"}, {"cloneEnable": false, "comboParam": {"childKey": "stop", "childParams": [{"desc": "56m6", "key": "none", "params": []}, {"desc": "5YGc5q2i", "key": "stop", "params": []}, {"desc": "5YeP6YCf", "key": "slowdown", "params": []}]}, "desc": "5Yqf6IO9", "key": "func", "type": "comboParam"}], "isDisplay": true, "isEnabled": true, "name": "Bumper1"}, {"desc": "RElTZW5zb3I=", "deviceParams": [{"cloneEnable": false, "comboParam": {"childKey": "infrared", "childParams": [{"desc": "Z29vZHMgZGV0ZWN0aW9u", "key": "goodsDetect", "params": []}, {"desc": "aWdub3JlIHRhc2sgaW5zdHJ1Y3Rpb24=", "key": "ignoreTask", "params": []}, {"desc": "56m6", "key": "none", "params": []}, {"desc": "56Kw5pKe5p2h", "key": "collision", "params": []}, {"desc": "57qi5aSW", "key": "infrared", "params": []}, {"desc": "6LaF5aOw", "key": "ultrasonic", "params": []}, {"desc": "6Ziy6LeM6JC9", "key": "fallingDown", "params": []}]}, "desc": "57G75Z6L", "key": "type", "type": "comboParam"}, {"arrayParam": {"params": [