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动作块策略
Roboview
动作块状态变化回调
功能
动作块状态变化时，向指定的对象发送消息。
使用方法
在RoboShop中配置Core的模型文件：
- 选择topic
在topic下拉框中选择需要接受的消息类型
对应动作块状态回调的topic为： BlockStateChange
- 设置receiver
目前支持HTTP类型的回调目标。
需要配置的参数有
| 参数名称 | 参数位置 | 单位 | 默认值 | 最小值 | 最大值 |
|---|---|---|---|---|---|
| ip | 模型文件-Receiver-receiver-HTTP | - | 127.0.0.1 | - | |
接受回调的IP地址，不包含 http://前缀，不支持DNS解析 | |||||
| port | 模型文件-Receiver-receiver-HTTP | - | 12345 | - | |
| 接受回调的端口 | |||||
| path | 模型文件-Receiver-receiver-HTTP | - | /block-state-change | - | |
| 接受回调的请求路径 | |||||
报文内容
| 字段名称 | 描述 | 例子 |
|---|---|---|
| topic | topic | BlockStateChange |
| timestamp | 消息生成的时间戳 | 2022-10-27T08:23:11Z |
| content | 字符串，消息内容，根据topic变化 | {\"binTask\":\"\",\"blockId\":\"16668589915700-b\",\"containerName\":\"\",\"goodsId\":\"\",\"group\":\"\",\"location\":\"AP15\",\"manuallyFinished\":false,\"operation\":\"\",\"operation_args\":{},\"orderId\":\"16668589915700\",\"postAction\":{},\"script_args\": |
动作块状态变化回调的 content字段内容和 通过动作块 id 查询动作块状态 接口返回的内容一致， content字段为json序列化后的字符串。
例子
Core和服务器运行在同一台电脑上，本地HTTP服务器监听 http://0.0.0.0:12345，Core中的模型文件配置为：
图中的配置下，在动作块状态变化时，会用 POST方法，向 http://127.0.0.1:12345/block-state-change发送消息。
动作块的重要状态如下：
- RUNNING: 动作块开始执行
- FINISHED: 动作块完成（执行完成或手动完成都是完成）
- STOPPED: 动作块终止
- FAILED: 动作块执行失败，可以重试
机器人执行两个动作块，HTTP服务器收到的请求如下：
http
/block-state-change POST
Accept: */*
Content-Length: 406
Content-Type: application/json
Host: 127.0.0.1:12345
REMOTE_ADDR: 127.0.0.1
REMOTE_PORT: 34500
User-Agent: cpp-httplib/0.10.0
{
"content": "{\"binTask\":\"\",\"blockId\":\"16668589915700-b\",\"containerName\":\"\",\"goodsId\":\"\",\"group\":\"\",\"location\":\"AP15\",\"manuallyFinished\":false,\"operation\":\"\",\"operation_args\":{},\"orderId\":\"16668589915700\",\"postAction\":{},\"script_args\":{},\"script_name\":\"\",\"state\":\"RUNNING\",\"vehicle\":\"sim_02\"}",
"timestamp": "2022-10-27T08:23:11Z",
"topic": "BlockStateChange"
}
/block-state-change POST
Accept: */*
Content-Length: 406
Content-Type: application/json
Host: 127.0.0.1:12345
REMOTE_ADDR: 127.0.0.1
REMOTE_PORT: 34420
User-Agent: cpp-httplib/0.10.0
{
"content": "{\"binTask\":\"\",\"blockId\":\"16668589915700-b\",\"containerName\":\"\",\"goodsId\":\"\",\"group\":\"\",\"location\":\"AP15\",\"manuallyFinished\":false,\"operation\":\"\",\"operation_args\":{},\"orderId\":\"16668589915700\",\"postAction\":{},\"script_args\":{},\"script_name\":\"\",\"state\":\"POSTING\",\"vehicle\":\"sim_02\"}",
"timestamp": "2022-10-27T08:23:16Z",
"topic": "BlockStateChange"
}
/block-state-change POST
Accept: */*
Content-Length: 406
Content-Type: application/json
Host: 127.0.0.1:12345
REMOTE_ADDR: 127.0.0.1
REMOTE_PORT: 34420
User-Agent: cpp-httplib/0.10.0
{
"content": "{\"binTask\":\"\",\"blockId\":\"16668589915700-b\",\"containerName\":\"\",\"goodsId\":\"\",\"group\":\"\",\"location\":\"AP15\",\"manuallyFinished\":false,\"operation\":\"\",\"operation_args\":{},\"orderId\":\"16668589915700\",\"postAction\":{},\"script_args\":{},\"script_name\":\"\",\"state\":\"WAITING\",\"vehicle\":\"sim_02\"}",
"timestamp": "2022-10-27T08:23:16Z",
"topic": "BlockStateChange"
}
/block-state-change POST
Accept: */*
Content-Length: 407
Content-Type: application/json
Host: 127.0.0.1:12345
REMOTE_ADDR: 127.0.0.1
REMOTE_PORT: 34420
User-Agent: cpp-httplib/0.10.0
{
"content": "{\"binTask\":\"\",\"blockId\":\"16668589915700-b\",\"containerName\":\"\",\"goodsId\":\"\",\"group\":\"\",\"location\":\"AP15\",\"manuallyFinished\":false,\"operation\":\"\",\"operation_args\":{},\"orderId\":\"16668589915700\",\"postAction\":{},\"script_args\":{},\"script_name\":\"\",\"state\":\"FINISHED\",\"vehicle\":\"sim_02\"}",
"timestamp": "2022-10-27T08:23:16Z",
"topic": "BlockStateChange"
}
/block-state-change POST
Accept: */*
Content-Length: 406
Content-Type: application/json
Host: 127.0.0.1:12345
REMOTE_ADDR: 127.0.0.1
REMOTE_PORT: 34420
User-Agent: cpp-httplib/0.10.0
{
"content": "{\"binTask\":\"\",\"blockId\":\"16668589915700-c\",\"containerName\":\"\",\"goodsId\":\"\",\"group\":\"\",\"location\":\"AP16\",\"manuallyFinished\":false,\"operation\":\"\",\"operation_args\":{},\"orderId\":\"16668589915700\",\"postAction\":{},\"script_args\":{},\"script_name\":\"\",\"state\":\"RUNNING\",\"vehicle\":\"sim_02\"}",
"timestamp": "2022-10-27T08:23:16Z",
"topic": "BlockStateChange"
}
/block-state-change POST
Accept: */*
Content-Length: 406
Content-Type: application/json
Host: 127.0.0.1:12345
REMOTE_ADDR: 127.0.0.1
REMOTE_PORT: 34432
User-Agent: cpp-httplib/0.10.0
{
"content": "{\"binTask\":\"\",\"blockId\":\"16668589915700-c\",\"containerName\":\"\",\"goodsId\":\"\",\"group\":\"\",\"location\":\"AP16\",\"manuallyFinished\":false,\"operation\":\"\",\"operation_args\":{},\"orderId\":\"16668589915700\",\"postAction\":{},\"script_args\":{},\"script_name\":\"\",\"state\":\"POSTING\",\"vehicle\":\"sim_02\"}",
"timestamp": "2022-10-27T08:23:22Z",
"topic": "BlockStateChange"
}
/block-state-change POST
Accept: */*
Content-Length: 406
Content-Type: application/json
Host: 127.0.0.1:12345
REMOTE_ADDR: 127.0.0.1
REMOTE_PORT: 34432
User-Agent: cpp-httplib/0.10.0
{
"content": "{\"binTask\":\"\",\"blockId\":\"16668589915700-c\",\"containerName\":\"\",\"goodsId\":\"\",\"group\":\"\",\"location\":\"AP16\",\"manuallyFinished\":false,\"operation\":\"\",\"operation_args\":{},\"orderId\":\"16668589915700\",\"postAction\":{},\"script_args\":{},\"script_name\":\"\",\"state\":\"WAITING\",\"vehicle\":\"sim_02\"}",
"timestamp": "2022-10-27T08:23:22Z",
"topic": "BlockStateChange"
}
/block-state-change POST
Accept: */*
Content-Length: 407
Content-Type: application/json
Host: 127.0.0.1:12345
REMOTE_ADDR: 127.0.0.1
REMOTE_PORT: 34432
User-Agent: cpp-httplib/0.10.0
{
"content": "{\"binTask\":\"\",\"blockId\":\"16668589915700-c\",\"containerName\":\"\",\"goodsId\":\"\",\"group\":\"\",\"location\":\"AP16\",\"manuallyFinished\":false,\"operation\":\"\",\"operation_args\":{},\"orderId\":\"16668589915700\",\"postAction\":{},\"script_args\":{},\"script_name\":\"\",\"state\":\"FINISHED\",\"vehicle\":\"sim_02\"}",
"timestamp": "2022-10-27T08:23:22Z",
"topic": "BlockStateChange"
}
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最近更新 2022/11/28
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