Charging

Functions
int	agvc_interface::AgvcInterface::checkPowerAndAutoCharge (const Header &check_power_header={ "99999", "99999", 99999, "99999" }, const std::string &nav_board_charge_station_id="99999")
	Checks the current battery level and automatically docks for charging when the battery is low.
int	agvc_interface::AgvcInterface::setLeaveBoardTargetStation (const Header &leave_board_target_station_header)
	Sets the target station for automatic undocking.
Header	agvc_interface::AgvcInterface::getLeaveBoardTargetStation ()
	Gets the target station for automatic undocking.
int	agvc_interface::AgvcInterface::forcedAgvToChargingBoard (const Header &forced_charge_header={ "99999", "99999", 99999, "99999" }, const std::string &nav_board_charge_station_id="99999")
	Forces the AGV to dock for charging.
int	agvc_interface::AgvcInterface::forcedAgvLeaveChargingBoard (const Header &forced_leave_header={ "99999", "99999", 99999, "99999" }, const std::string &leave_board_target_station_id="99999")
	Forces the AGV to leave the charging board.
int	agvc_interface::AgvcInterface::sendAutoChargingCommand (const AutoChargingCommand &auto_charging_command)
	Sends an automatic charging command.

Detailed Description

AGVC charging functions, including auto charging, forced docking or undocking, and battery checks.

Function Documentation

checkPowerAndAutoCharge()

int agvc_interface::AgvcInterface::checkPowerAndAutoCharge	(	const Header &	check_power_header = { "99999", "99999", 99999, "99999" },
		const std::string &	nav_board_charge_station_id = "99999" )

Checks the current battery level and automatically docks for charging when the battery is low.

Attention

Requires control priority.

Note

After charging completes, the auto_leave_board parameter decides whether the AGV automatically leaves the board and moves to a target station or waiting area.

Configure the low battery threshold [low_battery_threshold] or high battery threshold [high_battery_threshold] in the configuration file.

Parameters

[in]	check_power_header	ID of this command, name of this command, current time, and map ID.
[in]	nav_board_charge_station_id	Drives to the specified charging station for docking and charging. If unset, drives to the nearest charging station.

Returns

10100000: API call succeeded and the AGV starts the charging command; 10120202: no control priority; else: API call failed.

forcedAgvLeaveChargingBoard()

int agvc_interface::AgvcInterface::forcedAgvLeaveChargingBoard	(	const Header &	forced_leave_header = { "99999", "99999", 99999, "99999" },
		const std::string &	leave_board_target_station_id = "99999" )

Forces the AGV to leave the charging board.

Attention

Requires control priority.

Parameters

[in]	forced_leave_header	ID of this command, name of this command, current time, and map ID.
[in]	leave_board_target_station_id	Station to move to after leaving the board. If unset, the AGV leaves the board to the charging station.

Returns

10100000: API call succeeded and the AGV starts leaving the board; 10120202: no control priority; else: API call failed.

forcedAgvToChargingBoard()

int agvc_interface::AgvcInterface::forcedAgvToChargingBoard	(	const Header &	forced_charge_header = { "99999", "99999", 99999, "99999" },
		const std::string &	nav_board_charge_station_id = "99999" )

Forces the AGV to dock for charging.

Attention

Requires control priority.

Parameters

[in]	forced_charge_header	ID of this command, name of this command, current time, and map ID.
[in]	nav_board_charge_station_id	Drives to the specified charging station for docking and charging. If unset, drives to the nearest charging station.

Returns

10100000: API call succeeded and the AGV starts docking for charging; 10120202: no control priority; else: API call failed.

getLeaveBoardTargetStation()

Header agvc_interface::AgvcInterface::getLeaveBoardTargetStation

(

)

Gets the target station for automatic undocking.

Returns

Header information of the target station for automatic undocking.

sendAutoChargingCommand()

int agvc_interface::AgvcInterface::sendAutoChargingCommand

(

const AutoChargingCommand &

auto_charging_command

)

Sends an automatic charging command.

Attention

Requires control priority.

Since

0.7.0

Parameters

[in]

auto_charging_command

Automatic charging command.

Returns

10100000: API call succeeded and the AGV starts the charging command; 10120202: no control priority; else: API call failed.

setLeaveBoardTargetStation()

int agvc_interface::AgvcInterface::setLeaveBoardTargetStation

(

const Header &

leave_board_target_station_header

)

Sets the target station for automatic undocking.

Parameters

[in]

leave_board_target_station_header

Header information of the station used for automatic undocking.

Returns

10100000: automatic undocking station set successfully; else: failed to set the station.