Functions
std::vector< Header >	agvc_interface::AgvcInterface::getMapList ()
	Gets the headers of all maps on the AGV.
Header	agvc_interface::AgvcInterface::getCurrentMapHeader ()
	Queries the header of the current AGV map.
OccupancyGridMap	agvc_interface::AgvcInterface::getGridMapFromAgv (const Header &map_header)
	Gets the specified occupancy grid map information.
Base64PngMap	agvc_interface::AgvcInterface::getBase64PngMapFromAgv (const Header &map_header)
	Gets Base64-encoded PNG map information.
Base64PngMap	agvc_interface::AgvcInterface::previewPngMapFromAgv (const Header &map_header, const int &image_width_px=0, const int &image_height_px=0)
	Gets a preview image with optional width and height.
int	agvc_interface::AgvcInterface::sendGridMapToAgv (const OccupancyGridMap &map)
	Sends occupancy grid map information to the AGV.
int	agvc_interface::AgvcInterface::sendBase64PngMapToAgv (const Base64PngMap &map)
	Sends a Base64-encoded PNG map to the AGV.
int	agvc_interface::AgvcInterface::saveMap (const Header &map_header)
	Saves the map after mapping is complete.
int	agvc_interface::AgvcInterface::switchMap (const Header &map_header)
	Switches to the specified map.
int	agvc_interface::AgvcInterface::deleteMap (const Header &map_header)
	Deletes one specified map.
int	agvc_interface::AgvcInterface::deleteMaps (const std::vector< Header > &map_headers)
	Deletes multiple specified maps.
std::vector< MapVirtualArea >	agvc_interface::AgvcInterface::getAllMapVirtualArea ()
	Queries virtual areas on the current map.
std::vector< MapVirtualArea >	agvc_interface::AgvcInterface::getAllMapVirtualAreaOfTargetMap (const Header &map_header)
	Queries virtual areas on the target map.
int	agvc_interface::AgvcInterface::addMapVirtualArea (const MapVirtualArea &map_virtual_area)
	Adds or modifies one virtual area.
int	agvc_interface::AgvcInterface::addMapVirtualAreas (const std::vector< MapVirtualArea > &map_virtual_areas)
	Adds or modifies multiple virtual areas.
int	agvc_interface::AgvcInterface::deleteMapVirtualArea (const Header &virtual_area_header)
	Deletes the specified virtual area.
int	agvc_interface::AgvcInterface::deleteMapVirtualAreas (const std::vector< Header > &virtual_areas_header)
	Deletes multiple specified virtual areas.
MapAllInfo	agvc_interface::AgvcInterface::getGridMapAllInfo (const Header &map_header)
	Gets occupancy grid map data, paths, stations, and virtual areas for the specified map.
MapAllInfo	agvc_interface::AgvcInterface::getPngMapAllInfo (const Header &map_header)
	Gets Base64 map data, paths, stations, and virtual areas for the specified map.
int	agvc_interface::AgvcInterface::setGridMapAllInfo (const MapAllInfo &map_all_info, const Header &command_header={ "99999", "99999", 1, "99999" })
	Sets occupancy grid map, path, station, and virtual area information.
int	agvc_interface::AgvcInterface::setPngMapAllInfo (const MapAllInfo &map_all_info, const Header &command_header={ "99999", "99999", 1, "99999" })
	Sets Base64 map, path, station, and virtual area information.
int	agvc_interface::AgvcInterface::deleteMapAllInfo (const Header &map_header)
	Deletes all information of the specified map, including map data, stations, paths, and virtual areas.

Detailed Description

Core functions for creating, switching, deleting, reading, and writing AGVC custom maps.

Function Documentation

◆ addMapVirtualArea()

int agvc_interface::AgvcInterface::addMapVirtualArea ( const MapVirtualArea & map_virtual_area )

Adds or modifies one virtual area.

Parameters

[in] map_virtual_area Virtual area information to add or modify.

Returns: 10100000: virtual area added or modified successfully; else: failed to add or modify the virtual area.

◆ addMapVirtualAreas()

int agvc_interface::AgvcInterface::addMapVirtualAreas ( const std::vector< MapVirtualArea > & map_virtual_areas )

Adds or modifies multiple virtual areas.

Parameters

[in] map_virtual_areas Virtual area information to add or modify.

Returns: 10100000: virtual areas added or modified successfully; else: failed to add or modify virtual areas.

◆ deleteMap()

int agvc_interface::AgvcInterface::deleteMap ( const Header & map_header )

Deletes one specified map.

Parameters

[in] map_header Header of the specified map (command ID, name, time, map ID).

Returns: 10100000: map deleted successfully; else: failed to delete the map.

◆ deleteMapAllInfo()

int agvc_interface::AgvcInterface::deleteMapAllInfo ( const Header & map_header )

Deletes all information of the specified map, including map data, stations, paths, and virtual areas.

Parameters

[in] map_header Header of the specified map (command ID, map name, time, map ID).

Returns: 10100000: deleted successfully; else: deletion failed.

◆ deleteMaps()

int agvc_interface::AgvcInterface::deleteMaps ( const std::vector< Header > & map_headers )

Deletes multiple specified maps.

Parameters

[in] map_headers Headers of the specified maps (command ID, name, time, map ID).

Returns: 10100000: maps deleted successfully; else: failed to delete maps.

◆ deleteMapVirtualArea()

int agvc_interface::AgvcInterface::deleteMapVirtualArea ( const Header & virtual_area_header )

Deletes the specified virtual area.

Parameters

[in] virtual_area_header Header of the specified virtual area (command ID, virtual area name, time, map ID).

Returns: 10100000: virtual area deleted successfully; else: failed to delete the virtual area.

◆ deleteMapVirtualAreas()

int agvc_interface::AgvcInterface::deleteMapVirtualAreas ( const std::vector< Header > & virtual_areas_header )

Deletes multiple specified virtual areas.

Parameters

[in] virtual_areas_header Headers of the specified virtual areas (command ID, virtual area name, time, map ID).

Returns: 10100000: virtual areas deleted successfully; else: failed to delete virtual areas.

◆ getAllMapVirtualArea()

std::vector< MapVirtualArea > agvc_interface::AgvcInterface::getAllMapVirtualArea ( )

Queries virtual areas on the current map.

Returns: Virtual area information on the current map.

◆ getAllMapVirtualAreaOfTargetMap()

std::vector< MapVirtualArea > agvc_interface::AgvcInterface::getAllMapVirtualAreaOfTargetMap ( const Header & map_header )

Queries virtual areas on the target map.

Parameters

[in] map_header Header of the specified map (command ID, name, time, map ID).

Returns: All virtual areas on the specified map.

◆ getBase64PngMapFromAgv()

Base64PngMap agvc_interface::AgvcInterface::getBase64PngMapFromAgv ( const Header & map_header )

Gets Base64-encoded PNG map information.

Attention

Asynchronous API.

Parameters

[in] map_header Header of the specified map (this asynchronous command ID, name, time, map ID).

Note: When map_id is "current_map", it refers to the current map.

Returns: Base64-encoded PNG map information.

◆ getCurrentMapHeader()

Header agvc_interface::AgvcInterface::getCurrentMapHeader ( )

Queries the header of the current AGV map.

Returns: Header of the current map (command ID, name, time, map ID).

◆ getGridMapAllInfo()

MapAllInfo agvc_interface::AgvcInterface::getGridMapAllInfo ( const Header & map_header )

Gets occupancy grid map data, paths, stations, and virtual areas for the specified map.

Attention

Asynchronous API.

Parameters

[in] map_header Header of the specified map (this asynchronous command ID, map name, time, map ID).

Note: When map_id is "current_map", it refers to the current map.

Returns: All information on the occupancy grid map.

◆ getGridMapFromAgv()

OccupancyGridMap agvc_interface::AgvcInterface::getGridMapFromAgv ( const Header & map_header )

Gets the specified occupancy grid map information.

Parameters

[in] map_header Header of the specified map (this asynchronous command ID, name, time, map ID).

Note: When map_id is "current_map", it refers to the current map.

Returns: Specified occupancy grid map information.

◆ getMapList()

std::vector< Header > agvc_interface::AgvcInterface::getMapList ( )

Gets the headers of all maps on the AGV.

Returns: Headers of all maps (command ID, name, time, map ID).

◆ getPngMapAllInfo()

MapAllInfo agvc_interface::AgvcInterface::getPngMapAllInfo ( const Header & map_header )

Gets Base64 map data, paths, stations, and virtual areas for the specified map.

Attention

Asynchronous API.

Parameters

[in] map_header Header of the specified map (this asynchronous command ID, map name, time, map ID).

Note: When map_id is "current_map", it refers to the current map.

Returns: All information on the Base64 map.

◆ previewPngMapFromAgv()

Base64PngMap agvc_interface::AgvcInterface::previewPngMapFromAgv	(	const Header &	map_header,
		const int &	image_width_px = 0,
		const int &	image_height_px = 0 )

Gets a preview image with optional width and height.

Attention

Asynchronous API.

Parameters

[in]	map_header	Header of the specified map (this asynchronous command ID, name, time, map ID).
[in]	image_width_px	Map width in pixels. If the default value 0 is used, returned thumbnail data is empty.
[in]	image_height_px	Map height in pixels. If the default value 0 is used, returned thumbnail data is empty.

Note: When map_id is "current_map", it refers to the current map.

Returns: Base64-encoded PNG thumbnail.

◆ saveMap()

int agvc_interface::AgvcInterface::saveMap ( const Header & map_header )

Saves the map after mapping is complete.

Attention

Asynchronous API; 2. Requires control priority.

Parameters

[in] map_header Map header (this asynchronous command ID, name, time, map ID).

Returns: 10100000: map saved successfully; 10100201: asynchronous API is running; 10120202: no control priority; else: failed to save the map.

◆ sendBase64PngMapToAgv()

int agvc_interface::AgvcInterface::sendBase64PngMapToAgv ( const Base64PngMap & map )

Sends a Base64-encoded PNG map to the AGV.

Attention

Asynchronous API.

Parameters

[in] map Base64-encoded PNG map.

Returns: 10100000: map sent successfully; 10100201: map is being sent; else: failed to send the map.

◆ sendGridMapToAgv()

int agvc_interface::AgvcInterface::sendGridMapToAgv ( const OccupancyGridMap & map )

Sends occupancy grid map information to the AGV.

Attention

Asynchronous API.

Parameters

[in] map Occupancy grid map information.

Returns: 10100000: map sent successfully; 10100201: map is being sent; else: failed to send the map.

◆ setGridMapAllInfo()

int agvc_interface::AgvcInterface::setGridMapAllInfo	(	const MapAllInfo &	map_all_info,
		const Header &	command_header = { "99999", "99999", 1, "99999" } )

Sets occupancy grid map, path, station, and virtual area information.

Attention

Asynchronous API; 2. Requires control priority.

Parameters

[in]	map_all_info	All information on the occupancy grid map.
[in]	command_header	The id field is the ID of this command; other fields have no special meaning.

Note: Ensure that the data can be applied; the AGV does not validate the data.

Returns: 10100000: all map information uploaded successfully; 10100201: asynchronous API is running; 10120202: no control priority; else: failed to upload all map information.

◆ setPngMapAllInfo()

int agvc_interface::AgvcInterface::setPngMapAllInfo	(	const MapAllInfo &	map_all_info,
		const Header &	command_header = { "99999", "99999", 1, "99999" } )

Sets Base64 map, path, station, and virtual area information.

Attention

Asynchronous API; 2. Requires control priority.

Parameters

[in]	map_all_info	All information on the Base64 map.
[in]	command_header	The id field is the ID of this command; other fields have no special meaning.

Note: Ensure that the data can be applied; the AGV does not validate the data.

Returns: 10100000: all map information uploaded successfully; 10100201: asynchronous API is running; 10120202: no control priority; else: failed to upload all map information.

◆ switchMap()

int agvc_interface::AgvcInterface::switchMap ( const Header & map_header )

Switches to the specified map.

Attention

Asynchronous API; 2. Requires control priority.

Parameters

[in] map_header Header of the specified map (this asynchronous command ID, name, time, map ID).

Returns: 10100000: map switched successfully; 10100201: asynchronous API is running; 10120202: no control priority; else: failed to switch the map.

	AGVC SDK 0.8.0

Functions

Detailed Description

Function Documentation

◆ addMapVirtualArea()

◆ addMapVirtualAreas()

◆ deleteMap()

◆ deleteMapAllInfo()

◆ deleteMaps()

◆ deleteMapVirtualArea()

◆ deleteMapVirtualAreas()

◆ getAllMapVirtualArea()

◆ getAllMapVirtualAreaOfTargetMap()

◆ getBase64PngMapFromAgv()

◆ getCurrentMapHeader()

◆ getGridMapAllInfo()

◆ getGridMapFromAgv()

◆ getMapList()

◆ getPngMapAllInfo()

◆ previewPngMapFromAgv()

◆ saveMap()

◆ sendBase64PngMapToAgv()

◆ sendGridMapToAgv()

◆ setGridMapAllInfo()

◆ setPngMapAllInfo()

◆ switchMap()