Functions
int	agvc_interface::AgvcInterface::setSystemClock (const std::string &stamp)
	Sets the AGV system time.
AsyncInterfaceResultStatus	agvc_interface::AgvcInterface::getAsyncInterfaceResultStatus ()
	Queries the running status of asynchronous APIs; this does not represent each API's own execution result.
std::vector< std::string >	agvc_interface::AgvcInterface::getWifiList ()
	Gets the currently scanned WiFi list.
int	agvc_interface::AgvcInterface::connectWifi (const std::string &ssid, const std::string &password)
	Connects to the specified WiFi and automatically switches to WiFi mode.
int	agvc_interface::AgvcInterface::enableHotspot (const std::string &password)
	Enables hotspot mode and automatically switches to hotspot mode.
std::vector< IpAddressInfo >	agvc_interface::AgvcInterface::getIpAddressList ()
	Gets all local IP addresses.
std::string	agvc_interface::AgvcInterface::getAgvControllerParametersFile ()
	Gets the AGV controller parameter file.
int	agvc_interface::AgvcInterface::setAgvControllerParametersFile (const std::string &agv_parameters)
	Sets the AGV controller parameter file.
int	agvc_interface::AgvcInterface::refreshAgvControllerParametersFile ()
	Refreshes parameters on AGV nodes after the AGV controller parameter file is modified.
int	agvc_interface::AgvcInterface::resetAgvControllerParametersFile ()
	Restores the AGV controller parameter file to factory defaults.
int	agvc_interface::AgvcInterface::updateSoftware (const std::string &upgrade_pack_path)
	Upgrades AGV software.
std::vector< std::string >	agvc_interface::AgvcInterface::getSoftwareVersionList ()
	Gets the AGV software version list.
int	agvc_interface::AgvcInterface::switchSoftwareVersion (const std::string &software_version)
	Switches the AGV software version.
int	agvc_interface::AgvcInterface::uninstallSoftware (const std::string &software_version)
	Uninstalls an AGV software version.
int	agvc_interface::AgvcInterface::updateFirmware (const FirmwareUpdateParam &update_firmware)
	Updates AGV firmware.
FirmwareUpdateProcessInfo	agvc_interface::AgvcInterface::getUpdateFirmwareProcess ()
	Gets firmware update process information.
int	agvc_interface::AgvcInterface::startCollectCalibrationData (const CalibrationType &type, const Header &command_header={ "99999", "99999", 1, "99999" })
	Starts collecting calibration data.
int	agvc_interface::AgvcInterface::cancelCollectCalibrationData (const CalibrationType &type, const Header &command_header={ "99999", "99999", 1, "99999" })
	Cancels calibration data collection.
int	agvc_interface::AgvcInterface::startCalibration (const CalibrationType &type, const Header &command_header={ "99999", "99999", 1, "99999" })
	Starts calibration.
CalibrationProcessInfo	agvc_interface::AgvcInterface::getCalibrationProcessInfo (const CalibrationType &type)
	Gets calibration information.
int	agvc_interface::AgvcInterface::restartAgv ()
	Restarts the AGV.
int	agvc_interface::AgvcInterface::setAgvName (const std::string &agv_name)
	Sets the AGV name.
int	agvc_interface::AgvcInterface::setPriority (const std::string &name, const std::string &ip="")
	Sets control priority.
int	agvc_interface::AgvcInterface::releasePriority ()
	Releases control priority.
int	agvc_interface::AgvcInterface::scriptPaused ()
	Pauses the script.
int	agvc_interface::AgvcInterface::scriptResume ()
	Resumes the script.
int	agvc_interface::AgvcInterface::scriptStop ()
	Stops the script.
int	agvc_interface::AgvcInterface::setScriptStatus (ScriptRuntimeState status)
	Sets the script runtime state.
int	agvc_interface::AgvcInterface::autoAlignRailway (const Header &command_header={ "99999", "99999", 1, "99999" })
	Automatically aligns with the rail and boards the rail.

Detailed Description

System-level functions for AGVC configuration, control priority, software upgrades, and firmware updates.

Function Documentation

◆ autoAlignRailway()

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

Automatically aligns with the rail and boards the rail.

Attention

Asynchronous API; 2. Requires control priority.

Parameters

[in] command_header The id field is the ID of this command; other fields have no special meaning.

Returns: 10100000: rail boarding succeeded; 10100201: rail boarding is in progress; 10120202: no control priority; else: rail boarding failed.

◆ cancelCollectCalibrationData()

int agvc_interface::AgvcInterface::cancelCollectCalibrationData	(	const CalibrationType &	type,
		const Header &	command_header = { "99999", "99999", 1, "99999" } )

Cancels calibration data collection.

Parameters

[in]	type	Calibration type.
[in]	command_header	The id field is the ID of this command; other fields have no special meaning.

Returns: 10100000: API call succeeded; 10120202: no control priority; else: API call failed.

◆ connectWifi()

int agvc_interface::AgvcInterface::connectWifi	(	const std::string &	ssid,
		const std::string &	password )

Connects to the specified WiFi and automatically switches to WiFi mode.

Note: Must be called over a wired connection and may take a long time.

Parameters

[in]	ssid	WiFi SSID.
[in]	password	WiFi password.

Returns: 10100000: connected to WiFi successfully; else: failed to connect to WiFi.

◆ enableHotspot()

int agvc_interface::AgvcInterface::enableHotspot ( const std::string & password )

Enables hotspot mode and automatically switches to hotspot mode.

Note: Must be called over a wired connection and may take a long time.

Parameters

[in] password Hotspot password. If empty, "administrator" is used as the default password, and the SSID defaults to the SN.

Returns: 10100000: hotspot enabled successfully; else: failed to enable hotspot.

◆ getAgvControllerParametersFile()

std::string agvc_interface::AgvcInterface::getAgvControllerParametersFile ( )

Gets the AGV controller parameter file.

Returns: Parameter information in the current AGV controller.

◆ getAsyncInterfaceResultStatus()

AsyncInterfaceResultStatus agvc_interface::AgvcInterface::getAsyncInterfaceResultStatus ( )

Queries the running status of asynchronous APIs; this does not represent each API's own execution result.

Note: Asynchronous APIs: saveMap, switchMap, changeRunningMode, relocation, sendBase64PngMapToAgv.; Asynchronous APIs: getGridMapAllInfo, setGridMapAllInfo, sendGridMapToAgv, getGridMapFromAgv.; Asynchronous APIs: getPngMapAllInfo, setPngMapAllInfo, getBase64PngMapFromAgv, previewPngMapFromAgv.; Asynchronous API: autoAlignRailway.; After the client disconnects from the AGV, call this API to obtain asynchronous API status.; Each field in the return value contains a header, where header.id is the ID used when issuing the asynchronous task.

Returns: NONE: asynchronous API is not running; RUNNING: asynchronous API is running; FINISH: asynchronous API has finished.

◆ getCalibrationProcessInfo()

CalibrationProcessInfo agvc_interface::AgvcInterface::getCalibrationProcessInfo ( const CalibrationType & type )

Gets calibration information.

Parameters

[in] type Calibration type.

Returns: Calibration information.

◆ getIpAddressList()

std::vector< IpAddressInfo > agvc_interface::AgvcInterface::getIpAddressList ( )

Gets all local IP addresses.

Returns: All local IP addresses.

◆ getSoftwareVersionList()

std::vector< std::string > agvc_interface::AgvcInterface::getSoftwareVersionList ( )

Gets the AGV software version list.

Returns: Software version list, for example {0.3.2+3b807d1-Linux_x86_64,0.6.3-patch.3+b8c6aa4-Linux_x86_64}.

◆ getUpdateFirmwareProcess()

FirmwareUpdateProcessInfo agvc_interface::AgvcInterface::getUpdateFirmwareProcess ( )

Gets firmware update process information.

Returns: Firmware update step information (failed means the update failed) and update progress (1.0 means the update succeeded).

◆ getWifiList()

std::vector< std::string > agvc_interface::AgvcInterface::getWifiList ( )

Gets the currently scanned WiFi list.

Attention: Asynchronous API.

Returns: {RUNNING}: asynchronous API is running; {}: empty, no WiFi found; {SSID}: non-empty list of scanned WiFi SSIDs.

◆ refreshAgvControllerParametersFile()

int agvc_interface::AgvcInterface::refreshAgvControllerParametersFile ( )

Refreshes parameters on AGV nodes after the AGV controller parameter file is modified.

Attention: Requires control priority.

Note: Do not call frequently. Keep the call rate below 1 Hz.

Returns: 10100000: API executed successfully; else: API execution failed.

◆ releasePriority()

int agvc_interface::AgvcInterface::releasePriority ( )

Releases control priority.

Returns: 10100000: control priority released successfully; else: failed to release control priority.

◆ resetAgvControllerParametersFile()

int agvc_interface::AgvcInterface::resetAgvControllerParametersFile ( )

Restores the AGV controller parameter file to factory defaults.

Attention: Requires control priority.

Note: Do not call frequently. Keep the call rate below 1 Hz.

Returns: 10100000: API executed successfully; else: API execution failed.

◆ restartAgv()

int agvc_interface::AgvcInterface::restartAgv ( )

Restarts the AGV.

Returns: 10100000: restart command executed successfully; else: restart command failed.

◆ scriptPaused()

int agvc_interface::AgvcInterface::scriptPaused ( )

Pauses the script.

Returns: 10100000: script paused successfully; else: failed to pause the script.

◆ scriptResume()

int agvc_interface::AgvcInterface::scriptResume ( )

Resumes the script.

Returns: 10100000: script resumed successfully; else: failed to resume the script.

◆ scriptStop()

int agvc_interface::AgvcInterface::scriptStop ( )

Stops the script.

Returns: 10100000: script stopped successfully; else: failed to stop the script.

◆ setAgvControllerParametersFile()

int agvc_interface::AgvcInterface::setAgvControllerParametersFile ( const std::string & agv_parameters )

Sets the AGV controller parameter file.

Attention: Requires control priority.

Note: Do not call frequently. Keep the call rate below 1 Hz. This API refreshes parameters by default.

Parameters

[in] agv_parameters Parameter information for the AGV controller.

Returns: 10100000: parameters set successfully; else: failed to set parameters.

◆ setAgvName()

int agvc_interface::AgvcInterface::setAgvName ( const std::string & agv_name )

Sets the AGV name.

Parameters

[in] agv_name AGV name to set.

Returns: 10100000: name set successfully; else: failed to set the name.

◆ setPriority()

int agvc_interface::AgvcInterface::setPriority	(	const std::string &	name,
		const std::string &	ip = "" )

Sets control priority.

Note

Control-priority APIs can be used only after this API succeeds; 2. Release another client's control priority with releasePriority before setting priority; 3. To preempt priority from the web side, set name="web".

Parameters

[in]	name	User name registered during RPC login.
[in]	ip	IP address.

Returns: 10100000: control priority set successfully; else: failed to set control priority.

◆ setScriptStatus()

int agvc_interface::AgvcInterface::setScriptStatus ( ScriptRuntimeState status )

Sets the script runtime state.

Returns: 10100000: script runtime state set successfully; else: failed to set script runtime state.

◆ setSystemClock()

int agvc_interface::AgvcInterface::setSystemClock ( const std::string & stamp )

Sets the AGV system time.

Parameters

[in] stamp Timestamp in YYYY-MM-DDTHH:mm:ss.ssZ format, for example “2017-04-15T11:40:03.12Z”.

◆ startCalibration()

int agvc_interface::AgvcInterface::startCalibration	(	const CalibrationType &	type,
		const Header &	command_header = { "99999", "99999", 1, "99999" } )

Starts calibration.

Parameters

[in]	type	Calibration type.
[in]	command_header	The id field is the ID of this command; other fields have no special meaning.

Returns: 10100000: API call succeeded; 10120202: no control priority; else: API call failed.

◆ startCollectCalibrationData()

int agvc_interface::AgvcInterface::startCollectCalibrationData	(	const CalibrationType &	type,
		const Header &	command_header = { "99999", "99999", 1, "99999" } )

Starts collecting calibration data.

Note: LASER_ODOM calibration requires more than 1000 data samples. The exact amount can be changed in the configuration file.

Parameters

[in]	type	Calibration type.
[in]	command_header	The id field is the ID of this command; other fields have no special meaning.

Returns: 10100000: API call succeeded; 10120202: no control priority; else: API call failed.

◆ switchSoftwareVersion()

int agvc_interface::AgvcInterface::switchSoftwareVersion ( const std::string & software_version )

Switches the AGV software version.

Parameters

[in] software_version Software version, for example "0.3.2+3b807d1-Linux_x86_64".

Returns: 10100000: software version switched successfully; else: failed to switch software version.

◆ uninstallSoftware()

int agvc_interface::AgvcInterface::uninstallSoftware ( const std::string & software_version )

Uninstalls an AGV software version.

Parameters

[in] software_version Software version, for example "0.3.2+3b807d1-Linux_x86_64".

Returns: 10100000: software version uninstalled successfully; else: failed to uninstall software version.

◆ updateFirmware()

int agvc_interface::AgvcInterface::updateFirmware ( const FirmwareUpdateParam & update_firmware )

Updates AGV firmware.

Parameters

[in] update_firmware Configures the firmware modules to update and the firmware storage path.

Returns: 10100000: firmware update information sent successfully; else: firmware update is in progress.

◆ updateSoftware()

int agvc_interface::AgvcInterface::updateSoftware ( const std::string & upgrade_pack_path )

Upgrades AGV software.

Parameters

[in] upgrade_pack_path Upgrade package path, for example "/root/agvc_release-0.1.1+398d1f7-Linux_x86_64.tar.gz".

Returns: 10100000: target version upgraded successfully; 10100201: upgrade is in progress; else: upgrade failed.

	AGVC SDK 0.8.0

Functions

Detailed Description

Function Documentation

◆ autoAlignRailway()

◆ cancelCollectCalibrationData()

◆ connectWifi()

◆ enableHotspot()

◆ getAgvControllerParametersFile()

◆ getAsyncInterfaceResultStatus()

◆ getCalibrationProcessInfo()

◆ getIpAddressList()

◆ getSoftwareVersionList()

◆ getUpdateFirmwareProcess()

◆ getWifiList()

◆ refreshAgvControllerParametersFile()

◆ releasePriority()

◆ resetAgvControllerParametersFile()

◆ restartAgv()

◆ scriptPaused()

◆ scriptResume()

◆ scriptStop()

◆ setAgvControllerParametersFile()

◆ setAgvName()

◆ setPriority()

◆ setScriptStatus()

◆ setSystemClock()

◆ startCalibration()

◆ startCollectCalibrationData()

◆ switchSoftwareVersion()

◆ uninstallSoftware()

◆ updateFirmware()

◆ updateSoftware()