Overview

AGVC SDK provides a complete set of interfaces for controlling and managing AGV systems. Applications can communicate with AGV controllers through the AGVC API entry points to perform map management, path planning, motion control, charging, system status monitoring, and other operations.

Quick Start

Basic Workflow

// 1. Initialize the AGV SDK client
auto rpc = std::make_shared<agvc_interface::RpcClient>();
 
// 2. Configure AGV communication
// 2.1 Set request timeout
rpc->setRequestTimeout(100);
// 2.2 Connect to the AGV
rpc->connect("192.168.192.100", 30104);
// 2.3 Log in
rpc->login("aa", "bb");
 
// 3. Use AGV interfaces
// 3.1 Query AGV details
rpc->getAgvDetails();
// 3.2 Get laser point cloud
rpc->getLaserPointCloud();

SDK Architecture

Module Structure

AGVC_API (main entry)
├── Map
├── Station
├── Path
├── Navigation
├── Charging
├── AgvInfo
└── System

Usage Examples

Get Robot Details

// Establish communication
auto rpc = std::make_shared<agvc_interface::RpcClient>();
rpc->setRequestTimeout(100);
rpc->connect("192.168.192.100", 30104);
rpc->login("aa", "bb");
 
// Get AGV details
auto agv_details = rpc->getAgvDetails();

Create a Map

// Acquire control priority
rpc->setPriority("aa", "");
 
// Switch to mapping mode
agvc_interface::Header header;
header.id = "123sdaw-asdafas-zff";
agvc_interface::RunningMode mode = agvc_interface::RunningMode::MAPPING;
auto ret = rpc->changeRunningMode(mode, header);
 
// Query the execution status of the asynchronous changeRunningMode interface
agvc_interface::AsyncInterfaceResultStatus async_result = rpc->getAsyncInterfaceResultStatus();
agvc_interface::ChangeRunningModeStatus change_running_mode_status = async_result.change_running_mode_status.status;
 
// If the asynchronous interface is still running, keep querying until it finishes
while (change_running_mode_status == agvc_interface::ChangeRunningModeStatus::RUNNING)
{
    change_running_mode_status = rpc->getAsyncInterfaceResultStatus().change_running_mode_status.status;
    std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
 
// Query the final result after the asynchronous operation finishes
ret = rpc->changeRunningMode(mode, header);
 
// Check the result
if (ret == 10100000) {
    std::cout << "Mapping mode switched successfully";
} else {
    std::cout << "Failed to switch mapping mode, error code: " << ret;
}

Save a Map

// Acquire control priority
rpc->setPriority("aa", "");
 
// Configure map header
agvc_interface::Header map_header;
map_header.id     = "test_save_map";
map_header.map_id = map_id;
map_header.name   = "test1";
map_header.stamp  = 1;
 
auto ret = rpc->saveMap(map_header);
 
// Query the execution status of the asynchronous saveMap interface
agvc_interface::AsyncInterfaceResultStatus async_result = rpc->getAsyncInterfaceResultStatus();
auto save_map_status = ret.save_map_status.status;
 
// If the asynchronous interface is still running, keep querying until it finishes
while (save_map_status == agvc_interface::ChangeRunningModeStatus::RUNNING)
{
    save_map_status = rpc->getAsyncInterfaceResultStatus().save_map_status.status;
    std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
 
// Query the final result after the asynchronous operation finishes
ret = rpc->saveMap(map_header);
 
// Check the result
if (ret == 10100000) {
    std::cout << "Map saved successfully";
} else {
    std::cout << "Failed to save map, error code: " << ret;
}

Namespace

All interfaces are defined in the following namespace:

namespace agvc_interface {
    // Interface definitions
}

Error Handling

Most interface methods return integer error codes. 10100000 indicates success, while other values indicate specific errors that can be queried through the error-code interface. Some interfaces may throw AuboException exceptions.

Deprecated List

For deprecated APIs and fields, see Deprecated List.

Supported Programming Languages

C++
Python
JSON-RPC

Related Files

agvc_interface.h - Interface definitions
type.h - Type definitions