agvc_interface.h

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#ifndef AGVC_INTERFACE_H
#define AGVC_INTERFACE_H
 
#include <memory>
#include "agvc_interface/type.h"
 
#define INTERFACE_VERSION_MAJOR 0
#define INTERFACE_VERSION_MINOR 4
#define INTERFACE_VERSION_PATCH 0
#define INTERFACE_VERSION       (INTERFACE_VERSION_MAJOR * 1000000 + INTERFACE_VERSION_MINOR * 1000 + INTERFACE_VERSION_PATCH)
 
/**
 * \chinese
 * @defgroup Map Map (地图模块)
 * \endchinese
 * \english
 * @defgroup Map Map
 * \endenglish
 * @brief
 * @zh AGVC自定义地图的创建、切换、删除、数据读写等核心功能
 * @en Core functions for creating, switching, deleting, reading, and writing AGVC custom maps.
 */
 
/**
 * \chinese
 * @defgroup Station Station (站点模块)
 * \endchinese
 * \english
 * @defgroup Station Station
 * \endenglish
 * @brief
 * @zh AGVC地图站点的增删改查、充电站点自动识别等功能
 * @en Functions for adding, deleting, modifying, querying AGVC map stations, and auto-detecting charging stations.
 */
 
/**
 * \chinese
 * @defgroup Path Path (路径模块)
 * \endchinese
 * \english
 * @defgroup Path Path
 * \endenglish
 * @brief
 * @zh AGVC地图路径的生成、修改、删除、查询等功能
 * @en Functions for generating, modifying, deleting, and querying AGVC map paths.
 */
 
/**
 * \chinese
 * @defgroup Navigation Navigation (导航模块)
 * \endchinese
 * \english
 * @defgroup Navigation Navigation
 * \endenglish
 * @brief
 * @zh AGVC运动控制、导航任务下发、重定位、模式切换等功能
 * @en Functions for AGVC motion control, navigation goals, relocation, and mode switching.
 */
 
/**
 * \chinese
 * @defgroup Charging Charging (充电模块)
 * \endchinese
 * \english
 * @defgroup Charging Charging
 * \endenglish
 * @brief
 * @zh AGVC自动充电、强制上下桩、电量检测等充电相关功能
 * @en AGVC charging functions, including auto charging, forced docking or undocking, and battery checks.
 */
 
/**
 * \chinese
 * @defgroup AgvInfo AgvInfo (AGV信息模块)
 * \endchinese
 * \english
 * @defgroup AgvInfo AgvInfo
 * \endenglish
 * @brief
 * @zh AGVC状态、位姿、日志、错误码等信息查询功能
 * @en Query functions for AGVC status, pose, logs, error codes, and related information.
 */
 
/**
 * \chinese
 * @defgroup System System (系统模块)
 * \endchinese
 * \english
 * @defgroup System System
 * \endenglish
 * @brief
 * @zh AGVC系统配置、控制权、软件升级、固件更新等系统级功能
 * @en System-level functions for AGVC configuration, control priority, software upgrades, and firmware updates.
 */
 
namespace agvc_interface {
 
class AgvcInterface
{
public:
    AgvcInterface();
    virtual ~AgvcInterface();
 
    /**
     * @ingroup System
     * @brief
     * @zh 设置AGV系统时间。
     * @en Sets the AGV system time.
     * @param[in] stamp
     * @zh 时间戳，格式为YYYY-MM-DDTHH:mm:ss.ssZ，例如“2017-04-15T11:40:03.12Z”。
     * @en Timestamp in YYYY-MM-DDTHH:mm:ss.ssZ format, for example “2017-04-15T11:40:03.12Z”.
     */
    int setSystemClock(const std::string &stamp);
 
    /**
     * @ingroup AgvInfo
     * @attention
     * @zh RTDE推送。
     * @en RTDE pushed data.
     * @brief
     * @zh 查询当前AGV信息。
     * @en Queries current AGV information.
     * @return
     * @zh AGV详细信息。
     * @en Detailed AGV information.
     */
    AgvDetails getAgvDetails();
 
    /**
     * @ingroup AgvInfo
     * @attention
     * @zh RTDE推送。
     * @en RTDE pushed data.
     * @brief
     * @zh 查询当前AGV运行信息。
     * @en Queries current AGV running information.
     * @return
     * @zh AGV运行信息。
     * @en AGV running information.
     */
    RunningInfo getRunningInfo();
 
    /**
     * @ingroup AgvInfo
     * @attention
     * @zh RTDE推送。
     * @en RTDE pushed data.
     * @brief
     * @zh 查询AGV当前位姿。
     * @en Queries the current AGV pose.
     * @return
     * @zh 当前位姿。
     * @en Current pose.
     */
    Pose2d getAgvCurrentPose();
 
    /**
     * @ingroup AgvInfo
     * @attention
     * @zh RTDE推送。
     * @en RTDE pushed data.
     * @brief
     * @zh 查询当前激光点云数据。
     * @en Queries the current laser point cloud data.
     * @return
     * @zh 二维激光点坐标。
     * @en 2D laser point coordinates.
     */
    std::vector<Point2d> getLaserPointCloud();
 
    /**
     * @ingroup System
     * @brief
     * @zh 查询异步接口的运行情况，不代表异步接口本身的运行结果。
     * @en Queries the running status of asynchronous APIs; this does not represent each API's own execution result.
     * @note
     * @zh 异步接口：saveMap, switchMap, changeRunningMode, relocation, sendBase64PngMapToAgv。
     * @en Asynchronous APIs: saveMap, switchMap, changeRunningMode, relocation, sendBase64PngMapToAgv.
     * @note
     * @zh 异步接口：getGridMapAllInfo, setGridMapAllInfo, sendGridMapToAgv, getGridMapFromAgv。
     * @en Asynchronous APIs: getGridMapAllInfo, setGridMapAllInfo, sendGridMapToAgv, getGridMapFromAgv.
     * @note
     * @zh 异步接口：getPngMapAllInfo, setPngMapAllInfo, getBase64PngMapFromAgv, previewPngMapFromAgv。
     * @en Asynchronous APIs: getPngMapAllInfo, setPngMapAllInfo, getBase64PngMapFromAgv, previewPngMapFromAgv.
     * @note
     * @zh 异步接口：autoAlignRailway。
     * @en Asynchronous API: autoAlignRailway.
     * @note
     * @zh 客户端与AGV断联后，可调用该接口获取异步接口运行情况。
     * @en After the client disconnects from the AGV, call this API to obtain asynchronous API status.
     * @note
     * @zh 返回值的每个字段中均有header，其中header.id表示下发异步任务时的id号。
     * @en Each field in the return value contains a header, where header.id is the ID used when issuing the asynchronous task.
     * @return
     * @zh NONE：异步接口未运行；RUNNING：异步接口运行中；FINISH：异步接口运行结束。
     * @en NONE: asynchronous API is not running; RUNNING: asynchronous API is running; FINISH: asynchronous API has finished.
     */
    AsyncInterfaceResultStatus getAsyncInterfaceResultStatus();
 
    /**
     * @ingroup Station
     * @brief
     * @zh 查询当前地图的所有站点信息。
     * @en Queries all station information on the current map.
     * @return
     * @zh 当前地图的所有站点信息。
     * @en All station information on the current map.
     */
    std::vector<StationMark> getAllStations();
 
    /**
     * @ingroup Station
     * @brief
     * @zh 查询指定地图的所有站点信息。
     * @en Queries all station information on the specified map.
     * @param[in] map_header
     * @zh 指定地图header(命令id，名称，时间，地图id)。
     * @en Header of the specified map (command ID, name, time, map ID).
     * @return
     * @zh 指定地图的所有站点信息。
     * @en All station information on the specified map.
     */
    std::vector<StationMark> getAllStationsOfTargetMap(const Header &map_header);
 
    /**
     * @ingroup Station
     * @brief
     * @zh 添加或修改一个站点。
     * @en Adds or modifies one station.
     * @param[in] station
     * @zh 待添加或修改的站点信息。
     * @en Station information to add or modify.
     * @return
     * @zh 10100000：添加或修改站点成功；else：添加或修改站点失败。
     * @en 10100000: station added or modified successfully; else: failed to add or modify the station.
     */
    int addStation(const StationMark &station);
 
    /**
     * @ingroup Station
     * @brief
     * @zh 添加或修改多个站点。
     * @en Adds or modifies multiple stations.
     * @param[in] stations
     * @zh 待添加或修改的站点信息。
     * @en Station information to add or modify.
     * @return
     * @zh 10100000：添加或修改站点成功；else：添加或修改站点失败。
     * @en 10100000: stations added or modified successfully; else: failed to add or modify stations.
     */
    int addStations(const std::vector<StationMark> &stations);
 
    /**
     * @ingroup Station
     * @brief
     * @zh 通过自动识别充电桩位姿来添加充电站点。
     * @en Adds a charging station by automatically recognizing the charging board pose.
     * @since 0.7.0
     * @param[in] station_header
     * @zh 待添加或修改的充电站点信息(站点id，名称，时间，地图id)。
     * @en Charging station information to add or modify (station ID, name, time, map ID).
     * @param[in] dis_station_board
     * @zh 充电站点与充电桩之间的距离(充电站点位于AGV中心)，单位：m，范围[1.0~2.0]。
     * @en Distance between the charging station and charging board. The charging station is at the AGV center. Unit: m; range: [1.0, 2.0].
     * @return
     * @zh 10100000：添加充电站点成功；else：添加充电站点失败。
     * @en 10100000: charging station added successfully; else: failed to add the charging station.
     */
    int addCPStationUseChargingBoard(const Header &station_header, const double &dis_station_board = 1.5);
 
    /**
     * @ingroup Station
     * @brief
     * @zh 删除指定站点，会删除与该站点相关的路径。
     * @en Deletes the specified station and its related paths.
     * @param[in] station_header
     * @zh 待删除站点信息(站点id，名称，时间，地图id)。
     * @en Station information to delete (station ID, name, time, map ID).
     * @return
     * @zh 10100000：删除站点成功；else：删除站点失败。
     * @en 10100000: station deleted successfully; else: failed to delete the station.
     */
    int deleteStation(const Header &station_header);
 
    /**
     * @ingroup Station
     * @brief
     * @zh 删除多个站点，会删除与站点相关的路径。
     * @en Deletes multiple stations and their related paths.
     * @param[in] stations_header
     * @zh 待删除站点信息(站点id，名称，时间，地图id)。
     * @en Station information to delete (station ID, name, time, map ID).
     * @return
     * @zh 10100000：删除站点成功；else：删除站点失败。
     * @en 10100000: stations deleted successfully; else: failed to delete stations.
     */
    int deleteStations(const std::vector<Header> &stations_header);
 
    /**
     * @ingroup Path
     * @brief
     * @zh 查询当前地图的所有路径信息。
     * @en Queries all path information on the current map.
     * @return
     * @zh 当前地图的所有路径信息。
     * @en All path information on the current map.
     */
    std::vector<PathStation> getAllPaths();
 
    /**
     * @ingroup Path
     * @brief
     * @zh 查询指定地图的所有路径信息。
     * @en Queries all path information on the specified map.
     * @param[in] map_header
     * @zh 指定地图header(命令id，名称，时间，地图id)。
     * @en Header of the specified map (command ID, name, time, map ID).
     * @return
     * @zh 指定地图的所有路径信息。
     * @en All path information on the specified map.
     */
    std::vector<PathStation> getAllPathsOfTargetMap(const Header &map_header);
 
    /**
     * @ingroup Path
     * @brief
     * @zh 查询AGV当前正在跟踪的路径信息。
     * @en Queries the path currently being tracked by the AGV.
     * @return
     * @zh 当前正在跟踪的路径信息。
     * @en Information about the path currently being tracked.
     */
    PathStation getCurrentPath();
 
    /**
     * @ingroup Path
     * @brief
     * @zh 生成或修改一条路径。
     * @en Generates or modifies one path.
     * @param[in] path_station
     * @zh 待生成或修改的路径信息。
     * @en Path information to generate or modify.
     * @return
     * @zh 10100000：修改或生成路径成功；else：修改或生成路径失败。
     * @en 10100000: path modified or generated successfully; else: failed to modify or generate the path.
     */
    int generatePath(const PathStation &path_station);
 
    /**
     * @ingroup Path
     * @brief
     * @zh 生成或修改多条路径。
     * @en Generates or modifies multiple paths.
     * @param[in] paths_station
     * @zh 待生成或修改的路径信息。
     * @en Path information to generate or modify.
     * @return
     * @zh 10100000：修改或生成路径成功；else：修改或生成路径失败。
     * @en 10100000: paths modified or generated successfully; else: failed to modify or generate paths.
     */
    int generatePaths(const std::vector<PathStation> &paths_station);
 
    /**
     * @ingroup Path
     * @brief
     * @zh 删除一条路径。
     * @en Deletes one path.
     * @param[in] path_header
     * @zh 待删除路径信息(路径id，名称，时间，地图id)。
     * @en Path information to delete (path ID, name, time, map ID).
     * @return
     * @zh 10100000：删除路径成功；else：删除路径失败。
     * @en 10100000: path deleted successfully; else: failed to delete the path.
     */
    int deletePath(const Header &path_header);
 
    /**
     * @ingroup Path
     * @brief
     * @zh 删除多条路径。
     * @en Deletes multiple paths.
     * @param[in] paths_header
     * @zh 待删除路径信息(路径id，名称，时间，地图id)。
     * @en Path information to delete (path ID, name, time, map ID).
     * @return
     * @zh 10100000：删除路径成功；else：删除路径失败。
     * @en 10100000: paths deleted successfully; else: failed to delete paths.
     */
    int deletePaths(const std::vector<Header> &paths_header);
 
    /**
     * @ingroup Map
     * @brief
     * @zh 获取AGV所有地图的信息头。
     * @en Gets the headers of all maps on the AGV.
     * @return
     * @zh 所有地图的信息头(命令id，名称，时间，地图id)。
     * @en Headers of all maps (command ID, name, time, map ID).
     */
    std::vector<Header> getMapList();
 
    /**
     * @ingroup Map
     * @brief
     * @zh 查询当前AGV地图的信息头。
     * @en Queries the header of the current AGV map.
     * @return
     * @zh 当前地图的信息头(命令id，名称，时间，地图id)。
     * @en Header of the current map (command ID, name, time, map ID).
     */
    Header getCurrentMapHeader();
 
    /**
     * @ingroup Map
     * @brief
     * @zh 获取指定栅格地图信息。
     * @en Gets the specified occupancy grid map information.
     * @param[in] map_header
     * @zh 指定地图的信息头(本次异步命令id，名称，时间，地图id)。
     * @en Header of the specified map (this asynchronous command ID, name, time, map ID).
     * @note
     * @zh map_id为"current_map"时，可特指为当前地图。
     * @en When map_id is "current_map", it refers to the current map.
     * @return
     * @zh 指定栅格地图信息。
     * @en Specified occupancy grid map information.
     */
    OccupancyGridMap getGridMapFromAgv(const Header &map_header);
 
    /**
     * @ingroup Map
     * @attention
     * @zh 1.异步接口。
     * @en 1. Asynchronous API.
     * @brief
     * @zh 获取Base64编码的PNG地图信息。
     * @en Gets Base64-encoded PNG map information.
     * @param[in] map_header
     * @zh 指定地图的信息头(本次异步命令id，名称，时间，地图id)。
     * @en Header of the specified map (this asynchronous command ID, name, time, map ID).
     * @note
     * @zh map_id为"current_map"时，可特指为当前地图。
     * @en When map_id is "current_map", it refers to the current map.
     * @return
     * @zh Base64编码的PNG地图信息。
     * @en Base64-encoded PNG map information.
     */
    Base64PngMap getBase64PngMapFromAgv(const Header &map_header);
 
    /**
     * @ingroup Map
     * @attention
     * @zh 1.异步接口。
     * @en 1. Asynchronous API.
     * @brief
     * @zh 获取预览图，可指定预览图的长和宽。
     * @en Gets a preview image with optional width and height.
     * @param[in] map_header
     * @zh 指定地图的信息头(本次异步命令id，名称，时间，地图id)。
     * @en Header of the specified map (this asynchronous command ID, name, time, map ID).
     * @param[in] image_width_px
     * @zh 地图宽度(像素)，默认值为0时返回缩略图数据为空。
     * @en Map width in pixels. If the default value 0 is used, returned thumbnail data is empty.
     * @param[in] image_height_px
     * @zh 地图高度(像素)，默认值为0时返回缩略图数据为空。
     * @en Map height in pixels. If the default value 0 is used, returned thumbnail data is empty.
     * @note
     * @zh map_id为"current_map"时，可特指为当前地图。
     * @en When map_id is "current_map", it refers to the current map.
     * @return
     * @zh Base64编码的PNG缩略图。
     * @en Base64-encoded PNG thumbnail.
     */
    Base64PngMap previewPngMapFromAgv(const Header &map_header, const int &image_width_px = 0, const int &image_height_px = 0);
 
    /**
     * @ingroup Map
     * @attention
     * @zh 1.异步接口。
     * @en 1. Asynchronous API.
     * @brief
     * @zh 将栅格地图信息发送给AGV。
     * @en Sends occupancy grid map information to the AGV.
     * @param[in] map
     * @zh 栅格地图信息。
     * @en Occupancy grid map information.
     * @return
     * @zh 10100000：发送地图成功；10100201：发送地图中；else：发送地图失败。
     * @en 10100000: map sent successfully; 10100201: map is being sent; else: failed to send the map.
     */
    int sendGridMapToAgv(const OccupancyGridMap &map);
 
    /**
     * @ingroup Map
     * @attention
     * @zh 1.异步接口。
     * @en 1. Asynchronous API.
     * @brief
     * @zh 将Base64编码的PNG地图发送给AGV。
     * @en Sends a Base64-encoded PNG map to the AGV.
     * @param[in] map
     * @zh Base64编码的PNG地图。
     * @en Base64-encoded PNG map.
     * @return
     * @zh 10100000：发送地图成功；10100201：发送地图中；else：发送地图失败。
     * @en 10100000: map sent successfully; 10100201: map is being sent; else: failed to send the map.
     */
    int sendBase64PngMapToAgv(const Base64PngMap &map);
 
    /**
     * @ingroup Map
     * @attention
     * @zh 1.异步接口；2.控制权限制。
     * @en 1. Asynchronous API; 2. Requires control priority.
     * @brief
     * @zh 建图完成后调用该接口保存地图。
     * @en Saves the map after mapping is complete.
     * @param[in] map_header
     * @zh 地图信息头(本次异步命令id，名称，时间，地图id)。
     * @en Map header (this asynchronous command ID, name, time, map ID).
     * @return
     * @zh 10100000：保存地图成功；10100201：异步接口运行中；10120202：无控制权；else：保存地图失败。
     * @en 10100000: map saved successfully; 10100201: asynchronous API is running; 10120202: no control priority; else: failed to save the map.
     */
    int saveMap(const Header &map_header);
 
    /**
     * @ingroup Map
     * @attention
     * @zh 1.异步接口；2.控制权限制。
     * @en 1. Asynchronous API; 2. Requires control priority.
     * @brief
     * @zh 切换指定地图。
     * @en Switches to the specified map.
     * @param[in] map_header
     * @zh 指定地图的信息头(本次异步命令id，名称，时间，地图id)。
     * @en Header of the specified map (this asynchronous command ID, name, time, map ID).
     * @return
     * @zh 10100000：切换地图成功；10100201：异步接口运行中；10120202：无控制权；else：切换地图失败。
     * @en 10100000: map switched successfully; 10100201: asynchronous API is running; 10120202: no control priority; else: failed to switch the map.
     */
    int switchMap(const Header &map_header);
 
    /**
     * @ingroup Map
     * @brief
     * @zh 删除一张指定地图。
     * @en Deletes one specified map.
     * @param[in] map_header
     * @zh 指定地图的信息头(命令id，名称，时间，地图id)。
     * @en Header of the specified map (command ID, name, time, map ID).
     * @return
     * @zh 10100000：删除地图成功；else：删除地图失败。
     * @en 10100000: map deleted successfully; else: failed to delete the map.
     */
    int deleteMap(const Header &map_header);
 
    /**
     * @ingroup Map
     * @brief
     * @zh 删除多张指定地图。
     * @en Deletes multiple specified maps.
     * @param[in] map_headers
     * @zh 多个指定地图的信息头(命令id，名称，时间，地图id)。
     * @en Headers of the specified maps (command ID, name, time, map ID).
     * @return
     * @zh 10100000：删除地图成功；else：删除地图失败。
     * @en 10100000: maps deleted successfully; else: failed to delete maps.
     */
    int deleteMaps(const std::vector<Header> &map_headers);
 
    /**
     * @ingroup Map
     * @brief
     * @zh 查询当前地图的虚拟区域。
     * @en Queries virtual areas on the current map.
     * @return
     * @zh 当前地图的虚拟区域信息。
     * @en Virtual area information on the current map.
     */
    std::vector<MapVirtualArea> getAllMapVirtualArea();
 
    /**
     * @ingroup Map
     * @brief
     * @zh 查询目标地图的虚拟区域。
     * @en Queries virtual areas on the target map.
     * @param[in] map_header
     * @zh 指定地图header(命令id，名称，时间，地图id)。
     * @en Header of the specified map (command ID, name, time, map ID).
     * @return
     * @zh 指定地图的所有虚拟区域。
     * @en All virtual areas on the specified map.
     */
    std::vector<MapVirtualArea> getAllMapVirtualAreaOfTargetMap(const Header &map_header);
 
    /**
     * @ingroup Map
     * @brief
     * @zh 添加或修改一个虚拟区域。
     * @en Adds or modifies one virtual area.
     * @param[in] map_virtual_area
     * @zh 待添加或修改的虚拟区域信息。
     * @en Virtual area information to add or modify.
     * @return
     * @zh 10100000：添加或修改虚拟区域成功；else：添加或修改虚拟区域失败。
     * @en 10100000: virtual area added or modified successfully; else: failed to add or modify the virtual area.
     */
    int addMapVirtualArea(const MapVirtualArea &map_virtual_area);
 
    /**
     * @ingroup Map
     * @brief
     * @zh 添加或修改多个虚拟区域。
     * @en Adds or modifies multiple virtual areas.
     * @param[in] map_virtual_areas
     * @zh 待添加或修改的虚拟区域信息。
     * @en Virtual area information to add or modify.
     * @return
     * @zh 10100000：添加或修改虚拟区域成功；else：添加或修改虚拟区域失败。
     * @en 10100000: virtual areas added or modified successfully; else: failed to add or modify virtual areas.
     */
    int addMapVirtualAreas(const std::vector<MapVirtualArea> &map_virtual_areas);
 
    /**
     * @ingroup Map
     * @brief
     * @zh 删除指定虚拟区域。
     * @en Deletes the specified virtual area.
     * @param[in] virtual_area_header
     * @zh 指定虚拟区域信息头(命令id，虚拟区域名称，时间，所在地图id)。
     * @en Header of the specified virtual area (command ID, virtual area name, time, map ID).
     * @return
     * @zh 10100000：删除虚拟区域成功；else：删除虚拟区域失败。
     * @en 10100000: virtual area deleted successfully; else: failed to delete the virtual area.
     */
    int deleteMapVirtualArea(const Header &virtual_area_header);
 
    /**
     * @ingroup Map
     * @brief
     * @zh 删除多个指定虚拟区域。
     * @en Deletes multiple specified virtual areas.
     * @param[in] virtual_areas_header
     * @zh 指定虚拟区域信息头(命令id，虚拟区域名称，时间，所在地图id)。
     * @en Headers of the specified virtual areas (command ID, virtual area name, time, map ID).
     * @return
     * @zh 10100000：删除虚拟区域成功；else：删除虚拟区域失败。
     * @en 10100000: virtual areas deleted successfully; else: failed to delete virtual areas.
     */
    int deleteMapVirtualAreas(const std::vector<Header> &virtual_areas_header);
 
    /**
     * @ingroup Map
     * @attention
     * @zh 1.异步接口。
     * @en 1. Asynchronous API.
     * @brief
     * @zh 获取指定地图的栅格地图数据、路径、站点、虚拟区信息。
     * @en Gets occupancy grid map data, paths, stations, and virtual areas for the specified map.
     * @param[in] map_header
     * @zh 指定地图信息头(本次异步命令id，地图名称，时间，地图id)。
     * @en Header of the specified map (this asynchronous command ID, map name, time, map ID).
     * @note
     * @zh map_id为"current_map"时，可特指为当前地图。
     * @en When map_id is "current_map", it refers to the current map.
     * @return
     * @zh 栅格地图上的全部信息。
     * @en All information on the occupancy grid map.
     */
    MapAllInfo getGridMapAllInfo(const Header &map_header);
 
    /**
     * @ingroup Map
     * @attention
     * @zh 1.异步接口。
     * @en 1. Asynchronous API.
     * @brief
     * @zh 获取指定地图的Base64地图数据、路径、站点、虚拟区信息。
     * @en Gets Base64 map data, paths, stations, and virtual areas for the specified map.
     * @param[in] map_header
     * @zh 指定地图信息头(本次异步命令id，地图名称，时间，地图id)。
     * @en Header of the specified map (this asynchronous command ID, map name, time, map ID).
     * @note
     * @zh map_id为"current_map"时，可特指为当前地图。
     * @en When map_id is "current_map", it refers to the current map.
     * @return
     * @zh Base64地图上的全部信息。
     * @en All information on the Base64 map.
     */
    MapAllInfo getPngMapAllInfo(const Header &map_header);
 
    /**
     * @ingroup Map
     * @attention
     * @zh 1.异步接口；2.控制权限制。
     * @en 1. Asynchronous API; 2. Requires control priority.
     * @brief
     * @zh 设置栅格地图、路径、站点、虚拟区信息。
     * @en Sets occupancy grid map, path, station, and virtual area information.
     * @param[in] map_all_info
     * @zh 栅格地图上的全部信息。
     * @en All information on the occupancy grid map.
     * @param[in] command_header
     * @zh id字段代表下发本次命令的id；其他字段无特殊含义。
     * @en The id field is the ID of this command; other fields have no special meaning.
     * @note
     * @zh 请保证数据下发的可行性，AGV不会对数据进行校验。
     * @en Ensure that the data can be applied; the AGV does not validate the data.
     * @return
     * @zh 10100000：上传全部地图信息成功；10100201：异步接口运行中；10120202：无控制权；else：上传全部地图信息失败。
     * @en 10100000: all map information uploaded successfully; 10100201: asynchronous API is running; 10120202: no control priority; else: failed to upload all map information.
     */
    int setGridMapAllInfo(const MapAllInfo &map_all_info,
                          const Header &command_header = { "99999", "99999", 1, "99999" });
 
    /**
     * @ingroup Map
     * @attention
     * @zh 1.异步接口；2.控制权限制。
     * @en 1. Asynchronous API; 2. Requires control priority.
     * @brief
     * @zh 设置Base64格式地图、路径、站点、虚拟区信息。
     * @en Sets Base64 map, path, station, and virtual area information.
     * @param[in] map_all_info
     * @zh Base64格式地图上的全部信息。
     * @en All information on the Base64 map.
     * @param[in] command_header
     * @zh id字段代表下发本次命令的id；其他字段无特殊含义。
     * @en The id field is the ID of this command; other fields have no special meaning.
     * @note
     * @zh 请保证数据下发的可行性，AGV不会对数据进行校验。
     * @en Ensure that the data can be applied; the AGV does not validate the data.
     * @return
     * @zh 10100000：上传全部地图信息成功；10100201：异步接口运行中；10120202：无控制权；else：上传全部地图信息失败。
     * @en 10100000: all map information uploaded successfully; 10100201: asynchronous API is running; 10120202: no control priority; else: failed to upload all map information.
     */
    int setPngMapAllInfo(const MapAllInfo &map_all_info,
                         const Header &command_header = { "99999", "99999", 1, "99999" });
 
    /**
     * @ingroup Map
     * @brief
     * @zh 删除指定地图的全部信息，包括地图数据、站点、路径、虚拟区信息。
     * @en Deletes all information of the specified map, including map data, stations, paths, and virtual areas.
     * @param[in] map_header
     * @zh 指定地图信息头(命令id，地图名称，时间，地图id)。
     * @en Header of the specified map (command ID, map name, time, map ID).
     * @return
     * @zh 10100000：删除成功；else：删除失败。
     * @en 10100000: deleted successfully; else: deletion failed.
     */
    int deleteMapAllInfo(const Header &map_header);
 
    /**
     * @ingroup System
     * @attention
     * @zh 异步接口。
     * @en Asynchronous API.
     * @brief
     * @zh 获取当前扫描到的WiFi列表。
     * @en Gets the currently scanned WiFi list.
     * @return
     * @zh {RUNNING}：异步接口运行中；{}：为空，未扫描到WIFI；{SSID}：不为空，扫描到的WIFI名称列表。
     * @en {RUNNING}: asynchronous API is running; {}: empty, no WiFi found; {SSID}: non-empty list of scanned WiFi SSIDs.
     */
    std::vector<std::string> getWifiList();
 
    /**
     * @ingroup System
     * @brief
     * @zh 连接到指定WiFi，自动切换到WiFi模式。
     * @en Connects to the specified WiFi and automatically switches to WiFi mode.
     * @note
     * @zh 必须在有线连接时调用，且执行时间较长。
     * @en Must be called over a wired connection and may take a long time.
     * @param[in] ssid
     * @zh WiFi名称。
     * @en WiFi SSID.
     * @param[in] password
     * @zh WiFi密码。
     * @en WiFi password.
     * @return
     * @zh 10100000：连接WiFi成功；else：连接WiFi失败。
     * @en 10100000: connected to WiFi successfully; else: failed to connect to WiFi.
     */
    int connectWifi(const std::string &ssid, const std::string &password);
 
    /**
     * @ingroup System
     * @brief
     * @zh 开启热点，自动切换到热点模式。
     * @en Enables hotspot mode and automatically switches to hotspot mode.
     * @note
     * @zh 必须在有线连接时调用，且执行时间较长。
     * @en Must be called over a wired connection and may take a long time.
     * @param[in] password
     * @zh 热点密码；如果为空使用"administrator"为默认密码，SSID默认为SN码。
     * @en Hotspot password. If empty, "administrator" is used as the default password, and the SSID defaults to the SN.
     * @return
     * @zh 10100000：启用热点成功；else：启用热点失败。
     * @en 10100000: hotspot enabled successfully; else: failed to enable hotspot.
     */
    int enableHotspot(const std::string &password);
 
    /**
     * @ingroup System
     * @brief
     * @zh 获取本机所有IP地址。
     * @en Gets all local IP addresses.
     * @return
     * @zh 本机所有IP地址。
     * @en All local IP addresses.
     */
    std::vector<IpAddressInfo> getIpAddressList();
 
    /**
     * @ingroup Navigation
     * @attention
     * @zh 1.异步接口；2.控制权限制。
     * @en 1. Asynchronous API; 2. Requires control priority.
     * @brief
     * @zh 切换AGV模式。
     * @en Switches the AGV running mode.
     * @param[in] running_mode
     * @zh 打算切换的模式，如导航模式、建图模式。
     * @en Target mode to switch to, such as navigation mode or mapping mode.
     * @param[in] command_header
     * @zh id字段代表下发本次命令的id；其他字段无特殊含义。
     * @en The id field is the ID of this command; other fields have no special meaning.
     * @return
     * @zh 10100000：切换模式成功；10100201：异步接口运行中；10120202：无控制权；else：切换模式失败。
     * @en 10100000: mode switched successfully; 10100201: asynchronous API is running; 10120202: no control priority; else: failed to switch mode.
     */
    int changeRunningMode(const RunningMode &running_mode,
                          const Header &command_header = { "99999", "99999", 1, "99999" });
 
    /**
     * @ingroup Navigation
     * @attention
     * @zh 控制权限制。
     * @en Requires control priority.
     * @brief
     * @zh 控制AGV运动。
     * @en Controls AGV motion.
     * @param[in] speed
     * @zh 速度信息。
     * @en Speed information.
     * @return
     * @zh 10100000：向AGV下发速度成功；10120202：没有控制权；else：向AGV下发速度失败。
     * @en 10100000: speed command sent to the AGV successfully; 10120202: no control priority; else: failed to send the speed command.
     */
    int setControlSpeed(const Speed &speed);
 
    /**
     * @ingroup Navigation
     * @attention
     * @zh 控制权限制。
     * @en Requires control priority.
     * @brief
     * @zh 向AGV发送导航任务。
     * @en Sends a navigation goal to the AGV.
     * @param[in] target
     * @zh 目标位置信息与导航参数信息。
     * @en Target pose information and navigation parameters.
     * @return
     * @zh 10100000：设置导航任务成功；10120202：没有控制权；else：设置导航任务失败。
     * @en 10100000: navigation goal set successfully; 10120202: no control priority; else: failed to set the navigation goal.
     */
    int setNavGoal(const NavGoalType &target);
 
    /**
     * @ingroup AgvInfo
     * @attention
     * @zh RTDE推送。
     * @en RTDE pushed data.
     * @brief
     * @zh 获取当前导航信息。
     * @en Gets current navigation information.
     * @return
     * @zh 当前导航信息。
     * @en Current navigation information.
     */
    NavInfo getNavInfo();
 
    /**
     * @ingroup Navigation
     * @attention
     * @zh 控制权限制。
     * @en Requires control priority.
     * @brief
     * @zh 暂停AGV速度。
     * @en Pauses AGV speed.
     * @return
     * @zh 10100000：暂停成功；10120202：没有控制权；else：暂停失败。
     * @en 10100000: paused successfully; 10120202: no control priority; else: pause failed.
     */
    int pauseAgvSpeed();
 
    /**
     * @ingroup Navigation
     * @attention
     * @zh 控制权限制。
     * @en Requires control priority.
     * @brief
     * @zh 暂停后恢复AGV速度。
     * @en Resumes AGV speed after a pause.
     * @return
     * @zh 10100000：恢复成功；10120202：没有控制权；else：恢复失败。
     * @en 10100000: resumed successfully; 10120202: no control priority; else: resume failed.
     */
    int resumeAgvSpeed();
 
    /**
     * @ingroup Navigation
     * @attention
     * @zh 控制权限制。
     * @en Requires control priority.
     * @brief
     * @zh 取消导航任务。
     * @en Cancels the navigation task.
     * @return
     * @zh 10100000：取消导航任务成功；10120202：没有控制权；else：取消导航任务失败。
     * @en 10100000: navigation task canceled successfully; 10120202: no control priority; else: failed to cancel the navigation task.
     */
    int cancelNavigation();
 
    /**
     * @ingroup Navigation
     * @attention
     * @zh 1.异步接口；2.控制权限制。
     * @en 1. Asynchronous API; 2. Requires control priority.
     * @brief
     * @zh AGV重定位。
     * @en Relocates the AGV.
     * @param[in] init_pose
     * @zh AGV当前参考位姿。
     * @en Current reference pose of the AGV.
     * @param[in] command_header
     * @zh id字段代表下发本次命令的id；其他字段无特殊含义。
     * @en The id field is the ID of this command; other fields have no special meaning.
     * @return
     * @zh 10100000：重定位成功；10100201：异步接口运行中；10120202：无控制权；else：重定位失败。
     * @en 10100000: relocation succeeded; 10100201: asynchronous API is running; 10120202: no control priority; else: relocation failed.
     */
    int relocation(const Pose2d &init_pose, const Header &command_header = { "99999", "99999", 1, "99999" });
 
    /**
     * @ingroup System
     * @brief
     * @zh 获取AGV控制器的参数文件。
     * @en Gets the AGV controller parameter file.
     * @return
     * @zh 当前AGV控制器中的参数信息。
     * @en Parameter information in the current AGV controller.
     */
    std::string getAgvControllerParametersFile();
 
    /**
     * @ingroup System
     * @attention
     * @zh 控制权限制。
     * @en Requires control priority.
     * @brief
     * @zh 设置AGV控制器的参数文件。
     * @en Sets the AGV controller parameter file.
     * @note
     * @zh 不要高频调用，调用频率低于1Hz；此接口会默认执行刷新参数功能。
     * @en Do not call frequently. Keep the call rate below 1 Hz. This API refreshes parameters by default.
     * @param[in] agv_parameters
     * @zh AGV控制器的参数信息。
     * @en Parameter information for the AGV controller.
     * @return
     * @zh 10100000：设置参数成功；else：设置参数失败。
     * @en 10100000: parameters set successfully; else: failed to set parameters.
     */
    int setAgvControllerParametersFile(const std::string &agv_parameters);
 
    /**
     * @ingroup System
     * @attention
     * @zh 控制权限制。
     * @en Requires control priority.
     * @brief
     * @zh 修改AGV控制器的参数文件后，让AGV各节点刷新参数。
     * @en Refreshes parameters on AGV nodes after the AGV controller parameter file is modified.
     * @note
     * @zh 不要高频调用，调用频率低于1Hz。
     * @en Do not call frequently. Keep the call rate below 1 Hz.
     * @return
     * @zh 10100000：接口执行成功；else：接口执行失败。
     * @en 10100000: API executed successfully; else: API execution failed.
     */
    int refreshAgvControllerParametersFile();
 
    /**
     * @ingroup System
     * @attention
     * @zh 控制权限制。
     * @en Requires control priority.
     * @brief
     * @zh 将AGV控制器的参数文件恢复出厂设置。
     * @en Restores the AGV controller parameter file to factory defaults.
     * @note
     * @zh 不要高频调用，调用频率低于1Hz。
     * @en Do not call frequently. Keep the call rate below 1 Hz.
     * @return
     * @zh 10100000：接口执行成功；else：接口执行失败。
     * @en 10100000: API executed successfully; else: API execution failed.
     */
    int resetAgvControllerParametersFile();
 
    /**
     * @ingroup Charging
     * @attention
     * @zh 控制权限制。
     * @en Requires control priority.
     * @brief
     * @zh 检测当前电量，电量低将自动上桩充电。
     * @en Checks the current battery level and automatically docks for charging when the battery is low.
     * @deprecated @if Chinese 自0.7.0起废弃，请使用新的sendAutoChargingCommand(const AutoChargingCommand&)接口。 @endif @if English Deprecated since 0.7.0. Use sendAutoChargingCommand(const AutoChargingCommand&) instead. @endif
     * @note
     * @zh 充电完成后，根据配置文件中的参数auto_leave_board，决定是否自动下桩并行驶到指定站点或等待区。
     * @en 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.
     * @note
     * @zh 在配置文件中设置电量低阈值[low_battery_threshold]或电量高阈值[high_battery_threshold]。
     * @en Configure the low battery threshold [low_battery_threshold] or high battery threshold [high_battery_threshold] in the configuration file.
     * @param[in] check_power_header
     * @zh 本次命令的id，本次命令的name，当前时间，地图id。
     * @en ID of this command, name of this command, current time, and map ID.
     * @param[in] nav_board_charge_station_id
     * @zh 行驶到指定的充电站点进行上桩充电；如果不设置该参数，行驶到最近的充电站点进行上桩充电。
     * @en Drives to the specified charging station for docking and charging. If unset, drives to the nearest charging station.
     * @return
     * @zh 10100000：接口调用成功，AGV开始执行充电命令；10120202：无控制权；else：接口调用失败。
     * @en 10100000: API call succeeded and the AGV starts the charging command; 10120202: no control priority; else: API call failed.
     */
    [[deprecated("Since 0.7.0: use sendAutoChargingCommand(const AutoChargingCommand&) instead.")]]
    int checkPowerAndAutoCharge(const Header &check_power_header               = { "99999", "99999", 99999, "99999" },
                                const std::string &nav_board_charge_station_id = "99999");
 
    /**
     * @ingroup Charging
     * @brief
     * @zh 设置自动下桩时的目标站点。
     * @en Sets the target station for automatic undocking.
     * @deprecated @if Chinese 自0.7.0起废弃，请使用新的sendAutoChargingCommand(const AutoChargingCommand&)接口。 @endif @if English Deprecated since 0.7.0. Use sendAutoChargingCommand(const AutoChargingCommand&) instead. @endif
     * @param[in] leave_board_target_station_header
     * @zh 自动下桩的站点header信息。
     * @en Header information of the station used for automatic undocking.
     * @return
     * @zh 10100000：设置自动下桩站点成功；else：设置自动下桩站点失败。
     * @en 10100000: automatic undocking station set successfully; else: failed to set the station.
     */
    [[deprecated("Since 0.7.0: use sendAutoChargingCommand(const AutoChargingCommand&) instead.")]]
    int setLeaveBoardTargetStation(const Header &leave_board_target_station_header);
 
    /**
     * @ingroup Charging
     * @brief
     * @zh 获取自动下桩时的目标站点。
     * @en Gets the target station for automatic undocking.
     * @deprecated @if Chinese 自0.7.0起废弃，请使用新的getNavInfo()接口。 @endif @if English Deprecated since 0.7.0. Use getNavInfo() instead. @endif
     * @return
     * @zh 自动下桩时的目标站点Header信息。
     * @en Header information of the target station for automatic undocking.
     */
    [[deprecated("Since 0.7.0: use getNavInfo() instead.")]]
    Header getLeaveBoardTargetStation();
 
    /**
     * @ingroup Charging
     * @attention
     * @zh 控制权限制。
     * @en Requires control priority.
     * @brief
     * @zh 强制上桩充电。
     * @en Forces the AGV to dock for charging.
     * @deprecated @if Chinese 自0.7.0起废弃，请使用新的sendAutoChargingCommand(const AutoChargingCommand&)接口。 @endif @if English Deprecated since 0.7.0. Use sendAutoChargingCommand(const AutoChargingCommand&) instead. @endif
     * @param[in] forced_charge_header
     * @zh 本次命令的id，本次命令的name，当前时间，地图id。
     * @en ID of this command, name of this command, current time, and map ID.
     * @param[in] nav_board_charge_station_id
     * @zh 行驶到指定的充电站点进行上桩充电；如果不设置该参数，行驶到最近的充电站点进行上桩充电。
     * @en Drives to the specified charging station for docking and charging. If unset, drives to the nearest charging station.
     * @return
     * @zh 10100000：接口调用成功，AGV开始上桩充电；10120202：无控制权；else：接口调用失败。
     * @en 10100000: API call succeeded and the AGV starts docking for charging; 10120202: no control priority; else: API call failed.
     */
    [[deprecated("Since 0.7.0: use sendAutoChargingCommand(const AutoChargingCommand&) instead.")]]
    int forcedAgvToChargingBoard(const Header &forced_charge_header             = { "99999", "99999", 99999, "99999" },
                                 const std::string &nav_board_charge_station_id = "99999");
 
    /**
     * @ingroup Charging
     * @attention
     * @zh 控制权限制。
     * @en Requires control priority.
     * @brief
     * @zh 强制下桩。
     * @en Forces the AGV to leave the charging board.
     * @deprecated @if Chinese 自0.7.0起废弃，请使用新的sendAutoChargingCommand(const AutoChargingCommand&)接口。 @endif @if English Deprecated since 0.7.0. Use sendAutoChargingCommand(const AutoChargingCommand&) instead. @endif
     * @param[in] forced_leave_header
     * @zh 本次命令的id，本次命令的name，当前时间，地图id。
     * @en ID of this command, name of this command, current time, and map ID.
     * @param[in] leave_board_target_station_id
     * @zh 下桩前往的站点；如果不设置该参数，则下桩到充电站点。
     * @en Station to move to after leaving the board. If unset, the AGV leaves the board to the charging station.
     * @return
     * @zh 10100000：接口调用成功，AGV开始下桩；10120202：无控制权；else：接口调用失败。
     * @en 10100000: API call succeeded and the AGV starts leaving the board; 10120202: no control priority; else: API call failed.
     */
    [[deprecated("Since 0.7.0: use sendAutoChargingCommand(const AutoChargingCommand&) instead.")]]
    int forcedAgvLeaveChargingBoard(const Header &forced_leave_header = { "99999", "99999", 99999, "99999" },
                                    const std::string &leave_board_target_station_id = "99999");
 
    /**
     * @ingroup Charging
     * @attention
     * @zh 控制权限制。
     * @en Requires control priority.
     * @brief
     * @zh 下发自动充电命令。
     * @en Sends an automatic charging command.
     * @since 0.7.0
     * @param[in] auto_charging_command
     * @zh 自动充电命令。
     * @en Automatic charging command.
     * @return
     * @zh 10100000：接口调用成功，AGV开始执行充电命令；10120202：无控制权；else：接口调用失败。
     * @en 10100000: API call succeeded and the AGV starts the charging command; 10120202: no control priority; else: API call failed.
     */
    int sendAutoChargingCommand(const AutoChargingCommand &auto_charging_command);
 
    /**
     * @ingroup AgvInfo
     * @brief
     * @zh 获取AGV运行中的日志信息。
     * @en Gets AGV runtime log messages.
     * @return
     * @zh AGV运行中的日志信息。
     * @en AGV runtime log messages.
     */
    std::string getAgvLogMessage();
 
    /**
     * @ingroup System
     * @brief
     * @zh AGV软件升级。
     * @en Upgrades AGV software.
     * @param[in] upgrade_pack_path
     * @zh 升级包路径，例如"/root/agvc_release-0.1.1+398d1f7-Linux_x86_64.tar.gz"。
     * @en Upgrade package path, for example "/root/agvc_release-0.1.1+398d1f7-Linux_x86_64.tar.gz".
     * @return
     * @zh 10100000：目标版本升级成功；10100201：正在升级中；else：升级失败。
     * @en 10100000: target version upgraded successfully; 10100201: upgrade is in progress; else: upgrade failed.
     */
    int updateSoftware(const std::string &upgrade_pack_path);
 
    /**
     * @ingroup System
     * @brief
     * @zh 获取AGV软件版本列表。
     * @en Gets the AGV software version list.
     * @return
     * @zh 软件版本列表集合 {0.3.2+3b807d1-Linux_x86_64,0.6.3-patch.3+b8c6aa4-Linux_x86_64}。
     * @en Software version list, for example {0.3.2+3b807d1-Linux_x86_64,0.6.3-patch.3+b8c6aa4-Linux_x86_64}.
     */
    std::vector<std::string> getSoftwareVersionList();
 
    /**
     * @ingroup System
     * @brief
     * @zh 切换AGV软件版本。
     * @en Switches the AGV software version.
     * @param[in] software_version
     * @zh 软件版本，例如"0.3.2+3b807d1-Linux_x86_64"。
     * @en Software version, for example "0.3.2+3b807d1-Linux_x86_64".
     * @return
     * @zh 10100000：软件版本切换成功；else：软件版本切换失败。
     * @en 10100000: software version switched successfully; else: failed to switch software version.
     */
    int switchSoftwareVersion(const std::string &software_version);
 
    /**
     * @ingroup System
     * @brief
     * @zh 卸载AGV软件版本。
     * @en Uninstalls an AGV software version.
     * @param[in] software_version
     * @zh 软件版本，例如"0.3.2+3b807d1-Linux_x86_64"。
     * @en Software version, for example "0.3.2+3b807d1-Linux_x86_64".
     * @return
     * @zh 10100000：软件版本卸载成功；else：软件版本卸载失败。
     * @en 10100000: software version uninstalled successfully; else: failed to uninstall software version.
     */
    int uninstallSoftware(const std::string &software_version);
 
    /**
     * @ingroup System
     * @brief
     * @zh AGV固件更新。
     * @en Updates AGV firmware.
     * @param[in] update_firmware
     * @zh 配置要更新固件的模块、固件存储路径。
     * @en Configures the firmware modules to update and the firmware storage path.
     * @return
     * @zh 10100000：下发固件更新信息成功；else：固件正在更新中。
     * @en 10100000: firmware update information sent successfully; else: firmware update is in progress.
     */
    int updateFirmware(const FirmwareUpdateParam &update_firmware);
 
    /**
     * @ingroup System
     * @brief
     * @zh 获取固件更新过程信息。
     * @en Gets firmware update process information.
     * @return
     * @zh 固件更新步骤信息(步骤信息为failed代表更新失败)，更新进度(进度信息为1.0代表更新成功)。
     * @en Firmware update step information (failed means the update failed) and update progress (1.0 means the update succeeded).
     */
    FirmwareUpdateProcessInfo getUpdateFirmwareProcess();
 
    /**
     * @ingroup System
     * @brief
     * @zh 开始采集数据。
     * @en Starts collecting calibration data.
     * @note
     * @zh LASER_ODOM标定采集数据量要求大于1000组，具体数据量可以在配置文件中修改。
     * @en LASER_ODOM calibration requires more than 1000 data samples. The exact amount can be changed in the configuration file.
     * @param[in] type
     * @zh 标定类型。
     * @en Calibration type.
     * @param[in] command_header
     * @zh id字段代表下发本次命令的id；其他字段无特殊含义。
     * @en The id field is the ID of this command; other fields have no special meaning.
     * @return
     * @zh 10100000：接口调用成功；10120202：无控制权；else：接口调用失败。
     * @en 10100000: API call succeeded; 10120202: no control priority; else: API call failed.
     */
    int startCollectCalibrationData(const CalibrationType &type,
                                    const Header &command_header = { "99999", "99999", 1, "99999" });
 
    /**
     * @ingroup System
     * @brief
     * @zh 取消采集数据。
     * @en Cancels calibration data collection.
     * @param[in] type
     * @zh 标定类型。
     * @en Calibration type.
     * @param[in] command_header
     * @zh id字段代表下发本次命令的id；其他字段无特殊含义。
     * @en The id field is the ID of this command; other fields have no special meaning.
     * @return
     * @zh 10100000：接口调用成功；10120202：无控制权；else：接口调用失败。
     * @en 10100000: API call succeeded; 10120202: no control priority; else: API call failed.
     */
    int cancelCollectCalibrationData(const CalibrationType &type,
                                     const Header &command_header = { "99999", "99999", 1, "99999" });
 
    /**
     * @ingroup System
     * @brief
     * @zh 开始标定。
     * @en Starts calibration.
     * @param[in] type
     * @zh 标定类型。
     * @en Calibration type.
     * @param[in] command_header
     * @zh id字段代表下发本次命令的id；其他字段无特殊含义。
     * @en The id field is the ID of this command; other fields have no special meaning.
     * @return
     * @zh 10100000：接口调用成功；10120202：无控制权；else：接口调用失败。
     * @en 10100000: API call succeeded; 10120202: no control priority; else: API call failed.
     */
    int startCalibration(const CalibrationType &type, const Header &command_header = { "99999", "99999", 1, "99999" });
 
    /**
     * @ingroup System
     * @brief
     * @zh 获取标定信息。
     * @en Gets calibration information.
     * @param[in] type
     * @zh 标定类型。
     * @en Calibration type.
     * @return
     * @zh 标定信息。
     * @en Calibration information.
     */
    CalibrationProcessInfo getCalibrationProcessInfo(const CalibrationType &type);
 
    /**
     * @ingroup System
     * @brief
     * @zh 重启AGV。
     * @en Restarts the AGV.
     * @return
     * @zh 10100000：重启指令执行成功；else：重启指令执行失败。
     * @en 10100000: restart command executed successfully; else: restart command failed.
     */
    int restartAgv();
 
    /**
     * @ingroup System
     * @brief
     * @zh 设置AGV的名称。
     * @en Sets the AGV name.
     * @param[in] agv_name
     * @zh 设置的AGV名称。
     * @en AGV name to set.
     * @return
     * @zh 10100000：设置名称成功；else：设置名称失败。
     * @en 10100000: name set successfully; else: failed to set the name.
     */
    int setAgvName(const std::string &agv_name);
 
    /**
     * @ingroup System
     * @brief
     * @zh 设置控制权。
     * @en Sets control priority.
     * @note
     * @zh 1.该接口设置成功后才能正常使用控制权相关接口；2.控制权设置前需要先释放他人的控制权：releasePriority；3.Web端抢占优先权：name="web"。
     * @en 1. 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".
     * @param[in] name
     * @zh 登录RPC注册时的用户名。
     * @en User name registered during RPC login.
     * @param[in] ip
     * @zh IP地址。
     * @en IP address.
     * @return
     * @zh 10100000：设置控制权成功；else：设置控制权失败。
     * @en 10100000: control priority set successfully; else: failed to set control priority.
     */
    int setPriority(const std::string &name, const std::string &ip = "");
 
    /**
     * @ingroup System
     * @brief
     * @zh 释放控制权。
     * @en Releases control priority.
     * @return
     * @zh 10100000：释放控制权成功；else：释放控制权失败。
     * @en 10100000: control priority released successfully; else: failed to release control priority.
     */
    int releasePriority();
 
    /**
     * @ingroup System
     * @brief
     * @zh 暂停脚本。
     * @en Pauses the script.
     * @return
     * @zh 10100000：脚本暂停成功；else：脚本暂停失败。
     * @en 10100000: script paused successfully; else: failed to pause the script.
     */
    int scriptPaused();
 
    /**
     * @ingroup System
     * @brief
     * @zh 恢复脚本。
     * @en Resumes the script.
     * @return
     * @zh 10100000：脚本恢复成功；else：脚本恢复失败。
     * @en 10100000: script resumed successfully; else: failed to resume the script.
     */
    int scriptResume();
 
    /**
     * @ingroup System
     * @brief
     * @zh 停止脚本。
     * @en Stops the script.
     * @return
     * @zh 10100000：脚本停止成功；else：脚本停止失败。
     * @en 10100000: script stopped successfully; else: failed to stop the script.
     */
    int scriptStop();
 
    /**
     * @ingroup AgvInfo
     * @brief
     * @zh 获取脚本运行状态。
     * @en Gets the script runtime state.
     * @return
     * @zh 脚本运行状态。
     * @en Script runtime state.
     */
    ScriptRuntimeState getScriptStatus();
 
    /**
     * @ingroup System
     * @brief
     * @zh 设置脚本运行状态。
     * @en Sets the script runtime state.
     * @return
     * @zh 10100000：设置脚本运行状态成功；else：设置脚本运行状态失败。
     * @en 10100000: script runtime state set successfully; else: failed to set script runtime state.
     */
    int setScriptStatus(ScriptRuntimeState status);
 
    /**
     * @ingroup AgvInfo
     * @brief
     * @zh 错误码查询。
     * @en Queries an error code.
     * @param[in] error_code
     * @zh 错误码。
     * @en Error code.
     * @return
     * @zh 错误码含义；为空表示错误码未知。
     * @en Meaning of the error code. Empty means the error code is unknown.
     */
    std::string errorCodeDecoder(const int &error_code);
 
    /**
     * @ingroup AgvInfo
     * @brief
     * @zh 获取当前的错误码。
     * @en Gets current error codes.
     * @return
     * @zh 错误码集合。
     * @en Error code collection.
     */
    std::vector<Header> getCurrentErrorCodes();
 
    /**
     * @ingroup AgvInfo
     * @brief
     * @zh 寻找AGV，自动播放语音并特殊灯光闪烁。
     * @en Locates the AGV by automatically playing audio and flashing special lights.
     * @return
     * @zh 10100000：寻找指令下发成功；else：下发指令失败。
     * @en 10100000: locate command sent successfully; else: failed to send the command.
     */
    int soundLightPrompt();
 
    /**
     * @ingroup AgvInfo
     * @brief
     * @zh AGV行进方向是否有障碍物。
     * @en Checks whether there is an obstacle in the AGV travel direction.
     * @param[in] detect_distance
     * @zh 检测距离，默认为1.0m。
     * @en Detection distance. Default: 1.0 m.
     * @return
     * @zh true：行进方向存在障碍物；false：行进方向无障碍物。
     * @en true: obstacle exists in the travel direction; false: no obstacle in the travel direction.
     */
    bool isObstacleAhead(const double &detect_distance = 1.0);
 
    /**
     * @ingroup AgvInfo
     * @brief
     * @zh 获取指定检测距离范围内的最近站点信息。
     * @en Gets the nearest station within the specified detection distance.
     * @param[in] detect_distance
     * @zh 检测距离，默认为1.0m。
     * @en Detection distance. Default: 1.0 m.
     * @return
     * @zh 最近站点信息，id为NONE代表检测距离内无站点。
     * @en Nearest station information. id NONE means no station is within the detection distance.
     */
    StationMark getNearestStation(const double &detect_distance = 1.0);
 
    /**
     * @ingroup System
     * @attention
     * @zh 1.异步接口；2.控制权限制。
     * @en 1. Asynchronous API; 2. Requires control priority.
     * @brief
     * @zh 自动对接轨道并上轨。
     * @en Automatically aligns with the rail and boards the rail.
     * @param[in] command_header
     * @zh id字段代表下发本次命令的id；其他字段无特殊含义。
     * @en The id field is the ID of this command; other fields have no special meaning.
     * @return
     * @zh 10100000：自动上轨成功；10100201：正在上轨中；10120202：无控制权；else：上轨失败。
     * @en 10100000: rail boarding succeeded; 10100201: rail boarding is in progress; 10120202: no control priority; else: rail boarding failed.
     */
    int autoAlignRailway(const Header &command_header = { "99999", "99999", 1, "99999" });
 
    /** \cond */
protected:
    void *d_;
    /** \endcond */
};
 
using AgvcInterfacePtr = std::shared_ptr<AgvcInterface>;
 
} // namespace agvc_interface
 
#define AgvcInterface_DECLARES                                                                               \
    _FUNC(AgvcInterface, 1, setSystemClock, stamp)                                                           \
    _FUNC(AgvcInterface, 0, getAgvDetails)                                                                   \
    _FUNC(AgvcInterface, 0, getRunningInfo)                                                                  \
    _FUNC(AgvcInterface, 0, getAgvCurrentPose)                                                               \
    _FUNC(AgvcInterface, 0, getAsyncInterfaceResultStatus)                                                   \
    _FUNC(AgvcInterface, 0, getLaserPointCloud)                                                              \
    _FUNC(AgvcInterface, 0, getAllStations)                                                                  \
    _FUNC(AgvcInterface, 1, getAllStationsOfTargetMap, map_header)                                           \
    _FUNC(AgvcInterface, 1, addStation, station)                                                             \
    _FUNC(AgvcInterface, 1, addStations, stations)                                                           \
    _FUNC(AgvcInterface, 2, addCPStationUseChargingBoard, station_header, dis_station_post)                  \
    _FUNC(AgvcInterface, 1, deleteStation, station_header)                                                   \
    _FUNC(AgvcInterface, 1, deleteStations, stations_header)                                                 \
    _FUNC(AgvcInterface, 0, getAllPaths)                                                                     \
    _FUNC(AgvcInterface, 1, getAllPathsOfTargetMap, map_header)                                              \
    _FUNC(AgvcInterface, 0, getCurrentPath)                                                                  \
    _FUNC(AgvcInterface, 1, generatePath, path_station)                                                      \
    _FUNC(AgvcInterface, 1, generatePaths, paths_station)                                                    \
    _FUNC(AgvcInterface, 1, deletePath, path_header)                                                         \
    _FUNC(AgvcInterface, 1, deletePaths, paths_header)                                                       \
    _FUNC(AgvcInterface, 0, getMapList)                                                                      \
    _FUNC(AgvcInterface, 0, getCurrentMapHeader)                                                             \
    _FUNC(AgvcInterface, 1, getGridMapFromAgv, map_header)                                                   \
    _FUNC(AgvcInterface, 1, getBase64PngMapFromAgv, map_header)                                              \
    _FUNC(AgvcInterface, 3, previewPngMapFromAgv, map_header, image_width_px, image_height_px)               \
    _FUNC(AgvcInterface, 1, sendGridMapToAgv, map)                                                           \
    _FUNC(AgvcInterface, 1, sendBase64PngMapToAgv, map)                                                      \
    _FUNC(AgvcInterface, 1, saveMap, map_header)                                                             \
    _FUNC(AgvcInterface, 1, switchMap, map_header)                                                           \
    _FUNC(AgvcInterface, 1, deleteMap, map_header)                                                           \
    _FUNC(AgvcInterface, 1, deleteMaps, map_headers)                                                         \
    _FUNC(AgvcInterface, 0, getAllMapVirtualArea)                                                            \
    _FUNC(AgvcInterface, 1, getAllMapVirtualAreaOfTargetMap, map_header)                                     \
    _FUNC(AgvcInterface, 1, addMapVirtualArea, map_virtual_area)                                             \
    _FUNC(AgvcInterface, 1, addMapVirtualAreas, map_virtual_areas)                                           \
    _FUNC(AgvcInterface, 1, deleteMapVirtualArea, virtual_area_header)                                       \
    _FUNC(AgvcInterface, 1, deleteMapVirtualAreas, virtual_areas_header)                                     \
    _FUNC(AgvcInterface, 1, getGridMapAllInfo, map_header)                                                   \
    _FUNC(AgvcInterface, 1, getPngMapAllInfo, map_header)                                                    \
    _FUNC(AgvcInterface, 2, setGridMapAllInfo, map_all_info, command_header)                                 \
    _FUNC(AgvcInterface, 2, setPngMapAllInfo, map_all_info, command_header)                                  \
    _FUNC(AgvcInterface, 1, deleteMapAllInfo, map_header)                                                    \
    _FUNC(AgvcInterface, 0, getWifiList)                                                                     \
    _FUNC(AgvcInterface, 2, connectWifi, ssid, password)                                                     \
    _FUNC(AgvcInterface, 1, enableHotspot, password)                                                         \
    _FUNC(AgvcInterface, 0, getIpAddressList)                                                                \
    _FUNC(AgvcInterface, 2, changeRunningMode, running_mode, command_header)                                 \
    _FUNC(AgvcInterface, 1, setControlSpeed, speed)                                                          \
    _FUNC(AgvcInterface, 1, setNavGoal, target)                                                              \
    _FUNC(AgvcInterface, 0, getNavInfo)                                                                      \
    _FUNC(AgvcInterface, 0, pauseAgvSpeed)                                                                   \
    _FUNC(AgvcInterface, 0, resumeAgvSpeed)                                                                  \
    _FUNC(AgvcInterface, 0, cancelNavigation)                                                                \
    _FUNC(AgvcInterface, 2, relocation, init_pose, command_header)                                           \
    _FUNC(AgvcInterface, 0, getAgvControllerParametersFile)                                                  \
    _FUNC(AgvcInterface, 1, setAgvControllerParametersFile, agv_parameters)                                  \
    _FUNC(AgvcInterface, 0, refreshAgvControllerParametersFile)                                              \
    _FUNC(AgvcInterface, 0, resetAgvControllerParametersFile)                                                \
    _FUNC(AgvcInterface, 2, checkPowerAndAutoCharge, check_power_header, nav_board_charge_station_id)        \
    _FUNC(AgvcInterface, 1, setLeaveBoardTargetStation, leave_board_target_station_header)                   \
    _FUNC(AgvcInterface, 0, getLeaveBoardTargetStation)                                                      \
    _FUNC(AgvcInterface, 2, forcedAgvToChargingBoard, forced_charge_header, nav_board_charge_station_id)     \
    _FUNC(AgvcInterface, 2, forcedAgvLeaveChargingBoard, forced_leave_header, leave_board_target_station_id) \
    _FUNC(AgvcInterface, 1, sendAutoChargingCommand, auto_charging_command)                                  \
    _FUNC(AgvcInterface, 0, getAgvLogMessage)                                                                \
    _FUNC(AgvcInterface, 1, updateSoftware, upgrade_pack_path)                                               \
    _FUNC(AgvcInterface, 0, getSoftwareVersionList)                                                          \
    _FUNC(AgvcInterface, 1, switchSoftwareVersion, software_version)                                         \
    _FUNC(AgvcInterface, 1, uninstallSoftware, software_version)                                             \
    _FUNC(AgvcInterface, 1, updateFirmware, update_firmware)                                                 \
    _FUNC(AgvcInterface, 0, getUpdateFirmwareProcess)                                                        \
    _FUNC(AgvcInterface, 2, startCollectCalibrationData, type, command_header)                               \
    _FUNC(AgvcInterface, 2, cancelCollectCalibrationData, type, command_header)                              \
    _FUNC(AgvcInterface, 2, startCalibration, type, command_header)                                          \
    _FUNC(AgvcInterface, 1, getCalibrationProcessInfo, type)                                                 \
    _FUNC(AgvcInterface, 0, restartAgv)                                                                      \
    _FUNC(AgvcInterface, 1, setAgvName, agv_name)                                                            \
    _FUNC(AgvcInterface, 2, setPriority, name, ip)                                                           \
    _FUNC(AgvcInterface, 0, releasePriority)                                                                 \
    _FUNC(AgvcInterface, 0, scriptPaused)                                                                    \
    _FUNC(AgvcInterface, 0, scriptResume)                                                                    \
    _FUNC(AgvcInterface, 0, scriptStop)                                                                      \
    _FUNC(AgvcInterface, 0, getScriptStatus)                                                                 \
    _FUNC(AgvcInterface, 1, setScriptStatus, status)                                                         \
    _FUNC(AgvcInterface, 1, errorCodeDecoder, error_code)                                                    \
    _FUNC(AgvcInterface, 0, getCurrentErrorCodes)                                                            \
    _FUNC(AgvcInterface, 0, soundLightPrompt)                                                                \
    _FUNC(AgvcInterface, 1, isObstacleAhead, detect_distance)                                                \
    _FUNC(AgvcInterface, 1, getNearestStation, detect_distance)                                              \
    _FUNC(AgvcInterface, 1, autoAlignRailway, command_header)                 
#endif // AGVC_INTERFACE_H