HTTP Services

WARNING

This feature will be deprecated

HTTP service requests and responses use the application/json format with utf-8 encoding.

Response Parameter	Type	Description
`code`	int	Error code. `0` indicates success, where `data` format varies by request (see documentation below). Other values indicate failure (see Error Codes).
`params`	string[]	Error parameters, returns different results based on error code. Generally no handling required.
`data`	any	Returns interface-defined object on success. Check `code` before parsing `data`.

Response example:

{
  "code": 0,
  "params": [],
  "data": null
}

Run Scene or Task

Request Method: POST
Request URL: /public/task

Request Parameter	Type	Description
`scene_id`	int	Scene ID. Found in "Expert Mode" scene list card or browser URL after entering scene editor.
`execute_count`	int	Loop count. `0` means infinite loop until explicitly stopped.
`clear`	int	Whether to stop other running tasks and run new task. `0` means ignore if other tasks exist, `1` means force stop other tasks and run. Will run regardless of value if no other tasks are running.
`task_id`	int	Default `0` means normal scene execution. If set to a task ID, re-executes that historical task record (`scene_id` is ignored). Task ID can be obtained from task list.

Response Parameter	Type	Description
`id`	int	Task ID. Can be used to query task execution status.

Request example: Execute scene 10001, infinite loop, force stop other running tasks.

curl --location --request POST 'http://10.20.17.1/public/task' \
--header 'Content-Type: application/json' \
--data-raw '{
    "scene_id": 10001,
    "execute_count": 0,
    "clear": 1
}'

Response example: Scene added to task queue and started running, task ID is 10104.

{
    "data": {
        "id": 10104
    },
    "code": 0
}

Execute Lua Script

Request Method: POST
Request URL: /public/executor/lua

This interface executes raw Lua programs. Request body is Lua code instead of JSON format, set HTTP header Content-Type: text/plain.

The interface call is asynchronous; completion status must be checked in Lua code, see Lua Socket service interface.

Using this interface doesn't require adding program_begin/program_end at start/end, and supports querying execution status via task ID.

Request Parameter	Type	Description
`name`	string	Task name. Requires `URLEncode()` encoding.
`execute_count`	int	Task execution count, `0`: loop execution, non-zero like `3` means execute 3 times
`clear`	int	Whether to stop running task and run new task. `0`: no `1`: yes

Response Parameter	Type	Description
`id`	int	Task ID.

Request example: Execute Lua program named test_name, loop once, don't execute if other tasks running.

curl --location --request POST 'http://10.20.17.1/public/executor/lua?name=test_name&execute_count=1&clear=0' \
--header 'Content-Type: text/plain' \
--data-raw 'local p = kinematics_inverse({12,12,1,2,1,1})
for k,v in ipairs(p) do
        print(k,v)
end
print(p["ok"])
'

Response example: Task started executing, task ID is 10113.

{
    "data": {
        "id": 10113
    },
    "code": 0
}

Response example: Other tasks running, please stop current task in task history before retrying.

{
    "data": null,
    "code": 2036
}

Task Status and Details

Request Method: GET
Request URL: /public/task

Request Parameter	Type	Description
`id`	int	Task ID

Response Parameter	Type	Description
`id`	int	Task ID
`scene_id`	int	Scene ID
`execute_count`	int	Execution count
`executed_count`	int	Times executed
`name`	int	Task name
`status`	int	Task status. `0`: Idle `1`: Running `2`: Paused `3`: Success `4`: User stopped `5`: Error stopped `6`: Robot shutdown or DS stopped
`comment`	string	Comment
`start_time`	string	Task start time
`end_time`	string	Task end time
`consume_time`	int	Task duration excluding pause time, in seconds
`create_time`	string	Creation time
`update_time`	string	Update time

Request example: Get task status and details for task ID 10104.

curl --location --request GET 'http://10.20.17.1/public/task?id=10104'

Response example:

{
    "data": {
        "id": 10104,
        "scene_id": 10001,
        "execute_count": 0,
        "executed_count": 3777,
        "name": "Home position",
        "status": 6,
        "comment": "",
        "start_time": "2021-03-31T16:19:04.073161049+08:00",
        "end_time": null,
        "consume_time": 0
    },
    "code": 0
}

Task List

Request Method: GET
Request URL: /public/tasks

Request Parameter	Type	Description
`pi`	int	Page number.
`ps`	int	Items per page.

Request example: Get latest 10 executed tasks.

curl --location --request GET 'http://10.20.17.1/public/tasks?pi=1&ps=10'

Response example: Scene added to task queue and started running, task ID is 10104.

{
    "data": {
        "pi": 1,
        "ps": 10,
        "total": 112,
        "records": [
            {
                "id": 10106,
                "scene_id": 10001,
                "execute_count": 0,
                "executed_count": 1,
                "name": "Home position",
                "end_lua": null,
                "lua_data": null,
                "status": 5,
                "comment": null,
                "start_time": "2021-04-01T14:56:44.674861588+08:00",
                "end_time": "2021-04-01T14:56:44.836186966+08:00",
                "consume_time": 0,
                "first_pose_json": null,
                "mode": 0,
                "trigger_way": null,
                "is_deleted": null,
                "create_time": "2021-04-01T14:56:44.675868104+08:00",
                "update_time": "2021-04-01T14:56:44.880620629+08:00",
                "scene_type": 3,
                "first_pose": null
            },
            ...
        ],
        "task_status": 0,
        "task_id": null
    },
    "code": 0
}

Execute Command

POST /public/robot/action

When calling motion commands, this interface won't wait for command completion before returning. Developers need to handle completion logic themselves. When calling get commands, it returns results in a specific format. See Command Documentationopen in new window for details.

Request Parameter	Type	Description
`cmd`	string	Robot command
`data`	object	Robot command parameters

Request example:

curl --location --request POST 'http://10.20.17.1/public/robot/action' \
--header 'Content-Type: application/json' \
--data-raw '{
    "cmd": "movej",
    "data": {
        "pose_to": [
            0,
            0,
            0,
            0,
            0,
            0
        ],
        "is_joint_angle": true,
        "acceleration": 1,
        "velocity": 2
    }
}'

Response example:

{
    "data": {
        "task_id": 1
    },
    "code": 0
}

get_task_status

Get current task

Response Result

Return Value	Type	Description
task_id	`int`	Task ID
`data.task_status`	`int`	Task status 0: Idle 1: Running 2: Paused 3: Success 4: Failed

{"cmd":"get_task_status"}

{"data":{"task_status":0,"task_id":null},"code":0}

# HTTP Services

# Run Scene or Task

# Execute Lua Script

# Task Status and Details

# Task List

# Execute Command

# get_task_status

# Response Result

HTTP Services

Run Scene or Task

Execute Lua Script

Task Status and Details

Task List

Execute Command

get_task_status

Response Result