WebSocket Service
WARNING
This feature will be deprecated
ws://10.20.17.1/ws/public
The WebSocket service also runs on port 80. Both request and response data are serialized as JSON string byte streams, encoded in UTF-8.
After establishing a WebSocket connection, the robot will periodically push robot status and position information. Developers can implement robot status monitoring by parsing the pushed data.
Developers can directly send commands and wait for the execution results. The id in the execution result push matches the sent one, allowing developers to implement their own request/response mechanism.
| Request Parameter | Type | Description |
|---|---|---|
id | int | After sending the operation command to the server, the corresponding result will be pushed asynchronously to the client. Different requests can be distinguished by id. The id needs to be generated by the user, and the server returns it unchanged |
cmd | string | Robot command |
data | object | Robot command request parameters |
| Response Parameter | Type | Description |
|---|---|---|
id | int | After sending the operation command to the server, the corresponding result will be pushed asynchronously to the client. Different requests can be distinguished by id. The id needs to be generated by the user, and the server returns it unchanged |
cmd | string | Robot command |
data | object | Robot command request parameters |
code | int | Result code 0: indicates success, others indicate failure |
Browser code example:
let ws = new WebSocket('ws://10.20.17.1/ws/public')
ws.onmessage = function(res) {
let { code, id, cmd, data } = JSON.parse(res.data)
console.log(code, id, cmd, data)
}
let req = {
"id": 1,
"cmd": "movej",
"data": {
"pose_to": [0, 0, 0, 0, 0, 0],
"is_joint_angle": true,
"acceleration": 1,
"velocity": 2
}
}
ws.send(JSON.stringify(req))