HTTP Service

WARNING

This feature will be deprecated soon.

Both requests and responses of the HTTP service are in application/json format, encoded in utf-8.

Response Parameter	Type	Description
`code`	int	Error code. `0` means success, in which case the format of `data` varies by request, see the documentation below. Any other value means failure, see Error codes.
`params`	string[]	Error parameters, which vary by error code. Generally no handling is needed.
`data`	any	The object defined by the interface on a successful response. When handling, check `code` first, then parse `data`.

Response example:

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

Run a Scene or Task

Request method: POST
Request URL: /public/task

Request Parameter	Type	Description
`scene_id`	int	Scene ID. It can be found on the scene list card in "Expert Mode", and in the browser address bar after entering the scene editor.
`execute_count`	int	Number of executions. `0` means run in an infinite loop until explicitly stopped.
`clear`	int	Whether to stop other running tasks and directly run the new task. `0` means ignore if another task is currently running, `1` means force-stop other tasks and run. If no other task is running, the task will run regardless of the value.
`task_id`	int	Defaults to `0`, meaning the scene executes normally. If it is a task ID, it means re-running the historical task record corresponding to that task ID, in which case `scene_id` is ignored. The task ID can be obtained from the task list.

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

Request example: run scene 10001 in an infinite loop, force-stopping any other running task.

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: the scene is added to the task queue and starts running, the task ID is 10104.

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

Execute a Lua Script

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

This interface is used to directly execute a bare Lua program. The request body is Lua code rather than JSON, so set the HTTP request header to Content-Type: text/plain.

This interface is called asynchronously. Whether execution has completed must be determined and returned in the Lua code, see the Lua Socket service interface.

Using this interface does not require adding program_begin/program_end at the beginning and end of the program, and supports querying the execution status via the task ID.

Request Parameter	Type	Description
`name`	string	Task name. Needs to be encoded with `URLEncode()`.
`execute_count`	int	Number of task executions. `0`: loop execution. If not `0`, e.g. `3` means execute 3 times.
`clear`	int	Whether to stop the running task and directly run the new task. `0`: no, `1`: yes.

Response Parameter	Type	Description
`id`	int	Task ID.

Request example: execute a Lua program with the task name test_name, loop 1 time, and skip execution if another task is 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: the task has started executing, the task ID is 10113.

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

Response example: another task is running. Stop the current task in the 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	Number of executions
`executed_count`	int	Number of executions already done
`name`	int	Task name
`status`	int	Task status. `0`: idle, `1`: running, `2`: paused, `3`: ran successfully, `4`: stopped by user, `5`: stopped abnormally, `6`: robot shut down or DS stopped
`comment`	string	Comment
`start_time`	string	Task start time
`end_time`	string	Task end time
`consume_time`	int	Task duration, excluding the time the task was paused, in seconds
`create_time`	string	Creation time
`update_time`	string	Update time

Request example: get the execution status and details of the task with 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": "Return to zero",
        "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	Number of entries per page.

Request example: get the 10 most recently executed tasks.

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

Response example: the scene is added to the task queue and starts running, the task ID is 10104.

{
    "data": {
        "pi": 1,
        "ps": 10,
        "total": 112,
        "records": [
            {
                "id": 10106,
                "scene_id": 10001,
                "execute_count": 0,
                "executed_count": 1,
                "name": "Return to zero",
                "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
}

Call a Command

POST /public/robot/action

When calling a motion command, this interface does not wait for the command to finish executing before returning; the developer needs to handle the completion logic themselves. When calling a query command, a result in a certain format is returned. See the command referenceopen 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 the 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: ran successfully, 4: ran with failure

{"cmd":"get_task_status"}

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

# HTTP Service

# Run a Scene or Task

# Execute a Lua Script

# Task Status and Details

# Task List

# Call a Command

# get_task_status

# Response Result

HTTP Service

Run a Scene or Task

Execute a Lua Script

Task Status and Details

Task List

Call a Command

get_task_status

Response Result