|
| | AgvcInterface () |
| virtual | ~AgvcInterface () |
| int | setSystemClock (const std::string &stamp) |
| | 设置agv系统时间
|
| AgvDetails | getAgvDetails () |
| | 查询当前agv信息
|
| RunningInfo | getRunningInfo () |
| | 查询当前agv运行信息
|
| Pose2d | getAgvCurrentPose () |
| | 查询agv当前位姿
|
| std::vector< Point2d > | getLaserPointCloud () |
| | 查询当前激光点云数据
|
| AsyncInterfaceResultStatus | getAsyncInterfaceResultStatus () |
| | 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
|
| std::vector< StationMark > | getAllStations () |
| | 查询当前地图的所有站点信息
|
| std::vector< StationMark > | getAllStationsOfTargetMap (const Header &map_header) |
| | 查询指定地图的所有站点信息
|
| int | addStation (const StationMark &station) |
| | 添加/修改一个站点
|
| int | addStations (const std::vector< StationMark > &stations) |
| | 添加/修改多个站点
|
| int | addCPStationUseChargingBoard (const Header &station_header, const double &dis_station_board=1.5) |
| | 通过自动识别充电桩位姿来添加充电站点
|
| int | deleteStation (const Header &station_header) |
| | 删除指定站点（会删除与该站点相关的路径）
|
| int | deleteStations (const std::vector< Header > &stations_header) |
| | 删除多个站点（会删除与站点相关的路径）
|
| std::vector< PathStation > | getAllPaths () |
| | 查询当前地图的所有路径信息
|
| std::vector< PathStation > | getAllPathsOfTargetMap (const Header &map_header) |
| | 查询指定地图的所有路径信息
|
| PathStation | getCurrentPath () |
| | 查询agv当前正在跟踪的路径信息
|
| int | generatePath (const PathStation &path_station) |
| | 生成/修改一条路径
|
| int | generatePaths (const std::vector< PathStation > &paths_station) |
| | 生成/修改多条路径
|
| int | deletePath (const Header &path_header) |
| | 删除一条路径
|
| int | deletePaths (const std::vector< Header > &paths_header) |
| | 删除多条路径
|
| std::vector< Header > | getMapList () |
| | 获取agv所有地图的信息头
|
| Header | getCurrentMapHeader () |
| | 查询当前agv地图的信息头
|
| OccupancyGridMap | getGridMapFromAgv (const Header &map_header) |
| | 获取指定栅格地图信息
|
| Base64PngMap | getBase64PngMapFromAgv (const Header &map_header) |
| | 获取Base64编码的png地图信息
|
| Base64PngMap | previewPngMapFromAgv (const Header &map_header, const int &image_width_px=0, const int &image_height_px=0) |
| | 获取预览图，可指定预览图的长和宽
|
| int | sendGridMapToAgv (const OccupancyGridMap &map) |
| | 将栅格地图信息发送给agv
|
| int | sendBase64PngMapToAgv (const Base64PngMap &map) |
| | 将Base64编码的Png地图发送给agv
|
| int | saveMap (const Header &map_header) |
| | 建图完成后,调用该接口保存地图
|
| int | switchMap (const Header &map_header) |
| | 切换指定地图
|
| int | deleteMap (const Header &map_header) |
| | 删除一张指定地图
|
| int | deleteMaps (const std::vector< Header > &map_headers) |
| | 删除多张指定地图
|
| std::vector< MapVirtualArea > | getAllMapVirtualArea () |
| | 查询当前地图的虚拟区域
|
| std::vector< MapVirtualArea > | getAllMapVirtualAreaOfTargetMap (const Header &map_header) |
| | 查询目标地图的虚拟区域
|
| int | addMapVirtualArea (const MapVirtualArea &map_virtual_area) |
| | 添加/修改一个虚拟区域
|
| int | addMapVirtualAreas (const std::vector< MapVirtualArea > &map_virtual_areas) |
| | 添加/修改多个虚拟区域
|
| int | deleteMapVirtualArea (const Header &virtual_area_header) |
| | 删除指定虚拟区域
|
| int | deleteMapVirtualAreas (const std::vector< Header > &virtual_areas_header) |
| | 删除多个指定虚拟区域
|
| MapAllInfo | getGridMapAllInfo (const Header &map_header) |
| | 获取指定地图的栅格地图数据、路径、站点、虚拟区信息
|
| MapAllInfo | getPngMapAllInfo (const Header &map_header) |
| | 获取指定地图的Base64地图数据、路径、站点、虚拟区信息
|
| int | setGridMapAllInfo (const MapAllInfo &map_all_info, const Header &command_header={ "99999", "99999", 1, "99999" }) |
| | 设置栅格地图、路径、站点、虚拟区信息
|
| int | setPngMapAllInfo (const MapAllInfo &map_all_info, const Header &command_header={ "99999", "99999", 1, "99999" }) |
| | 设置Base64格式地图、路径、站点、虚拟区信息
|
| int | deleteMapAllInfo (const Header &map_header) |
| | 删除指定地图的全部信息(地图数据、站点、路径、虚拟区信息)
|
| std::vector< std::string > | getWifiList () |
| | 获取当前扫描到的WiFi列表
|
| int | connectWifi (const std::string &ssid, const std::string &password) |
| | 连接到指定WiFi(自动切换到WiFi模式)
|
| int | enableHotspot (const std::string &password) |
| | 开启热点(自动切换到热点模式)
|
| std::vector< IpAddressInfo > | getIpAddressList () |
| | 获取本机所有IP地址
|
| int | changeRunningMode (const RunningMode &running_mode, const Header &command_header={ "99999", "99999", 1, "99999" }) |
| | : 切换agv模式
|
| int | setControlSpeed (const Speed &speed) |
| | 控制agv运动
|
| int | setNavGoal (const NavGoalType &target) |
| | 向agv发送导航任务
|
| NavInfo | getNavInfo () |
| | 获取当前导航信息
|
| int | pauseAgvSpeed () |
| | 暂停agv速度
|
| int | resumeAgvSpeed () |
| | 暂停后，恢复agv速度
|
| int | cancelNavigation () |
| | 取消导航任务
|
| int | relocation (const Pose2d &init_pose, const Header &command_header={ "99999", "99999", 1, "99999" }) |
| | agv重定位
|
| std::string | getAgvControllerParametersFile () |
| | 获取agv控制器的参数文件
|
| int | setAgvControllerParametersFile (const std::string &agv_parameters) |
| | 设置agv控制器的参数文件
|
| int | refreshAgvControllerParametersFile () |
| | 修改agv控制器的参数文件后，让agv各节点刷新参数
|
| int | resetAgvControllerParametersFile () |
| | 将agv控制器的参数文件恢复出厂设置
|
| int | checkPowerAndAutoCharge (const Header &check_power_header={ "99999", "99999", 99999, "99999" }, const std::string &nav_board_charge_station_id="99999") |
| | 检测当前电量，电量低将自动上桩充电
|
| int | setLeaveBoardTargetStation (const Header &leave_board_target_station_header) |
| | 设置自动下桩时的目标站点
|
| Header | getLeaveBoardTargetStation () |
| | 获取自动下桩时的目标站点
|
| int | forcedAgvToChargingBoard (const Header &forced_charge_header={ "99999", "99999", 99999, "99999" }, const std::string &nav_board_charge_station_id="99999") |
| | 强制上桩充电
|
| int | forcedAgvLeaveChargingBoard (const Header &forced_leave_header={ "99999", "99999", 99999, "99999" }, const std::string &leave_board_target_station_id="99999") |
| | 强制下桩
|
| int | sendAutoChargingCommand (const AutoChargingCommand &auto_charging_command) |
| | 下发自动充电命令
|
| std::string | getAgvLogMessage () |
| | 获取agv运行中的日志信息
|
| int | updateSoftware (const std::string &upgrade_pack_path) |
| | agv软件升级
|
| std::vector< std::string > | getSoftwareVersionList () |
| | 获取agv软件版本列表
|
| int | switchSoftwareVersion (const std::string &software_version) |
| | 切换agv软件版本
|
| int | uninstallSoftware (const std::string &software_version) |
| | 卸载agv软件版本
|
| int | updateFirmware (const FirmwareUpdateParam &update_firmware) |
| | agv固件更新
|
| FirmwareUpdateProcessInfo | getUpdateFirmwareProcess () |
| | 获取固件更新过程信息
|
| int | startCollectCalibrationData (const CalibrationType &type, const Header &command_header={ "99999", "99999", 1, "99999" }) |
| | 开始采集数据
|
| int | cancelCollectCalibrationData (const CalibrationType &type, const Header &command_header={ "99999", "99999", 1, "99999" }) |
| | 取消采集数据
|
| int | startCalibration (const CalibrationType &type, const Header &command_header={ "99999", "99999", 1, "99999" }) |
| | 开始标定
|
| CalibrationProcessInfo | getCalibrationProcessInfo (const CalibrationType &type) |
| | 获取标定信息
|
| int | restartAgv () |
| | 重启agv
|
| int | setAgvName (const std::string &agv_name) |
| | 设置agv的名称
|
| int | setPriority (const std::string &name, const std::string &ip="") |
| | 控制权设置
|
| int | releasePriority () |
| | 释放控制权
|
| int | scriptPaused () |
| | 暂停脚本
|
| int | scriptResume () |
| | 脚本恢复
|
| int | scriptStop () |
| | 脚本停止权
|
| ScriptRuntimeState | getScriptStatus () |
| | 获取脚本运行状态
|
| int | setScriptStatus (ScriptRuntimeState status) |
| | 设置脚本运行状态
|
| std::string | errorCodeDecoder (const int &error_code) |
| | 错误码查询
|
| std::vector< Header > | getCurrentErrorCodes () |
| | 获取当前的错误码
|
| int | soundLightPrompt () |
| | 寻找agv，自动播放语音并特殊灯光闪烁
|
| bool | isObstacleAhead (const double &detect_distance=1.0) |
| | agv行进方向是否有障碍物
|
| StationMark | getNearestStation (const double &detect_distance=1.0) |
| | 获取指定检测距离范围内的最近站点信息
|
| int | autoAlignRailway (const Header &command_header={ "99999", "99999", 1, "99999" }) |
| | 自动对接轨道并上轨
|
1.16.1