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mzh edited this page Dec 13, 2023 · 6 revisions

Introduction

Welcome to the journey of robot development. Based on the AutoXing robot SDK, you can quickly achieve comprehensive control of the robot and create your own robot. This document mainly describes how to develop a robot application using the JavaScript language.

SDK Organizational Structure

Robot Mapping and Localization

Related operations with the map data and position of the robot itself, such as map switching and localization.

Robot Motion Control

Provides interfaces for robot motion control, status retrieval, and related parameter settings.

Hardware Control

The control interfaces for robot-associated hardware devices, such as sprayers (for disinfection robots), box doors (for delivery robots), and LED strip control.

Task Operations

Provides control interfaces for robot task operations.

Map Operations

Provides APIs for web-based map display and editing.

Prerequisites

All SDKs are provided in the form of Node.js modules. It requires developers to have a certain understanding of Node.js and JavaScript. If you have not worked with Node.js and JavaScript before, please read the official documentation of Node.js and JavaScript:

Getting Started Guide

Development Environment Setup

Developing robot applications requires a Node.js environment and an IDE tool.

Node.js Environment Installation

The compilation and debugging tools for the robot application are developed based on Node.js. To use them properly, you need to configure the Node.js runtime environment.

Download and install the Node.js runtime environment according to your actual situation: https://nodejs.org/en/download/

IDE Tools

The development of robot applications is done using the JavaScript language. We recommend using WebStorm or Visual Studio Code for development.

Importing the SDK into your project

# npm i -save-dev @autoxing/robot-js-sdk

SDK Initialization Example

The SDK must be initialized before it can be used. The following is an example of SDK initialization code:

import { AXRobot, AppMode } from "@autoxing/robot-js-sdk";

// Create an instance of AXRobot
const axRobot = new AXRobot("<appId>", "<appSecret>", AppMode.WAN_APP);

// Initialize the AXRobot instance
const successed = await axRobot.init();
if (successed) {
  try {
    // Connect to a specific robot
    const res = await axRobot.connectRobot({
      robotId: "<robotId>"
    });
    console.log("connect success: " + res.robotId);
    // do something with robot
  } catch(err) {
    console.log(err.errText)
  }
} else {
  // Initialization failed
}
  • appId - Application ID, can be obtained from relevant operators
  • appSecret - Data request secret key, can be obtained from relevant operators

Example

SDK Customization Example

The SDK must be initialized before it can be used. The following is an example of SDK customization code:

import { AXRobot, AppMode } from "@autoxing/robot-js-sdk";

// Create a customized instance of AXRobot
const axRobot = new AXRobot("<appId>", "<appSecret>", AppMode.WAN_APP, "<serverUrl>", "<websocketUrl>");

// Initialize the AXRobot instance
const successed = await axRobot.init();
if (successed) {
  try {
    // Connect to a specific robot
    const res = await axRobot.connectRobot({
      robotId: "<robotId>"
    });
    console.log("connect success: " + res.robotId);
    // do something with robot
  } catch(err) {
    console.log(err.errText)
  }
} else {
  // Initialization failed
}
  • appId - Application ID, can be obtained from relevant operators
  • appSecret - Data request secret key, can be obtained from relevant operators
  • serverUrl - Customization server address
  • websocketUrl - Customization websocket address - Optional
  • Note:
  • 1: Use SDK version v1.0.74 or above
  • 2: If only serverUrl is provided but websocketUrl is not, the websocketUrl will be automatically generated based on the serverUrl
  • Example: http://127.0.0.1:8080/ -> ws://127.0.0.1:8080/、https://127.0.0.1:8080/ -> wss://127.0.0.1:8080/
  • 3: If websocketUrl is provided, the provided url will be used

Example

Map Display Example

Define a map container in your HTML file:

...
<div id="map" style="width:100%;height:500px;"></div>
...

Initialize the map:

import { AXRobot, AppMode } from "@autoxing/robot-js-sdk";

// Create an instance of AXRobot
const axRobot = new AXRobot("<appId>", "<appSecret>", AppMode.WAN_APP);
const success = await axRobot.init();

if (success) {
// Create the map
const axMap = axRobot.createMap("map"); // map is the id of the HTML container tag

// Set the area of the map to display
axMap.setAreaMap("<areaId>");  // areaId is the map area identifier

// do something with map

Example

SDK Reference

SDK Initialization

Initialization

init() -> {Promise.<boolean>}

Initialize the instance

Return value Promise.<boolean>

Whether the initialization is successful

  • true - Success
  • false - Failure

Example

import { AXRobot, AppMode } from "@autoxing/robot-js-sdk";

const axRobot = new AXRobot("<appId>", "<appSecret>", AppMode.WAN_APP);
const successed = await axRobot.init();
if (successed) {
  // Initialization succeeded
  ...
} else {
  // Initialization failed
  ...
}

Release

destroy() -> {void}

Destroy the robot operation instance.

Parameters

None

Returns

None

Example

...
axRobot.destroy();
...

Connect to the Robot

Connect

connectRobot(req) -> {Promise}

Connects to the robot.

Parameters

Name Data Type Description
req ReqConnect Connection parameters

Return Promise

None

Example

// Initialize robot operation instance
...
try {
  const res = await axRobot.connectRobot({
    robotId: "<robotId>"
  });
  
  console.log("Connect success: " + res.robotId);
  // do something
} catch(err) {
  console.log(err.errText);
}

Get SDK Version

getVersion() -> {string}

Get the version number of the SDK.

Parameters

None

Return Value string

A string representing the SDK version number.

Example

const version = axRobot.getVersion();
console.log(version);

Set Language

setLanguage(language) -> {Promise.<boolean>}

Set the language

Parameters

Name Type Description
language number Language identifier
1 - Simplified Chinese
2 - English
3 - Traditional Chinese
4 - Japanese
5 - Korean

Returns Promise.<boolean>

Whether the operation is successful

  • true - Success
  • false - Failure

Example

...
success := await axRobot.setLanguage(1);
if (success) {
  ...
} else {
  ...
}
...

Map and Location

Create Map

createMap(containerId, backgroundColor opt) -> {Promise.<AXMap>}

Create a map.

Parameters

Name Data Type Description Remarks
containerId string HTML tag ID of the map container
backgroundColor string Optional; background color of the map "#eeeeee"
glyphs string Optional; font library for the map 1: For web platforms, you can use http, https, or relative paths
2: For non-web platforms, you must use http or https

Return Value Promise.<AXMap>

Map instance

Example

...
const map = await axRobot.createMap("map", "#eeeeee");
...

Switch Map

resetMap(areaId) -> {Promise.<boolean>}

Resets the robot's map area.

Parameters

Name Data Type Description
areaId string Map area identifier

Return Value Promise.<boolean>

Indicates if the setting was successful.

  • true - Success
  • false - Failure

Example

...
const success = await axRobot.resetMap("<areaId>");
...

Repositioning

resetPose(mapPose) -> {Promise.<boolean>}

Reset the robot's pose.

Parameters

Name Data type Description Remarks
mapPose MapPose Pose
isChargingPose boolean Optional; If it's a charging dock pose Default is a charging dock pose
false: The current robot pose, true: Charging dock pose

Return Value Promise.<boolean>

Whether the setup is successful.

  • true - Success
  • false - Failure

Example

...
const success = await resetPose({
  areaId: "<areaId>",
  x: 0,
  y: 0,
  yaw: 0
});
...

Update Map

updateMap() -> {Promise.<boolean>}

Update the robot's map data.

Parameters

None

Returns Promise.<boolean>

Whether the update was successful or not.

  • true - Success
  • false - Failure

Example

...
const success = await axRobot.updateMap();
...

Get Current Regional Sites

getPlaceList() -> {any}

Function to get the list of current regional sites.

Parameters

None

Return value any

List of sites.

Example

...
const list = axRobot.getPlaceList();
...

Get All Sites

getPoiList(req) -> {Promise.<any>}

Get a list of sites.

Parameters

Name Data Type Description
req RequestParam Request parameters

Return value Promise.<any>

Site list

Example

...
const result = await getPoiList({
  robotId: "<robotId>"
});

console.log(result.count); // Total number of POIs that meet the criteria
console.log(result.list); // Site list
result.list.forEach(poi => {
  console.log(poi.areaId); // Identifier of the area where the site is located
  console.log(poi.buildingId); // Identifier of the building where the site is located
  console.log(poi.businessId); // Identifier of the business to which the site belongs
  console.log(poi.floor); // Floor where the site is located
  console.log(poi.id); // Identifier of the site
  console.log(poi.name); // Name of the site
  console.log(poi.type); // Type of the site
  console.log(poi.coordinates); // Site coordinates in the format [x, y]; e.g., [13.411045089526397, -6.95027412476179]
  console.log(poi.yaw); // Angle value of the site's orientation, in degrees
});
...

Get the charging stations bound to the robot

getRobotOwnCharges() -> {Promise.<any>}

Get a list of charging stations bound to the robot.

Parameters

None

Returns Promise.<any>

Charging station list

Example

...
const charges = await axRobot.getRobotOwnCharges();

console.log(charges.count); // Number of charging stations
console.log(charges.list); // Charging station list
charges.list.forEach(chargingPile => {
  console.log(chargingPile.areaId); // Identifier of the area where the charging station is located
  console.log(chargingPile.buildingId); // Identifier of the building where the charging station is located
  console.log(chargingPile.businessId); // Identifier of the business to which the charging station belongs
  console.log(chargingPile.floor); // Floor where the charging station is located
  console.log(chargingPile.id); // Identifier of the charging station
  console.log(chargingPile.name); // Name of the charging station
  console.log(chargingPile.coordinate); // Coordinates of the charging station in the format [x, y]; e.g., [13.411045089526397,-6.95027412476179]
  console.log(chargingPile.yaw); // Orientation angle of the charging station in degrees
});
...

Get Effective Area List

getEffectiveAreaList() -> {Promise.<any>}

Get the list of effective areas.

Parameters

None

Return value Promise.<any>

Field Name Type Description
status number Response status code
200 - Success
400 - Parameter error
500 - Internal server error
message string Response status description
data object Response data
data.effective array List of effective areas - real floor
data.ineffective array List of ineffective areas - real floor
data.effectiveFloorNames array List of effective areas - display floor
data.ineffectiveFloorNames array List of ineffective areas - display floor 
{
  "status": 200,
  "message": "ok",
  "data": {
    "effective": [-1, 1, 3],
    "ineffective": [-2, 2, 5, 6, 7],
    "effectiveName": [-1, 1, 3],
    "ineffectiveName": [-2, 2, 5, 6, 7]
  }
}

Example

...
const result = await getEffectiveAreaList();
// do something
...

Get Robot Area

getAreaList() -> {Promise.<any>}

Get the list of areas.

Parameters

None

Return value Promise.<any>

List of areas.

Example

...
const result = await axRobot.getAreaList();

const data = result.data
console.log(data.count); // Number of map areas
console.log(data.list); // List of map areas
data.list.forEach(area => {
  console.log(area.id); // Area identifier
  console.log(area.buildingId); // Building identifier that the area belongs to
  console.log(area.businessId); // Business identifier that the area belongs to
  console.log(area.name); // Area name
  console.log(area.floor); // Area floor
  console.log(area.createTime); // Area creation time
});
...

Get the business identifier of the robot

getBusinessId(mode) -> {Promise.<string>}

Get the business identifier of the robot

Parameters

Name Type Description
mode number Optional; robot mode

Return value Promise.<string>

Business identifier

Example

...
const businessId = await axRobot.getBusinessId();
...

Get Area Picture

getAreaPic(areaId) -> {Promise.<any>}

Get the picture of the area map.

Parameters

Name Data Type Description
areaId string Area identifier

Return value Promise.<any>

Data stream of the area map picture.

Example

...
const mapData = await axRobot.getAreaPic("<areaId>");
...

Set Robot Map Trajectory Tracking

setEnableTrack(enable) -> void

Enables or disables tracking of the robot's map trajectory (requires map display).

Parameters

Name Data Type Description
enable boolean Whether to track robot trajectory

Return Value

None

Example

...
axRobot.setEnableTrack(true);
...

Robot Movement

Start controlling the motion

beginControl() -> {void}

Starts the control of robot movement.

Parameters

None

Return Value

None

Example

...
axRobot.beginControl();
...

End Control Movement

endControl() -> {void}

Close the robot's movement control.

Parameters

None

Returns

None

Example

...
axRobot.endControl();
...

Single-step motion

motionFor(type) -> {void}

Robot motion control.

Parameters

Name Data type Description
type MotionType The type of motion

Return value

None

Example

...
axRobot.motionFor(MotionType.Forward);
...

Dual-Step Motion

motionControl(linearVelocity, angularVelocity) -> {void}

Controls the movement of the robot.

Parameters

Name Data Type Description
linearVelocity number Linear velocity
angularVelocity number Angular velocity

Return Value

None

Example

...
axRobot.motionControl(0.1, 0.2);
...

Set Emergency

setEmergency(type) -> {void}

Set the robot to emergency stop status.

Parameters

Name Data Type Description
type EmergencyType The emergency stop method.

Return Value

None

Example

...
axRobot.setEmergency(EmergencyType.Start); // Enter emergency stop status
...
axRobot.setEmergency(EmergencyType.Stop); // End emergency stop status
...

Fixed Point Movement

moveTo(pose) -> {void}

The robot moves to the specified position

Parameters

Name Data Type Description
pose Pose Pose

Return Value

None

Example

...
axRobot.moveTo({
  x: 0,
  y: 0,
  yaw: 0
});
...

Return to Charging Pile

goHome(pose) -> {Promise.<boolean>}

Controls the robot to return to the charging pile.

Parameters

Name Data Type Description
pose Pose Pose

Return Value Promise.<boolean>

Whether the operation is successful.

  • true - Success
  • false - Failure

Example

...
axRobot.goHome({
  x: 0,
  y: 0,
  yaw: 0
});
...

Subscribe to Robot Status

subscribeRealState(listener) -> {void}

Subscribe to real-time status of the robot.

Parameters

Name Data Type Description
listener OnRobotListner Callback function for subscribing to real-time robot status.

Return value

None

Example

...
axRobot.subscribeRealState({
  onStateChanged: state => {
    console.log(state.isManualMode); // Whether the robot is in manual mode
    console.log(state.isTasking); // Whether the robot is executing a task
    console.log(state.isCharging); // Whether the robot is charging
    console.log(state.isRemoteMode); // Whether the robot is in remote control mode
    console.log(state.battery); // Current battery level (percentage)
    console.log(state.robotId); // Robot identifier
    console.log(state.speed); // Current speed (m/s)
    console.log(state.areaId); // Current area ID
    console.log(state.isEmergencyStop); // Whether the robot is in emergency stop state
    console.log(state.x); // x component of the position coordinates
    console.log(state.y); // y component of the position coordinates
    console.log(state.yaw); // Current angle (radians)
    console.log(state.locQuality); // Current localization quality (0-100)
    console.log(state.hasObstruction); // Whether there is currently an obstruction
    console.log(state.errors); // Error codes
    console.log(state.isGoHome); // Whether the robot is currently returning to the home base for charging
    console.log(state.timestamp); // Timestamp of the robot status
    
    // do something
  }
});
...

Get current status of the robot

getState() -> {Promise.<any>}

Get the current status of the robot.

Parameters

None

Returns Promise.<any>

The current status of the robot.

Example

...
const state = await axRobot.getState();
console.log(state.isManualMode); // Whether it is in manual mode
console.log(state.isTasking); // Whether it is executing a task
console.log(state.isCharging); // Whether it is charging
console.log(state.isRemoteMode); // Whether it is in remote control mode
console.log(state.battery); // Current battery level (percentage)
console.log(state.robotId); // Robot identifier
console.log(state.speed); // Current speed (m/s)
console.log(state.areaId); // Current area ID
console.log(state.isEmergencyStop); // Whether it is in emergency stop mode
console.log(state.x); // x component of position coordinate
console.log(state.y); // y component of position coordinate
console.log(state.yaw); // Current angle (radians)
console.log(state.locQuality); // Current localization quality (0-100)
console.log(state.hasObstruction); // Whether there is currently an obstruction
console.log(state.errors); // Error codes
console.log(state.isGoHome); // Whether it is currently returning to the charging dock
console.log(state.timestamp); // Timestamp of the robot's status

// do something
...

Set Speed

setSpeed(speed) -> {Promise.<boolean>}

Set the speed of the robot's movement.

Parameters

Name Data Type Description
speed number Movement speed, in m/s

Returns Promise.<boolean>

Whether the operation is successful.

  • true - Success
  • false - Fail

Example

...
const success = await axRobot.setSpeed(0.5);
...

Set Volume

setVolume(volume, mode) -> {Promise.<boolean>}

Set the volume of the robot.

Parameters

Name Type Description
volume number Volume level, range 0~100
mode number Execution mode
1 - Upper computer
2 - Chassis

Returns Promise.<boolean>

Indicates whether the setting was successful.

  • true - Success
  • false - Failure

Example

...
const success = await axRobot.setVolume(50, 1);
...

Stop Background Music

stopPlayAudio(mode) -> {Promise.<boolean>}

Stop playing the background music.

Parameters

Name Type Description
mode number 1 - PC
2 - Chassis

Return Promise.<boolean>

Whether the operation is successful or not.

  • true - Successful
  • false - Failed

Example

...
const success = await axRobot.stopPlayAudio(1);
...

Set Audio Playback

setPlayAudio(playAudio) -> {Promise.<boolean>}

Set audio playback.

Parameters

Name Type Description
playAudio PlayAudio Audio playback

Return value Promise.<boolean>

Whether it is successful

  • true - success
  • false - failure

Example

...
let playAudio = {
    mode: 1,
    url: "",
    audioId: "38001",
    volume: 10,
    interval: -1,
    num: 1,
    duration: 5
}
const success = await axRobot.setPlayAudio(playAudio);
...

Clear Wheel Overload

removeWheelOverload() -> {Promise.<boolean>}

Clears the wheel overload.

Parameters

None

Returns Promise.<boolean>

Whether the operation is successful.

  • true - Success
  • false - Failure

Example

...
const success = await axRobot.removeWheelOverload();
...

Get Robot ID

getRobotId() -> {string}

Get the identifier of the currently connected robot.

Parameters

None

Return Value string

Robot ID

Example

...
const robotId = axRobot.getRobotId();
...

Restart Robot

restartRobot() -> {Promise.<boolean>}

Restart the robot.

Parameters

None

Returns Promise.<boolean>

  • true - Success
  • false - Failure

Example

...
const success = await axRobot.restartRobot();
...

Set Global Position

setGlobalPosition() -> {Promise.<boolean>}

Set the global position of the robot.

Parameters

None

Returns Promise.<boolean>

Set whether it is reliable.

  • true - Reliable
  • false - Unreliable

Example

...
const success = await axRobot.setGlobalPosition();
...

Set Server Information

setServerInfos(serverInfo) -> {Promise.<boolean>}

Set the server information that the robot connects to.

Parameters

Name Type Description
serverInfo ServerInfo Server information

Return Value Promise.<boolean>

Whether the operation is successful

  • true - success
  • false - failure

Example

...
let serverInfo = {
    ip: "http://127.0.0.1:8080/",
    type: -1,
    offline: 0
}
const success = await axRobot.setServerInfos(serverInfo);
...

Set WiFi

setWifi(ssId, password) -> {Promise.<boolean>}

Set the WiFi for the robot chassis.

Parameters

Name Type Description
ssId string WiFi name
password string Password

Returns Promise.<boolean>

Indicates whether the operation was successful.

  • true - Success
  • false - Failure

Example

...
const success = await axRobot.setWifi("test-wifi", "123456");
...

Set Network Mode

setRouteMode(mode) -> {Promise.<boolean>}

Set the internet mode of the robot.

Parameters

Name Type Description
mode number Network type
0: Headshell supplied network
1: Chassis WiFi supplied network
2: Chassis 4G supplied network
3: Chassis supplied network

Return Value Promise.<boolean>

Whether it is successful

  • true - Success
  • false - Failed

Example

...
const success = await axRobot.setRouteMode(0);
...

Get Network Mode

getRouteMode() -> {Promise.<string>}

Get the network mode of the robot.

Parameters

None

Returns Promise.<string>

Network mode

Example

const mode = await axRobot.getRouteMode();
console.log(mode);
  • Note: Possible return values: etho_first: "Head WiFi for internet access"/"Head 4G for internet access" (depending on whether the head is connected to WiFi), wlan0_first: "Chassis WiFi for internet access", usbo_first: "Chassis 4G for internet access"

Hardware Control

Sprayer Control

Method

openSprayer(gear) → {Promise.<boolean>}

Open the sprayer.

Parameters

Name Type Description
gear number Gear level

Return value Promise.<boolean>

Whether it is successful

  • true - Successful
  • false - Failed

Example

...
const success = await axRobot.openSprayer("<gear>");
...

closeSprayer() → {Promise.<boolean>}

Close the sprayer.

Return value Promise.<boolean>

Whether it is successful

  • true - Successful
  • false - Failed

Example

...
const success = await axRobot.closeSprayer();
...

Box Door Control

Method

openBoxDoor(doorIds, mode) → {Promise.<boolean>}

Open the box door.

Parameters

Name Type Required Description
doorIds number[] Yes List of door numbers, values range from 1 to 4.
mode number No Execution mode: 1=upper computer, 2=chassis; default value: 1.

Return value Promise.<boolean>

Whether the operation is successful.

  • true - Success
  • false - Failure

Example

...
// Open door 1
const success = await axRobot.openBoxDoor([1], 1);
...

closeBoxDoor(doorIds, mode) → {Promise.<boolean>}

Close the box door.

Parameters

Name Type Required Description
doorIds number[] Yes List of door numbers, values range from 1 to 4.
mode number No Execution mode: 1=upper computer, 2=chassis; default value: 1.

Return value Promise.<boolean>

Whether the operation is successful.

  • true - Success
  • false - Failure

Example

...
// Close door 2
const success = await axRobot.closeBoxDoor([2], 1);
...

Light Belt Control

Method

openLightBelt(lightBelt) → {Promise.<boolean>}

Open the light belt.

Parameters

Name Type Description
lightBelt LightBelt Gear

Return value Promise.<boolean>

Whether the operation is successful

  • true - Successful
  • false - Failed

Example

...
let lightBelt = {
  mode: 1,
  color: LightColor.Green,
  indexs: [
    { index: 0, num: 6 }
  ]
}
const success = await axRobot.openLightBelt(lightBelt);
...

closeLightBelt(lightBelt) → {Promise.<boolean>}

Close the light belt.

Parameters

Name Type Description
lightBelt LightBelt Gear

Return value Promise.<boolean>

Whether the operation is successful

  • true - Successful
  • false - Failed

Example

...
let lightBelt = {
	mode: 1,
  color: LightColor.Green,
	indexs: [
    { index: 0, num: 6 }
  ]
}
const success = await axRobot.closeLightBelt(lightBelt);
...

Action Tasks

Subscribe to Task State

Method

subscribeTaskState(listener) -> {void}

Subscribe to task state.

Parameters

Name Type Description
listener OnTaskListener Task state callback

Return value void

Example

...
axRobot.subscribeTaskState({
  onTaskChanged: (state: any) => {
    console.log(state.actType); // Task state action type 1000 - Task start 14 - Departure 16 - Arrival 40 - Waiting for interaction 1001 - Task completed
    console.log(state.data); // Specific task state data
  }
});
...

Start Task

Method

startTask(task) -> {Promise.<boolean>}

Starts executing a task.

Parameters

Name Type Description
task TaskInfo Task information

Return value Promise.<boolean>

Whether the task was successful or not

  • true - Success
  • false - Failure

Example

...
let task = {
  name: "Multi-point delivery",
  runNum: 1,
  taskType: 2,
  runType: 21,
  pts: [
    {
      x: 0.11,
      y: 1.22,
      yaw: 89, 
      areaId: "xxxxxxxxxxxxxx",
      type: -1,
      ext: {},
      stepActs: [
        {
          type: ActionType.PlayAudio,
          data: {...}
        },
        ...
      ]
    },
    ...
  ]
}
const success = await axRobot.startTask(task);
...

Pause Task

Method

pauseTask() -> {Promise.<boolean>}

Pause the task that is currently being executed.

Return value Promise.<boolean>

Success indicator

  • true - success
  • false - failure

Example

...
const success = await axRobot.pauseTask();
...

Continue Task

Method

continueTask() -> {Promise.<boolean>}

Continue the task that is currently paused, primarily for tasks involving human-computer interaction.

Returns Promise.<boolean>

Success status

  • true - Success
  • false - Failed

Example

...
const success = await axRobot.continueTask();
...

Cancel Task

Method

cancelTask() -> {Promise.<boolean>}

Cancel the currently executing task.

Returns Promise.<boolean>

Success status

  • true - Success
  • false - Failed

Example

...
const success = await axRobot.cancelTask();
...

Resume Task

resumeTask() -> {Promise.<boolean>}

Resume a task.

Parameters

None

Return Value

Whether the execution was successful

  • true - success
  • false - failure

Example

...
const success = await resumeTask();
...

Get Current Task

getCurrentTask() -> {Promise.<any>}

Get information about the current task being executed.

Returns Promise.<any>

Name Type Description
task any Task information

Example

...
let task = await axRobot.getCurrentTask();
console.log(task.isCancel); // Whether the task is canceled
console.log(task.runType); // Run type; 0 - scheduled killing, 1 - temporary killing, 20 - quick delivery, 21 - multi-point delivery, 22 - lead, 23 - cruise, 24 - return, 25 - return to charging station
console.log(task.businessId); // Business identifier to which the task belongs
console.log(task.robotId); // Robot identifier
console.log(task.buildingId); // Building identifier
console.log(task.isExcute); // Whether it has been executed
console.log(task.taskType); // Task type; 0 - killing, 1 - return to charging station, 2 - restaurant
console.log(task.taskPts); // Task node information, please refer to the instructions for starting the task for details
console.log(task.createTime); // Task creation time
console.log(task.runNum); // Number of task runs
console.log(task.name); // Task name
console.log(task.busiType); // Business type
console.log(task.isDel); // Whether it has been deleted
console.log(task.taskId); // Task identifier
...

Update Task

updateTask(taskId, pts) -> {Promise.<boolean>}

Update a task.

Parameters

Name Type Description
taskId string Task identifier
pts Array List of task points; refer to the taskPts parameter used to start executing the task

Return Value Promise.<boolean>

Whether the update is successful

  • true - Success
  • false - Failure

Example

...

const success = await axRobot.updateTask("<taskId>", <pts>);
...

Restart Task

Method

restartTask(taskId) -> {Promise.<boolean>}

Restart a paused or finished task.

Parameters

Name Type Description
taskId string Task ID

Return value Promise.<boolean>

Whether it is successful

  • true - Success
  • false - Failure

Example

...
const success = await axRobot.restartTask("<taskId>");
...

Patrol Route

Set/Update Cruise Route

saveCruise(cruiseInfo) -> {Promise<boolean>}

This function sets or updates a cruise route.

Parameters

Name Type Description
cruiseInfo CruiseInfo Information of the cruise route

Return value Promise.<boolean>

Whether the operation is successful:

  • true - Success
  • false - Failure

Example

...
let cruiseInfo = {
    id: 12,
    name: "test-cruise",
    businessId: "",
    sites: [{
        poiId: "6423afdb1162805312f27a75",
        poiName: "test-poi"
    }],
    remark: ""
}
const success = await axRobot.saveCruise(cruiseInfo);
...

Get Cruises

getCruises() -> {Promise<any>}

Get cruises.

Parameters

Name Type Description
businessId string Optional; Business identifier

Returns Promise.<any>

Name Type Description
result any Cruise information

Example

...
const result = await axRobot.getCruises(cruiseInfo);
console.log(result.status)
console.log(result.data)
let cruise = result.data[0]
console.log(cruise.id)
console.log(cruise.name)
console.log(cruise.businessId)
console.log(cruise.sites)
...

Delete Cruise Route

deleteCruise(ids) -> {Promise<boolean>}

Deletes a cruise route.

Parameters

Name Type Description
ids number[] Collection of cruise route identifiers

Returns Promise.<boolean>

Whether the operation is successful.

  • true - Success
  • false - Failure

Example

...
const success = await axRobot.deleteCruise(ids); 
...

Synchronize cruise routes to the cloud

syncCruiseCloud(businessId) -> {Promise<boolean>}

Synchronize cruise routes to the cloud.

Parameters

Name Type Description
businessId string Business ID

Return Value: Promise.<boolean>

Whether the operation is successful.

  • true - Success
  • false - Failure

Example

...
const success = await axRobot.syncCruiseCloud(businessId);
...

Upload local cruise routes to cloud

syncCruiseLocal() -> {Promise<boolean>}

Uploads local cruise routes to the cloud.

Parameters

None

Returns Promise.<boolean>

Whether the upload was successful.

  • true - Success
  • false - Failure

Example

...
const success = await axRobot.syncCruiseLocal();
...

Map Operations

Map Interaction

setAreaMap(areaId) -> {void}

Set the area map

Parameters

Name Data Type Description
areaId string Map area ID

Return value

None

Example

...
axMap.setAreaMap("<areaId>");
...

setMapCenter(coordinates) -> {void}

Set the map center point

Parameters

Name Data Type Description
coordinates array Center point coordinates [x, y]

Return value

None

Example

...
axMap.setMapCenter([0, 0]);
...

zoomTo(zoom) -> {void}

Set the map zoom level

Parameters

Name Data Type Description
zoom number Map zoom level, value range 0~22

Return value

None

Example

...
axMap.zoomTo(10);
...

fly(coordinates) -> {void}

Fly the map to a specific point

Parameters

Name Data Type Description
coordinates array Target point coordinates [x, y]

Return value

None

Example

...
axMap.fly([0, 0]);
...

getCurrentPointPosition(featureId) -> {object}

Get the current selected point's pose

Parameters

Name Data Type Description
featureId string Point ID

Return value object

Pose information

  • x - x component of the coordinates
  • y - y component of the coordinates
  • yaw - orientation angle

Example

...
const pose = axMap.getCurrentPointPosition("<featureId>");

console.log(pose); // {x:1, y: 2, yaw: 3}
...

getFeature(id) -> {object}

Get feature information by ID

Parameters

Name Data Type Description
id string Feature ID

Return value object

Feature information; structure reference https://geojson.org/

Example

...
const feature = axMap.getFeature("<featureId>");
...

getPlaceList() -> {any}

Get all location points

Parameters

None

Return value any

List of location points; structure reference https://geojson.org/

Example

...
const list = axMap.getPlaceList();
...

setClickMapCallback(callback) -> {void}

Set the callback function for clicking on the map

Parameters

Name Data Type Description
callback function Callback function

Return value

None

Example

...
axMap.setClickMapCallback(val => {
  console.log(val.type); // Always 'LayerPoint'
  console.log(val.data); // Element that is clicked, data structure reference to GeoJSON
});
...

setSelectedFeatures(featureId) -> {void}

Select the features in the map based on IDs

Parameters

Name Data Type Description
featureId string Feature ID, multiple feature IDs are separated by comma

Return value

None

Example

...
axMap.setSelectedFeatures("<featureId>");
...

Overlay Operations

addPoint(coordinates, properties opt) -> {string}

Add a point to the map.

Parameters

Name Data Type Description
coordinates number[] Point coordinates [x, y]
properties object Optional; custom attributes

Return value string

Feature identifier of the added point.

Example

...
axMap.addPoint([0, 0], {
  name: "test", // Name
  color: "#f00", // Color
  radius: 2, // Radius, in pixels
  yaw: 0, // Orientation angle
  enableSelect: true // Whether to allow selection
});
...

addLine(coordinates, properties opt) -> {string}

Add a line to the map.

Parameters

Name Data Type Description
coordinates array[] Array of coordinates on the line
properties object Optional; custom attributes

Return value string

Feature identifier of the added line.

Example

...
axMap.addLine([[0, 0], [10, 10]], {
  color: "#f00", // Color
  width: 2, // Width, in pixels
  dash: 'dash' // Dashed line
});
...

addMarker(imgSrc, coordinates, yaw) -> {any}

Add a marker to the map.

Parameters

Name Data Type Description
imgSrc string Image URL
coordinates number[] Coordinates [x, y]
yaw number Orientation angle

Return value any

Marker object.

Example

...
const marker = axMap.addMarker("<imgSrc>", [0, 0], 0);
...

setMarkerProperties(marker, coordinates, yaw) -> {void}

Set marker properties.

Parameters

Name Data Type Description
marker any Marker object
coordinates number[] New coordinates [x, y]
yaw number New orientation angle

Return value

None

Example

...
axMap.setMarkerProperties(marker, [1, 1], 0);
...

removeMarker(marker) -> {void}

Remove a marker from the map.

Parameters

Name Data Type Description
marker any Marker object

Return value

None

Example

...
axMap.removeMarker(marker);
...

Map Editing

clearAreaMap() -> {void}

Clears the area map.

Parameters

None

Returns

None

Example

...
axMap.clearAreaMap();
...

clearFeature() -> {void}

Clears the map data.

Parameters

None

Returns

None

Example

...
axMap.clearFeature();
...

deleteFeature(id) -> {void}

Deletes the feature with the specified ID.

Parameters

Name Data Type Description
id string Feature ID

Returns

None

Example

...
axMap.deleteFeature("<featureId>");
...

editPose(coordinates, properties opt) -> {void}

Sets the current pose position.

Parameters

Name Data Type Description
coordinates array Coordinates [x, y]
properties object Optional; custom properties

Returns

None

Example

...
axMap.editPose([0, 0]);
...

endEditPose() -> {object}

Cancels setting the current pose position.

Parameters

None

Returns object

The edited pose.

Example

...
const post = axMap.endEditPose();
...

Others

beautifyMapImg(imgUrl, obstacle, throughArea, other) -> {Promise.<string>}

Beautify map image

Parameters

Name Data Type Description
imgUrl string Source image URL
obstacle object Obstacle RGBA color value
Example: {r: 42, g:124, b:128, a:255}
throughArea object Through area RGBA color value
other object Other area RGBA color value

Return value Promise.<string>

The URL of the beautified image

Example

...
const newImg = await axMap.beautifyMapImg("<imgUrl>", {...}, {...}, {...});
...

project(coordinates) -> {array.<number>}

Convert map coordinates to pixel offset

Parameters

Name Data Type Description
coordinates array Map coordinates [x, y]

Return value array.<number>

The converted pixel offset

Example

...
const pixel = axMap.project([0, 0]);
...

destroy() -> {void}

Destroy the map object

Parameters

None

Return value

None

Example

...
axMap.destroy();
...

Data Statistics

Total Statistics

getStatisticsTotal() -> {Promise<any>}

This method retrieves the total statistics data.

Parameters

Name Type Description
statisticsTotal StatisticsTotal

Returns Promise.<any>

Name Type Description
result any The statistics information

Example

...
const result = await axRobot.getStatisticsTotal(statisticsTotal);
console.log(result)
...

Single Task Statistics

getSingleTaskStatistics() -> {Promise<any>}

Get statistics for a single task.

Parameters

Name Type Description
singleTaskStatistics SingleTaskStatistics

Return Type Promise.<any>

Name Type Description
result any Statistics information

Example

...
const result = await axRobot.getSingleTaskStatistics(singleTaskStatistics);
console.log(result)
...

Task Statistics

getTaskStatistics() -> {Promise<any>}

Get task statistics

Parameters

Name Type Description
taskStatistics TaskStatistics The task statistics

Return value Promise.<any>

Name Type Description
result any Statistics information

Example

...
const result = await axRobot.getTaskStatistics(taskStatistics);
console.log(result)
...

Data Definition

ActionType

Action type for tasks.

Enumeration

Value Description
ActionType.None None
ActionType.PlayAudio Play audio
Parameters
ActionType.OpenDoor Open the door
Parameters
ActionType.Pause Pause the action
Parameters
ActionType.GearOperation Gear operation
Parameters
ActionType.StopAudio Stop playing audio
Parameters
ActionType.OpenLight Turn on the lights
Parameters
ActionType.CloseLight Turn off the lights
Parameters
ActionType.TaskStart Start the task
Parameters
ActionType.TaskEnd End the task
Parameters

ActionData

ActionData - PlayAudio

Play audio action parameters

Properties

Name Data Type Description
audioId string Optional; Local audio resource identifier, default is the file name
url string Optional; Online URL for the audio
volume number Volume; 0~100
mode number Execution mode; 1 - Execute on the computer
2 - Execute on the chassis
interval number Interval time for loop playback; unit: seconds
-1 means play only once
num number Optional; Number of times to play
duration number Optional; Total play time; unit: seconds
If the num parameter is set at the same time, the num parameter will be followed
channel number Play channel;
1 - Normal music
2 - Background music
The chassis does not support multi-channel playback

Example

{
  "type": ActionType.PlayAudio,
  "data": {
    "audioId": "3111001",
    "volume": 50,
    "mode": 1,
    "interval": 20,
    "num": 10,
    "channel": 1
  }
}

ActionData - StopAudio

Stop playing audio action parameters

Properties

Name Data Type Description
mode number Execution mode; 1 - Execute on the computer
2 - Execute on the chassis
channel number Play channel;
1 - Normal music
2 - Background music
The chassis does not support multi-channel playback

Example

{
  "type": ActionType.StopAudio,
  "data": {
    "mode": 1,
    "channel": 1
  }
}

ActionData - OpenDoor

Open door action parameters

Properties

Name Data Type Description
mode number Execution mode; 1 - Execute on the computer
2 - Execute on the chassis
doorIds number[] Compartment number; from top to bottom, left to right, 1,2,3,4

Example

{
  "type": ActionType.OpenDoor,
  "data": {
    "mode": 1,
    "doorIds": [1]
  }
}

ActionData - CloseDoor

Close door action parameters

Properties

Name Data Type Description
mode number Execution mode; 1 - Execute on the computer
2 - Execute on the chassis
doorIds number[] Compartment number; from top to bottom, left to right, 1,2,3,4

Example

{
  "type": ActionType.CloseDoor,
  "data": {
    "mode": 1,
    "doorIds": [1]
  }
}

ActionData - Pause

Pause action parameters

Properties

Name Data Type Description
pauseTime number Pause time, unit: seconds
0 means no pause

Example

{
  "type": ActionType.Pause,
  "data": {
    "pauseTime": 20
  }
}

ActionData - GearOperation

Sprayer operation action parameters

Properties

Name Data Type Description
subType number Sprayer action parameters;
0: Turn off the sprayer, 1-5 set the gear, open the sprayer

Example

{
  "type": ActionType.GearOperation,
  "data": {
    "subType": 2
  }
}

ActionData - OpenLight

Open light strip action parameters

Properties

Name Data Type Description
mode number Execution mode; 1 - Execute on the computer
2 - Execute on the chassis
color LightColor Light strip color
indexs LightIndex Optional; segmented display, up to 4 segments

Example

{
  "type": ActionType.OpenLight,
  "data": {
    "mode": 1,
    "color": LightColor.Green,
    "indexs": [
      {
        "index": 0,
        "num": 10
      }
    ]
  }
}

ActionData - CloseLight

Close light strip action parameters

Properties

Name Data Type Description
mode number Execution mode; 1 - Execute on the computer
2 - Execute on the chassis
indexs LightIndex Optional; segmented display, up to 4 segments

Example

{
  "type": ActionType.OpenLight,
  "data": {
    "mode": 1,
    "indexs": [
      {
        "index": 0,
        "num": 10
      }
    ]
  }
}

ActionData - TaskStart

Start task action parameters

Properties

Name Data Type Description
taskId string Task ID

Example

{
  "type": ActionType.TaskStart,
  "data": {
    "taskId": "152afafb-a682-4d3c-934a-1099b3aa35e3"
  }
}

ActionData - TaskEnd

Task end action parameters

Properties

Name Data Type Description
taskId string Task ID

Example

{
  "type": TaskType.TaskEnd,
  "data": {
    "taskId": "b4ddea09-2448-4db5-a580-47ae763f9693"
  }
}

BaseAction

Action node information

Properties

Name Data Type Description
type ActionType Action type
data object Action parameters

EmergencyType

Robot emergency stop mode

Enumeration

Value Description
EmergencyType.Stop Robot exits emergency stop state
EmergencyType.Start Robot enters emergency stop state

LightBelt

Light Strip Control

Properties

Name Data Type Description
mode number Execution mode, 1-PC, 2-chassis
color LightColor Light strip color, see LightColor
indexs LightIndex[] Array of segmented light strips

LightColor

Light strip color.

Enumeration:

Value Description
LightColor.Red Red color
LightColor.Green Green color
LightColor.Blue Blue color
LightColor.Yellow Yellow color

LightIndex

Segmented LED strip

Properties

Name Data Type Description
index number Index of LED beads
num number Number of LED beads

MapPose

Map pose

Properties

Name Data Type Description
areaId string Map area identifier

Inherits from

Pose

MotionType

Robot motion type

Enumeration

Value Description
MotionType.Forward Robot moves forward, no obstacle avoidance
MotionType.Back Robot moves backward, no obstacle avoidance
MotionType.TurnLeft Robot turns left, no obstacle avoidance
MotionType.TurnRight Robot turns right, no obstacle avoidance
MotionType.Cancel Robot stops moving
MotionType.Auto Robot in auto mode
MotionType.Manual Robot in manual mode

OnRobotListener

Callback for subscribing to robot status changes

Properties

Name Data Type Description
onStateChange function Callback for state change of the robot

OnTaskListener

Task status subscription callback

Properties

Name Data Type Description
onTaskChanged function Task status change callback

POI Types

Value Type Name
1 Fast Food
2 Beverage Shop
3 Others
4 Company
5 Residential
6 Elevator
7 Gate
8 Automatic Door
9 Charging Station
10 Staging Point
11 Table Number
12 Private Room
13 Bar Counter
14 Takeaway Area
15 Service Window
16 Lobby
17 Restaurant
18 Store
19 Reception
20 House Number
22 Workstation Number
21 Room Number
23 Container Shipping Point
24 Container Staging Point
25 Waypoint
26 Disinfection Point
28 Waiting Area
29 Dispatch Point
30 Delivery Station

Pose

Position and orientation of an object.

Properties

Name Data Type Description
x number The x component of the position coordinate
y number The y component of the position coordinate
yaw number Orientation in radians
angle number Optional; Orientation in degrees

RequestPage

Pagination request parameters

Properties

Name Data Type Description
pageSize number Number of records per page
pageNum number Page number for pagination

RequestParam

Request parameters

Properties

Name Data Type Description
robotId string Robot identifier
businessId string Optional; Business identifier
areaId string Optional; Map area identifier
type number Optional; POI type; reference:POI Type
page RequestPage Optional; Result pagination parameters
properties object Optional; POI filtering properties

TaskInfo

Task Information

Properties

Name Data Type Description
name string Name of the task
robotId string Identifier of the robot
runNum number Number of times the task has been executed
Default is 1; 0 indicates infinite loop
taskType number Type of the task
0 - Disinfection and Killing
1 - Return and Charging
2 - Restaurant
runType number Type of execution
0 - Scheduled disinfection
1 - Ad hoc disinfection
20 - Quick food delivery
21 - Multiple location food delivery
22 - Guiding
23 - Cruising
24 - Return
25 - Charging point
curPt TaskPoint Current position of the robot
taskPts TaskPoint[] List of task points
backPt TaskPoint Optional; the point to return to after the task is completed

TaskPoint

Task node information

Attributes

Name Data Type Description
areaId string Identifier of the map area where the task node is located
x number x component of the coordinates of the task node
y number y component of the coordinates of the task node
yaw number Orientation of the task node; unit: degrees
type number POI type; refer to POI Type
ext object Optional; custom extension information for the task node
stepActs BaseAction[] Optional; list of actions for the task node

Example

{
  "x": 0.11,
  "y": 1.22,
  "yaw": 89,
  "areaId": "xxxx",
  "type": -1,
  "ext": {...},
  "stepActs": [...]
}

FaultCode

Chassis fault codes

Value Description
0 Invalid value
1001 Planning node not running
1002 Occupancy_grid_server node not running
1003 Map_server node not running
1004 Cartographer_occupancy_grid_node node not running
1005 No obstacle map /maps/5cm message received in over 1 second
1006 Tracking_ctrl node not running (deprecated)
1007 Stuck during motion
1008 No significant progress in distance during motion, potentially stuck
2001 Wheel node not running
2002 Wheel overload
2003 Left wheel malfunction
2004 Right wheel malfunction
2005 Wheel_state message frequency abnormal
2006 Wheel drive reported an error
2007 Wheel loss of control alarm
2008 Wheel severe skidding
2009 Wheel control startup error
2501 Wheel skidding
3001 Odom node not running
3002 Odom message frequency abnormal
4001 Imu node not running
4002 Imu message frequency abnormal
4003 Imu angular velocity abnormal (deprecated)
4004 Vertical angle abnormal, possible rollover
4005 Imu trembling in place
4006 Imu spinning in place
4007 Imu reconnection
4008 Tilt angle extremely large, high probability of falling
4501 Imu not calibrated
5001 Lidar node not running
5002 Lidar message frequency abnormal
5003 Lidar scan frequency sustained abnormality, generally over 1 second interval
5004 Lidar_perception_node node not running
5005 Exception sending command to lidar
5501 Lidar scan frequency momentarily abnormal (deprecated)
6003 Insufficient storage space
6001 Very high load average in the last minute
6002 CPU average usage over 90% in the last 10 seconds
6004 Core temperature exceeds threshold
6005 Memory usage significantly exceeds threshold
6006 eMMC wear severe
6007 Network interruption between head and shell
6008 Critical system file configuration error
6009 High disk write volume
6502 Insufficient storage space
6501 High load average in the last minute
6503 Memory usage exceeds threshold
6505 Bootup time synchronization failure (deprecated)
6504 CPU average usage over 80% in the last 10 seconds
6506 System time inconsistent with internet time
6507 Bootup script execution failure
6508 eMMC wear severe
7001 Positioning node not running
7002 Unreliable positioning quality
7003 Abnormal /slam/state message frequency
7004 Lidar determines unreliable positioning quality
8001 Baseboard node not running
8002 Battery_state message frequency abnormal
8003 Extremely low battery level
8004 Battery board malfunction
8005 Inconsistent charging status reported by charging flakes and batteries
8006 Motor current exceeds threshold
8501 Low battery level
9001 /detectors node for charging pile/elevator door state recognition not running
9002 Bluetooth node not running
9003 Emergency stop button pressed
9004 Switch to manual mode
9005 Switch to remote control mode
9006 /sensor_manager_node node not running
9007 Bottom sensor node /bottom_sensor_pack_node not running
9008 /ax_platform_monitor node not running
9009 /monitor_watcher node not running
9010 Startup parameter configuration error
9011 Program crash detected
9012 Optical flow frequency abnormal
9013 Heatmap node not running
9501 Debug node open
9502 .params.yaml exists in ax-cache, this configuration file is deprecated
9503 Optical flow hardware detected but not configured to be used
10001 No touch signal detected after exceeding retry attempts on charging pile
10002 Charging base not recognized
10003 No current received for a long time after touch exceeds retry attempts
11001 camera_node Juyou node not running
11002 /depth_camera/forward message frequency abnormal (deprecated)
11003 /depth_camera/downward message frequency abnormal (deprecated)
11004 /depth_camera/forward reported an error (deprecated)
11005 /depth_camera/downward reported an error (deprecated)
11006 Unable to find depth camera hardware (deprecated)
11007 Juyou depth camera reported an error
11008 Unable to find RGB camera hardware
11009 /rgb_camera_node node not running
11010 RGB camera other error
11011 ihawk_node node not running
11012 ihawk depth camera reported an error
11013 ihawk depth camera depth value abnormal, possible obstruction (reserved)
11501 Depth camera not calibrated

StatisticsTotal

Total statistical data information

Attributes

Name Data Type Description
startTime number Start time, in milliseconds, starting from 00:00:00 of the current day, with a maximum duration of one month
endTime number End time, in milliseconds, ending at 11:59:59 of the current day
busIds string[] Optional, collection of business IDs
deviceIds string[] Optional, collection of robot SNs
dataItems string[] Required data items:
mileage - Total mileage
duration - Total duration
taskMileage - Task mileage
taskDuration - Task duration
chargingCount - Number of charging times
errCount - Chassis error count
locerrCount - Positioning loss count
warnCount - Warning count
dryBurnCount - Dry burn count
obstructCount - Obstruction count
taskCancelCount - Task cancellation count
taskCount - Task count
taskFinishCount - Task completion count
taskPauseCount - Task pause count
disinfectCount - Disinfection count
onSprayCount - Times of turning on spray
sprayMileage - Spraying mileage
remoteCount - Remote control count
low10BatCount - Number of times battery is less than 10%
low20BatCount - Number of times battery is less than 20%
emergencyCount - Emergency stop count
gohomeCount - Return to charging pile count
manualCount - Manual count
dispatchCount - Dispatch count
modspeedCount - Speed modification count

Example

{
  "startTime": 1682870400000,
  "endTime": 1685548799000,
  "dataItems": ["taskDuration","taskMileage","mileage","duration","taskCount"]
}

SingleTaskStatistics

Single task statistics information

Properties

Name Data Type Description
taskId string Task ID
fields string[] Required data items
mileage - Mileage
cStartTime - Start time
cEndTime - End time
disinfect - Disinfection details
taskFinishCount - Task completion count
taskPauseCount - Task pause count
taskCancelCount - Task cancel count

Example

{
  "taskId": "322751f4-1c00-45c2-bcf3-0e42aa9fa2c4",
  "fields": [
    "cStartTime",
    "cEndTime",
    "mileage",
    "disinfect",
    "taskCancelCount",
    "errCount",
    "taskFinishCount",
    "taskPauseCount"
  ]
}

TaskStatistics

Task statistics information

Attributes

Name Data type Description
startTime number Start time, in milliseconds, starting from 00:00:00 of the current day, with a maximum duration of one month
endTime number End time, in milliseconds, ending at 11:59:59 of the current day
type number Task type:
0 - Disinfection
1 - Return to dock
2 - Delivery
3 - Summon
Default -1 All tasks

Example

{
  "startTime": 1682870400000,
  "endTime": 1685548799000,
  "type": -1
}

CruiseInfo

Cruise Info

Enum

Name Data Type Description
id number cruise Id
name string cruise Name
businessId string business Id
sites []CruisePoi cruise poi
remark string remark

CruisePoi - cruise poi

Enum

Name Data Type Description
poiId string poi Id
poiName string poi Name

ServerInfo

Server Info

Attributes

Name Data Type Description
ip string address
type number server type
0: privatization
1: international version
-1: close privatization or international version
offline number 0: not purely offline
1: purely offline

test

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