SRD API Protocol

1.
Overview
The SRD system provides a REST style Web API, which provides the following functions:
 Create, query and cancel waybills.
 Create and query the waybill sequence.
 Query the running information of the robot, change the online status of the robot, etc.
 Changing scene elements, such as disabling paths.
In this protocol, the contents of HTTP requests and responses are JSON structures. The encoding used
can be UTF-8, UTF-16 or UTF-32. Timestamps are encoded using ISO 8601; the timezone used is
UTC (Coordinated Universal Time).
The TCP port to be used for HTTP requests depends on the configuration of the SRD and is 55200 by
default. The corresponding request path for each function will be described below.
This agreement corresponds to SRD version 3.0.63 and above.
Copyright © 2012 - 2022 by Fraunhofer IML
Copyright © 2020 – 2022 Seer Group.
basic path
[ Base URL: localhost:7100/api/route ]
For example, for a program 192.168.1.100 whose , the basic path of the API
is http://192.168.1.100:7100/api/route/ .
HTTP Verbs
verb Description
GET used to get data
POST used to create data
PUT Used to modify some data
HTTP submission data description

When POST , PUT request, please make sure that the Request Content-Type is application/json type.
req.Headers.Add("Content-Type", "application/json")
HTTP status code

 200 - Success
 400 - The requested parameter is incorrect, or the necessary information is missing, please
compare the documentation
 404 - Data does not exist, or is not open
 500 - server exception
2.Waybill
3. Get the collection of waybills
ask
 Function: Get the collection of waybills
 method: GET
 Interface Description: /transportOrders
GET http://host:7100/api/route/transportOrders
Parameter introduction
name type Description
Filter the waybill by the name of the robot that is expected to

intendedVehicle string
execute the waybill
Filter the waybill by the name of the robot that actually executes
processing Vehicle string
the waybill
category string Filter the waybill based on the business type of the waybill
Filter the waybill according to the status of the waybill , and

state string
support multiple selections
pageNo. integer Page Index (Default value: 1)
pageSize integer The page contains the maximum number of waybills
regexp integer Regular expression to filter waybills by name
Example request with parameters:

GET "http://host:7100/api/route/transportOrders?intendedVehicle=test"
Example request with multiple parameters:
GET "http://host:7100/api/route/transportOrders?category=test&pageNo=1"
response
Responses Code 200
example response
{
"pageNo": 1,
"pageSize": 1,
"page": [
{
"name": "TOrder-01",
"category": "Park",
"creationTime": "2018-05-17T06:42:40.396Z",
"deadline": "2018-05-17T06:42:40.396Z",
"finishedTime": "2018-05-17T06:42:40.396Z",
"state": "RAW",
"intendedVehicle": "AMB-01",
"processingVehicle": "AMB-01",
"destinations": [
{
"locationName": "Storage-01",
"operation": "Store",
"state": "PRISTINE",
"properties": [
{
"key": "key1",
"value": "value1"
}
]
}
],
"dependencies": [
"TOrder-002"
],
"wrappingSequence": "Sequence-0001",
"dispensable": true
}
],
"total": 1
}
Parameter interpretation
name type Description Example
PageNo * integer minimum: 1 1

maximum: 2147483647
page index
minimum: 1
maximum: 2147483647
pageSize * integer 1
Each page contains the number of
waybill data
minItems: 0_maxItems: 2147483647

Page * array -
waybill data page
name string The name of the waybill TOrder-01
category string Business type of waybill Park
string($date- The creation time of the waybill (UTC 2018-05-

creationTime
time) time zone) 17T06:42:40.396Z
string($date- 2018-05-
deadline Waybill cut-off time (UTC time zone)
time) 17T06:42:40.396Z
The completion time of the waybill

string _ 2018-05-
finishedTime (UTC time zone). When it is null, it
null($date-time) 17T06:42:40.396Z_
means the waybill is not completed.
state string The current status of the waybill

 RAW: Raw state, waiting to
be processed.
 ACTIVE: All destinations
of the waybill are reachable
by route, and the order is
already active.
 DISPATCHABLE: The
waybill information is
correct, the route planning
is complete, and the system
is waiting for the robot to
be allocated.
 BEING_PROCESSED:
The waybill is being
executed.
 WITHDRAWN: The
waybill is being withdrawn.
 FINISHED: final state, the
waybill has been executed
successfully.
 FAILED: Final status, the
waybill has been withdrawn
and marked as failed.
 UNROUTABLE: final
state. The SRD system was
unable to route this
shipment. When this status
occurs, check the wiring
topology of the scene.
The name of the robot expected to

intendedVehicle string($nullable) AMB-01
execute this shipment
The name of the robot that actually

processing Vehicle string($nullable) AMB-01
executes this waybill

destinations The sequence of target workstations
contained in the waybill
locationName * string name of the workstation Storage-01
The name of the action to be

operation * string store
performed by the robot at the station
state * array Execution status of the waybill

subtask
 PRISTINE: subtask in
initial state
 ACTIVE: The subtask is
active
 TRAVELLING: The robot
is in the process of going to
the target point of the
subtask
 OPERATING: The robot
has reached the target point
of the subtask and is
performing an operation
 FINISHED: The subtask is
complete
 FAILED: The subtask has
failed

properties string The meta attribute of the waybill
subtask

Waybill dependency. Before
dependencies string executing this waybill, the list of TOrder-002]
names of the waybills that have been
executed is required
The waybill sequence to which the

wrappingSequence string($nullable) Sequence-0001
waybill belongs
dispensable boolean Is it an unnecessary waybill
total * integer Total quantity of waybill data 1
Responses Code 400

example response
[
"Unknown vehicle 'AMB-01'."
]
4. Get a collection of historical waybills

ask
 Function: Get the collection of historical waybills
 method: GET
 Interface Description: /historyTransportOrders
GET "http://host:7100/api/route/historyTransportOrders"
Filter the waybill by the name of the robot that is expected to

execute the waybill
Filter the waybill by the name of the robot that actually executes
the waybill
category string Filter the waybill based on the business type of the waybill
Filter the waybill according to the status of the waybill , and

state string
support multiple selections
pageSize integer The page contains the maximum number of waybills

GET "http://host:7100/api/route/historyTransportOrders?intendedVehicle=test"
Example request with multiple parameters:
GET "http://host:7100/api/route/historyTransportOrders?category=test&pageNo=1"
response
Responses Code 200
example response
{
"pageNo": 1,
"pageSize": 1,
"page": [
{
"category": "Park",
"creationTime": "2018-05-17T06:42:40.396Z",
"deadline": "2018-05-17T06:42:40.396Z",
"finishedTime": "2018-05-17T06:42:40.396Z",
"state": "RAW",
"destinations": [
{
"properties": [
{
"key": "key1",
"value": "value1"
}
]
}
],
"dependencies": [
"TOrder-002"
],
"dispensable": true
}
],
"total": 1
}
minimum: 1
PageNo * integer maximum: 2147483647 1
page index
pageSize * integer minimum: 1 1

maximum: 2147483647
Each page contains the number of
waybill data
minItems: 0_maxItems:
Page * array 2147483647 -
waybill data page
string($date- The creation time of the waybill 2018-05-

creationTime
time) (UTC time zone) 17T06:42:40.396Z
string($date- Waybill cut-off time (UTC time 2018-05-

deadline
time) zone) 17T06:42:40.396Z

string null($date- (UTC time zone). When it is null, it _ 2018-05-
finishedTime
time) means the waybill is not 17T06:42:40.396Z_
completed.

- RAW: raw status, waiting to be
processed.
- ACTIVE: All destinations of the
waybill are reachable by route, and
the order is already active.
- DISPATCHABLE: The waybill
information is correct, the route
planning is completed, and the
system is waiting for the robot to
be allocated.
- BEING_PROCESSED: The
waybill is being executed.
- WITHDRAWN: The waybill is
being withdrawn.
- FINISHED: final state, the

successfully.
- FAILED: Final status, the waybill
has been withdrawn and marked as
failed.
- UNROUTABLE: final state. The
SRD system was unable to route
this shipment. When this status
occurs, check the wiring topology
of the scene.


2147483647
destinations The sequence of target
workstations contained in the
waybill

operation * string performed by the robot at the store
station
state * array The execution status of the waybill

subtask
- PRISTINE: the subtask is in the
initial state
- ACTIVE: the subtask is in the
active state
- TRAVELLING: the robot is going
to the subtask target point

- OPERATING: the robot has
reached the subtask target point
and is performing operations
- FINISHED : subtask completed
- FAILED : subtask failed
2147483647
properties string
The meta attribute of the waybill
subtask
2147483647
dependencies string TOrder-002]
executing this waybill, the list of
names of the waybills that have
been executed is required

waybill belongs
total * integer Total quantity of waybill data 1
Responses Code 400

example response
[
]
5. Get the waybill with the specified name
ask
 Function: Get the waybill with the specified name
 method: GET
 Interface Description: /transportOrders/{name}
GET "http://host:7100/api/route/transportOrders/{name}"
name string The name of the waybill, the name of the waybill cannot be repeated

GET "http://host:7100/api/route/transportOrders/test"
response
Responses Code 200
example response
{
"category": "Park",
"creationTime": "2018-05-17T06:42:40.396Z",
"deadline": "2018-05-17T06:42:40.396Z",
"finishedTime": "2018-05-17T06:42:40.396Z",
"state": "RAW",
"destinations": [
{
"properties": [
{
"key": "key1",
"value": "value1"
}
]
}
],
"dependencies": [
"TOrder-002"
],
"dispensable": true
}
404
string($date- The creation time of the waybill 2018-05-

creationTime
time) (UTC time zone) 17T06:42:40.396Z
string($date- Waybill cut-off time (UTC time 2018-05-

deadline
time) zone) 17T06:42:40.396Z

string null($date- (UTC time zone). When it is null, it _ 2018-05-
finishedTime
time) means the waybill is not 17T06:42:40.396Z_
completed.

- RAW: raw status, waiting to be
processed.
- ACTIVE: All destinations of the
waybill are reachable by route, and
the order is already active.
- DISPATCHABLE: The waybill
information is correct, the route
planning is completed, and the
system is waiting for the robot to
be allocated.
- BEING_PROCESSED: The
waybill is being executed.
- WITHDRAWN: The waybill is
being withdrawn.
- FINISHED: final state, the
successfully.
- FAILED: Final status, the waybill
has been withdrawn and marked as
failed.
- UNROUTABLE: final state. The
SRD system was unable to route
this shipment. When this status
occurs, check the wiring topology
of the scene.


2147483647
destinations The sequence of target
workstations contained in the
waybill

operation * string performed by the robot at the store
station
state * array The execution status of the waybill

subtask
- PRISTINE: the subtask is in the
initial state
- ACTIVE: the subtask is in the
active state
- TRAVELLING: the robot is going
to the subtask target point
- OPERATING: the robot has

reached the subtask target point
and is performing operations
- FINISHED : subtask completed
- FAILED : subtask failed
2147483647
properties string
The meta attribute of the waybill
subtask
2147483647
dependencies string TOrder-002]
executing this waybill, the list of
names of the waybills that have
been executed is required

waybill belongs
Responses Code 400

example response
[
"Unknown transport order 'TOrder-01'."
]
6. Create a new waybill with the specified name
ask
 Function: Create a new waybill with the specified name
 method:POST
POST "http://host:7100/api/route/transportOrders/{name}"
name type Description example
string($date- Cut-off time for executing the 2018-05-

deadline *
time) waybill (UTC time zone) 17T06:42:40.396Z
(Optional) The name of the

intendedVehicle string robot expected to execute this AMB-01
shipment
(Optional) The business type

category string Park
of the waybill
(Optional) The waybill

sequence to which the waybill
belongs. When this item is
wrappingSequence string Sequence-01
specified, the waybill will be
added to the specified
sequence
The sequence of destination

destinations * array workstations contained in the
waybill
The name of the target

locationName * string Storage 01
workstation

operation * string performed by the robot at the Load cargo
station
Meta attribute under

properties * array If not, fill it in [].
destinations
properties array Meta property of the waybill. You can not pass this
This parameter is deprecated, field, or the value of
version 3.0.127 and later, it is the field is [].
no longer recommended to use
this field, so as not to cause
unnecessary problems.
Waybill dependent. Before

executing this waybill, the list
dependencies array TOrder-002
of names of the waybills that
have been executed is required
request example
{
"deadline": "2018-05-17T06:42:40.396Z",
"category": "-",
"wrappingSequence": "",
"destinations": [
{
"locationName": "LOC-AP1",
"operation": "Wait",
"properties": [
{
"key": "duration",
"value": "2000"
}
]
}
],
"properties":[],
"dependencies": []
}
Notice:
1. If specified intendedVehicle , will force the waybill to be assigned to this robot. If this field is
not specified, the system will automatically assign a robot to the waybill
2. If not specified category , the system will default category to "-"
3. If specified wrappingSequence , the waybill will be added to this waybill sequence. If the
specified waybill sequence does not exist, a 404 exception will be returned
response
Responses Code 200
example response
请求已成功
Responses Code 404
example response
[
"Unknown location 'Storage 01'."
]
Responses Code 409

example response
[
"Transport order 'TOrder-01' already exists."
]
Responses Code 500

example response
[
""
]
Application example
common operation
7. Set the DO signal of the car body

【Parameter Description】
type
Field Name of required Defaults Remark
data
Operation
description SetDO string yes - -
(operation)
Operational Body DO string no Set the DO state of the

properties index robot.
(properties) (indicated by Its value is a Boolean
a string) value expressed as a
string;
"true" means set the
target DO to the
triggered state;
"false" means set the
target DO to the
untriggered state.
【Example of request】
1. LOC-AP1 After letting any robot reach, trigger DO1 (its index is 1).
{
"destinations": [
{
"operation": "SetDO",
"properties": [
{
"key": "1",
"value": "true"
}
]
}
]
}
8. wait for a while

type
Default
Field Name of required Remark
s
data
Operation
description wait string yes none -
(operation)
Operational duration string no "1000" After the robot waits for

properties this time, it ends the
(properties) waiting action.
Its value is a non-negative
integer represented as a
string.
The unit is milliseconds
(ms).
If it is "true", when the

robot is waiting, its own
inverse_angle string no "false" angle is 180° different from
the specified angle of the
location mark.
1. LOC-AP1After letting any robot arrive at , wait 5 seconds.
{
"destinations": [
{
"properties": [
{
"key": "duration",
"value": "5000"
}
]
}
]
}
9. Wait for the DI signal from the car body

type
Field Name of required Defaults Remark
data
Operation
description WaitKey string yes none -
(operation)
Operational The index of string yes none When the specified digital
properties the car body input reaches the target
DI value, the wait action
ends.
Its value is a Boolean
value expressed as a
(indicated by string;
a string) "true" means the desired
target DI is triggered;
"false" means the desired
target DI is not triggered.
(properties)
After the robot waits for
this time, it ends the
waiting action directly.
infinity
Its value is a non-negative
timeout string no (no
integer represented as a
timeout)
string.
The unit is milliseconds
(ms).
1. LOC-AP1After having any robot reach , monitor the state of DI3 (its index is 3 ) until it is
triggered.
{
"destinations": [
{
"operation": "WaitKey",
"properties": [
{
"key": "3",
"value": "true"
}
]
}
]
}
2. LOC-AP1After having any robot arrive at , wait for DI3 (which has index 3 ) to be triggered
with a timeout of 10 seconds.
{
"destinations": [
{
"operation": "WaitKey",
"properties": [
{
"key": "3",
"value": "true"
},
{
"key": "timeout",
"value": "10000"
}
]
}
]
}
10. jacking car

The jacking car lifts the material rack (vehicle)
type
Field
of required Defaults Remark
Name
data
Operation
description JackLoad string yes - -
(operation)
Operational Whether the jacking robot needs to

properties perform position calibration through
(properties) "identification" before performing the
recognize string no "false"
operation of lifting the rack.
"true" means recognition is required;
"false" means recognition is not required.
recfile string no none Valid if and only if the value of recognize is

"true".
When jacking a robot to perform a recognition
operation, it needs to load the name of the
recognition file from the robot,
eg shelf/s0002.shelf.
After the recognition file is connected to the
robot through RoboshopPro, it can be viewed
in "Recognition Editing" ( pull all first ), as
shown in the figure
Whether to enable the PGV sensor.

"true" means enabled;
"false" means not enabled.
use_pgv string no "false"
Before the truck is lifted to pick up the
goods, the PGV is basically no longer
used for identification.
1. Let the jacking truck Jack-01go to LOC-AP1 to pick up the goods, and no identification is
required.
{
"intendedVehicle": "Jack-01",
"destinations": [
{
"operation": "JackLoad",
"properties": []
}
]
}
2. Let the jacking truck Jack-01go to LOC-AP1 to pick up the goods, and need to load the
file s0002.shelffor identification.
{
"destinations": [
{
"properties": [
{
"key": "recognize",
"value": "false"
},
{
"key": "recfile",
"value": "shelf/s0002.shelf"
}
]
}
]
}
Jacking car unloading rack (vehicle)

type
Field
Name
data
Operation
description JackUnload string yes none -
(operation)
Operational Whether the jacking robot

properties needs to perform position
(properties) calibration through
"identification" before
performing the operation of
lowering the rack. For details
recognize string no "false" about "identification", please
consult Xiangong Intelligent
Engineer.
"true" means recognition is
required;
"false" means recognition is
not required.
use_pgv string no "false" Whether to enable the PGV

sensor.
【Request example】
Let the jacking truck Jack-01go to LOC-AP1 to release the goods, and no identification is required.
{
"destinations": [
{
"properties": []
}
]
}
Adjust the jacking mechanism to the specified height

type
Field
Name
data
Operation
Jack
description string yes none Lift to the specified height.
Height
(operation)
Operational recognize string no "false" Whether the jacking robot

properties needs to perform position
(properties) calibration through
jacking up the rack to the
specified height. For details
about "identification", please
Engineer.
"true" means recognition is
required;
"false" means recognition is
not required.
Whether to enable the PGV

sensor.
use_pgv string no "false"
Set the jacking height (unit:

meter).
jack_height string no none
Its value is a floating-point
number represented as a string.
[Request example]
Ask the jacking vehicle Jack-01to LOC-AP1lift the jacking mechanism to 0.5meters without
identification.
{
"destinations": [
{
"operation": "JackHeight",
"properties": [
{
"key": "jack_height",
"value": "0.5"
}
]
}
]
}
11. Roller car/belt car

The operation of the roller car and the belt car is the same, and the description below will be the same
with the roller car.
Roller pre-loading (pre-loading)
type of
Field Name required Defaults Remark
data
Operation RollerPreLoad string yes none The rollers rotate and are
description ready to be loaded with
(operation) goods.
The direction in which the

rollers are ready to be
loaded with goods.
"left" means loading the
rollers from the left side of
the roller robot.
"right" means loading the
rollers from the right side
direction string yes none
of the roller robot.
"front" refers to loading
the rollers from the front
of the roller robot.
"back" refers to the
loading of goods into the
roller from the rear of the
Operational roller robot.
properties
(properties) The ID of the roller when
index number no 0 there are multiple rollers
on the robot.
Whether the robot needs

to perform position
calibration through
performing the operation
of preparing the roller for
recognize string no "false"
loading. For details about
"identification", please
consult Xiangong
Intelligent Engineer.
1. Let the single-roller Roller-01robot LOC-AP1pre-load the load, the loading point is located on
the left side of the robot, and does not need to be identified.
{
"intendedVehicle": "Roller-01",
"destinations": [
{
"operation": "RollerPreLoad",
"properties": [
{
"key": "direction",
"value": "left"
}
]
}
]
}
Roller loading of goods (feeding)

Field type of
required Defaults Remark
Name data
Operation
description RollerLoad string yes none -
(operation)
Operational direction string yes none The direction in which the

properties rollers are loaded with goods.
(properties) "left" means loading the
the roller robot.
rollers from the right side of
the roller robot.
"front" refers to loading the
rollers from the front of the
roller robot.
"back" refers to the loading
of goods into the roller from
the rear of the roller robot.
The ID of the roller when

index number no 0 there are multiple rollers on
the robot.
Whether the robot needs to

perform position calibration
through "identification"
before carrying out the
operation of roller
recognize string no "false" loading. For details about
Engineer.
1. Let the single-roller robot Roller-01carry LOC-AP1the goods. The loading point is located on
the left side of the robot and does not need to be identified.
{
"destinations": [
{
"operation": "RollerLoad",
"properties": [
{
"key": "direction",
"value": "left"
}
]
}
]
}
Roller unloading goods (unloading)

type of
Field Name required Defaults Remark
data
Operation
description RollerUnload string yes none -
(operation)
Operational The direction in which the

properties roller unloads the goods.
(properties) "left" means loading the
the roller robot.
rollers from the right side
direction string yes none of the roller robot.
"front" refers to loading the
rollers from the front of the
roller robot.
"back" refers to the loading
of goods into the roller
from the rear of the roller
robot.
The ID of the roller when

index number no 0 there are multiple rollers on
the robot.
recognize string no "false" Whether the robot needs to

perform position
calibration through
performing the roller
unloading operation. For
details about
consult Xiangong
Intelligent Engineer.
1. Let the single-roller Roller-01robot LOC-AP1unload the goods. The unloading point is located
on the left side of the robot and does not need to be identified.
{
"destinations": [
{
"operation": "RollerUnload",
"properties": [
{
"key": "direction",
"value": "left"
}
]
}
]
}
roller keeps rolling

Field type of Default

required Remark
Name data s
Operation
Roller
description string yes none -
Roll
(operation)

properties roller rolls.
(properties) "left" means to make the
roller roll from left to right.
"right" means that the
rollers roll from right to
left.
"front" means that the roller
rolls from front to back.
"back" means to roll the
roller from the back to the
front.
1. Once the single-roller robot Roller-01reaches LOC-AP1, keep the roll rolling from left to right.
{
"destinations": [
{
"operation": "RollerRoll",
"properties": [
{
"key": "direction",
"value": "left"
}
]
}
]
}
Double side baffles descend and keep the rollers rolling

Field type of
Name data
Operation The double side baffles

Roller
description string yes none descend and keep the rollers
Pass
(operation) rolling.

properties roller rolls.
(properties) "left" means to make the
roller roll from left to right.
"right" means that the
rollers roll from right to
left.
"front" means that the roller
rolls from front to back.
"back" means to roll the
roller from the back to the
front.
1. After the single-roller robot Roller-01reaches LOC-AP1, lower the side baffles and keep the
roll rolling from left to right.
{
"destinations": [
{
"operation": "RollerPass",
"properties": [
{
"key": "direction",
"value": "left"
}
]
}
]
}
Roller stops rolling

Field type of
Name data
Operation The double side baffles

Roller
description string yes none descend and keep the rollers
Stop
(operation) rolling.
Operational
properties none none none none -
(properties)
1. Have the single-roller Roller-01robot LOC-AP1stop turning the rolls at .
{
"destinations": [
{
"operation": "RollerStop",
"properties": []
}
]
}
12. forklift
Forklift pickup
Field type of Default

required Remark
Name data s
Operation
description ForkLoad string yes none Forklift picks up cargo.
(operation)
Operational The starting height of the

properties tines before operation (unit:
(properties) m).
start_height string no none
The height of the forklift
cannot be lower than the
minimum height.
After the goods are inserted,

end_height number no none the end height of the fork
tines (unit: m).
recognize string no "false" Whether the unmanned

forklift needs to perform
position calibration through
inserting goods. For details
Engineer.
1. Ask the forklift CDD14-01to LOC-AP1pick up the goods. Before picking up the 0.7goods , the
required height of the fork is 0.9meters.
{
"intendedVehicle": "CDD14-01",
"destinations": [
{
"operation": "ForkLoad",
"properties": [
{
"key": "start_height",
"value": "0.7"
},
{
"key": "end_height",
"value": "0.9"
},
{
"key": "recognize",
"value": "false"
}
]
}
]
}
Forklift delivery
Field type of
Name data
Operation
description ForkUnload string yes none Forklift unloads cargo.
(operation)
Operational start_height string no none The starting height of the

properties tines before operation (unit:
m).
The height of the forklift
cannot be lower than the
minimum height.
The end height of the fork

end_height number no none tines after unloading the
cargo (unit: m).
Whether the unmanned

(properties)
forklift needs to perform
position calibration through
recognize string no "false" unloading goods. For details
Engineer.
1. Let the forklift CDD14-01go to LOC-AP1unload the goods. The height of the fork before
unloading is required to be 0.35meters , and the height of the fork after unloading is required
to be 0.2meters. During the unloading process, no identification is required.
{
"intendedVehicle": "CDD14-01",
"destinations": [
{
"operation": "ForkUnload",
"properties": [
{
"key": "start_height",
"value": "0.35"
},
{
"key": "end_height",
"value": "0.2"
},
{
"key": "recognize",
"value": "false"
}
]
}
]
}
13. Earth cow
Land cow pick up

type
Field
Name
data
Operation
description ForkLoad string yes none Forklift picks up cargo.
(operation)
Whether the unmanned forklift

needs to perform position
calibration through
Operational performing the operation of
properties recognize string no "false" inserting goods. For details
(properties) about "identification", please
Engineer.
1. Let Di Niu DN-01go to LOC-AP1pick up the goods. During the pick-up process, no
identification is required.
{
"intendedVehicle": "DN-01",
"destinations": [
{
"operation": "ForkLoad",
"properties": [
{
"key": "recognize",
"value": "false"
}
]
}
]
}
Local cattle release goods

type
Field Default
of required Remark
Name s
data
Operation
description ForkUnload string yes none Forklift unloads cargo.
(operation)
Whether the unmanned forklift

needs to perform position
calibration through
Operational performing the operation of
properties recognize string no "false" unloading goods. For details
(properties) about "identification", please
Engineer.
1. Let Di Niu DN-01go to LOC-AP1unload, during the unloading process, no identification is
required.
{
"intendedVehicle": "DN-01",
"destinations": [
{
"operation": "ForkUnload",
"properties": [
{
"key": "recognize",
"value": "false"
}
]
}
]
}
14. Cancel the waybill with the specified name
ask
 Function: cancel the waybill with the specified name
 method:POST
 Interface Description: /transportOrders/{name}/withdrawal
POST "http://host:7100/api/route/transportOrders/{name}/withdrawal"
name type Description Default
2018-05-
name * ** The name of the waybill
17T06:42:40.396Z
If yes true, the waybill will immediately reach the

FAILED final state. If the robot is traveling on
the path at this time, such revocation will affect
the system's management of traffic resources,
which will lead to unsafe traffic.
immediate boolean false
If it is false, the robot will continue to move
forward until it has completed the traffic
resources it has acquired, and then enters the
FAILED final state of the waybill. Such
revocation is traffic-safe.
If yes true, while canceling the waybill, SRD will

disableVehicle boolean change the online status of the robot executing false
the waybill toTO_BE_RESPECTED
request example
POST "http://host:7100/transportOrders/test/withdrawal?immediate=true&disableVehicle=false"
response
Responses Code 200
example response
请求已成功
Responses Code 404
example response
[
]
15. Deadline for updating the waybill with the specified name
ask
 Function: Update the cut-off time of the waybill with the specified name
 method:PUT
PUT "http://host:7100/api/route/transportOrders/{name}/deadline"
name * ** The name of the waybill test
The new deadline, ISO 2018-05-

newValue * string($date-time)
8601encoded using UTC 17T06:42:40.396Z
request example
PUT "http://localhost:7100/api/route/transportOrders/test/deadline?newValue=2018-05-17T06%3A42%3A40.396Z"
“%3A”: mean “:”
Response
Responses Code 200

example response
请求已成功
Responses Code 400

example response
[
"New value should not be null."
]
Responses Code 404

example response
[
]
16. Robot
1. Get the information collection of the robot
ask
 Function: Get the information collection of the robot
 method:GET
 Interface Description: /vehicles
GET "http://host:7100/api/route/vehicles"
Screen the robot based on its business status

- UNAVAILABLE: The robot is unavailable
- IDLE: The robot is idle
- AWAITING_ORDER: The robot is waiting for a new subtask in the
procState string
waybill
- PROCESSING_ORDER: The robot is executing the waybill
response
Responses Code 200
example response
[
{
"name": "AMB-01",
"properties": {
"additionalProp1": "string",
"additionalProp3": "string"
},
"categories": [
"groupA"
],
"energyLevelGood": "90",
"energyLevelCritical": "30",
"energyLevelFullyRecharged": "95",
"energyLevelSufficientlyRecharged": "35",
"energyLevel": "60",
"integrationLevel": "TO_BE_IGNORED",
"procState": "UNAVAILABLE",
"transportOrder": "TOrder-01",
"orderSequence": "TOrder-01",
"currentDestination": "Location-01",
"unfinishedSteps": [
"LM11 --- LM12"
],
"paused": true,
"loadDevices": [
{
"label": "basket",
"full": true
}
],
"errorInfos": [
{
"timestamp": "2018-05-17T06:42:40Z",
"count": 1,
"level": "fatal, error, warning, info, etc.",
"message": "Alarm code + alarm content "
}
],
"owner": "srd@localhost",
"isDominating": true,
"allocations": [
"LM11 --- LM12"
],
"adapterEnabled": true,
"currentPosition": "LM01",
"state": "UNKNOWN"
}
]
Exampl
e
AMB-
name string the name of the robot
01
properties string Robot meta properties
categories ** Types of business that robots can perform groupA
When the remaining power of the robot is less

energyLevelGood integer than this value, SRD will judge that the robot 90
can be charged when it is idle
When the remaining power of the robot is less

energyLevelCritical integer than this value, SRD will judge that the robot 30
must be charged
During the charging process of the robot, if the

energyLevelFullyRecharge
integer power is higher than this value, the SRD 95
d
judges that the robot is fully charged.
During the charging process of the robot, if the

power is higher than this value, SRD judges
energyLevelSufficientlyRec
integer that the robot can accept orders 35
harged
(dispatcher.keepRechargingUntilFullyCharged
is false in the configuration)
The remaining power value of the robot (unit:

energyLevel integer 60
integer percentage)
integrationLevel string Online status of the robot in the SRD system __

Exampl
e
- TO_BE_IGNORED: The robot is offline, and

the SRD will not identify the location of the
robot.
- TO_BE_NOTICED: The robot is offline and
the SRD identifies the location of the robot.
- TO_BE_RESPECTED: The robot is online
but cannot accept new waybills.
- TO_BE_UTILIZED: The robot is online and
can accept and execute new waybills.
The robot's current waybill execution status

- UNAVAILABLE: Unable to execute any
waybill and task
- IDLE: Idle state
procState **
- AWAITING_ORDER: The robot is waiting
for a new subtask in the waybill
- PROCESSING_ORDER: The robot is
executing the waybill
The name of the shipment that the robot is

string($nu TOrder-
transportOrder executing. null means the robot is not
llable) 01
executing any shipments.
The name of the waybill sequence that the

string($nu TOrder-
orderSequence robot is executing. null means the robot is not
llable) 01
executing any order sequence.
The destination the robot is heading

string($nu to. Destinations may be nodes, or Locatio
currentDestination
llable) workstations. null indicates that the current n-01
robot has no destination.
The route information that the robot has not

unfinishedSteps string
completed in the waybill subtask.
Exampl
e
paused boolean Whether the robot is paused
loadDevices string Load mechanism status of the robot
errorInfos string Robot alarm information
owner string Owner of the robot's current control rights.
is Dominating boolean Whether the robot is occupied by this system.
The site and path resources occupied by the

allocations string
robot.
Whether the dispatch enables communication

adapterEnabled boolean
to the robot.
The name of the point the robot is currently

string($nu
currentPosition occupying. null means the robot is not on any LM01
llable)
site.
The current state of the robot

- UNKNOWN: unknown state
- UNAVAILABLE: communication timed out
or disconnected
state string
- ERROR: error state
- IDLE: idle state
- EXECUTING: executing waybill
- CHARGING: charging
2. Get information about the robot with the specified name
ask
 Function: Get the information of the robot with the specified name
 method:GET
 Interface Description: /vehicles/{name}
GET "http://host:7100/api/route/vehicles/AMB-01"
response
Responses Code 200
example response
{
"name": "AMB-01",
"properties": {
"additionalProp3": "string"
},
"categories": [
"groupA"
],
"energyLevelGood": "90",
"energyLevelCritical": "30",
"energyLevelFullyRecharged": "95",
"energyLevelSufficientlyRecharged": "35",
"energyLevel": "60",
"integrationLevel": "TO_BE_IGNORED",
"procState": "UNAVAILABLE",
"transportOrder": "TOrder-01",
"orderSequence": "TOrder-01",
"currentDestination": "Location-01",
"unfinishedSteps": [
"LM11 --- LM12"
],
"paused": true,
"loadDevices": [
{
"label": "basket",
"full": true
}
],
"errorInfos": [
{
"timestamp": "2018-05-17T06:42:40Z",
"count": 1,
"level": "fatal, error, warning, info, etc.",
"message": "Alarm code + alarm content "
}
],
"owner": "srd@localhost",
"isDominating": true,
"allocations": [
"LM11 --- LM12"
],
"adapterEnabled": true,
"currentPosition": "LM01",
"state": "UNKNOWN"
}
Exampl
e
AMB-
01
properties string Robot meta properties
categories string Types of business that robots can perform groupA
When the remaining power of the robot is

energyLevelGood integer less than this value, SRD will judge that 90
the robot can be charged when it is idle
When the remaining power of the robot is

energyLevelCritical integer less than this value, SRD will judge that 30
the robot must be charged
During the charging process of the robot,

if the power is higher than this value, the
energyLevelFullyRecharged integer 95
SRD judges that the robot is fully
charged.
energyLevelSufficientlyRechar integer During the charging process of the robot, 35

Exampl
e
if the power is higher than this value,

SRD judges that the robot can accept
ged orders
(dispatcher.keepRechargingUntilFullyCh
arged is false in the configuration)
The remaining power value of the robot

energyLevel integer 60
(unit: integer percentage)
Online status of the robot in the SRD

system
- TO_BE_IGNORED: The robot is
offline, and the SRD will not identify the
location of the robot.
- TO_BE_NOTICED: The robot is
integrationLevel string offline and the SRD identifies the
location of the robot.
- TO_BE_RESPECTED: The robot is
online but cannot accept new waybills.
- TO_BE_UTILIZED: The robot is
online and can accept and execute new
waybills.
The robot's current waybill execution

status
- UNAVAILABLE: Unable to execute
any waybill and task
procState string - IDLE: Idle state
- AWAITING_ORDER: The robot is
waiting for a new subtask in the waybill
- PROCESSING_ORDER: The robot is
executing the waybill
transportOrder string($nullabl The name of the shipment that the robot TOrder-
e) is executing. null means the robot is not 01
Exampl
e
executing any shipments.
The name of the waybill sequence that

string($nullabl the robot is executing. null means the TOrder-
orderSequence
e) robot is not executing any order 01
sequence.
The destination the robot is heading

string($nullabl to. Destinations may be nodes, or Locatio
currentDestination
e) workstations. null indicates that the n-01
current robot has no destination.
The route information that the robot has

unfinishedSteps string
not completed in the waybill subtask.
paused boolean Whether the robot is paused
loadDevices string Load mechanism status of the robot
errorInfos string Robot alarm information
Owner of the robot's current control

owner string
rights.
Whether the robot is occupied by this

is Dominating boolean
system.
The site and path resources occupied by

allocations string
the robot.
Whether the dispatch enables

adapterEnabled boolean
communication to the robot.
The name of the point the robot is

string($nullabl
currentPosition currently occupying. null means the robot LM01
e)
is not on any site.
Exampl
e
The current state of the robot

- UNKNOWN: unknown state
- UNAVAILABLE: communication
timed out or disconnected
state string
- ERROR: error state
- IDLE: idle state
- EXECUTING: executing waybill
- CHARGING: charging
Responses Code 404

example response
[
]
3. Get the detail of the robot information
ask
 Function: Get the information collection of robot details. The robot details information is a
json structure, including a series of information such as the actual coordinates of the robot,
battery voltage and current, digital sensor status, and alarm status. This information does not
have a dedicated schema, and fields will be added as the Robokit version increases.
 method:GET
 Interface Description: /vehicleDetails
GET "http://host:7100/api/route/vehicleDetails"
None
response
Responses Code 200
example response
{
"DI": [false, false, false, false, false, false, false, false, false],
"angle": -3.1369,
"battery_level": 0.72,
"battery_temp": 27.0,
"blocked": false,
"brake": false,
"charging": false,
"confidence": 0.9823,
"current_map": "2020724",
"current_station": "AP146",
"dispatch_mode": 1,
"dispatch_state": 3,
"emergency": false,
"errorinfo": [
{
"code": 55001,
"count": 1,
"level": "Warning",
"message": "The robot is in the dispatching state. If you need to control, please regain control and go offline during
dispatching.",
"timestamp": "2020-09-11T18:11:15.128Z"
}
],
"map_version": "v1.0.6",
"model": "AMB-150-D",
"model_version": "v3.0.2",
"odo": 55910.419,
"pause": false,
"time": 35023398,
"today_odo": 2345.569,
"total_time": 2600814186,
"vehicle_id": "AMB1",
"version": "v3.2.6.46",
"voltage": 51.212,
"vx": -0.0,
"vy": -0.0,
"w": -0.0,
"x": -25.1966,
"y": 3.835
}
name Description
DI DI state
the angle robot angle
battery_level Robot power
battery_temp battery temperature
blocked robot blocking state
brake Robot Brake Status
charging Robot charging status
confidence Confidence
current_map current map name
current_station current position
_Control mode_
0 = stand-alone mode
dispatch_mode
1 = dispatch
mode_2 = dispatch mode but lost connection with dispatch system_
_Robot status_
0=UNKNOWN
1=UNAVAILABLE
dispatch_state 2=ERROR
3=IDLE
4=EXECUTING
_5=CHARGING _
emergency _Emergency stop status of the robot _
error info Robot error message
map_version map version

name Description
model _model name_
model_version model version
odo total mileage
pause suspended state
time _operation hours _
today_odo _Accumulated mileage of the robot today _
total_time total running time
vehicle_id _robot name_
version Robokit program version
voltage robot voltage
vx _X direction speed _
vy _Y direction speed _
w _angle _
x X coordinate
y Y coordinate
4. Get the details of the robot with the specified name
ask
 Function: Get the information collection of robot details. The robot details information is a
json structure, including a series of information such as the actual coordinates of the robot,
battery voltage and current, digital sensor status, and alarm status. This information does not
have a dedicated schema, and fields will be added as the Robokit version increases.
 method:GET
 Interface Description: /vehicleDetails/{name}
GET "http://host:7100/api/route/vehicleDetails/AMB-01"
none
response
Responses Code 200
example response
{
"DI": [false, false, false, false, false, false, false, false, false],
"angle": -3.1369,
"battery_level": 0.72,
"battery_temp": 27.0,
"blocked": false,
"brake": false,
"charging": false,
"confidence": 0.9823,
"current_map": "2020724",
"current_station": "AP146",
"dispatch_mode": 1,
"dispatch_state": 3,
"emergency": false,
"errorinfo": [
{
"code": 55001,
"count": 1,
"level": "Warning",
"message": "The robot is in the dispatching state. If you need to control, please regain control and go offline during
dispatching.",
"timestamp": "2020-09-11T18:11:15.128Z"
}
],
"map_version": "v1.0.6",
"model": "AMB-150-D",
"model_version": "v3.0.2",
"odo": 55910.419,
"pause": false,
"time": 35023398,
"today_odo": 2345.569,
"total_time": 2600814186,
"vehicle_id": "AMB1",
"version": "v3.2.6.46",
"voltage": 51.212,
"vx": -0.0,
"vy": -0.0,
"w": -0.0,
"x": -25.1966,
"y": 3.835
}
name Description
DI DI state
the angle robot angle
battery_level Robot power
battery_temp battery temperature
blocked robot blocking state
brake Robot Brake Status
charging Robot charging status
confidence Confidence
current_map current map name
current_station current position
_Control mode_
0 = stand-alone mode
dispatch_mode
1 = dispatch
mode_2 = dispatch mode but lost connection with dispatch system_
name Description
_Robot status_
0=UNKNOWN
1=UNAVAILABLE
dispatch_state 2=ERROR
3=IDLE
4=EXECUTING
_5=CHARGING _
emergency _Emergency stop status of the robot _
error info Robot error message
map_version map version
model _model name_
model_version model version
odo total mileage
pause suspended state
time _operation hours _
today_odo _Accumulated mileage of the robot today _
total_time total running time
vehicle_id _robot name_
version Robokit program version
voltage robot voltage
vx _X direction speed _
vy _Y direction speed _
name Description
w _angle _
x X coordinate
y Y coordinate
Responses Code 404

example response
[
]
5. Get all robot state change records
ask
 Function: Obtain the information collection of all robot state changes, and the change record
information is a json structure.
 method: GET
 Interface Description: /api/event-log/vehicles
GET "http://localhost:7100/api/event-log/vehicles?pageNo=1&pageSize=2"
 pageNo: page number
 pageSize: page size, how many pieces of data each page contains
Other field queries are not supported, and the maximum page size should not exceed 5000, and the
cycle of continuously calling this interface should not be too long, and the shortest interval is about 2
seconds before calling the second time. Failure to do so may put request pressure on the system.
response
The response code is 200.
example response
{
"total": 30856,
"page": [
{
"id": "631fefec5410225c48390117",
"vehicle": "WT-CPD01",
"fromState": "UNKNOWN",
"toState": "IDLE",
"duration": 2897,
"robotTask": "",
"transportOrder": "",
"orderSequence": "",
"startOn": "2022-09-13T02:50:17.266Z",
"endOn": "2022-09-13T02:50:20.163Z"
},
{
"id": "631fefec5410225c48390118",
"vehicle": "WB-CPD03",
"fromState": "UNKNOWN",
"toState": "IDLE",
"duration": 2980,
"robotTask": "",
"transportOrder": "",
"orderSequence": "",
"startOn": "2022-09-13T02:50:17.201Z",
"endOn": "2022-09-13T02:50:20.181Z"
}
],
"pageNo": 1,
"pageSize": 2,
"pageNum": 15428
}
Response body parameter
number
total total number of entries
type
page array type robot state array
number
pageNo. page number
type
number
pageSize page size
type
pageNum number total pages

type
page structure analysis
id string The unique ID of the entry, can be ignored
vehicle string robot name
fromState string initial state
toState string end state (next state)
duration number duration
robotTask string Current task ID
transportOrder string Current waybill ID
orderSequence string current sequence id
startOn string state start time
endOn string state end time
6. Obtain the statistical details of the number of robot errors
ask
 Function: Get a collection of tasks
 method:GET
 Interface Description: api/stats-error/details
GET "http://127.0.0.1:7100/api/stats-error/details?level=Year&vehicle=AMB-01&time=2021&pageSize=2&pageNo=1"
level string Statistical time unit: Year, Month, Day, Hour
vehicle string Specify the robot name
Specify the statistical time, which should correspond to the level , such as
time string
Year => 2021, Month => 2021-01 and so on
pageSize integer The maximum number of tasks a page contains
The example
queries all tasks in January, including the selected time, with one data item per page.
GET "http://127.0.0.1:7100/api/stats-error/details?level=Year&vehicle=AMB-01&time=2021&pageSize=2&pageNo=1"
response
{
"total": 6,
"page": [
{
"code": "54025",
"message": "Motor Disable:motor,motor1",
"last": "2021-08-24T15:00:00Z",
"count": 3
},
{
"code": "52001",
"message": "robot model uninitialized",
"last": "2021-08-24T15:00:00Z",
"count": 3
}
],
"pageNo": 1,
"pageSize": 2,
"pageNum": 3
}
response parsing
total integer total number of entries

page array array of error details
Specify the statistical time, which should correspond to the level , such as
time string
Year => 2021, Month => 2021-01 and so on
pageNum integer total pages
page field
code string error code
message string wrong description
last string last time
count integer Occurrences

7. Obtain the details of the cumulative error duration of the robot
ask
 Function: Get the cumulative collection of robot errors
 method:GET
 Interface Description: api/stats-error-trace
GET "http://127.0.0.1:7100/api/stats-error-trace?levels=errors&codes=52000,52010&vehicles=AMB-01,AMB-
02&startOnStart=2021-08-24&startOnEnd=2021-08-24&pageNo=1&pageSize=2"
levels string Error levels: fatals, errors, warnings
vehicles string Specify the robot name
codes string specify error code
startOnStart string Specify start time (included)
startOnEnd string Specify an end time (inclusive)
pageSize integer page contains maximum number of bad entries
The example
queries robots AMB-01, AMB-02 on 2021-08-24 and 2021-08-25, the code is 52000, 52010 error
message, 2 pieces of data per page.
GET "http://127.0.0.1:7100/api/stats-error-trace?levels=errors&codes=52000,52010&vehicles=AMB-01,AMB-
02&startOnStart=2021-08-24&startOnEnd=2021-08-25&pageNo=1&pageSize=2"
response
{
"total": 12,
"page": [
{
"id": "612513fa6f89197fb99d696b",
"vehicle": "AMB-01",
"code": "52000",
"level": "errors",
"message": "mode is not activated",
"duration": 2698394,
"startOn": "2021-08-24T15:00:00Z",
"endOn": "2021-08-24T15:44:58.394Z"
},
{
"id": "612513fa6f89197fb99d696f",
"vehicle": "AMB-01",
"code": "52010",
"level": "errors",
"message": "robot model uninitialized, can not upload",
"duration": 2698394,
"startOn": "2021-08-24T15:00:00Z",
"endOn": "2021-08-24T15:44:58.394Z"
}
],
"pageNo": 1,
"pageSize": 2,
"pageNum": 6
}
response parsing
page array array of error details
pageNo. integer page index
pageSize integer Maximum number of page arrays
page field
vehicle string AGV name
code string error code
level string Error levels: fatals, errors, warnings
message string wrong description

duration integer Duration, in milliseconds
startOn string Starting time
endOn string End Time
8. Cancel the waybill that the specified robot is executing
ask
 Function: cancel the waybill being executed by the specified robot, terminate the execution
of the current waybill, but will not delete the waybill from the system and database
 method: POST
 Interface Description: /vehicles/{name}/withdrawal
POST "http://host:7100/api/route/vehicles/{name}/withdrawal"
2018-05-
17T06:42:40.396Z

FAILED final state. If the robot is traveling on the
path at this time, such revocation will affect the
system's management of traffic resources, which
immediate boolean will lead to unsafe traffic. false
If it is false, the robot will continue to move forward
until it has completed the traffic resources it has
acquired, and then enters the FAILED final state of
the waybill. Such revocation is traffic-safe.
disableVehicle boolean If yes true, while canceling the waybill, SRD will false
change the online status of the robot executing the
waybill toTO_BE_RESPECTED
request example
POST "http://host:7100/vehicles/test/withdrawal?immediate=true&disableVehicle=false"
response
Responses Code 200
example response
请求已成功
Responses Code 404
example response
[
]
9. Pause or resume the specified robot
ask
 Function: Pause or continue the specified robot
 method: POST
 Interface Description: /vehicles/{name}/pause
PUT "http://host:7100/api/route/vehicles/{name}/pause"
name * ** the name of the robot AMB-01
If yes true, suspend the specified robot; otherwise, make the

newValue * boolean
specified robot continue to run
request example
POST "http://localhost:7100/api/route/vehicles/AMB-01/pause?newValue=true"
response
Responses Code 200
example response
请求已成功
Responses Code 400
example response
[
"Parameter 'newValue' is illegal."
]
Responses Code 404
example response
[
]
10. Pause or resume all bots
ask
 Function: Pause or continue all robots
 method:POST
 Interface Description: /vehicles/pause
PUT "http://host:7100/api/route/vehicles/pause"
If yes true, suspend the specified robot; otherwise, make the

newValue * boolean
specified robot continue to run
request example
POST "http://localhost:7100/api/route/vehicles/pause?newValue=true"
response
Responses Code 200
example response
请求已成功
Responses Code 400

example response
[
]
11. Set the online status for the specified robot
ask
 Function: Set the online status for the specified robot
 method: PUT
 Interface Description: /vehicles/{name}/integrationLevel
PUT "http://host:7100/api/route/vehicles/{name}/integrationLevel"
The specified robot online status

 TO_BE_IGNORED: The robot is offline, and the SRD
will not identify the robot's location.
 TO_BE_NOTICED: The robot is offline and the SRD
newValue * ** identifies the location of the robot.
 TO_BE_RESPECTED: The robot is online but cannot
accept new waybills.
 TO_BE_UTILIZED: The robot is online and can accept
and execute new waybills.
request example
PUT "http://localhost:7100/api/route/vehicles/AMB-01/integrationLevel?newValue=TO_BE_UTILIZED"
response
Responses Code 200
example response
请求已成功
Responses Code 400
example response
[
]
Responses Code 404
example response
[
]
12. Set online status for all bots
ask
 Function: Set online status for all robots
 method:PUT
 Interface Description: /vehicles/integrationLevel
PUT "http://host:7100/api/route/vehicles/integrationLevel"
Specified robot online status

- TO_BE_IGNORED: The robot is offline and the SRD will not
identify the robot location.
- TO_BE_NOTICED: The robot is offline and the SRD
newValue * ** identifies the location of the robot.
- TO_BE_RESPECTED: The robot is online but cannot accept
new waybills.
- TO_BE_UTILIZED: The robot is online and can accept and
execute new waybills.
request example
PUT "http://localhost:7100/api/route/vehicles/integrationLevel?newValue=TO_BE_UTILIZED"
response
Responses Code 200
example response
请求已成功
Responses Code 400
example response
[
]
13. Update the type of business that the robot can operate.
ask
 Function: Update the business types that the robot can operate
 method: PUT
 Interface Description: /vehicles/{NAME}/processableCategories
PUT "http://host:7100/api/route/vehicles/{NAME}/processableCategories"
The type of business that the robot can perform, supports

newValue * string
multiple values, separated by commas
request example
PUT "http://localhost:7100/api/route/vehicles/AMB-01/processableCategories?newValues=fork"
response
Responses Code 200
example response
请求已成功
Responses Code 400
example response
[
"Missing query parameter newValues."
]
Responses Code 404
example response
[
]
14. Update the robot's "full battery threshold"
ask
 Function: Update the robot's "full battery threshold"
 method:PUT
 Interface Description: /vehicles/{NAME}/energyLevelGood
PUT "http://host:7100/api/route/vehicles/{NAME}/energyLevelGood"
When the robot's power is lower than this value but higher than
newValue * integer energyLevelCritical, the robot will go to the charging station to
charge when it is idle.
request example
PUT "http://localhost:7100/api/route/vehicles/AMB-01/energyLevelGood?newValue=85"
response
Responses Code 200
example response
请求已成功
Responses Code 400
example response
[
"Bad energy level."
]
Responses Code 404
example response
[
]
15. Update the robot's "battery alarm threshold"
ask
 Function: Update the robot's "battery alarm threshold"
 method:PUT
 Interface Description: /vehicles/{NAME}/energyLevelCritical
PUT "http://host:7100/api/route/vehicles/{NAME}/energyLevelCritical"
When the power of the robot is lower than this value, the robot
newValue * integer will be forced to go to the charging station to charge after the
current business is over.
request example
PUT "http://localhost:7100/api/route/vehicles/AMB-01/energyLevelCritical?newValue=25"
response
Responses Code 200
example response
请求已成功
Responses Code 400
example response
[
"Bad energy level."
]
Responses Code 404
example response
[
]
16. Update the robot's "charging to usable threshold"
ask
 Function: Update the robot's "charge to usable threshold"
 method:PUT
 Interface Description: /vehicles/{NAME}/energyLevelSufficientlyRecharged
PUT "http://host:7100/api/route/vehicles/{NAME}/energyLevelSufficientlyRecharged"
When the robot is charging, if the configuration file is

newValue * integer configured keepRechargingUntilFullyCharged = false, the robot can be
assigned a new waybill when it is charged to this threshold
request example
PUT "http://localhost:7100/api/route/vehicles/AMB-01/energyLevelSufficientlyRecharged?newValue=30"
response
Responses Code 200
example response
请求已成功
Responses Code 400
example response
[
"Bad energy level."
]
Responses Code 404
example response
[
]
17. Update the robot's "charge to full battery threshold"
ask
 Function: Update the robot's "charge to full power threshold"
 method:PUT
 Interface Description: /vehicles/{NAME}/energyLevelFullyRecharged
PUT "http://host:7100/api/route/vehicles/{NAME}/energyLevelFullyRecharged“
When the robot is charging, if the configuration file is

configured keepRechargingUntilFullyCharged = true, the robot can be
assigned a new waybill when it is charged to this threshold. In
newValue * integer addition, if the configuration file is
configured parkVehicleWhenFullyCharged = true, after the robot is
charged to this threshold, it will stop charging and look for a park
point to dock.
request example
PUT "http://localhost:7100/api/route/vehicles/AMB-01/energyLevelFullyRecharged?newValue=98"
response
Responses Code 200
example response
请求已成功
Responses Code 400
example response
[
"Bad energy level."
]
Responses Code 404
example response
[
]
18. Task
Get task collection

ask
 Function: Get a collection of tasks
 method:GET
 Interface Description: /api/robot-task
GET "http://127.0.0.1:7100/api/robot-task"
id string Filter tasks by id
outOrderNo string Filter external order number, default is empty
createdOnStart string Filter tasks whose creation time is greater than or equal to this time
createdOnEnd string Filter tasks whose creation time is less than or equal to this time
The example
queries all tasks in January, including the selected time, with one data item per page.
GET "http://127.0.0.1:7100/api/robot-task?pageNo=1&pageSize=1&createdOnStart=2022-01-01&createdOnEnd=2022-
01-31"
response
{
"total": 40,
"page": [
{
"id": "6320243f1149e33d763cb664",
"def": "",
"createdOn": "2022-09-13T06:33:35.697Z",
"modifiedOn": "2022-09-13T06:34:39.266Z",
"finishedOn": "2022-09-13T06:34:39.267Z",
"duration": 63570,
"state": 1000,
"outOrderNo": null,
"persistedVariables": {},
"workTypes": [],
"workStations": [],
"priority": 0,
"noTransport": false,
"errorInfo": "",
"transports": [
{
"taskId": "6320243f1149e33d763cb664",
"routeOrderName": "6320243f1149e33d763cb666",
"category": "",
"deadline": null,
"intendedRobot": "",
"processingRobot": "WB-CPD02",
"processingRobotAssignedOn": "2022-09-13T06:33:38.800Z",
"seqId": null,
"seqStartSentOn": null,
"timeCost": 0,
"finishedOn": "2022-09-13T06:34:39.262Z",
"state": 1000,
"failReason": "",
"stages": [
{
"state": 1000,
"routeState": "FINISHED",
"location": "Check01",
"area": "",
"properties": "[]",
"blockReason": "",
"notice": "",
"timeCost": 63541,
"finishedOn": "2022-09-13T06:34:39.256Z"
}
]
}
]
}
],
"pageNo": 1,
"pageSize": 1,
"pageNum": 40
}
Task Basic Fields
page array Task information array
pageNo. integer page number
pageSize integer Quantity per page
page common fields
id string task unique id
createdOn string creation time
finishedOn string End Time
duration integer Duration, unit: milliseconds
state integer Task status (0: created, 1000: successful, 1800: canceled, 2000: failed)
outOrderNo string External tracking number
transports array Robot information collection (robot information used to record tasks)
priority integer Priority (0: Normal, 10: Urgent, 30: Urgent)
Common fields of the transports structure
routeOrderName string transport id
The name of the executed AGV (if the value is null, it

processingRobot string
means that the order has not been received yet)
processingRobotAssignedOn string Allocate AGV time

A collection of workstations representing this transport

stages array
path
Common fields of stages structure
location string workstation name
operation string action performed
The time it takes to complete the action on this workstation, in

timeCost integer
milliseconds
state integer stage status, 0: created; 600: executing; 1000: successful; 2000: failed.
19. waybill sequence

20. Get the waybill sequence with the specified name
ask
 Function: Get the waybill sequence with the specified name
 method:GET
 Interface Description: /orderSequences/{NAME}
GET "http://host:7100/api/route/orderSequences/{NAME}"
The name of the waybill sequence, the name of the waybill sequence cannot be
name string
repeated

GET "http://host:7100/api/route/orderSequences/test"
response
Responses Code 200
example response
{
"name": "Sequence-01",
"orders": [
"Order-01"
],
"complete": true,
"finished": true,
"failureFatal": true,
"finishedIndex": 0,
"category": "Park",
"processingVehicle": "AMB-01"
}
Sequence-
name string The name of the waybill sequence
01
The name of the waybill contained in the

orders string Order-01
sequence
Whether the sequence has closed the waybill

complete boolean entry. If it is not closed, you can continue to
add new waybills
finished boolean Whether the sequence has completed
If true, after any waybill in the sequence is

canceled and reaches the FAILED final state,
failureFatal boolean
SRD will cancel all other waybills in the
sequence and close the sequence entry
The index in the sequence of the most recent

finalized waybill. When the value is -1, it
finishedIndex integer
means that the sequence has not been
executed
category ** Business type of waybill sequence
The name of the robot expected to execute

this waybill sequence
processing The name of the robot that actually executes

string($nullable) AMB-01
Vehicle this waybill sequence
Responses Code 400

example response
[
"Unknown order sequence 'Sequence-01'."
]
21. Create a new waybill sequence with the specified name
ask
 Function: Create a new waybill sequence with the specified name
 method:POST
POST "http://host:7100/api/route/orderSequences/{NAME}"
Waybill sequence introduction:

 Create a waybill sequence, in a sequence, the robot will execute all the waybills in turn
 When the waybill entry in the sequence is open, you can dynamically add the waybill to the
sequence (when submitting the waybill, wrappingSequencespecify the sequence to which it
belongs)
 Through POST /orderSequences/{NAME}/markComplete the interface, the waybill entry of the
sequence can be closed.
 When the robot finishes executing the last waybill in the sequence and the waybill entry of
the sequence is open, the robot will wait in place without going to any location or
performing any operations.
 When the robot finishes executing the last waybill in the sequence and the waybill entry of
the sequence is closed, the sequence will be in the final state （finished == true）.
Deprecated! (Optional) The name of the robot expected to

execute this order sequence
category string (Optional) The overall business type in the waybill sequence
(Optional) If true, after any waybill in the sequence is

canceled and reaches the FAILED final state, SRD will
cancel all other waybills in the sequence and close the
sequence entry
(Optional) Whether to close the waybill entry for the

complete boolean sequence. If it is not closed, you can continue to add new
waybills
The sequence of destination workstations contained in the

transports *
waybill
name * string Waybill name
order * Waybill details
string($date-
deadline * Cut-off time for executing the waybill (UTC time zone)
time)
(Optional) The name of the robot expected to execute this

shipment
category string (Optional) The business type of the waybill
(Optional) The waybill sequence to which the waybill

wrappingSequence string belongs. When this item is specified, the waybill will be
added to the specified sequence
The sequence of destination workstations contained in the

destinations * string
waybill
locationName * string The name of the target workstation

The name of the action to be performed by the robot at the

operation * string
station
properties * string Meta property of the waybill subtask
properties * string Meta property of waybill
Waybill dependent. Before executing this waybill, the list of

dependencies * string
names of the waybills that have been executed is required
properties * string Meta property of waybill sequence
request example
{
"category": "Park",
"complete": false,
"transports": [
{
"name": "Order-01",
"order": {
"deadline": "2018-05-17T06:42:40.396Z",
"category": "Park",
"destinations": [
{
"properties": [
{
"key": "duration",
"value": "2000"
}
]
}
],
"properties":[],
"dependencies": []
}
],
"properties": []
}
response
Responses Code 200
example response
请求已成功
Responses Code 404
example response
[
"Unknown location 'Storage 01'."
]
Responses Code 409
example response
[
"Order sequence 'Sequence-01' already exists."
]
Responses Code 500
example response
[
"string"
]
22. Get the collection of waybill sequences
ask
 Function: Get the collection of waybill sequences
 method:GET
GET "http://host:7100/api/route/orderSequences"
pageSize integer The page contains the maximum number of waybill sequences
Filter the waybills by the name of the robot expected to execute the
waybill sequence
Filter the waybills by the name of the robot that actually executed the
waybill sequence
category string Filter the waybill by the business type of the waybill sequence
namePrefix string The name prefix of the waybill sequence
orderNamePrefix string Waybill name prefix
complete boolean Whether the waybill sequence has closed the waybill entry
If true, after any waybill in the sequence is canceled and reaches the
failureFatal boolean FAILED final state, SRD will cancel all other waybills in the

GET "http://localhost:7100/api/route/orderSequences?pageNo=1&complete=true"
response
Responses Code 200
example response
{
"pageNo": 1,
"pageSize": 1,
"page": [
{
"name": "Sequence-01",
"orders": [
"Order-01"
],
"complete": true,
"finished": true,
"finishedIndex": 0,
"category": "Park",
"processingVehicle": "AMB-01"
}
],
"total": 1
}
pageNo * integer page index
Each page contains the number of waybill

pageSize * integer
sequences
page * Waybill sequence data page
Sequence-
name string The name of the waybill sequence
01
The name of the waybill contained in the

orders string Order-01
sequence
Whether the sequence has closed the waybill

complete boolean entry. If it is not closed, you can continue to
add new waybills
finished boolean Whether the sequence has completed
If true, after any waybill in the sequence is

canceled and reaches the FAILED final state,
SRD will cancel all other waybills in the
The index in the sequence of the most recent

finalized waybill. When the value is -1, it
finishedIndex integer
means that the sequence has not been
executed
category ** Business type of waybill sequence
intendedVehicle string($nullable) The name of the robot expected to execute AMB-01

this waybill sequence
processing The name of the robot that actually executes

string($nullable) AMB-01
Vehicle this waybill sequence
total * integer The total quantity of the waybill sequence
Responses Code 400

example response
[
]
23. Waybill entry to close waybill sequence
ask
 Function: Close the waybill entry of the waybill sequence, please note that once the waybill
entry of the sequence is closed, the waybill entry cannot be opened again.
 method:POST
 Interface Description: /orderSequences/{NAME}/markComplete
POST "http://host:7100/api/route/orderSequences/{NAME}/markComplete"
The name of the waybill

name * ** 2018-05-17T06:42:40.396Z
sequence
request example
POST "http://host:7100/orderSequences/test/markComplete"
response
Responses Code 200
example response
请求已成功
Responses Code 404

example response
[
]
24. Cancel the waybill sequence with the specified name
ask
 Function: Close and terminate the specified waybill sequence. When there is a waybill in the
sequence being executed by the robot (especially when the robot has already loaded the
goods), please call this API with caution and give full consideration to the upper-level
business logic.
 method:POST
 Interface Description: /orderSequences/{NAME}/markComplete
POST "http://host:7100/api/route/orderSequences/{NAME}/withdrawal"
2018-05-
17T06:42:40.396Z

FAILED final state. If the robot is traveling on
the path at this time, such revocation will affect
the system's management of traffic resources,
which will lead to unsafe traffic.
immediate boolean false
If it is false, the robot will continue to move
forward until it has completed the traffic
resources it has acquired, and then enters the
FAILED final state of the waybill. Such
revocation is traffic-safe.
disableVehicle boolean If yes true, while canceling the waybill sequence, false
SRD will change the online status of the robot

executing the waybill toTO_BE_RESPECTED
request example
POST "http://host:7100/orderSequences/test/withdrawal?immediate=true&disableVehicle=false"
response
Responses Code 200
example response
请求已成功
Responses Code 404
example response
[
]
25. scene element

Update the disabled state of a path
ask
 Function: Update the disabled state of the path
 method: PUT
 Interface Description: /paths/{NAME}/lock
PUT "http://host:7100/api/route/paths/{NAME}/lock“
name * ** path name AMB-01
The disabled state of the path, truewhen the path is

newValue * boolean
disabled
request example
PUT "http://localhost:7100/api/route/paths/LM1-LM2/lock?newValue=true"
response
Responses Code 200
example response
请求已成功
Responses Code 400

example response
[
"Param 'newValue' is missing."
]
Responses Code 404
example response
[
"Unknown path 'LM1 --- LM2'."
]
26. business layer interface

1. equipment
traffic control areas
Get information on all traffic control areas
ask
 Function: Get information of all traffic control areas
 method:GET
 Interface Description: /mutexZones/details
2. Location
Get all location information
ask
 Function: Get all location information
 method:GET
 Interface description: /store-site/_all . (root path is http://host:port/api )
GET "http://host:7100/api/store-site/_all
No parameters.
response
Responses Code 200
example response
[
{
"id": "LOC1", // 库位 ID 唯一值
"type": "PS", // 库位类型
"filled": false, // 占用状态，true 表示被占用
"content": "", // 库位上的货物信息
"locked": false, // 锁定状态，true 表示库位是被锁定的
"label": "Production line 1", // 库位的描述
"disabled": false, // 禁用状态，true 表示这个库位被禁用了，默认值为 false
"inputFailed": false, // SRD 和相关传感器的通信状态，true 表示 SRD 无法通过传感器获取库位状态。
"lockedBy": "" // 锁定当前库位的任务编号
},
{
"id": "LOC2",
"type": "PS",
"filled": false,
"content": "",
"locked": false,
"label": "Production line 2",
"disabled": false,
"inputFailed": false,
"lockedBy": ""
}
]
Parameter hint (TODO)
3. Signal Server Communication Protocol

Device Access Protocol
Field device response general data structure
class LocationDevice {
String name;
String lastAction; // last executed command, or None if none
ActionStatus lastActionStatus; ; // The execution status of the last command
Status status; // The state of the device itself
enum ActionStatus {
DONE,
EXECUTING,
FAILED
}
enum Status {
IDLE,
EXECUTING,
ERROR，
TIMEOUT
}
}
1Field device device access request

Get information about a device
GET /locationDevices/{NAME}?action=XXX
parameter:
name string device name
action string Operation instructions can be customized
response:
Code message
200 request was successful
400 Parameter error
404 The requested object could not be found among the currently enabled devices
Content example:
{
"name" : "SIG01",
"lastAction" : "wait",
"lastActionStatus" : "DONE",
"status" : "IDLE"
}
Submit a command to the device

POST /locationDevices/{NAME}?action=XXX
parameter:
name string device name
action string Operation instructions can be customized
response:
Code message
200 request was successful
400 Parameter error
404 The requested object could not be found among the currently enabled devices
500 The device server is faulty or abnormal
4. 2. An example of a device server providing a signal source

5. 2.1 Predefined
parameter describe
host Device server IP
actionThe name in this example , when the SRD queries the device server and the
wait response isActionStatus , it means that the waiting is over; when the returned is , it means that
it needs to continue waiting.DONEActionStatusEXECUTING
6. 2.2 The process of the robot waiting for the signal in the buffer position
1. When building a scene, the buffer bit is also a Location, and the Location needs to support
operation: Wait. The Location in the example below is temporarily named "L1".
2. In the device server, temporarily use "SIG01" to correspond to the corresponding signal at
"L1".
3. When the robot needs to wait in the buffer position, the business order (transportOrder) sent
by the host computer needs to include the following Destination
Destination：{
"locationName": "L1",
"properties":
[
{
"key": "device:requestAtSend",
"value": "SIG01:wait" // Inform the device server that the robot has entered the state of waiting for the signal
SIG01。
},
{
"key": "device:queryAtExecuted",
"value": "SIG01:wait" //Continuously query (interval about 1s) device server, signal SIG01 Whether it can be
released, that is, whether the robot can end the waiting 。
}
]
}
4. When the robot executes to the Destination, the scheduling server will send a request
POST "http://host:52000/devices/api/v1/locationDevices/SIG01?action=wait"
5. Then, the scheduling server will query the device server every about 1 second
GET "http://host:52000/devices/api/v1/locationDevices/SIG01?action=wait "
If the response body returned by the device server is
{
"name" : "SIG01",
"lastAction" : "wait",
"lastActionStatus" : "DONE",
"status" : "IDLE"
}
Then, the robot will think that it has received a confirmation signal and start to perform other
tasks. Otherwise, if " name", " " is inconsistent with the value in lastActionthe attribute " " , or " " is in a
state other than " ", the robot will continue to wait for the signal of the
device.device:queryLocationlastActionStatusDONE

SRD API Protocol

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SRD API Protocol

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1.

GET used to get data

POST used to create data

PUT Used to modify some data

HTTP submission data description

HTTP status code

3. Get the collection of waybills

name type Description

Filter the waybill by the name of the robot that is expected to

Filter the waybill according to the status of the waybill , and

pageNo. integer Page Index (Default value: 1)

pageSize integer The page contains the maximum number of waybills

regexp integer Regular expression to filter waybills by name

Example request with parameters:

name type Description Example

PageNo * integer minimum: 1 1

minItems: 0_maxItems: 2147483647

name string The name of the waybill TOrder-01

category string Business type of waybill Park

string($date- The creation time of the waybill (UTC 2018-05-

The completion time of the waybill

state string The current status of the waybill

The name of the robot expected to

The name of the robot that actually

minItems: 1_maxItems: 2147483647

locationName * string name of the workstation Storage-01

The name of the action to be

state * array Execution status of the waybill

minItems: 0_maxItems: 2147483647

minItems: 0_maxItems: 2147483647

The waybill sequence to which the

dispensable boolean Is it an unnecessary waybill

total * integer Total quantity of waybill data 1

Responses Code 400

4. Get a collection of historical waybills

name type Description

Filter the waybill by the name of the robot that is expected to

Filter the waybill according to the status of the waybill , and

pageNo. integer Page Index (Default value: 1)

pageSize integer The page contains the maximum number of waybills

Example request with parameters:

name type Description Example

pageSize * integer minimum: 1 1

name string The name of the waybill TOrder-01

category string Business type of waybill Park

string($date- The creation time of the waybill 2018-05-

string($date- Waybill cut-off time (UTC time 2018-05-

The completion time of the waybill

state string The current status of the waybill

waybill has been executed

The name of the robot expected to

The name of the robot that actually

locationName * string name of the workstation Storage-01

The name of the action to be

state * array The execution status of the waybill

to the subtask target point

The waybill sequence to which the

dispensable boolean Is it an unnecessary waybill

total * integer Total quantity of waybill data 1

Responses Code 400

5. Get the waybill with the specified name

name type Description

Example request with parameters: