From e6a2eae9dfc476975f7a4c41a2ee110c276182c6 Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Mon, 15 Apr 2024 20:31:27 +0800 Subject: [PATCH] Hammer/decommission (#920) * New fleets routes to decommission and reinstate robots Signed-off-by: Aaron Chong * Generated new API for decomm and reinstate robots Signed-off-by: Aaron Chong * New button component for robot decommissioning and reinstating Signed-off-by: Aaron Chong * Using recommission instead of reinstate Signed-off-by: Aaron Chong * Built api-client with recommission instead of reinstate Signed-off-by: Aaron Chong * Recommission, add new color to robot table to show offline or uninitialized Signed-off-by: Aaron Chong * Test de/re-commission route Signed-off-by: Aaron Chong * Generate new refactored API Signed-off-by: Aaron Chong * Refactor API to not pass labels due to generated API having a requestBody Signed-off-by: Aaron Chong * Lint Signed-off-by: Aaron Chong * robot rmf service Signed-off-by: Aaron Chong * Updated rmf_api to latest before adding decommission related schema Signed-off-by: Aaron Chong * Fix tests Signed-off-by: Aaron Chong * New decommissioning API messages and schemas Signed-off-by: Aaron Chong * Updated fleet route with new API Signed-off-by: Aaron Chong * Check fleet before attempting decommission, with tests and lint Signed-off-by: Aaron Chong * New openapi generated Signed-off-by: Aaron Chong * Clean up ROS 2 topic, fix frontend api call Signed-off-by: Aaron Chong * Update rmf_api models Signed-off-by: Aaron Chong * Updated api-client Signed-off-by: Aaron Chong * Decommissioned robots will display false in all fields in robotState.commission Signed-off-by: Aaron Chong * Decommission with choice to re-assign tasks (default true) Signed-off-by: Aaron Chong * Lint and tests Signed-off-by: Aaron Chong * Tests and error message handling Signed-off-by: Aaron Chong * request type to be commission_request Signed-off-by: Aaron Chong * Updated commission models Signed-off-by: Aaron Chong * Updated and tested Signed-off-by: Aaron Chong * Makeshift change robot status to decommissioned Signed-off-by: Aaron Chong * Make other policies complete Signed-off-by: Aaron Chong * Add tooltip to reassigning choice Signed-off-by: Aaron Chong * Allow users to choose if idle behaviors are allowed during decommission Signed-off-by: Aaron Chong * Fix tests Signed-off-by: Aaron Chong * Update hash after rmf_api_msgs#48 has been merged Signed-off-by: Aaron Chong * Update version Signed-off-by: Aaron Chong * Address review comments for route Signed-off-by: Aaron Chong * Clearer documentation for de/recommission routes Signed-off-by: Aaron Chong * Address dashboard component reviews Signed-off-by: Aaron Chong * Refactor to use a single confirmation dialog Signed-off-by: Aaron Chong * Generate new openapi with documentation Signed-off-by: Aaron Chong * Document in context of allow_idle_behavior Signed-off-by: Aaron Chong --------- Signed-off-by: Aaron Chong --- packages/api-client/lib/index.ts | 3 +- packages/api-client/lib/openapi/api.ts | 626 ++++++++++++++---- packages/api-client/lib/version.ts | 2 +- packages/api-client/schema/index.ts | 288 +++++--- .../api-server/api_server/models/__init__.py | 9 +- .../api_server/models/rmf_api/commission.py | 23 + .../api_server/models/rmf_api/fleet_log.py | 2 +- .../models/rmf_api/fleet_log_response.py | 2 +- .../models/rmf_api/fleet_log_update.py | 2 +- .../rmf_api/robot_commission_request.py | 39 ++ .../rmf_api/robot_commission_response.py | 32 + .../api_server/models/rmf_api/robot_state.py | 7 +- .../models/rmf_api/robot_task_request.py | 2 +- .../models/rmf_api/rtls_tag_state.py | 60 ++ .../api_server/models/rmf_api/task_request.py | 4 + .../models/rmf_api/transformation_2D.py | 15 + .../api_server/models/rmf_api/version.py | 2 +- .../api-server/api_server/routes/fleets.py | 121 +++- .../api_server/routes/test_fleets.py | 91 ++- .../api-server/api_server/test/test_data.py | 20 +- packages/api-server/generate-models.sh | 2 +- .../dashboard/src/components/app-events.ts | 1 + packages/dashboard/src/components/map-app.tsx | 4 +- .../src/components/rmf-app/rmf-ingress.ts | 3 +- .../components/robots/robot-decommission.tsx | 217 ++++++ .../src/components/robots/robot-summary.tsx | 22 +- .../src/components/robots/robots-app.tsx | 9 + .../src/components/tasks/task-alert.tsx | 2 +- .../src/components/tasks/task-logs.tsx | 7 +- .../src/components/tasks/task-summary.tsx | 2 +- .../src/util/common-subscriptions.ts | 10 +- packages/react-components/lib/robots/index.ts | 1 - .../lib/robots/robot-table-datagrid.spec.tsx | 2 +- .../robots/robot-table-datagrid.stories.tsx | 2 +- .../lib/robots/robot-table-datagrid.tsx | 39 +- .../lib/robots/robot-table.spec.tsx | 81 --- .../lib/robots/robot-table.stories.tsx | 48 -- .../lib/robots/robot-table.tsx | 119 ---- packages/react-components/lib/robots/utils.ts | 2 +- .../lib/tasks/task-table-datagrid.tsx | 2 +- .../react-components/lib/tasks/task-table.tsx | 2 +- .../lib/tasks/task-timeline.tsx | 7 +- 42 files changed, 1433 insertions(+), 501 deletions(-) create mode 100644 packages/api-server/api_server/models/rmf_api/commission.py create mode 100644 packages/api-server/api_server/models/rmf_api/robot_commission_request.py create mode 100644 packages/api-server/api_server/models/rmf_api/robot_commission_response.py create mode 100644 packages/api-server/api_server/models/rmf_api/rtls_tag_state.py create mode 100644 packages/api-server/api_server/models/rmf_api/transformation_2D.py create mode 100644 packages/dashboard/src/components/robots/robot-decommission.tsx delete mode 100644 packages/react-components/lib/robots/robot-table.spec.tsx delete mode 100644 packages/react-components/lib/robots/robot-table.stories.tsx delete mode 100644 packages/react-components/lib/robots/robot-table.tsx diff --git a/packages/api-client/lib/index.ts b/packages/api-client/lib/index.ts index c0030e596..49b6c584d 100644 --- a/packages/api-client/lib/index.ts +++ b/packages/api-client/lib/index.ts @@ -9,7 +9,7 @@ import { DispenserState, DoorHealth, DoorState, - ApiServerModelsRmfApiFleetStateFleetState, + FleetState, IngestorHealth, IngestorState, LiftHealth, @@ -19,7 +19,6 @@ import { } from './openapi'; type Alert = ApiServerModelsTortoiseModelsAlertsAlertLeaf; -type FleetState = ApiServerModelsRmfApiFleetStateFleetState; const debug = Debug('rmf-client'); diff --git a/packages/api-client/lib/openapi/api.ts b/packages/api-client/lib/openapi/api.ts index 904e10908..3bee016e1 100644 --- a/packages/api-client/lib/openapi/api.ts +++ b/packages/api-client/lib/openapi/api.ts @@ -184,50 +184,6 @@ export const ApiServerModelsDeliveryAlertsDeliveryAlertTier = { export type ApiServerModelsDeliveryAlertsDeliveryAlertTier = typeof ApiServerModelsDeliveryAlertsDeliveryAlertTier[keyof typeof ApiServerModelsDeliveryAlertsDeliveryAlertTier]; -/** - * - * @export - * @interface ApiServerModelsRmfApiFleetLogFleetState - */ -export interface ApiServerModelsRmfApiFleetLogFleetState { - /** - * - * @type {string} - * @memberof ApiServerModelsRmfApiFleetLogFleetState - */ - name?: string; - /** - * Log for the overall fleet - * @type {Array} - * @memberof ApiServerModelsRmfApiFleetLogFleetState - */ - log?: Array; - /** - * Dictionary of logs for the individual robots. The keys (property names) are the robot names. - * @type {{ [key: string]: Array; }} - * @memberof ApiServerModelsRmfApiFleetLogFleetState - */ - robots?: { [key: string]: Array }; -} -/** - * - * @export - * @interface ApiServerModelsRmfApiFleetStateFleetState - */ -export interface ApiServerModelsRmfApiFleetStateFleetState { - /** - * - * @type {string} - * @memberof ApiServerModelsRmfApiFleetStateFleetState - */ - name?: string; - /** - * A dictionary of the states of the robots that belong to this fleet - * @type {{ [key: string]: RobotState; }} - * @memberof ApiServerModelsRmfApiFleetStateFleetState - */ - robots?: { [key: string]: RobotState }; -} /** * An enumeration. * @export @@ -244,6 +200,25 @@ export const ApiServerModelsRmfApiLogEntryTier = { export type ApiServerModelsRmfApiLogEntryTier = typeof ApiServerModelsRmfApiLogEntryTier[keyof typeof ApiServerModelsRmfApiLogEntryTier]; +/** + * An enumeration. + * @export + * @enum {string} + */ + +export const ApiServerModelsRmfApiRobotStateStatus = { + Uninitialized: 'uninitialized', + Offline: 'offline', + Shutdown: 'shutdown', + Idle: 'idle', + Charging: 'charging', + Working: 'working', + Error: 'error', +} as const; + +export type ApiServerModelsRmfApiRobotStateStatus = + typeof ApiServerModelsRmfApiRobotStateStatus[keyof typeof ApiServerModelsRmfApiRobotStateStatus]; + /** * An enumeration. * @export @@ -258,6 +233,30 @@ export type ApiServerModelsRmfApiSimpleResponseFailure = false; */ export type ApiServerModelsRmfApiSimpleResponseSuccess = true; +/** + * An enumeration. + * @export + * @enum {string} + */ + +export const ApiServerModelsRmfApiTaskStateStatus = { + Uninitialized: 'uninitialized', + Blocked: 'blocked', + Error: 'error', + Failed: 'failed', + Queued: 'queued', + Standby: 'standby', + Underway: 'underway', + Delayed: 'delayed', + Skipped: 'skipped', + Canceled: 'canceled', + Killed: 'killed', + Completed: 'completed', +} as const; + +export type ApiServerModelsRmfApiTaskStateStatus = + typeof ApiServerModelsRmfApiTaskStateStatus[keyof typeof ApiServerModelsRmfApiTaskStateStatus]; + /** * An enumeration. * @export @@ -658,6 +657,31 @@ export interface Cancellation1 { */ labels: Array; } +/** + * + * @export + * @interface Commission + */ +export interface Commission { + /** + * Should the robot accept dispatched tasks, true/false. When used in a request, leave this unset to not change the robot\'s current value. + * @type {boolean} + * @memberof Commission + */ + dispatch_tasks?: boolean; + /** + * Should the robot accept direct task requests, true/false. When used in a request, leave this unset to not change the robot\'s current value. + * @type {boolean} + * @memberof Commission + */ + direct_tasks?: boolean; + /** + * Should the robot perform its idle behavior, true/false. When used in a request, leave this unset to not change the robot\'s current value. + * @type {boolean} + * @memberof Commission + */ + idle_behavior?: boolean; +} /** * * @export @@ -1061,10 +1085,10 @@ export interface EventState { id: number; /** * - * @type {Status} + * @type {ApiServerModelsRmfApiTaskStateStatus} * @memberof EventState */ - status?: Status; + status?: ApiServerModelsRmfApiTaskStateStatus; /** * The brief name of the event * @type {string} @@ -1084,6 +1108,50 @@ export interface EventState { */ deps?: Array; } +/** + * + * @export + * @interface FleetLog + */ +export interface FleetLog { + /** + * + * @type {string} + * @memberof FleetLog + */ + name?: string; + /** + * Log for the overall fleet + * @type {Array} + * @memberof FleetLog + */ + log?: Array; + /** + * Dictionary of logs for the individual robots. The keys (property names) are the robot names. + * @type {{ [key: string]: Array; }} + * @memberof FleetLog + */ + robots?: { [key: string]: Array }; +} +/** + * + * @export + * @interface FleetState + */ +export interface FleetState { + /** + * + * @type {string} + * @memberof FleetState + */ + name?: string; + /** + * A dictionary of the states of the robots that belong to this fleet + * @type {{ [key: string]: RobotState; }} + * @memberof FleetState + */ + robots?: { [key: string]: RobotState }; +} /** * * @export @@ -1953,6 +2021,80 @@ export interface PostUsers { * @interface Priority */ export interface Priority {} +/** + * + * @export + * @interface Result + */ +export interface Result { + /** + * + * @type {boolean} + * @memberof Result + */ + success: ResultSuccessEnum; + /** + * Any error messages explaining why the request failed + * @type {Array} + * @memberof Result + */ + errors?: Array; +} + +export const ResultSuccessEnum = { + False: false, +} as const; + +export type ResultSuccessEnum = typeof ResultSuccessEnum[keyof typeof ResultSuccessEnum]; + +/** + * + * @export + * @interface ResultItem + */ +export interface ResultItem { + /** + * + * @type {boolean} + * @memberof ResultItem + */ + success: ResultItemSuccessEnum; +} + +export const ResultItemSuccessEnum = { + True: true, +} as const; + +export type ResultItemSuccessEnum = + typeof ResultItemSuccessEnum[keyof typeof ResultItemSuccessEnum]; + +/** + * + * @export + * @interface ResultItem1 + */ +export interface ResultItem1 { + /** + * + * @type {boolean} + * @memberof ResultItem1 + */ + success: ResultItem1SuccessEnum; + /** + * Any error messages explaining why the request failed + * @type {Array} + * @memberof ResultItem1 + */ + errors?: Array; +} + +export const ResultItem1SuccessEnum = { + False: false, +} as const; + +export type ResultItem1SuccessEnum = + typeof ResultItem1SuccessEnum[keyof typeof ResultItem1SuccessEnum]; + /** * Information about the resume request that ended this interruption. This field will be missing if the interruption is still active. * @export @@ -1972,6 +2114,31 @@ export interface ResumedBy { */ labels: Array; } +/** + * + * @export + * @interface RobotCommissionResponse + */ +export interface RobotCommissionResponse { + /** + * + * @type {Result} + * @memberof RobotCommissionResponse + */ + commission: Result; + /** + * + * @type {Result} + * @memberof RobotCommissionResponse + */ + pending_dispatch_tasks_policy?: Result; + /** + * + * @type {Result} + * @memberof RobotCommissionResponse + */ + pending_direct_tasks_policy?: Result; +} /** * * @export @@ -1986,10 +2153,10 @@ export interface RobotState { name?: string; /** * A simple token representing the status of the robot - * @type {Status2} + * @type {ApiServerModelsRmfApiRobotStateStatus} * @memberof RobotState */ - status?: Status2; + status?: ApiServerModelsRmfApiRobotStateStatus; /** * The ID of the task this robot is currently working on. Empty string if the robot is not working on a task. * @type {string} @@ -2020,6 +2187,12 @@ export interface RobotState { * @memberof RobotState */ issues?: Array; + /** + * + * @type {Commission} + * @memberof RobotState + */ + commission?: Commission; } /** * @@ -2028,7 +2201,7 @@ export interface RobotState { */ export interface RobotTaskRequest { /** - * Indicate that this is a task dispatch request + * Indicate that this is a direct task request * @type {string} * @memberof RobotTaskRequest */ @@ -2186,29 +2359,6 @@ export interface SkipPhaseResponse { */ errors: Array; } -/** - * An enumeration. - * @export - * @enum {string} - */ - -export const Status = { - Uninitialized: 'uninitialized', - Blocked: 'blocked', - Error: 'error', - Failed: 'failed', - Queued: 'queued', - Standby: 'standby', - Underway: 'underway', - Delayed: 'delayed', - Skipped: 'skipped', - Canceled: 'canceled', - Killed: 'killed', - Completed: 'completed', -} as const; - -export type Status = typeof Status[keyof typeof Status]; - /** * An enumeration. * @export @@ -2225,24 +2375,6 @@ export const Status1 = { export type Status1 = typeof Status1[keyof typeof Status1]; -/** - * An enumeration. - * @export - * @enum {string} - */ - -export const Status2 = { - Uninitialized: 'uninitialized', - Offline: 'offline', - Shutdown: 'shutdown', - Idle: 'idle', - Charging: 'charging', - Working: 'working', - Error: 'error', -} as const; - -export type Status2 = typeof Status2[keyof typeof Status2]; - /** * * @export @@ -2693,6 +2825,12 @@ export interface TaskRequest { * @memberof TaskRequest */ requester?: string; + /** + * (Optional) The name of the fleet that should perform this task. If specified, other fleets will not bid for this task. + * @type {string} + * @memberof TaskRequest + */ + fleet_name?: string; /** * (Optional) The time at which a warning will be issued if the estimated completion time is later than expected * @type {number} @@ -2866,10 +3004,10 @@ export interface TaskState { assigned_to?: AssignedTo; /** * - * @type {Status} + * @type {ApiServerModelsRmfApiTaskStateStatus} * @memberof TaskState */ - status?: Status; + status?: ApiServerModelsRmfApiTaskStateStatus; /** * * @type {Dispatch} @@ -5606,7 +5744,7 @@ export const DefaultApiAxiosParamCreator = function (configuration?: Configurati }; }, /** - * # NOTE: This endpoint is here for documentation purposes only, this is _not_ a REST endpoint. ## About This exposes a minimal pubsub system built on top of socket.io. It works similar to a normal socket.io endpoint, except that are 2 special rooms which control subscriptions. ## Rooms ### subscribe Clients must send a message to this room to start receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### unsubscribe Clients can send a message to this room to stop receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### /alerts ``` { \"title\": \"Alert\", \"description\": \"General alert that can be triggered by events.\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"original_id\": { \"title\": \"Original Id\", \"maxLength\": 255, \"type\": \"string\" }, \"category\": { \"title\": \"Category\", \"description\": \"Default: default
Task: task
Fleet: fleet
Robot: robot\", \"maxLength\": 7, \"type\": \"string\" }, \"unix_millis_created_time\": { \"title\": \"Unix Millis Created Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"type\": \"integer\" }, \"acknowledged_by\": { \"title\": \"Acknowledged By\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"unix_millis_acknowledged_time\": { \"title\": \"Unix Millis Acknowledged Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"nullable\": true, \"type\": \"integer\" } }, \"required\": [ \"id\", \"original_id\", \"category\", \"unix_millis_created_time\" ], \"additionalProperties\": false } ``` ### /beacons ``` { \"title\": \"BeaconState\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"online\": { \"title\": \"Online\", \"type\": \"boolean\" }, \"category\": { \"title\": \"Category\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"activated\": { \"title\": \"Activated\", \"type\": \"boolean\" }, \"level\": { \"title\": \"Level\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" } }, \"required\": [ \"id\", \"online\", \"activated\" ], \"additionalProperties\": false } ``` ### /building_map ``` { \"title\": \"BuildingMap\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Level\" } }, \"lifts\": { \"title\": \"Lifts\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Lift\" } } }, \"required\": [ \"name\", \"levels\", \"lifts\" ], \"definitions\": { \"AffineImage\": { \"title\": \"AffineImage\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x_offset\": { \"title\": \"X Offset\", \"default\": 0, \"type\": \"number\" }, \"y_offset\": { \"title\": \"Y Offset\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"scale\": { \"title\": \"Scale\", \"default\": 0, \"type\": \"number\" }, \"encoding\": { \"title\": \"Encoding\", \"default\": \"\", \"type\": \"string\" }, \"data\": { \"title\": \"Data\", \"type\": \"string\" } }, \"required\": [ \"name\", \"x_offset\", \"y_offset\", \"yaw\", \"scale\", \"encoding\", \"data\" ] }, \"Place\": { \"title\": \"Place\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"position_tolerance\": { \"title\": \"Position Tolerance\", \"default\": 0, \"type\": \"number\" }, \"yaw_tolerance\": { \"title\": \"Yaw Tolerance\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"x\", \"y\", \"yaw\", \"position_tolerance\", \"yaw_tolerance\" ] }, \"Door\": { \"title\": \"Door\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"v1_x\": { \"title\": \"V1 X\", \"default\": 0, \"type\": \"number\" }, \"v1_y\": { \"title\": \"V1 Y\", \"default\": 0, \"type\": \"number\" }, \"v2_x\": { \"title\": \"V2 X\", \"default\": 0, \"type\": \"number\" }, \"v2_y\": { \"title\": \"V2 Y\", \"default\": 0, \"type\": \"number\" }, \"door_type\": { \"title\": \"Door Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_range\": { \"title\": \"Motion Range\", \"default\": 0, \"type\": \"number\" }, \"motion_direction\": { \"title\": \"Motion Direction\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" } }, \"required\": [ \"name\", \"v1_x\", \"v1_y\", \"v2_x\", \"v2_y\", \"door_type\", \"motion_range\", \"motion_direction\" ] }, \"Param\": { \"title\": \"Param\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"type\": { \"title\": \"Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"value_int\": { \"title\": \"Value Int\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"value_float\": { \"title\": \"Value Float\", \"default\": 0, \"type\": \"number\" }, \"value_string\": { \"title\": \"Value String\", \"default\": \"\", \"type\": \"string\" }, \"value_bool\": { \"title\": \"Value Bool\", \"default\": false, \"type\": \"boolean\" } }, \"required\": [ \"name\", \"type\", \"value_int\", \"value_float\", \"value_string\", \"value_bool\" ] }, \"GraphNode\": { \"title\": \"GraphNode\", \"type\": \"object\", \"properties\": { \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"x\", \"y\", \"name\", \"params\" ] }, \"GraphEdge\": { \"title\": \"GraphEdge\", \"type\": \"object\", \"properties\": { \"v1_idx\": { \"title\": \"V1 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"v2_idx\": { \"title\": \"V2 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } }, \"edge_type\": { \"title\": \"Edge Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" } }, \"required\": [ \"v1_idx\", \"v2_idx\", \"params\", \"edge_type\" ] }, \"Graph\": { \"title\": \"Graph\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"vertices\": { \"title\": \"Vertices\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphNode\" } }, \"edges\": { \"title\": \"Edges\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphEdge\" } }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"name\", \"vertices\", \"edges\", \"params\" ] }, \"Level\": { \"title\": \"Level\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"elevation\": { \"title\": \"Elevation\", \"default\": 0, \"type\": \"number\" }, \"images\": { \"title\": \"Images\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/AffineImage\" } }, \"places\": { \"title\": \"Places\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Place\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"nav_graphs\": { \"title\": \"Nav Graphs\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Graph\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] } }, \"required\": [ \"name\", \"elevation\", \"images\", \"places\", \"doors\", \"nav_graphs\", \"wall_graph\" ] }, \"Lift\": { \"title\": \"Lift\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] }, \"ref_x\": { \"title\": \"Ref X\", \"default\": 0, \"type\": \"number\" }, \"ref_y\": { \"title\": \"Ref Y\", \"default\": 0, \"type\": \"number\" }, \"ref_yaw\": { \"title\": \"Ref Yaw\", \"default\": 0, \"type\": \"number\" }, \"width\": { \"title\": \"Width\", \"default\": 0, \"type\": \"number\" }, \"depth\": { \"title\": \"Depth\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"levels\", \"doors\", \"wall_graph\", \"ref_x\", \"ref_y\", \"ref_yaw\", \"width\", \"depth\" ] } } } ``` ### /delivery_alerts ``` { \"title\": \"DeliveryAlert\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"type\": \"string\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"tier\": { \"$ref\": \"#/definitions/Tier\" }, \"action\": { \"$ref\": \"#/definitions/Action\" }, \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"message\": { \"title\": \"Message\", \"type\": \"string\" } }, \"required\": [ \"id\", \"category\", \"tier\", \"action\", \"task_id\", \"message\" ], \"definitions\": { \"Category\": { \"title\": \"Category\", \"description\": \"An enumeration.\", \"enum\": [ \"missing\", \"wrong\", \"obstructed\", \"cancelled\" ], \"type\": \"string\" }, \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"warning\", \"error\" ], \"type\": \"string\" }, \"Action\": { \"title\": \"Action\", \"description\": \"An enumeration.\", \"enum\": [ \"waiting\", \"cancelled\", \"override\", \"resume\" ], \"type\": \"string\" } } } ``` ### /doors/{door_name}/state ``` { \"title\": \"DoorState\", \"type\": \"object\", \"properties\": { \"door_time\": { \"title\": \"Door Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"door_name\": { \"title\": \"Door Name\", \"default\": \"\", \"type\": \"string\" }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": { \"value\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/DoorMode\" } ] } }, \"required\": [ \"door_time\", \"door_name\", \"current_mode\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] }, \"DoorMode\": { \"title\": \"DoorMode\", \"type\": \"object\", \"properties\": { \"value\": { \"title\": \"Value\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"value\" ] } } } ``` ### /doors/{door_name}/health ``` { \"title\": \"DoorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /lifts/{lift_name}/state ``` { \"title\": \"LiftState\", \"type\": \"object\", \"properties\": { \"lift_time\": { \"title\": \"Lift Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"lift_name\": { \"title\": \"Lift Name\", \"default\": \"\", \"type\": \"string\" }, \"available_floors\": { \"title\": \"Available Floors\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"current_floor\": { \"title\": \"Current Floor\", \"default\": \"\", \"type\": \"string\" }, \"destination_floor\": { \"title\": \"Destination Floor\", \"default\": \"\", \"type\": \"string\" }, \"door_state\": { \"title\": \"Door State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_state\": { \"title\": \"Motion State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"available_modes\": { \"title\": \"Available Modes\", \"type\": \"array\", \"items\": { \"type\": \"integer\" } }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"session_id\": { \"title\": \"Session Id\", \"default\": \"\", \"type\": \"string\" } }, \"required\": [ \"lift_time\", \"lift_name\", \"available_floors\", \"current_floor\", \"destination_floor\", \"door_state\", \"motion_state\", \"available_modes\", \"current_mode\", \"session_id\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /lifts/{lift_name}/health ``` { \"title\": \"LiftHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /tasks/{task_id}/state ``` { \"title\": \"TaskState\", \"type\": \"object\", \"properties\": { \"booking\": { \"$ref\": \"#/definitions/Booking\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"assigned_to\": { \"title\": \"Assigned To\", \"description\": \"Which agent (robot) is the task assigned to\", \"allOf\": [ { \"$ref\": \"#/definitions/AssignedTo\" } ] }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"dispatch\": { \"$ref\": \"#/definitions/Dispatch\" }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary of the states of the phases of the task. The keys (property names) are phase IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phase\" } }, \"completed\": { \"title\": \"Completed\", \"description\": \"An array of the IDs of completed phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"active\": { \"title\": \"Active\", \"description\": \"The ID of the active phase for this task\", \"allOf\": [ { \"$ref\": \"#/definitions/Id\" } ] }, \"pending\": { \"title\": \"Pending\", \"description\": \"An array of the pending phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"interruptions\": { \"title\": \"Interruptions\", \"description\": \"A dictionary of interruptions that have been applied to this task. The keys (property names) are the unique token of the interruption request.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Interruption\" } }, \"cancellation\": { \"title\": \"Cancellation\", \"description\": \"If the task was cancelled, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Cancellation\" } ] }, \"killed\": { \"title\": \"Killed\", \"description\": \"If the task was killed, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Killed\" } ] }, \"unix_millis_warn_time\": { \"title\": \"Unix Millis Warn Time\", \"type\": \"integer\" } }, \"required\": [ \"booking\" ], \"definitions\": { \"Booking\": { \"title\": \"Booking\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"description\": \"The unique identifier for this task\", \"type\": \"string\" }, \"unix_millis_earliest_start_time\": { \"title\": \"Unix Millis Earliest Start Time\", \"type\": \"integer\" }, \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"type\": \"integer\" }, \"priority\": { \"title\": \"Priority\", \"description\": \"Priority information about this task\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"string\" } ] }, \"labels\": { \"title\": \"Labels\", \"description\": \"Information about how and why this task was booked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requester\": { \"title\": \"Requester\", \"description\": \"(Optional) An identifier for the entity that requested this task\", \"type\": \"string\" } }, \"required\": [ \"id\" ] }, \"Category\": { \"title\": \"Category\", \"description\": \"The category of this task or phase\", \"type\": \"string\" }, \"Detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about a task, phase, or event\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] }, \"EstimateMillis\": { \"title\": \"EstimateMillis\", \"description\": \"An estimate, in milliseconds, of how long the subject will take to complete\", \"minimum\": 0, \"type\": \"integer\" }, \"AssignedTo\": { \"title\": \"AssignedTo\", \"type\": \"object\", \"properties\": { \"group\": { \"title\": \"Group\", \"type\": \"string\" }, \"name\": { \"title\": \"Name\", \"type\": \"string\" } }, \"required\": [ \"group\", \"name\" ] }, \"Status\": { \"title\": \"Status\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"blocked\", \"error\", \"failed\", \"queued\", \"standby\", \"underway\", \"delayed\", \"skipped\", \"canceled\", \"killed\", \"completed\" ] }, \"Status1\": { \"title\": \"Status1\", \"description\": \"An enumeration.\", \"enum\": [ \"queued\", \"selected\", \"dispatched\", \"failed_to_assign\", \"canceled_in_flight\" ] }, \"Assignment\": { \"title\": \"Assignment\", \"type\": \"object\", \"properties\": { \"fleet_name\": { \"title\": \"Fleet Name\", \"type\": \"string\" }, \"expected_robot_name\": { \"title\": \"Expected Robot Name\", \"type\": \"string\" } } }, \"Error\": { \"title\": \"Error\", \"type\": \"object\", \"properties\": { \"code\": { \"title\": \"Code\", \"description\": \"A standard code for the kind of error that has occurred\", \"minimum\": 0, \"type\": \"integer\" }, \"category\": { \"title\": \"Category\", \"description\": \"The category of the error\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Details about the error\", \"type\": \"string\" } } }, \"Dispatch\": { \"title\": \"Dispatch\", \"type\": \"object\", \"properties\": { \"status\": { \"$ref\": \"#/definitions/Status1\" }, \"assignment\": { \"$ref\": \"#/definitions/Assignment\" }, \"errors\": { \"title\": \"Errors\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Error\" } } }, \"required\": [ \"status\" ] }, \"Id\": { \"title\": \"Id\", \"minimum\": 0, \"type\": \"integer\" }, \"EventState\": { \"title\": \"EventState\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"name\": { \"title\": \"Name\", \"description\": \"The brief name of the event\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the event\", \"allOf\": [ { \"$ref\": \"#/definitions/Detail\" } ] }, \"deps\": { \"title\": \"Deps\", \"description\": \"This event may depend on other events. This array contains the IDs of those other event dependencies.\", \"type\": \"array\", \"items\": { \"type\": \"integer\", \"minimum\": 0 } } }, \"required\": [ \"id\" ] }, \"Undo\": { \"title\": \"Undo\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the undo skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the undo skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"SkipPhaseRequest\": { \"title\": \"SkipPhaseRequest\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"undo\": { \"title\": \"Undo\", \"description\": \"Information about an undo skip request that applied to this request\", \"allOf\": [ { \"$ref\": \"#/definitions/Undo\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Phase\": { \"title\": \"Phase\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"final_event_id\": { \"$ref\": \"#/definitions/Id\" }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary of events for this phase. The keys (property names) are the event IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/EventState\" } }, \"skip_requests\": { \"title\": \"Skip Requests\", \"description\": \"Information about any skip requests that have been received\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/SkipPhaseRequest\" } } }, \"required\": [ \"id\" ] }, \"ResumedBy\": { \"title\": \"ResumedBy\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the resume request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the resume request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"labels\" ] }, \"Interruption\": { \"title\": \"Interruption\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the interruption request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the interruption\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"resumed_by\": { \"title\": \"Resumed By\", \"description\": \"Information about the resume request that ended this interruption. This field will be missing if the interruption is still active.\", \"allOf\": [ { \"$ref\": \"#/definitions/ResumedBy\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Cancellation\": { \"title\": \"Cancellation\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the cancel request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Killed\": { \"title\": \"Killed\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the kill request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] } } } ``` ### /tasks/{task_id}/log ``` { \"title\": \"TaskEventLog\", \"type\": \"object\", \"properties\": { \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary whose keys (property names) are the indices of a phase\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phases\" } } }, \"required\": [ \"task_id\" ], \"additionalProperties\": false, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] }, \"Phases\": { \"title\": \"Phases\", \"type\": \"object\", \"properties\": { \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall phase\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary whose keys (property names) are the indices of an event in the phase\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"additionalProperties\": false } } } ``` ### /dispensers/{guid}/state ``` { \"title\": \"DispenserState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /dispensers/{guid}/health ``` { \"title\": \"DispenserHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /ingestors/{guid}/state ``` { \"title\": \"IngestorState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /ingestors/{guid}/health ``` { \"title\": \"IngestorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /fleets/{name}/state ``` { \"title\": \"FleetState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"robots\": { \"title\": \"Robots\", \"description\": \"A dictionary of the states of the robots that belong to this fleet\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/RobotState\" } } }, \"definitions\": { \"Status2\": { \"title\": \"Status2\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"offline\", \"shutdown\", \"idle\", \"charging\", \"working\", \"error\" ] }, \"Location2D\": { \"title\": \"Location2D\", \"type\": \"object\", \"properties\": { \"map\": { \"title\": \"Map\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"type\": \"number\" } }, \"required\": [ \"map\", \"x\", \"y\", \"yaw\" ] }, \"Issue\": { \"title\": \"Issue\", \"type\": \"object\", \"properties\": { \"category\": { \"title\": \"Category\", \"description\": \"Category of the robot\'s issue\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the issue\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] } } }, \"RobotState\": { \"title\": \"RobotState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"status\": { \"description\": \"A simple token representing the status of the robot\", \"allOf\": [ { \"$ref\": \"#/definitions/Status2\" } ] }, \"task_id\": { \"title\": \"Task Id\", \"description\": \"The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.\", \"type\": \"string\" }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"location\": { \"$ref\": \"#/definitions/Location2D\" }, \"battery\": { \"title\": \"Battery\", \"description\": \"State of charge of the battery. Values range from 0.0 (depleted) to 1.0 (fully charged)\", \"minimum\": 0.0, \"maximum\": 1.0, \"type\": \"number\" }, \"issues\": { \"title\": \"Issues\", \"description\": \"A list of issues with the robot that operators need to address\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Issue\" } } } } } } ``` ### /fleets/{name}/log ``` { \"title\": \"FleetState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log for the overall fleet\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"robots\": { \"title\": \"Robots\", \"description\": \"Dictionary of logs for the individual robots. The keys (property names) are the robot names.\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] } } } ``` + * # NOTE: This endpoint is here for documentation purposes only, this is _not_ a REST endpoint. ## About This exposes a minimal pubsub system built on top of socket.io. It works similar to a normal socket.io endpoint, except that are 2 special rooms which control subscriptions. ## Rooms ### subscribe Clients must send a message to this room to start receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### unsubscribe Clients can send a message to this room to stop receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### /alerts ``` { \"title\": \"Alert\", \"description\": \"General alert that can be triggered by events.\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"original_id\": { \"title\": \"Original Id\", \"maxLength\": 255, \"type\": \"string\" }, \"category\": { \"title\": \"Category\", \"description\": \"Default: default
Task: task
Fleet: fleet
Robot: robot\", \"maxLength\": 7, \"type\": \"string\" }, \"unix_millis_created_time\": { \"title\": \"Unix Millis Created Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"type\": \"integer\" }, \"acknowledged_by\": { \"title\": \"Acknowledged By\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"unix_millis_acknowledged_time\": { \"title\": \"Unix Millis Acknowledged Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"nullable\": true, \"type\": \"integer\" } }, \"required\": [ \"id\", \"original_id\", \"category\", \"unix_millis_created_time\" ], \"additionalProperties\": false } ``` ### /beacons ``` { \"title\": \"BeaconState\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"online\": { \"title\": \"Online\", \"type\": \"boolean\" }, \"category\": { \"title\": \"Category\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"activated\": { \"title\": \"Activated\", \"type\": \"boolean\" }, \"level\": { \"title\": \"Level\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" } }, \"required\": [ \"id\", \"online\", \"activated\" ], \"additionalProperties\": false } ``` ### /building_map ``` { \"title\": \"BuildingMap\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Level\" } }, \"lifts\": { \"title\": \"Lifts\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Lift\" } } }, \"required\": [ \"name\", \"levels\", \"lifts\" ], \"definitions\": { \"AffineImage\": { \"title\": \"AffineImage\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x_offset\": { \"title\": \"X Offset\", \"default\": 0, \"type\": \"number\" }, \"y_offset\": { \"title\": \"Y Offset\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"scale\": { \"title\": \"Scale\", \"default\": 0, \"type\": \"number\" }, \"encoding\": { \"title\": \"Encoding\", \"default\": \"\", \"type\": \"string\" }, \"data\": { \"title\": \"Data\", \"type\": \"string\" } }, \"required\": [ \"name\", \"x_offset\", \"y_offset\", \"yaw\", \"scale\", \"encoding\", \"data\" ] }, \"Place\": { \"title\": \"Place\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"position_tolerance\": { \"title\": \"Position Tolerance\", \"default\": 0, \"type\": \"number\" }, \"yaw_tolerance\": { \"title\": \"Yaw Tolerance\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"x\", \"y\", \"yaw\", \"position_tolerance\", \"yaw_tolerance\" ] }, \"Door\": { \"title\": \"Door\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"v1_x\": { \"title\": \"V1 X\", \"default\": 0, \"type\": \"number\" }, \"v1_y\": { \"title\": \"V1 Y\", \"default\": 0, \"type\": \"number\" }, \"v2_x\": { \"title\": \"V2 X\", \"default\": 0, \"type\": \"number\" }, \"v2_y\": { \"title\": \"V2 Y\", \"default\": 0, \"type\": \"number\" }, \"door_type\": { \"title\": \"Door Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_range\": { \"title\": \"Motion Range\", \"default\": 0, \"type\": \"number\" }, \"motion_direction\": { \"title\": \"Motion Direction\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" } }, \"required\": [ \"name\", \"v1_x\", \"v1_y\", \"v2_x\", \"v2_y\", \"door_type\", \"motion_range\", \"motion_direction\" ] }, \"Param\": { \"title\": \"Param\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"type\": { \"title\": \"Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"value_int\": { \"title\": \"Value Int\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"value_float\": { \"title\": \"Value Float\", \"default\": 0, \"type\": \"number\" }, \"value_string\": { \"title\": \"Value String\", \"default\": \"\", \"type\": \"string\" }, \"value_bool\": { \"title\": \"Value Bool\", \"default\": false, \"type\": \"boolean\" } }, \"required\": [ \"name\", \"type\", \"value_int\", \"value_float\", \"value_string\", \"value_bool\" ] }, \"GraphNode\": { \"title\": \"GraphNode\", \"type\": \"object\", \"properties\": { \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"x\", \"y\", \"name\", \"params\" ] }, \"GraphEdge\": { \"title\": \"GraphEdge\", \"type\": \"object\", \"properties\": { \"v1_idx\": { \"title\": \"V1 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"v2_idx\": { \"title\": \"V2 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } }, \"edge_type\": { \"title\": \"Edge Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" } }, \"required\": [ \"v1_idx\", \"v2_idx\", \"params\", \"edge_type\" ] }, \"Graph\": { \"title\": \"Graph\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"vertices\": { \"title\": \"Vertices\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphNode\" } }, \"edges\": { \"title\": \"Edges\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphEdge\" } }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"name\", \"vertices\", \"edges\", \"params\" ] }, \"Level\": { \"title\": \"Level\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"elevation\": { \"title\": \"Elevation\", \"default\": 0, \"type\": \"number\" }, \"images\": { \"title\": \"Images\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/AffineImage\" } }, \"places\": { \"title\": \"Places\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Place\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"nav_graphs\": { \"title\": \"Nav Graphs\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Graph\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] } }, \"required\": [ \"name\", \"elevation\", \"images\", \"places\", \"doors\", \"nav_graphs\", \"wall_graph\" ] }, \"Lift\": { \"title\": \"Lift\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] }, \"ref_x\": { \"title\": \"Ref X\", \"default\": 0, \"type\": \"number\" }, \"ref_y\": { \"title\": \"Ref Y\", \"default\": 0, \"type\": \"number\" }, \"ref_yaw\": { \"title\": \"Ref Yaw\", \"default\": 0, \"type\": \"number\" }, \"width\": { \"title\": \"Width\", \"default\": 0, \"type\": \"number\" }, \"depth\": { \"title\": \"Depth\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"levels\", \"doors\", \"wall_graph\", \"ref_x\", \"ref_y\", \"ref_yaw\", \"width\", \"depth\" ] } } } ``` ### /delivery_alerts ``` { \"title\": \"DeliveryAlert\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"type\": \"string\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"tier\": { \"$ref\": \"#/definitions/Tier\" }, \"action\": { \"$ref\": \"#/definitions/Action\" }, \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"message\": { \"title\": \"Message\", \"type\": \"string\" } }, \"required\": [ \"id\", \"category\", \"tier\", \"action\", \"task_id\", \"message\" ], \"definitions\": { \"Category\": { \"title\": \"Category\", \"description\": \"An enumeration.\", \"enum\": [ \"missing\", \"wrong\", \"obstructed\", \"cancelled\" ], \"type\": \"string\" }, \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"warning\", \"error\" ], \"type\": \"string\" }, \"Action\": { \"title\": \"Action\", \"description\": \"An enumeration.\", \"enum\": [ \"waiting\", \"cancelled\", \"override\", \"resume\" ], \"type\": \"string\" } } } ``` ### /doors/{door_name}/state ``` { \"title\": \"DoorState\", \"type\": \"object\", \"properties\": { \"door_time\": { \"title\": \"Door Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"door_name\": { \"title\": \"Door Name\", \"default\": \"\", \"type\": \"string\" }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": { \"value\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/DoorMode\" } ] } }, \"required\": [ \"door_time\", \"door_name\", \"current_mode\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] }, \"DoorMode\": { \"title\": \"DoorMode\", \"type\": \"object\", \"properties\": { \"value\": { \"title\": \"Value\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"value\" ] } } } ``` ### /doors/{door_name}/health ``` { \"title\": \"DoorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /lifts/{lift_name}/state ``` { \"title\": \"LiftState\", \"type\": \"object\", \"properties\": { \"lift_time\": { \"title\": \"Lift Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"lift_name\": { \"title\": \"Lift Name\", \"default\": \"\", \"type\": \"string\" }, \"available_floors\": { \"title\": \"Available Floors\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"current_floor\": { \"title\": \"Current Floor\", \"default\": \"\", \"type\": \"string\" }, \"destination_floor\": { \"title\": \"Destination Floor\", \"default\": \"\", \"type\": \"string\" }, \"door_state\": { \"title\": \"Door State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_state\": { \"title\": \"Motion State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"available_modes\": { \"title\": \"Available Modes\", \"type\": \"array\", \"items\": { \"type\": \"integer\" } }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"session_id\": { \"title\": \"Session Id\", \"default\": \"\", \"type\": \"string\" } }, \"required\": [ \"lift_time\", \"lift_name\", \"available_floors\", \"current_floor\", \"destination_floor\", \"door_state\", \"motion_state\", \"available_modes\", \"current_mode\", \"session_id\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /lifts/{lift_name}/health ``` { \"title\": \"LiftHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /tasks/{task_id}/state ``` { \"title\": \"TaskState\", \"type\": \"object\", \"properties\": { \"booking\": { \"$ref\": \"#/definitions/Booking\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"assigned_to\": { \"title\": \"Assigned To\", \"description\": \"Which agent (robot) is the task assigned to\", \"allOf\": [ { \"$ref\": \"#/definitions/AssignedTo\" } ] }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"dispatch\": { \"$ref\": \"#/definitions/Dispatch\" }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary of the states of the phases of the task. The keys (property names) are phase IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phase\" } }, \"completed\": { \"title\": \"Completed\", \"description\": \"An array of the IDs of completed phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"active\": { \"title\": \"Active\", \"description\": \"The ID of the active phase for this task\", \"allOf\": [ { \"$ref\": \"#/definitions/Id\" } ] }, \"pending\": { \"title\": \"Pending\", \"description\": \"An array of the pending phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"interruptions\": { \"title\": \"Interruptions\", \"description\": \"A dictionary of interruptions that have been applied to this task. The keys (property names) are the unique token of the interruption request.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Interruption\" } }, \"cancellation\": { \"title\": \"Cancellation\", \"description\": \"If the task was cancelled, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Cancellation\" } ] }, \"killed\": { \"title\": \"Killed\", \"description\": \"If the task was killed, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Killed\" } ] }, \"unix_millis_warn_time\": { \"title\": \"Unix Millis Warn Time\", \"type\": \"integer\" } }, \"required\": [ \"booking\" ], \"definitions\": { \"Booking\": { \"title\": \"Booking\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"description\": \"The unique identifier for this task\", \"type\": \"string\" }, \"unix_millis_earliest_start_time\": { \"title\": \"Unix Millis Earliest Start Time\", \"type\": \"integer\" }, \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"type\": \"integer\" }, \"priority\": { \"title\": \"Priority\", \"description\": \"Priority information about this task\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"string\" } ] }, \"labels\": { \"title\": \"Labels\", \"description\": \"Information about how and why this task was booked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requester\": { \"title\": \"Requester\", \"description\": \"(Optional) An identifier for the entity that requested this task\", \"type\": \"string\" } }, \"required\": [ \"id\" ] }, \"Category\": { \"title\": \"Category\", \"description\": \"The category of this task or phase\", \"type\": \"string\" }, \"Detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about a task, phase, or event\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] }, \"EstimateMillis\": { \"title\": \"EstimateMillis\", \"description\": \"An estimate, in milliseconds, of how long the subject will take to complete\", \"minimum\": 0, \"type\": \"integer\" }, \"AssignedTo\": { \"title\": \"AssignedTo\", \"type\": \"object\", \"properties\": { \"group\": { \"title\": \"Group\", \"type\": \"string\" }, \"name\": { \"title\": \"Name\", \"type\": \"string\" } }, \"required\": [ \"group\", \"name\" ] }, \"Status\": { \"title\": \"Status\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"blocked\", \"error\", \"failed\", \"queued\", \"standby\", \"underway\", \"delayed\", \"skipped\", \"canceled\", \"killed\", \"completed\" ] }, \"Status1\": { \"title\": \"Status1\", \"description\": \"An enumeration.\", \"enum\": [ \"queued\", \"selected\", \"dispatched\", \"failed_to_assign\", \"canceled_in_flight\" ] }, \"Assignment\": { \"title\": \"Assignment\", \"type\": \"object\", \"properties\": { \"fleet_name\": { \"title\": \"Fleet Name\", \"type\": \"string\" }, \"expected_robot_name\": { \"title\": \"Expected Robot Name\", \"type\": \"string\" } } }, \"Error\": { \"title\": \"Error\", \"type\": \"object\", \"properties\": { \"code\": { \"title\": \"Code\", \"description\": \"A standard code for the kind of error that has occurred\", \"minimum\": 0, \"type\": \"integer\" }, \"category\": { \"title\": \"Category\", \"description\": \"The category of the error\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Details about the error\", \"type\": \"string\" } } }, \"Dispatch\": { \"title\": \"Dispatch\", \"type\": \"object\", \"properties\": { \"status\": { \"$ref\": \"#/definitions/Status1\" }, \"assignment\": { \"$ref\": \"#/definitions/Assignment\" }, \"errors\": { \"title\": \"Errors\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Error\" } } }, \"required\": [ \"status\" ] }, \"Id\": { \"title\": \"Id\", \"minimum\": 0, \"type\": \"integer\" }, \"EventState\": { \"title\": \"EventState\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"name\": { \"title\": \"Name\", \"description\": \"The brief name of the event\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the event\", \"allOf\": [ { \"$ref\": \"#/definitions/Detail\" } ] }, \"deps\": { \"title\": \"Deps\", \"description\": \"This event may depend on other events. This array contains the IDs of those other event dependencies.\", \"type\": \"array\", \"items\": { \"type\": \"integer\", \"minimum\": 0 } } }, \"required\": [ \"id\" ] }, \"Undo\": { \"title\": \"Undo\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the undo skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the undo skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"SkipPhaseRequest\": { \"title\": \"SkipPhaseRequest\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"undo\": { \"title\": \"Undo\", \"description\": \"Information about an undo skip request that applied to this request\", \"allOf\": [ { \"$ref\": \"#/definitions/Undo\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Phase\": { \"title\": \"Phase\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"final_event_id\": { \"$ref\": \"#/definitions/Id\" }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary of events for this phase. The keys (property names) are the event IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/EventState\" } }, \"skip_requests\": { \"title\": \"Skip Requests\", \"description\": \"Information about any skip requests that have been received\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/SkipPhaseRequest\" } } }, \"required\": [ \"id\" ] }, \"ResumedBy\": { \"title\": \"ResumedBy\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the resume request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the resume request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"labels\" ] }, \"Interruption\": { \"title\": \"Interruption\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the interruption request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the interruption\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"resumed_by\": { \"title\": \"Resumed By\", \"description\": \"Information about the resume request that ended this interruption. This field will be missing if the interruption is still active.\", \"allOf\": [ { \"$ref\": \"#/definitions/ResumedBy\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Cancellation\": { \"title\": \"Cancellation\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the cancel request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Killed\": { \"title\": \"Killed\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the kill request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] } } } ``` ### /tasks/{task_id}/log ``` { \"title\": \"TaskEventLog\", \"type\": \"object\", \"properties\": { \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary whose keys (property names) are the indices of a phase\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phases\" } } }, \"required\": [ \"task_id\" ], \"additionalProperties\": false, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] }, \"Phases\": { \"title\": \"Phases\", \"type\": \"object\", \"properties\": { \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall phase\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary whose keys (property names) are the indices of an event in the phase\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"additionalProperties\": false } } } ``` ### /dispensers/{guid}/state ``` { \"title\": \"DispenserState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /dispensers/{guid}/health ``` { \"title\": \"DispenserHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /ingestors/{guid}/state ``` { \"title\": \"IngestorState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /ingestors/{guid}/health ``` { \"title\": \"IngestorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /fleets/{name}/state ``` { \"title\": \"FleetState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"robots\": { \"title\": \"Robots\", \"description\": \"A dictionary of the states of the robots that belong to this fleet\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/RobotState\" } } }, \"definitions\": { \"Status\": { \"title\": \"Status\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"offline\", \"shutdown\", \"idle\", \"charging\", \"working\", \"error\" ] }, \"Location2D\": { \"title\": \"Location2D\", \"type\": \"object\", \"properties\": { \"map\": { \"title\": \"Map\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"type\": \"number\" } }, \"required\": [ \"map\", \"x\", \"y\", \"yaw\" ] }, \"Issue\": { \"title\": \"Issue\", \"type\": \"object\", \"properties\": { \"category\": { \"title\": \"Category\", \"description\": \"Category of the robot\'s issue\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the issue\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] } } }, \"Commission\": { \"title\": \"Commission\", \"type\": \"object\", \"properties\": { \"dispatch_tasks\": { \"title\": \"Dispatch Tasks\", \"description\": \"Should the robot accept dispatched tasks, true/false. When used in a request, leave this unset to not change the robot\'s current value.\", \"type\": \"boolean\" }, \"direct_tasks\": { \"title\": \"Direct Tasks\", \"description\": \"Should the robot accept direct task requests, true/false. When used in a request, leave this unset to not change the robot\'s current value.\", \"type\": \"boolean\" }, \"idle_behavior\": { \"title\": \"Idle Behavior\", \"description\": \"Should the robot perform its idle behavior, true/false. When used in a request, leave this unset to not change the robot\'s current value.\", \"type\": \"boolean\" } } }, \"RobotState\": { \"title\": \"RobotState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"status\": { \"description\": \"A simple token representing the status of the robot\", \"allOf\": [ { \"$ref\": \"#/definitions/Status\" } ] }, \"task_id\": { \"title\": \"Task Id\", \"description\": \"The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.\", \"type\": \"string\" }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"location\": { \"$ref\": \"#/definitions/Location2D\" }, \"battery\": { \"title\": \"Battery\", \"description\": \"State of charge of the battery. Values range from 0.0 (depleted) to 1.0 (fully charged)\", \"minimum\": 0.0, \"maximum\": 1.0, \"type\": \"number\" }, \"issues\": { \"title\": \"Issues\", \"description\": \"A list of issues with the robot that operators need to address\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Issue\" } }, \"commission\": { \"$ref\": \"#/definitions/Commission\" } } } } } ``` ### /fleets/{name}/log ``` { \"title\": \"FleetLog\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log for the overall fleet\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"robots\": { \"title\": \"Robots\", \"description\": \"Dictionary of logs for the individual robots. The keys (property names) are the robot names.\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] } } } ``` * @summary Socket.io endpoint * @param {*} [options] Override http request option. * @throws {RequiredError} @@ -5685,7 +5823,7 @@ export const DefaultApiFp = function (configuration?: Configuration) { return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); }, /** - * # NOTE: This endpoint is here for documentation purposes only, this is _not_ a REST endpoint. ## About This exposes a minimal pubsub system built on top of socket.io. It works similar to a normal socket.io endpoint, except that are 2 special rooms which control subscriptions. ## Rooms ### subscribe Clients must send a message to this room to start receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### unsubscribe Clients can send a message to this room to stop receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### /alerts ``` { \"title\": \"Alert\", \"description\": \"General alert that can be triggered by events.\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"original_id\": { \"title\": \"Original Id\", \"maxLength\": 255, \"type\": \"string\" }, \"category\": { \"title\": \"Category\", \"description\": \"Default: default
Task: task
Fleet: fleet
Robot: robot\", \"maxLength\": 7, \"type\": \"string\" }, \"unix_millis_created_time\": { \"title\": \"Unix Millis Created Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"type\": \"integer\" }, \"acknowledged_by\": { \"title\": \"Acknowledged By\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"unix_millis_acknowledged_time\": { \"title\": \"Unix Millis Acknowledged Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"nullable\": true, \"type\": \"integer\" } }, \"required\": [ \"id\", \"original_id\", \"category\", \"unix_millis_created_time\" ], \"additionalProperties\": false } ``` ### /beacons ``` { \"title\": \"BeaconState\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"online\": { \"title\": \"Online\", \"type\": \"boolean\" }, \"category\": { \"title\": \"Category\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"activated\": { \"title\": \"Activated\", \"type\": \"boolean\" }, \"level\": { \"title\": \"Level\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" } }, \"required\": [ \"id\", \"online\", \"activated\" ], \"additionalProperties\": false } ``` ### /building_map ``` { \"title\": \"BuildingMap\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Level\" } }, \"lifts\": { \"title\": \"Lifts\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Lift\" } } }, \"required\": [ \"name\", \"levels\", \"lifts\" ], \"definitions\": { \"AffineImage\": { \"title\": \"AffineImage\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x_offset\": { \"title\": \"X Offset\", \"default\": 0, \"type\": \"number\" }, \"y_offset\": { \"title\": \"Y Offset\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"scale\": { \"title\": \"Scale\", \"default\": 0, \"type\": \"number\" }, \"encoding\": { \"title\": \"Encoding\", \"default\": \"\", \"type\": \"string\" }, \"data\": { \"title\": \"Data\", \"type\": \"string\" } }, \"required\": [ \"name\", \"x_offset\", \"y_offset\", \"yaw\", \"scale\", \"encoding\", \"data\" ] }, \"Place\": { \"title\": \"Place\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"position_tolerance\": { \"title\": \"Position Tolerance\", \"default\": 0, \"type\": \"number\" }, \"yaw_tolerance\": { \"title\": \"Yaw Tolerance\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"x\", \"y\", \"yaw\", \"position_tolerance\", \"yaw_tolerance\" ] }, \"Door\": { \"title\": \"Door\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"v1_x\": { \"title\": \"V1 X\", \"default\": 0, \"type\": \"number\" }, \"v1_y\": { \"title\": \"V1 Y\", \"default\": 0, \"type\": \"number\" }, \"v2_x\": { \"title\": \"V2 X\", \"default\": 0, \"type\": \"number\" }, \"v2_y\": { \"title\": \"V2 Y\", \"default\": 0, \"type\": \"number\" }, \"door_type\": { \"title\": \"Door Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_range\": { \"title\": \"Motion Range\", \"default\": 0, \"type\": \"number\" }, \"motion_direction\": { \"title\": \"Motion Direction\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" } }, \"required\": [ \"name\", \"v1_x\", \"v1_y\", \"v2_x\", \"v2_y\", \"door_type\", \"motion_range\", \"motion_direction\" ] }, \"Param\": { \"title\": \"Param\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"type\": { \"title\": \"Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"value_int\": { \"title\": \"Value Int\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"value_float\": { \"title\": \"Value Float\", \"default\": 0, \"type\": \"number\" }, \"value_string\": { \"title\": \"Value String\", \"default\": \"\", \"type\": \"string\" }, \"value_bool\": { \"title\": \"Value Bool\", \"default\": false, \"type\": \"boolean\" } }, \"required\": [ \"name\", \"type\", \"value_int\", \"value_float\", \"value_string\", \"value_bool\" ] }, \"GraphNode\": { \"title\": \"GraphNode\", \"type\": \"object\", \"properties\": { \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"x\", \"y\", \"name\", \"params\" ] }, \"GraphEdge\": { \"title\": \"GraphEdge\", \"type\": \"object\", \"properties\": { \"v1_idx\": { \"title\": \"V1 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"v2_idx\": { \"title\": \"V2 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } }, \"edge_type\": { \"title\": \"Edge Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" } }, \"required\": [ \"v1_idx\", \"v2_idx\", \"params\", \"edge_type\" ] }, \"Graph\": { \"title\": \"Graph\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"vertices\": { \"title\": \"Vertices\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphNode\" } }, \"edges\": { \"title\": \"Edges\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphEdge\" } }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"name\", \"vertices\", \"edges\", \"params\" ] }, \"Level\": { \"title\": \"Level\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"elevation\": { \"title\": \"Elevation\", \"default\": 0, \"type\": \"number\" }, \"images\": { \"title\": \"Images\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/AffineImage\" } }, \"places\": { \"title\": \"Places\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Place\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"nav_graphs\": { \"title\": \"Nav Graphs\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Graph\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] } }, \"required\": [ \"name\", \"elevation\", \"images\", \"places\", \"doors\", \"nav_graphs\", \"wall_graph\" ] }, \"Lift\": { \"title\": \"Lift\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] }, \"ref_x\": { \"title\": \"Ref X\", \"default\": 0, \"type\": \"number\" }, \"ref_y\": { \"title\": \"Ref Y\", \"default\": 0, \"type\": \"number\" }, \"ref_yaw\": { \"title\": \"Ref Yaw\", \"default\": 0, \"type\": \"number\" }, \"width\": { \"title\": \"Width\", \"default\": 0, \"type\": \"number\" }, \"depth\": { \"title\": \"Depth\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"levels\", \"doors\", \"wall_graph\", \"ref_x\", \"ref_y\", \"ref_yaw\", \"width\", \"depth\" ] } } } ``` ### /delivery_alerts ``` { \"title\": \"DeliveryAlert\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"type\": \"string\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"tier\": { \"$ref\": \"#/definitions/Tier\" }, \"action\": { \"$ref\": \"#/definitions/Action\" }, \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"message\": { \"title\": \"Message\", \"type\": \"string\" } }, \"required\": [ \"id\", \"category\", \"tier\", \"action\", \"task_id\", \"message\" ], \"definitions\": { \"Category\": { \"title\": \"Category\", \"description\": \"An enumeration.\", \"enum\": [ \"missing\", \"wrong\", \"obstructed\", \"cancelled\" ], \"type\": \"string\" }, \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"warning\", \"error\" ], \"type\": \"string\" }, \"Action\": { \"title\": \"Action\", \"description\": \"An enumeration.\", \"enum\": [ \"waiting\", \"cancelled\", \"override\", \"resume\" ], \"type\": \"string\" } } } ``` ### /doors/{door_name}/state ``` { \"title\": \"DoorState\", \"type\": \"object\", \"properties\": { \"door_time\": { \"title\": \"Door Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"door_name\": { \"title\": \"Door Name\", \"default\": \"\", \"type\": \"string\" }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": { \"value\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/DoorMode\" } ] } }, \"required\": [ \"door_time\", \"door_name\", \"current_mode\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] }, \"DoorMode\": { \"title\": \"DoorMode\", \"type\": \"object\", \"properties\": { \"value\": { \"title\": \"Value\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"value\" ] } } } ``` ### /doors/{door_name}/health ``` { \"title\": \"DoorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /lifts/{lift_name}/state ``` { \"title\": \"LiftState\", \"type\": \"object\", \"properties\": { \"lift_time\": { \"title\": \"Lift Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"lift_name\": { \"title\": \"Lift Name\", \"default\": \"\", \"type\": \"string\" }, \"available_floors\": { \"title\": \"Available Floors\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"current_floor\": { \"title\": \"Current Floor\", \"default\": \"\", \"type\": \"string\" }, \"destination_floor\": { \"title\": \"Destination Floor\", \"default\": \"\", \"type\": \"string\" }, \"door_state\": { \"title\": \"Door State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_state\": { \"title\": \"Motion State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"available_modes\": { \"title\": \"Available Modes\", \"type\": \"array\", \"items\": { \"type\": \"integer\" } }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"session_id\": { \"title\": \"Session Id\", \"default\": \"\", \"type\": \"string\" } }, \"required\": [ \"lift_time\", \"lift_name\", \"available_floors\", \"current_floor\", \"destination_floor\", \"door_state\", \"motion_state\", \"available_modes\", \"current_mode\", \"session_id\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /lifts/{lift_name}/health ``` { \"title\": \"LiftHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /tasks/{task_id}/state ``` { \"title\": \"TaskState\", \"type\": \"object\", \"properties\": { \"booking\": { \"$ref\": \"#/definitions/Booking\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"assigned_to\": { \"title\": \"Assigned To\", \"description\": \"Which agent (robot) is the task assigned to\", \"allOf\": [ { \"$ref\": \"#/definitions/AssignedTo\" } ] }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"dispatch\": { \"$ref\": \"#/definitions/Dispatch\" }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary of the states of the phases of the task. The keys (property names) are phase IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phase\" } }, \"completed\": { \"title\": \"Completed\", \"description\": \"An array of the IDs of completed phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"active\": { \"title\": \"Active\", \"description\": \"The ID of the active phase for this task\", \"allOf\": [ { \"$ref\": \"#/definitions/Id\" } ] }, \"pending\": { \"title\": \"Pending\", \"description\": \"An array of the pending phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"interruptions\": { \"title\": \"Interruptions\", \"description\": \"A dictionary of interruptions that have been applied to this task. The keys (property names) are the unique token of the interruption request.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Interruption\" } }, \"cancellation\": { \"title\": \"Cancellation\", \"description\": \"If the task was cancelled, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Cancellation\" } ] }, \"killed\": { \"title\": \"Killed\", \"description\": \"If the task was killed, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Killed\" } ] }, \"unix_millis_warn_time\": { \"title\": \"Unix Millis Warn Time\", \"type\": \"integer\" } }, \"required\": [ \"booking\" ], \"definitions\": { \"Booking\": { \"title\": \"Booking\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"description\": \"The unique identifier for this task\", \"type\": \"string\" }, \"unix_millis_earliest_start_time\": { \"title\": \"Unix Millis Earliest Start Time\", \"type\": \"integer\" }, \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"type\": \"integer\" }, \"priority\": { \"title\": \"Priority\", \"description\": \"Priority information about this task\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"string\" } ] }, \"labels\": { \"title\": \"Labels\", \"description\": \"Information about how and why this task was booked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requester\": { \"title\": \"Requester\", \"description\": \"(Optional) An identifier for the entity that requested this task\", \"type\": \"string\" } }, \"required\": [ \"id\" ] }, \"Category\": { \"title\": \"Category\", \"description\": \"The category of this task or phase\", \"type\": \"string\" }, \"Detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about a task, phase, or event\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] }, \"EstimateMillis\": { \"title\": \"EstimateMillis\", \"description\": \"An estimate, in milliseconds, of how long the subject will take to complete\", \"minimum\": 0, \"type\": \"integer\" }, \"AssignedTo\": { \"title\": \"AssignedTo\", \"type\": \"object\", \"properties\": { \"group\": { \"title\": \"Group\", \"type\": \"string\" }, \"name\": { \"title\": \"Name\", \"type\": \"string\" } }, \"required\": [ \"group\", \"name\" ] }, \"Status\": { \"title\": \"Status\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"blocked\", \"error\", \"failed\", \"queued\", \"standby\", \"underway\", \"delayed\", \"skipped\", \"canceled\", \"killed\", \"completed\" ] }, \"Status1\": { \"title\": \"Status1\", \"description\": \"An enumeration.\", \"enum\": [ \"queued\", \"selected\", \"dispatched\", \"failed_to_assign\", \"canceled_in_flight\" ] }, \"Assignment\": { \"title\": \"Assignment\", \"type\": \"object\", \"properties\": { \"fleet_name\": { \"title\": \"Fleet Name\", \"type\": \"string\" }, \"expected_robot_name\": { \"title\": \"Expected Robot Name\", \"type\": \"string\" } } }, \"Error\": { \"title\": \"Error\", \"type\": \"object\", \"properties\": { \"code\": { \"title\": \"Code\", \"description\": \"A standard code for the kind of error that has occurred\", \"minimum\": 0, \"type\": \"integer\" }, \"category\": { \"title\": \"Category\", \"description\": \"The category of the error\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Details about the error\", \"type\": \"string\" } } }, \"Dispatch\": { \"title\": \"Dispatch\", \"type\": \"object\", \"properties\": { \"status\": { \"$ref\": \"#/definitions/Status1\" }, \"assignment\": { \"$ref\": \"#/definitions/Assignment\" }, \"errors\": { \"title\": \"Errors\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Error\" } } }, \"required\": [ \"status\" ] }, \"Id\": { \"title\": \"Id\", \"minimum\": 0, \"type\": \"integer\" }, \"EventState\": { \"title\": \"EventState\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"name\": { \"title\": \"Name\", \"description\": \"The brief name of the event\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the event\", \"allOf\": [ { \"$ref\": \"#/definitions/Detail\" } ] }, \"deps\": { \"title\": \"Deps\", \"description\": \"This event may depend on other events. This array contains the IDs of those other event dependencies.\", \"type\": \"array\", \"items\": { \"type\": \"integer\", \"minimum\": 0 } } }, \"required\": [ \"id\" ] }, \"Undo\": { \"title\": \"Undo\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the undo skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the undo skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"SkipPhaseRequest\": { \"title\": \"SkipPhaseRequest\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"undo\": { \"title\": \"Undo\", \"description\": \"Information about an undo skip request that applied to this request\", \"allOf\": [ { \"$ref\": \"#/definitions/Undo\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Phase\": { \"title\": \"Phase\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"final_event_id\": { \"$ref\": \"#/definitions/Id\" }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary of events for this phase. The keys (property names) are the event IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/EventState\" } }, \"skip_requests\": { \"title\": \"Skip Requests\", \"description\": \"Information about any skip requests that have been received\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/SkipPhaseRequest\" } } }, \"required\": [ \"id\" ] }, \"ResumedBy\": { \"title\": \"ResumedBy\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the resume request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the resume request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"labels\" ] }, \"Interruption\": { \"title\": \"Interruption\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the interruption request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the interruption\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"resumed_by\": { \"title\": \"Resumed By\", \"description\": \"Information about the resume request that ended this interruption. This field will be missing if the interruption is still active.\", \"allOf\": [ { \"$ref\": \"#/definitions/ResumedBy\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Cancellation\": { \"title\": \"Cancellation\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the cancel request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Killed\": { \"title\": \"Killed\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the kill request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] } } } ``` ### /tasks/{task_id}/log ``` { \"title\": \"TaskEventLog\", \"type\": \"object\", \"properties\": { \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary whose keys (property names) are the indices of a phase\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phases\" } } }, \"required\": [ \"task_id\" ], \"additionalProperties\": false, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] }, \"Phases\": { \"title\": \"Phases\", \"type\": \"object\", \"properties\": { \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall phase\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary whose keys (property names) are the indices of an event in the phase\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"additionalProperties\": false } } } ``` ### /dispensers/{guid}/state ``` { \"title\": \"DispenserState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /dispensers/{guid}/health ``` { \"title\": \"DispenserHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /ingestors/{guid}/state ``` { \"title\": \"IngestorState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /ingestors/{guid}/health ``` { \"title\": \"IngestorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /fleets/{name}/state ``` { \"title\": \"FleetState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"robots\": { \"title\": \"Robots\", \"description\": \"A dictionary of the states of the robots that belong to this fleet\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/RobotState\" } } }, \"definitions\": { \"Status2\": { \"title\": \"Status2\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"offline\", \"shutdown\", \"idle\", \"charging\", \"working\", \"error\" ] }, \"Location2D\": { \"title\": \"Location2D\", \"type\": \"object\", \"properties\": { \"map\": { \"title\": \"Map\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"type\": \"number\" } }, \"required\": [ \"map\", \"x\", \"y\", \"yaw\" ] }, \"Issue\": { \"title\": \"Issue\", \"type\": \"object\", \"properties\": { \"category\": { \"title\": \"Category\", \"description\": \"Category of the robot\'s issue\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the issue\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] } } }, \"RobotState\": { \"title\": \"RobotState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"status\": { \"description\": \"A simple token representing the status of the robot\", \"allOf\": [ { \"$ref\": \"#/definitions/Status2\" } ] }, \"task_id\": { \"title\": \"Task Id\", \"description\": \"The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.\", \"type\": \"string\" }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"location\": { \"$ref\": \"#/definitions/Location2D\" }, \"battery\": { \"title\": \"Battery\", \"description\": \"State of charge of the battery. Values range from 0.0 (depleted) to 1.0 (fully charged)\", \"minimum\": 0.0, \"maximum\": 1.0, \"type\": \"number\" }, \"issues\": { \"title\": \"Issues\", \"description\": \"A list of issues with the robot that operators need to address\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Issue\" } } } } } } ``` ### /fleets/{name}/log ``` { \"title\": \"FleetState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log for the overall fleet\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"robots\": { \"title\": \"Robots\", \"description\": \"Dictionary of logs for the individual robots. The keys (property names) are the robot names.\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] } } } ``` + * # NOTE: This endpoint is here for documentation purposes only, this is _not_ a REST endpoint. ## About This exposes a minimal pubsub system built on top of socket.io. It works similar to a normal socket.io endpoint, except that are 2 special rooms which control subscriptions. ## Rooms ### subscribe Clients must send a message to this room to start receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### unsubscribe Clients can send a message to this room to stop receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### /alerts ``` { \"title\": \"Alert\", \"description\": \"General alert that can be triggered by events.\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"original_id\": { \"title\": \"Original Id\", \"maxLength\": 255, \"type\": \"string\" }, \"category\": { \"title\": \"Category\", \"description\": \"Default: default
Task: task
Fleet: fleet
Robot: robot\", \"maxLength\": 7, \"type\": \"string\" }, \"unix_millis_created_time\": { \"title\": \"Unix Millis Created Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"type\": \"integer\" }, \"acknowledged_by\": { \"title\": \"Acknowledged By\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"unix_millis_acknowledged_time\": { \"title\": \"Unix Millis Acknowledged Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"nullable\": true, \"type\": \"integer\" } }, \"required\": [ \"id\", \"original_id\", \"category\", \"unix_millis_created_time\" ], \"additionalProperties\": false } ``` ### /beacons ``` { \"title\": \"BeaconState\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"online\": { \"title\": \"Online\", \"type\": \"boolean\" }, \"category\": { \"title\": \"Category\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"activated\": { \"title\": \"Activated\", \"type\": \"boolean\" }, \"level\": { \"title\": \"Level\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" } }, \"required\": [ \"id\", \"online\", \"activated\" ], \"additionalProperties\": false } ``` ### /building_map ``` { \"title\": \"BuildingMap\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Level\" } }, \"lifts\": { \"title\": \"Lifts\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Lift\" } } }, \"required\": [ \"name\", \"levels\", \"lifts\" ], \"definitions\": { \"AffineImage\": { \"title\": \"AffineImage\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x_offset\": { \"title\": \"X Offset\", \"default\": 0, \"type\": \"number\" }, \"y_offset\": { \"title\": \"Y Offset\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"scale\": { \"title\": \"Scale\", \"default\": 0, \"type\": \"number\" }, \"encoding\": { \"title\": \"Encoding\", \"default\": \"\", \"type\": \"string\" }, \"data\": { \"title\": \"Data\", \"type\": \"string\" } }, \"required\": [ \"name\", \"x_offset\", \"y_offset\", \"yaw\", \"scale\", \"encoding\", \"data\" ] }, \"Place\": { \"title\": \"Place\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"position_tolerance\": { \"title\": \"Position Tolerance\", \"default\": 0, \"type\": \"number\" }, \"yaw_tolerance\": { \"title\": \"Yaw Tolerance\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"x\", \"y\", \"yaw\", \"position_tolerance\", \"yaw_tolerance\" ] }, \"Door\": { \"title\": \"Door\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"v1_x\": { \"title\": \"V1 X\", \"default\": 0, \"type\": \"number\" }, \"v1_y\": { \"title\": \"V1 Y\", \"default\": 0, \"type\": \"number\" }, \"v2_x\": { \"title\": \"V2 X\", \"default\": 0, \"type\": \"number\" }, \"v2_y\": { \"title\": \"V2 Y\", \"default\": 0, \"type\": \"number\" }, \"door_type\": { \"title\": \"Door Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_range\": { \"title\": \"Motion Range\", \"default\": 0, \"type\": \"number\" }, \"motion_direction\": { \"title\": \"Motion Direction\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" } }, \"required\": [ \"name\", \"v1_x\", \"v1_y\", \"v2_x\", \"v2_y\", \"door_type\", \"motion_range\", \"motion_direction\" ] }, \"Param\": { \"title\": \"Param\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"type\": { \"title\": \"Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"value_int\": { \"title\": \"Value Int\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"value_float\": { \"title\": \"Value Float\", \"default\": 0, \"type\": \"number\" }, \"value_string\": { \"title\": \"Value String\", \"default\": \"\", \"type\": \"string\" }, \"value_bool\": { \"title\": \"Value Bool\", \"default\": false, \"type\": \"boolean\" } }, \"required\": [ \"name\", \"type\", \"value_int\", \"value_float\", \"value_string\", \"value_bool\" ] }, \"GraphNode\": { \"title\": \"GraphNode\", \"type\": \"object\", \"properties\": { \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"x\", \"y\", \"name\", \"params\" ] }, \"GraphEdge\": { \"title\": \"GraphEdge\", \"type\": \"object\", \"properties\": { \"v1_idx\": { \"title\": \"V1 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"v2_idx\": { \"title\": \"V2 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } }, \"edge_type\": { \"title\": \"Edge Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" } }, \"required\": [ \"v1_idx\", \"v2_idx\", \"params\", \"edge_type\" ] }, \"Graph\": { \"title\": \"Graph\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"vertices\": { \"title\": \"Vertices\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphNode\" } }, \"edges\": { \"title\": \"Edges\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphEdge\" } }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"name\", \"vertices\", \"edges\", \"params\" ] }, \"Level\": { \"title\": \"Level\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"elevation\": { \"title\": \"Elevation\", \"default\": 0, \"type\": \"number\" }, \"images\": { \"title\": \"Images\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/AffineImage\" } }, \"places\": { \"title\": \"Places\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Place\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"nav_graphs\": { \"title\": \"Nav Graphs\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Graph\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] } }, \"required\": [ \"name\", \"elevation\", \"images\", \"places\", \"doors\", \"nav_graphs\", \"wall_graph\" ] }, \"Lift\": { \"title\": \"Lift\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] }, \"ref_x\": { \"title\": \"Ref X\", \"default\": 0, \"type\": \"number\" }, \"ref_y\": { \"title\": \"Ref Y\", \"default\": 0, \"type\": \"number\" }, \"ref_yaw\": { \"title\": \"Ref Yaw\", \"default\": 0, \"type\": \"number\" }, \"width\": { \"title\": \"Width\", \"default\": 0, \"type\": \"number\" }, \"depth\": { \"title\": \"Depth\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"levels\", \"doors\", \"wall_graph\", \"ref_x\", \"ref_y\", \"ref_yaw\", \"width\", \"depth\" ] } } } ``` ### /delivery_alerts ``` { \"title\": \"DeliveryAlert\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"type\": \"string\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"tier\": { \"$ref\": \"#/definitions/Tier\" }, \"action\": { \"$ref\": \"#/definitions/Action\" }, \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"message\": { \"title\": \"Message\", \"type\": \"string\" } }, \"required\": [ \"id\", \"category\", \"tier\", \"action\", \"task_id\", \"message\" ], \"definitions\": { \"Category\": { \"title\": \"Category\", \"description\": \"An enumeration.\", \"enum\": [ \"missing\", \"wrong\", \"obstructed\", \"cancelled\" ], \"type\": \"string\" }, \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"warning\", \"error\" ], \"type\": \"string\" }, \"Action\": { \"title\": \"Action\", \"description\": \"An enumeration.\", \"enum\": [ \"waiting\", \"cancelled\", \"override\", \"resume\" ], \"type\": \"string\" } } } ``` ### /doors/{door_name}/state ``` { \"title\": \"DoorState\", \"type\": \"object\", \"properties\": { \"door_time\": { \"title\": \"Door Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"door_name\": { \"title\": \"Door Name\", \"default\": \"\", \"type\": \"string\" }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": { \"value\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/DoorMode\" } ] } }, \"required\": [ \"door_time\", \"door_name\", \"current_mode\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] }, \"DoorMode\": { \"title\": \"DoorMode\", \"type\": \"object\", \"properties\": { \"value\": { \"title\": \"Value\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"value\" ] } } } ``` ### /doors/{door_name}/health ``` { \"title\": \"DoorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /lifts/{lift_name}/state ``` { \"title\": \"LiftState\", \"type\": \"object\", \"properties\": { \"lift_time\": { \"title\": \"Lift Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"lift_name\": { \"title\": \"Lift Name\", \"default\": \"\", \"type\": \"string\" }, \"available_floors\": { \"title\": \"Available Floors\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"current_floor\": { \"title\": \"Current Floor\", \"default\": \"\", \"type\": \"string\" }, \"destination_floor\": { \"title\": \"Destination Floor\", \"default\": \"\", \"type\": \"string\" }, \"door_state\": { \"title\": \"Door State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_state\": { \"title\": \"Motion State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"available_modes\": { \"title\": \"Available Modes\", \"type\": \"array\", \"items\": { \"type\": \"integer\" } }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"session_id\": { \"title\": \"Session Id\", \"default\": \"\", \"type\": \"string\" } }, \"required\": [ \"lift_time\", \"lift_name\", \"available_floors\", \"current_floor\", \"destination_floor\", \"door_state\", \"motion_state\", \"available_modes\", \"current_mode\", \"session_id\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /lifts/{lift_name}/health ``` { \"title\": \"LiftHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /tasks/{task_id}/state ``` { \"title\": \"TaskState\", \"type\": \"object\", \"properties\": { \"booking\": { \"$ref\": \"#/definitions/Booking\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"assigned_to\": { \"title\": \"Assigned To\", \"description\": \"Which agent (robot) is the task assigned to\", \"allOf\": [ { \"$ref\": \"#/definitions/AssignedTo\" } ] }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"dispatch\": { \"$ref\": \"#/definitions/Dispatch\" }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary of the states of the phases of the task. The keys (property names) are phase IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phase\" } }, \"completed\": { \"title\": \"Completed\", \"description\": \"An array of the IDs of completed phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"active\": { \"title\": \"Active\", \"description\": \"The ID of the active phase for this task\", \"allOf\": [ { \"$ref\": \"#/definitions/Id\" } ] }, \"pending\": { \"title\": \"Pending\", \"description\": \"An array of the pending phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"interruptions\": { \"title\": \"Interruptions\", \"description\": \"A dictionary of interruptions that have been applied to this task. The keys (property names) are the unique token of the interruption request.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Interruption\" } }, \"cancellation\": { \"title\": \"Cancellation\", \"description\": \"If the task was cancelled, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Cancellation\" } ] }, \"killed\": { \"title\": \"Killed\", \"description\": \"If the task was killed, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Killed\" } ] }, \"unix_millis_warn_time\": { \"title\": \"Unix Millis Warn Time\", \"type\": \"integer\" } }, \"required\": [ \"booking\" ], \"definitions\": { \"Booking\": { \"title\": \"Booking\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"description\": \"The unique identifier for this task\", \"type\": \"string\" }, \"unix_millis_earliest_start_time\": { \"title\": \"Unix Millis Earliest Start Time\", \"type\": \"integer\" }, \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"type\": \"integer\" }, \"priority\": { \"title\": \"Priority\", \"description\": \"Priority information about this task\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"string\" } ] }, \"labels\": { \"title\": \"Labels\", \"description\": \"Information about how and why this task was booked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requester\": { \"title\": \"Requester\", \"description\": \"(Optional) An identifier for the entity that requested this task\", \"type\": \"string\" } }, \"required\": [ \"id\" ] }, \"Category\": { \"title\": \"Category\", \"description\": \"The category of this task or phase\", \"type\": \"string\" }, \"Detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about a task, phase, or event\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] }, \"EstimateMillis\": { \"title\": \"EstimateMillis\", \"description\": \"An estimate, in milliseconds, of how long the subject will take to complete\", \"minimum\": 0, \"type\": \"integer\" }, \"AssignedTo\": { \"title\": \"AssignedTo\", \"type\": \"object\", \"properties\": { \"group\": { \"title\": \"Group\", \"type\": \"string\" }, \"name\": { \"title\": \"Name\", \"type\": \"string\" } }, \"required\": [ \"group\", \"name\" ] }, \"Status\": { \"title\": \"Status\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"blocked\", \"error\", \"failed\", \"queued\", \"standby\", \"underway\", \"delayed\", \"skipped\", \"canceled\", \"killed\", \"completed\" ] }, \"Status1\": { \"title\": \"Status1\", \"description\": \"An enumeration.\", \"enum\": [ \"queued\", \"selected\", \"dispatched\", \"failed_to_assign\", \"canceled_in_flight\" ] }, \"Assignment\": { \"title\": \"Assignment\", \"type\": \"object\", \"properties\": { \"fleet_name\": { \"title\": \"Fleet Name\", \"type\": \"string\" }, \"expected_robot_name\": { \"title\": \"Expected Robot Name\", \"type\": \"string\" } } }, \"Error\": { \"title\": \"Error\", \"type\": \"object\", \"properties\": { \"code\": { \"title\": \"Code\", \"description\": \"A standard code for the kind of error that has occurred\", \"minimum\": 0, \"type\": \"integer\" }, \"category\": { \"title\": \"Category\", \"description\": \"The category of the error\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Details about the error\", \"type\": \"string\" } } }, \"Dispatch\": { \"title\": \"Dispatch\", \"type\": \"object\", \"properties\": { \"status\": { \"$ref\": \"#/definitions/Status1\" }, \"assignment\": { \"$ref\": \"#/definitions/Assignment\" }, \"errors\": { \"title\": \"Errors\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Error\" } } }, \"required\": [ \"status\" ] }, \"Id\": { \"title\": \"Id\", \"minimum\": 0, \"type\": \"integer\" }, \"EventState\": { \"title\": \"EventState\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"name\": { \"title\": \"Name\", \"description\": \"The brief name of the event\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the event\", \"allOf\": [ { \"$ref\": \"#/definitions/Detail\" } ] }, \"deps\": { \"title\": \"Deps\", \"description\": \"This event may depend on other events. This array contains the IDs of those other event dependencies.\", \"type\": \"array\", \"items\": { \"type\": \"integer\", \"minimum\": 0 } } }, \"required\": [ \"id\" ] }, \"Undo\": { \"title\": \"Undo\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the undo skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the undo skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"SkipPhaseRequest\": { \"title\": \"SkipPhaseRequest\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"undo\": { \"title\": \"Undo\", \"description\": \"Information about an undo skip request that applied to this request\", \"allOf\": [ { \"$ref\": \"#/definitions/Undo\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Phase\": { \"title\": \"Phase\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"final_event_id\": { \"$ref\": \"#/definitions/Id\" }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary of events for this phase. The keys (property names) are the event IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/EventState\" } }, \"skip_requests\": { \"title\": \"Skip Requests\", \"description\": \"Information about any skip requests that have been received\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/SkipPhaseRequest\" } } }, \"required\": [ \"id\" ] }, \"ResumedBy\": { \"title\": \"ResumedBy\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the resume request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the resume request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"labels\" ] }, \"Interruption\": { \"title\": \"Interruption\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the interruption request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the interruption\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"resumed_by\": { \"title\": \"Resumed By\", \"description\": \"Information about the resume request that ended this interruption. This field will be missing if the interruption is still active.\", \"allOf\": [ { \"$ref\": \"#/definitions/ResumedBy\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Cancellation\": { \"title\": \"Cancellation\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the cancel request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Killed\": { \"title\": \"Killed\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the kill request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] } } } ``` ### /tasks/{task_id}/log ``` { \"title\": \"TaskEventLog\", \"type\": \"object\", \"properties\": { \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary whose keys (property names) are the indices of a phase\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phases\" } } }, \"required\": [ \"task_id\" ], \"additionalProperties\": false, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] }, \"Phases\": { \"title\": \"Phases\", \"type\": \"object\", \"properties\": { \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall phase\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary whose keys (property names) are the indices of an event in the phase\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"additionalProperties\": false } } } ``` ### /dispensers/{guid}/state ``` { \"title\": \"DispenserState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /dispensers/{guid}/health ``` { \"title\": \"DispenserHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /ingestors/{guid}/state ``` { \"title\": \"IngestorState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /ingestors/{guid}/health ``` { \"title\": \"IngestorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /fleets/{name}/state ``` { \"title\": \"FleetState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"robots\": { \"title\": \"Robots\", \"description\": \"A dictionary of the states of the robots that belong to this fleet\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/RobotState\" } } }, \"definitions\": { \"Status\": { \"title\": \"Status\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"offline\", \"shutdown\", \"idle\", \"charging\", \"working\", \"error\" ] }, \"Location2D\": { \"title\": \"Location2D\", \"type\": \"object\", \"properties\": { \"map\": { \"title\": \"Map\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"type\": \"number\" } }, \"required\": [ \"map\", \"x\", \"y\", \"yaw\" ] }, \"Issue\": { \"title\": \"Issue\", \"type\": \"object\", \"properties\": { \"category\": { \"title\": \"Category\", \"description\": \"Category of the robot\'s issue\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the issue\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] } } }, \"Commission\": { \"title\": \"Commission\", \"type\": \"object\", \"properties\": { \"dispatch_tasks\": { \"title\": \"Dispatch Tasks\", \"description\": \"Should the robot accept dispatched tasks, true/false. When used in a request, leave this unset to not change the robot\'s current value.\", \"type\": \"boolean\" }, \"direct_tasks\": { \"title\": \"Direct Tasks\", \"description\": \"Should the robot accept direct task requests, true/false. When used in a request, leave this unset to not change the robot\'s current value.\", \"type\": \"boolean\" }, \"idle_behavior\": { \"title\": \"Idle Behavior\", \"description\": \"Should the robot perform its idle behavior, true/false. When used in a request, leave this unset to not change the robot\'s current value.\", \"type\": \"boolean\" } } }, \"RobotState\": { \"title\": \"RobotState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"status\": { \"description\": \"A simple token representing the status of the robot\", \"allOf\": [ { \"$ref\": \"#/definitions/Status\" } ] }, \"task_id\": { \"title\": \"Task Id\", \"description\": \"The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.\", \"type\": \"string\" }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"location\": { \"$ref\": \"#/definitions/Location2D\" }, \"battery\": { \"title\": \"Battery\", \"description\": \"State of charge of the battery. Values range from 0.0 (depleted) to 1.0 (fully charged)\", \"minimum\": 0.0, \"maximum\": 1.0, \"type\": \"number\" }, \"issues\": { \"title\": \"Issues\", \"description\": \"A list of issues with the robot that operators need to address\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Issue\" } }, \"commission\": { \"$ref\": \"#/definitions/Commission\" } } } } } ``` ### /fleets/{name}/log ``` { \"title\": \"FleetLog\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log for the overall fleet\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"robots\": { \"title\": \"Robots\", \"description\": \"Dictionary of logs for the individual robots. The keys (property names) are the robot names.\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] } } } ``` * @summary Socket.io endpoint * @param {*} [options] Override http request option. * @throws {RequiredError} @@ -5740,7 +5878,7 @@ export const DefaultApiFactory = function ( return localVarFp.getUserUserGet(options).then((request) => request(axios, basePath)); }, /** - * # NOTE: This endpoint is here for documentation purposes only, this is _not_ a REST endpoint. ## About This exposes a minimal pubsub system built on top of socket.io. It works similar to a normal socket.io endpoint, except that are 2 special rooms which control subscriptions. ## Rooms ### subscribe Clients must send a message to this room to start receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### unsubscribe Clients can send a message to this room to stop receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### /alerts ``` { \"title\": \"Alert\", \"description\": \"General alert that can be triggered by events.\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"original_id\": { \"title\": \"Original Id\", \"maxLength\": 255, \"type\": \"string\" }, \"category\": { \"title\": \"Category\", \"description\": \"Default: default
Task: task
Fleet: fleet
Robot: robot\", \"maxLength\": 7, \"type\": \"string\" }, \"unix_millis_created_time\": { \"title\": \"Unix Millis Created Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"type\": \"integer\" }, \"acknowledged_by\": { \"title\": \"Acknowledged By\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"unix_millis_acknowledged_time\": { \"title\": \"Unix Millis Acknowledged Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"nullable\": true, \"type\": \"integer\" } }, \"required\": [ \"id\", \"original_id\", \"category\", \"unix_millis_created_time\" ], \"additionalProperties\": false } ``` ### /beacons ``` { \"title\": \"BeaconState\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"online\": { \"title\": \"Online\", \"type\": \"boolean\" }, \"category\": { \"title\": \"Category\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"activated\": { \"title\": \"Activated\", \"type\": \"boolean\" }, \"level\": { \"title\": \"Level\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" } }, \"required\": [ \"id\", \"online\", \"activated\" ], \"additionalProperties\": false } ``` ### /building_map ``` { \"title\": \"BuildingMap\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Level\" } }, \"lifts\": { \"title\": \"Lifts\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Lift\" } } }, \"required\": [ \"name\", \"levels\", \"lifts\" ], \"definitions\": { \"AffineImage\": { \"title\": \"AffineImage\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x_offset\": { \"title\": \"X Offset\", \"default\": 0, \"type\": \"number\" }, \"y_offset\": { \"title\": \"Y Offset\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"scale\": { \"title\": \"Scale\", \"default\": 0, \"type\": \"number\" }, \"encoding\": { \"title\": \"Encoding\", \"default\": \"\", \"type\": \"string\" }, \"data\": { \"title\": \"Data\", \"type\": \"string\" } }, \"required\": [ \"name\", \"x_offset\", \"y_offset\", \"yaw\", \"scale\", \"encoding\", \"data\" ] }, \"Place\": { \"title\": \"Place\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"position_tolerance\": { \"title\": \"Position Tolerance\", \"default\": 0, \"type\": \"number\" }, \"yaw_tolerance\": { \"title\": \"Yaw Tolerance\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"x\", \"y\", \"yaw\", \"position_tolerance\", \"yaw_tolerance\" ] }, \"Door\": { \"title\": \"Door\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"v1_x\": { \"title\": \"V1 X\", \"default\": 0, \"type\": \"number\" }, \"v1_y\": { \"title\": \"V1 Y\", \"default\": 0, \"type\": \"number\" }, \"v2_x\": { \"title\": \"V2 X\", \"default\": 0, \"type\": \"number\" }, \"v2_y\": { \"title\": \"V2 Y\", \"default\": 0, \"type\": \"number\" }, \"door_type\": { \"title\": \"Door Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_range\": { \"title\": \"Motion Range\", \"default\": 0, \"type\": \"number\" }, \"motion_direction\": { \"title\": \"Motion Direction\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" } }, \"required\": [ \"name\", \"v1_x\", \"v1_y\", \"v2_x\", \"v2_y\", \"door_type\", \"motion_range\", \"motion_direction\" ] }, \"Param\": { \"title\": \"Param\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"type\": { \"title\": \"Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"value_int\": { \"title\": \"Value Int\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"value_float\": { \"title\": \"Value Float\", \"default\": 0, \"type\": \"number\" }, \"value_string\": { \"title\": \"Value String\", \"default\": \"\", \"type\": \"string\" }, \"value_bool\": { \"title\": \"Value Bool\", \"default\": false, \"type\": \"boolean\" } }, \"required\": [ \"name\", \"type\", \"value_int\", \"value_float\", \"value_string\", \"value_bool\" ] }, \"GraphNode\": { \"title\": \"GraphNode\", \"type\": \"object\", \"properties\": { \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"x\", \"y\", \"name\", \"params\" ] }, \"GraphEdge\": { \"title\": \"GraphEdge\", \"type\": \"object\", \"properties\": { \"v1_idx\": { \"title\": \"V1 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"v2_idx\": { \"title\": \"V2 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } }, \"edge_type\": { \"title\": \"Edge Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" } }, \"required\": [ \"v1_idx\", \"v2_idx\", \"params\", \"edge_type\" ] }, \"Graph\": { \"title\": \"Graph\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"vertices\": { \"title\": \"Vertices\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphNode\" } }, \"edges\": { \"title\": \"Edges\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphEdge\" } }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"name\", \"vertices\", \"edges\", \"params\" ] }, \"Level\": { \"title\": \"Level\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"elevation\": { \"title\": \"Elevation\", \"default\": 0, \"type\": \"number\" }, \"images\": { \"title\": \"Images\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/AffineImage\" } }, \"places\": { \"title\": \"Places\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Place\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"nav_graphs\": { \"title\": \"Nav Graphs\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Graph\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] } }, \"required\": [ \"name\", \"elevation\", \"images\", \"places\", \"doors\", \"nav_graphs\", \"wall_graph\" ] }, \"Lift\": { \"title\": \"Lift\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] }, \"ref_x\": { \"title\": \"Ref X\", \"default\": 0, \"type\": \"number\" }, \"ref_y\": { \"title\": \"Ref Y\", \"default\": 0, \"type\": \"number\" }, \"ref_yaw\": { \"title\": \"Ref Yaw\", \"default\": 0, \"type\": \"number\" }, \"width\": { \"title\": \"Width\", \"default\": 0, \"type\": \"number\" }, \"depth\": { \"title\": \"Depth\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"levels\", \"doors\", \"wall_graph\", \"ref_x\", \"ref_y\", \"ref_yaw\", \"width\", \"depth\" ] } } } ``` ### /delivery_alerts ``` { \"title\": \"DeliveryAlert\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"type\": \"string\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"tier\": { \"$ref\": \"#/definitions/Tier\" }, \"action\": { \"$ref\": \"#/definitions/Action\" }, \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"message\": { \"title\": \"Message\", \"type\": \"string\" } }, \"required\": [ \"id\", \"category\", \"tier\", \"action\", \"task_id\", \"message\" ], \"definitions\": { \"Category\": { \"title\": \"Category\", \"description\": \"An enumeration.\", \"enum\": [ \"missing\", \"wrong\", \"obstructed\", \"cancelled\" ], \"type\": \"string\" }, \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"warning\", \"error\" ], \"type\": \"string\" }, \"Action\": { \"title\": \"Action\", \"description\": \"An enumeration.\", \"enum\": [ \"waiting\", \"cancelled\", \"override\", \"resume\" ], \"type\": \"string\" } } } ``` ### /doors/{door_name}/state ``` { \"title\": \"DoorState\", \"type\": \"object\", \"properties\": { \"door_time\": { \"title\": \"Door Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"door_name\": { \"title\": \"Door Name\", \"default\": \"\", \"type\": \"string\" }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": { \"value\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/DoorMode\" } ] } }, \"required\": [ \"door_time\", \"door_name\", \"current_mode\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] }, \"DoorMode\": { \"title\": \"DoorMode\", \"type\": \"object\", \"properties\": { \"value\": { \"title\": \"Value\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"value\" ] } } } ``` ### /doors/{door_name}/health ``` { \"title\": \"DoorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /lifts/{lift_name}/state ``` { \"title\": \"LiftState\", \"type\": \"object\", \"properties\": { \"lift_time\": { \"title\": \"Lift Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"lift_name\": { \"title\": \"Lift Name\", \"default\": \"\", \"type\": \"string\" }, \"available_floors\": { \"title\": \"Available Floors\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"current_floor\": { \"title\": \"Current Floor\", \"default\": \"\", \"type\": \"string\" }, \"destination_floor\": { \"title\": \"Destination Floor\", \"default\": \"\", \"type\": \"string\" }, \"door_state\": { \"title\": \"Door State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_state\": { \"title\": \"Motion State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"available_modes\": { \"title\": \"Available Modes\", \"type\": \"array\", \"items\": { \"type\": \"integer\" } }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"session_id\": { \"title\": \"Session Id\", \"default\": \"\", \"type\": \"string\" } }, \"required\": [ \"lift_time\", \"lift_name\", \"available_floors\", \"current_floor\", \"destination_floor\", \"door_state\", \"motion_state\", \"available_modes\", \"current_mode\", \"session_id\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /lifts/{lift_name}/health ``` { \"title\": \"LiftHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /tasks/{task_id}/state ``` { \"title\": \"TaskState\", \"type\": \"object\", \"properties\": { \"booking\": { \"$ref\": \"#/definitions/Booking\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"assigned_to\": { \"title\": \"Assigned To\", \"description\": \"Which agent (robot) is the task assigned to\", \"allOf\": [ { \"$ref\": \"#/definitions/AssignedTo\" } ] }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"dispatch\": { \"$ref\": \"#/definitions/Dispatch\" }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary of the states of the phases of the task. The keys (property names) are phase IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phase\" } }, \"completed\": { \"title\": \"Completed\", \"description\": \"An array of the IDs of completed phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"active\": { \"title\": \"Active\", \"description\": \"The ID of the active phase for this task\", \"allOf\": [ { \"$ref\": \"#/definitions/Id\" } ] }, \"pending\": { \"title\": \"Pending\", \"description\": \"An array of the pending phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"interruptions\": { \"title\": \"Interruptions\", \"description\": \"A dictionary of interruptions that have been applied to this task. The keys (property names) are the unique token of the interruption request.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Interruption\" } }, \"cancellation\": { \"title\": \"Cancellation\", \"description\": \"If the task was cancelled, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Cancellation\" } ] }, \"killed\": { \"title\": \"Killed\", \"description\": \"If the task was killed, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Killed\" } ] }, \"unix_millis_warn_time\": { \"title\": \"Unix Millis Warn Time\", \"type\": \"integer\" } }, \"required\": [ \"booking\" ], \"definitions\": { \"Booking\": { \"title\": \"Booking\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"description\": \"The unique identifier for this task\", \"type\": \"string\" }, \"unix_millis_earliest_start_time\": { \"title\": \"Unix Millis Earliest Start Time\", \"type\": \"integer\" }, \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"type\": \"integer\" }, \"priority\": { \"title\": \"Priority\", \"description\": \"Priority information about this task\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"string\" } ] }, \"labels\": { \"title\": \"Labels\", \"description\": \"Information about how and why this task was booked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requester\": { \"title\": \"Requester\", \"description\": \"(Optional) An identifier for the entity that requested this task\", \"type\": \"string\" } }, \"required\": [ \"id\" ] }, \"Category\": { \"title\": \"Category\", \"description\": \"The category of this task or phase\", \"type\": \"string\" }, \"Detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about a task, phase, or event\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] }, \"EstimateMillis\": { \"title\": \"EstimateMillis\", \"description\": \"An estimate, in milliseconds, of how long the subject will take to complete\", \"minimum\": 0, \"type\": \"integer\" }, \"AssignedTo\": { \"title\": \"AssignedTo\", \"type\": \"object\", \"properties\": { \"group\": { \"title\": \"Group\", \"type\": \"string\" }, \"name\": { \"title\": \"Name\", \"type\": \"string\" } }, \"required\": [ \"group\", \"name\" ] }, \"Status\": { \"title\": \"Status\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"blocked\", \"error\", \"failed\", \"queued\", \"standby\", \"underway\", \"delayed\", \"skipped\", \"canceled\", \"killed\", \"completed\" ] }, \"Status1\": { \"title\": \"Status1\", \"description\": \"An enumeration.\", \"enum\": [ \"queued\", \"selected\", \"dispatched\", \"failed_to_assign\", \"canceled_in_flight\" ] }, \"Assignment\": { \"title\": \"Assignment\", \"type\": \"object\", \"properties\": { \"fleet_name\": { \"title\": \"Fleet Name\", \"type\": \"string\" }, \"expected_robot_name\": { \"title\": \"Expected Robot Name\", \"type\": \"string\" } } }, \"Error\": { \"title\": \"Error\", \"type\": \"object\", \"properties\": { \"code\": { \"title\": \"Code\", \"description\": \"A standard code for the kind of error that has occurred\", \"minimum\": 0, \"type\": \"integer\" }, \"category\": { \"title\": \"Category\", \"description\": \"The category of the error\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Details about the error\", \"type\": \"string\" } } }, \"Dispatch\": { \"title\": \"Dispatch\", \"type\": \"object\", \"properties\": { \"status\": { \"$ref\": \"#/definitions/Status1\" }, \"assignment\": { \"$ref\": \"#/definitions/Assignment\" }, \"errors\": { \"title\": \"Errors\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Error\" } } }, \"required\": [ \"status\" ] }, \"Id\": { \"title\": \"Id\", \"minimum\": 0, \"type\": \"integer\" }, \"EventState\": { \"title\": \"EventState\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"name\": { \"title\": \"Name\", \"description\": \"The brief name of the event\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the event\", \"allOf\": [ { \"$ref\": \"#/definitions/Detail\" } ] }, \"deps\": { \"title\": \"Deps\", \"description\": \"This event may depend on other events. This array contains the IDs of those other event dependencies.\", \"type\": \"array\", \"items\": { \"type\": \"integer\", \"minimum\": 0 } } }, \"required\": [ \"id\" ] }, \"Undo\": { \"title\": \"Undo\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the undo skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the undo skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"SkipPhaseRequest\": { \"title\": \"SkipPhaseRequest\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"undo\": { \"title\": \"Undo\", \"description\": \"Information about an undo skip request that applied to this request\", \"allOf\": [ { \"$ref\": \"#/definitions/Undo\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Phase\": { \"title\": \"Phase\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"final_event_id\": { \"$ref\": \"#/definitions/Id\" }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary of events for this phase. The keys (property names) are the event IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/EventState\" } }, \"skip_requests\": { \"title\": \"Skip Requests\", \"description\": \"Information about any skip requests that have been received\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/SkipPhaseRequest\" } } }, \"required\": [ \"id\" ] }, \"ResumedBy\": { \"title\": \"ResumedBy\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the resume request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the resume request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"labels\" ] }, \"Interruption\": { \"title\": \"Interruption\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the interruption request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the interruption\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"resumed_by\": { \"title\": \"Resumed By\", \"description\": \"Information about the resume request that ended this interruption. This field will be missing if the interruption is still active.\", \"allOf\": [ { \"$ref\": \"#/definitions/ResumedBy\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Cancellation\": { \"title\": \"Cancellation\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the cancel request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Killed\": { \"title\": \"Killed\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the kill request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] } } } ``` ### /tasks/{task_id}/log ``` { \"title\": \"TaskEventLog\", \"type\": \"object\", \"properties\": { \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary whose keys (property names) are the indices of a phase\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phases\" } } }, \"required\": [ \"task_id\" ], \"additionalProperties\": false, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] }, \"Phases\": { \"title\": \"Phases\", \"type\": \"object\", \"properties\": { \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall phase\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary whose keys (property names) are the indices of an event in the phase\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"additionalProperties\": false } } } ``` ### /dispensers/{guid}/state ``` { \"title\": \"DispenserState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /dispensers/{guid}/health ``` { \"title\": \"DispenserHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /ingestors/{guid}/state ``` { \"title\": \"IngestorState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /ingestors/{guid}/health ``` { \"title\": \"IngestorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /fleets/{name}/state ``` { \"title\": \"FleetState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"robots\": { \"title\": \"Robots\", \"description\": \"A dictionary of the states of the robots that belong to this fleet\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/RobotState\" } } }, \"definitions\": { \"Status2\": { \"title\": \"Status2\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"offline\", \"shutdown\", \"idle\", \"charging\", \"working\", \"error\" ] }, \"Location2D\": { \"title\": \"Location2D\", \"type\": \"object\", \"properties\": { \"map\": { \"title\": \"Map\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"type\": \"number\" } }, \"required\": [ \"map\", \"x\", \"y\", \"yaw\" ] }, \"Issue\": { \"title\": \"Issue\", \"type\": \"object\", \"properties\": { \"category\": { \"title\": \"Category\", \"description\": \"Category of the robot\'s issue\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the issue\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] } } }, \"RobotState\": { \"title\": \"RobotState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"status\": { \"description\": \"A simple token representing the status of the robot\", \"allOf\": [ { \"$ref\": \"#/definitions/Status2\" } ] }, \"task_id\": { \"title\": \"Task Id\", \"description\": \"The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.\", \"type\": \"string\" }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"location\": { \"$ref\": \"#/definitions/Location2D\" }, \"battery\": { \"title\": \"Battery\", \"description\": \"State of charge of the battery. Values range from 0.0 (depleted) to 1.0 (fully charged)\", \"minimum\": 0.0, \"maximum\": 1.0, \"type\": \"number\" }, \"issues\": { \"title\": \"Issues\", \"description\": \"A list of issues with the robot that operators need to address\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Issue\" } } } } } } ``` ### /fleets/{name}/log ``` { \"title\": \"FleetState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log for the overall fleet\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"robots\": { \"title\": \"Robots\", \"description\": \"Dictionary of logs for the individual robots. The keys (property names) are the robot names.\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] } } } ``` + * # NOTE: This endpoint is here for documentation purposes only, this is _not_ a REST endpoint. ## About This exposes a minimal pubsub system built on top of socket.io. It works similar to a normal socket.io endpoint, except that are 2 special rooms which control subscriptions. ## Rooms ### subscribe Clients must send a message to this room to start receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### unsubscribe Clients can send a message to this room to stop receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### /alerts ``` { \"title\": \"Alert\", \"description\": \"General alert that can be triggered by events.\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"original_id\": { \"title\": \"Original Id\", \"maxLength\": 255, \"type\": \"string\" }, \"category\": { \"title\": \"Category\", \"description\": \"Default: default
Task: task
Fleet: fleet
Robot: robot\", \"maxLength\": 7, \"type\": \"string\" }, \"unix_millis_created_time\": { \"title\": \"Unix Millis Created Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"type\": \"integer\" }, \"acknowledged_by\": { \"title\": \"Acknowledged By\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"unix_millis_acknowledged_time\": { \"title\": \"Unix Millis Acknowledged Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"nullable\": true, \"type\": \"integer\" } }, \"required\": [ \"id\", \"original_id\", \"category\", \"unix_millis_created_time\" ], \"additionalProperties\": false } ``` ### /beacons ``` { \"title\": \"BeaconState\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"online\": { \"title\": \"Online\", \"type\": \"boolean\" }, \"category\": { \"title\": \"Category\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"activated\": { \"title\": \"Activated\", \"type\": \"boolean\" }, \"level\": { \"title\": \"Level\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" } }, \"required\": [ \"id\", \"online\", \"activated\" ], \"additionalProperties\": false } ``` ### /building_map ``` { \"title\": \"BuildingMap\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Level\" } }, \"lifts\": { \"title\": \"Lifts\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Lift\" } } }, \"required\": [ \"name\", \"levels\", \"lifts\" ], \"definitions\": { \"AffineImage\": { \"title\": \"AffineImage\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x_offset\": { \"title\": \"X Offset\", \"default\": 0, \"type\": \"number\" }, \"y_offset\": { \"title\": \"Y Offset\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"scale\": { \"title\": \"Scale\", \"default\": 0, \"type\": \"number\" }, \"encoding\": { \"title\": \"Encoding\", \"default\": \"\", \"type\": \"string\" }, \"data\": { \"title\": \"Data\", \"type\": \"string\" } }, \"required\": [ \"name\", \"x_offset\", \"y_offset\", \"yaw\", \"scale\", \"encoding\", \"data\" ] }, \"Place\": { \"title\": \"Place\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"position_tolerance\": { \"title\": \"Position Tolerance\", \"default\": 0, \"type\": \"number\" }, \"yaw_tolerance\": { \"title\": \"Yaw Tolerance\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"x\", \"y\", \"yaw\", \"position_tolerance\", \"yaw_tolerance\" ] }, \"Door\": { \"title\": \"Door\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"v1_x\": { \"title\": \"V1 X\", \"default\": 0, \"type\": \"number\" }, \"v1_y\": { \"title\": \"V1 Y\", \"default\": 0, \"type\": \"number\" }, \"v2_x\": { \"title\": \"V2 X\", \"default\": 0, \"type\": \"number\" }, \"v2_y\": { \"title\": \"V2 Y\", \"default\": 0, \"type\": \"number\" }, \"door_type\": { \"title\": \"Door Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_range\": { \"title\": \"Motion Range\", \"default\": 0, \"type\": \"number\" }, \"motion_direction\": { \"title\": \"Motion Direction\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" } }, \"required\": [ \"name\", \"v1_x\", \"v1_y\", \"v2_x\", \"v2_y\", \"door_type\", \"motion_range\", \"motion_direction\" ] }, \"Param\": { \"title\": \"Param\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"type\": { \"title\": \"Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"value_int\": { \"title\": \"Value Int\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"value_float\": { \"title\": \"Value Float\", \"default\": 0, \"type\": \"number\" }, \"value_string\": { \"title\": \"Value String\", \"default\": \"\", \"type\": \"string\" }, \"value_bool\": { \"title\": \"Value Bool\", \"default\": false, \"type\": \"boolean\" } }, \"required\": [ \"name\", \"type\", \"value_int\", \"value_float\", \"value_string\", \"value_bool\" ] }, \"GraphNode\": { \"title\": \"GraphNode\", \"type\": \"object\", \"properties\": { \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"x\", \"y\", \"name\", \"params\" ] }, \"GraphEdge\": { \"title\": \"GraphEdge\", \"type\": \"object\", \"properties\": { \"v1_idx\": { \"title\": \"V1 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"v2_idx\": { \"title\": \"V2 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } }, \"edge_type\": { \"title\": \"Edge Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" } }, \"required\": [ \"v1_idx\", \"v2_idx\", \"params\", \"edge_type\" ] }, \"Graph\": { \"title\": \"Graph\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"vertices\": { \"title\": \"Vertices\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphNode\" } }, \"edges\": { \"title\": \"Edges\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphEdge\" } }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"name\", \"vertices\", \"edges\", \"params\" ] }, \"Level\": { \"title\": \"Level\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"elevation\": { \"title\": \"Elevation\", \"default\": 0, \"type\": \"number\" }, \"images\": { \"title\": \"Images\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/AffineImage\" } }, \"places\": { \"title\": \"Places\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Place\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"nav_graphs\": { \"title\": \"Nav Graphs\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Graph\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] } }, \"required\": [ \"name\", \"elevation\", \"images\", \"places\", \"doors\", \"nav_graphs\", \"wall_graph\" ] }, \"Lift\": { \"title\": \"Lift\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] }, \"ref_x\": { \"title\": \"Ref X\", \"default\": 0, \"type\": \"number\" }, \"ref_y\": { \"title\": \"Ref Y\", \"default\": 0, \"type\": \"number\" }, \"ref_yaw\": { \"title\": \"Ref Yaw\", \"default\": 0, \"type\": \"number\" }, \"width\": { \"title\": \"Width\", \"default\": 0, \"type\": \"number\" }, \"depth\": { \"title\": \"Depth\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"levels\", \"doors\", \"wall_graph\", \"ref_x\", \"ref_y\", \"ref_yaw\", \"width\", \"depth\" ] } } } ``` ### /delivery_alerts ``` { \"title\": \"DeliveryAlert\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"type\": \"string\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"tier\": { \"$ref\": \"#/definitions/Tier\" }, \"action\": { \"$ref\": \"#/definitions/Action\" }, \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"message\": { \"title\": \"Message\", \"type\": \"string\" } }, \"required\": [ \"id\", \"category\", \"tier\", \"action\", \"task_id\", \"message\" ], \"definitions\": { \"Category\": { \"title\": \"Category\", \"description\": \"An enumeration.\", \"enum\": [ \"missing\", \"wrong\", \"obstructed\", \"cancelled\" ], \"type\": \"string\" }, \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"warning\", \"error\" ], \"type\": \"string\" }, \"Action\": { \"title\": \"Action\", \"description\": \"An enumeration.\", \"enum\": [ \"waiting\", \"cancelled\", \"override\", \"resume\" ], \"type\": \"string\" } } } ``` ### /doors/{door_name}/state ``` { \"title\": \"DoorState\", \"type\": \"object\", \"properties\": { \"door_time\": { \"title\": \"Door Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"door_name\": { \"title\": \"Door Name\", \"default\": \"\", \"type\": \"string\" }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": { \"value\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/DoorMode\" } ] } }, \"required\": [ \"door_time\", \"door_name\", \"current_mode\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] }, \"DoorMode\": { \"title\": \"DoorMode\", \"type\": \"object\", \"properties\": { \"value\": { \"title\": \"Value\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"value\" ] } } } ``` ### /doors/{door_name}/health ``` { \"title\": \"DoorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /lifts/{lift_name}/state ``` { \"title\": \"LiftState\", \"type\": \"object\", \"properties\": { \"lift_time\": { \"title\": \"Lift Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"lift_name\": { \"title\": \"Lift Name\", \"default\": \"\", \"type\": \"string\" }, \"available_floors\": { \"title\": \"Available Floors\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"current_floor\": { \"title\": \"Current Floor\", \"default\": \"\", \"type\": \"string\" }, \"destination_floor\": { \"title\": \"Destination Floor\", \"default\": \"\", \"type\": \"string\" }, \"door_state\": { \"title\": \"Door State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_state\": { \"title\": \"Motion State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"available_modes\": { \"title\": \"Available Modes\", \"type\": \"array\", \"items\": { \"type\": \"integer\" } }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"session_id\": { \"title\": \"Session Id\", \"default\": \"\", \"type\": \"string\" } }, \"required\": [ \"lift_time\", \"lift_name\", \"available_floors\", \"current_floor\", \"destination_floor\", \"door_state\", \"motion_state\", \"available_modes\", \"current_mode\", \"session_id\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /lifts/{lift_name}/health ``` { \"title\": \"LiftHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /tasks/{task_id}/state ``` { \"title\": \"TaskState\", \"type\": \"object\", \"properties\": { \"booking\": { \"$ref\": \"#/definitions/Booking\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"assigned_to\": { \"title\": \"Assigned To\", \"description\": \"Which agent (robot) is the task assigned to\", \"allOf\": [ { \"$ref\": \"#/definitions/AssignedTo\" } ] }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"dispatch\": { \"$ref\": \"#/definitions/Dispatch\" }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary of the states of the phases of the task. The keys (property names) are phase IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phase\" } }, \"completed\": { \"title\": \"Completed\", \"description\": \"An array of the IDs of completed phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"active\": { \"title\": \"Active\", \"description\": \"The ID of the active phase for this task\", \"allOf\": [ { \"$ref\": \"#/definitions/Id\" } ] }, \"pending\": { \"title\": \"Pending\", \"description\": \"An array of the pending phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"interruptions\": { \"title\": \"Interruptions\", \"description\": \"A dictionary of interruptions that have been applied to this task. The keys (property names) are the unique token of the interruption request.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Interruption\" } }, \"cancellation\": { \"title\": \"Cancellation\", \"description\": \"If the task was cancelled, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Cancellation\" } ] }, \"killed\": { \"title\": \"Killed\", \"description\": \"If the task was killed, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Killed\" } ] }, \"unix_millis_warn_time\": { \"title\": \"Unix Millis Warn Time\", \"type\": \"integer\" } }, \"required\": [ \"booking\" ], \"definitions\": { \"Booking\": { \"title\": \"Booking\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"description\": \"The unique identifier for this task\", \"type\": \"string\" }, \"unix_millis_earliest_start_time\": { \"title\": \"Unix Millis Earliest Start Time\", \"type\": \"integer\" }, \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"type\": \"integer\" }, \"priority\": { \"title\": \"Priority\", \"description\": \"Priority information about this task\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"string\" } ] }, \"labels\": { \"title\": \"Labels\", \"description\": \"Information about how and why this task was booked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requester\": { \"title\": \"Requester\", \"description\": \"(Optional) An identifier for the entity that requested this task\", \"type\": \"string\" } }, \"required\": [ \"id\" ] }, \"Category\": { \"title\": \"Category\", \"description\": \"The category of this task or phase\", \"type\": \"string\" }, \"Detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about a task, phase, or event\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] }, \"EstimateMillis\": { \"title\": \"EstimateMillis\", \"description\": \"An estimate, in milliseconds, of how long the subject will take to complete\", \"minimum\": 0, \"type\": \"integer\" }, \"AssignedTo\": { \"title\": \"AssignedTo\", \"type\": \"object\", \"properties\": { \"group\": { \"title\": \"Group\", \"type\": \"string\" }, \"name\": { \"title\": \"Name\", \"type\": \"string\" } }, \"required\": [ \"group\", \"name\" ] }, \"Status\": { \"title\": \"Status\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"blocked\", \"error\", \"failed\", \"queued\", \"standby\", \"underway\", \"delayed\", \"skipped\", \"canceled\", \"killed\", \"completed\" ] }, \"Status1\": { \"title\": \"Status1\", \"description\": \"An enumeration.\", \"enum\": [ \"queued\", \"selected\", \"dispatched\", \"failed_to_assign\", \"canceled_in_flight\" ] }, \"Assignment\": { \"title\": \"Assignment\", \"type\": \"object\", \"properties\": { \"fleet_name\": { \"title\": \"Fleet Name\", \"type\": \"string\" }, \"expected_robot_name\": { \"title\": \"Expected Robot Name\", \"type\": \"string\" } } }, \"Error\": { \"title\": \"Error\", \"type\": \"object\", \"properties\": { \"code\": { \"title\": \"Code\", \"description\": \"A standard code for the kind of error that has occurred\", \"minimum\": 0, \"type\": \"integer\" }, \"category\": { \"title\": \"Category\", \"description\": \"The category of the error\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Details about the error\", \"type\": \"string\" } } }, \"Dispatch\": { \"title\": \"Dispatch\", \"type\": \"object\", \"properties\": { \"status\": { \"$ref\": \"#/definitions/Status1\" }, \"assignment\": { \"$ref\": \"#/definitions/Assignment\" }, \"errors\": { \"title\": \"Errors\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Error\" } } }, \"required\": [ \"status\" ] }, \"Id\": { \"title\": \"Id\", \"minimum\": 0, \"type\": \"integer\" }, \"EventState\": { \"title\": \"EventState\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"name\": { \"title\": \"Name\", \"description\": \"The brief name of the event\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the event\", \"allOf\": [ { \"$ref\": \"#/definitions/Detail\" } ] }, \"deps\": { \"title\": \"Deps\", \"description\": \"This event may depend on other events. This array contains the IDs of those other event dependencies.\", \"type\": \"array\", \"items\": { \"type\": \"integer\", \"minimum\": 0 } } }, \"required\": [ \"id\" ] }, \"Undo\": { \"title\": \"Undo\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the undo skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the undo skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"SkipPhaseRequest\": { \"title\": \"SkipPhaseRequest\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"undo\": { \"title\": \"Undo\", \"description\": \"Information about an undo skip request that applied to this request\", \"allOf\": [ { \"$ref\": \"#/definitions/Undo\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Phase\": { \"title\": \"Phase\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"final_event_id\": { \"$ref\": \"#/definitions/Id\" }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary of events for this phase. The keys (property names) are the event IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/EventState\" } }, \"skip_requests\": { \"title\": \"Skip Requests\", \"description\": \"Information about any skip requests that have been received\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/SkipPhaseRequest\" } } }, \"required\": [ \"id\" ] }, \"ResumedBy\": { \"title\": \"ResumedBy\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the resume request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the resume request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"labels\" ] }, \"Interruption\": { \"title\": \"Interruption\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the interruption request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the interruption\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"resumed_by\": { \"title\": \"Resumed By\", \"description\": \"Information about the resume request that ended this interruption. This field will be missing if the interruption is still active.\", \"allOf\": [ { \"$ref\": \"#/definitions/ResumedBy\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Cancellation\": { \"title\": \"Cancellation\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the cancel request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Killed\": { \"title\": \"Killed\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the kill request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] } } } ``` ### /tasks/{task_id}/log ``` { \"title\": \"TaskEventLog\", \"type\": \"object\", \"properties\": { \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary whose keys (property names) are the indices of a phase\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phases\" } } }, \"required\": [ \"task_id\" ], \"additionalProperties\": false, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] }, \"Phases\": { \"title\": \"Phases\", \"type\": \"object\", \"properties\": { \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall phase\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary whose keys (property names) are the indices of an event in the phase\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"additionalProperties\": false } } } ``` ### /dispensers/{guid}/state ``` { \"title\": \"DispenserState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /dispensers/{guid}/health ``` { \"title\": \"DispenserHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /ingestors/{guid}/state ``` { \"title\": \"IngestorState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /ingestors/{guid}/health ``` { \"title\": \"IngestorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /fleets/{name}/state ``` { \"title\": \"FleetState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"robots\": { \"title\": \"Robots\", \"description\": \"A dictionary of the states of the robots that belong to this fleet\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/RobotState\" } } }, \"definitions\": { \"Status\": { \"title\": \"Status\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"offline\", \"shutdown\", \"idle\", \"charging\", \"working\", \"error\" ] }, \"Location2D\": { \"title\": \"Location2D\", \"type\": \"object\", \"properties\": { \"map\": { \"title\": \"Map\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"type\": \"number\" } }, \"required\": [ \"map\", \"x\", \"y\", \"yaw\" ] }, \"Issue\": { \"title\": \"Issue\", \"type\": \"object\", \"properties\": { \"category\": { \"title\": \"Category\", \"description\": \"Category of the robot\'s issue\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the issue\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] } } }, \"Commission\": { \"title\": \"Commission\", \"type\": \"object\", \"properties\": { \"dispatch_tasks\": { \"title\": \"Dispatch Tasks\", \"description\": \"Should the robot accept dispatched tasks, true/false. When used in a request, leave this unset to not change the robot\'s current value.\", \"type\": \"boolean\" }, \"direct_tasks\": { \"title\": \"Direct Tasks\", \"description\": \"Should the robot accept direct task requests, true/false. When used in a request, leave this unset to not change the robot\'s current value.\", \"type\": \"boolean\" }, \"idle_behavior\": { \"title\": \"Idle Behavior\", \"description\": \"Should the robot perform its idle behavior, true/false. When used in a request, leave this unset to not change the robot\'s current value.\", \"type\": \"boolean\" } } }, \"RobotState\": { \"title\": \"RobotState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"status\": { \"description\": \"A simple token representing the status of the robot\", \"allOf\": [ { \"$ref\": \"#/definitions/Status\" } ] }, \"task_id\": { \"title\": \"Task Id\", \"description\": \"The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.\", \"type\": \"string\" }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"location\": { \"$ref\": \"#/definitions/Location2D\" }, \"battery\": { \"title\": \"Battery\", \"description\": \"State of charge of the battery. Values range from 0.0 (depleted) to 1.0 (fully charged)\", \"minimum\": 0.0, \"maximum\": 1.0, \"type\": \"number\" }, \"issues\": { \"title\": \"Issues\", \"description\": \"A list of issues with the robot that operators need to address\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Issue\" } }, \"commission\": { \"$ref\": \"#/definitions/Commission\" } } } } } ``` ### /fleets/{name}/log ``` { \"title\": \"FleetLog\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log for the overall fleet\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"robots\": { \"title\": \"Robots\", \"description\": \"Dictionary of logs for the individual robots. The keys (property names) are the robot names.\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] } } } ``` * @summary Socket.io endpoint * @param {*} [options] Override http request option. * @throws {RequiredError} @@ -5798,7 +5936,7 @@ export class DefaultApi extends BaseAPI { } /** - * # NOTE: This endpoint is here for documentation purposes only, this is _not_ a REST endpoint. ## About This exposes a minimal pubsub system built on top of socket.io. It works similar to a normal socket.io endpoint, except that are 2 special rooms which control subscriptions. ## Rooms ### subscribe Clients must send a message to this room to start receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### unsubscribe Clients can send a message to this room to stop receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### /alerts ``` { \"title\": \"Alert\", \"description\": \"General alert that can be triggered by events.\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"original_id\": { \"title\": \"Original Id\", \"maxLength\": 255, \"type\": \"string\" }, \"category\": { \"title\": \"Category\", \"description\": \"Default: default
Task: task
Fleet: fleet
Robot: robot\", \"maxLength\": 7, \"type\": \"string\" }, \"unix_millis_created_time\": { \"title\": \"Unix Millis Created Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"type\": \"integer\" }, \"acknowledged_by\": { \"title\": \"Acknowledged By\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"unix_millis_acknowledged_time\": { \"title\": \"Unix Millis Acknowledged Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"nullable\": true, \"type\": \"integer\" } }, \"required\": [ \"id\", \"original_id\", \"category\", \"unix_millis_created_time\" ], \"additionalProperties\": false } ``` ### /beacons ``` { \"title\": \"BeaconState\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"online\": { \"title\": \"Online\", \"type\": \"boolean\" }, \"category\": { \"title\": \"Category\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"activated\": { \"title\": \"Activated\", \"type\": \"boolean\" }, \"level\": { \"title\": \"Level\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" } }, \"required\": [ \"id\", \"online\", \"activated\" ], \"additionalProperties\": false } ``` ### /building_map ``` { \"title\": \"BuildingMap\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Level\" } }, \"lifts\": { \"title\": \"Lifts\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Lift\" } } }, \"required\": [ \"name\", \"levels\", \"lifts\" ], \"definitions\": { \"AffineImage\": { \"title\": \"AffineImage\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x_offset\": { \"title\": \"X Offset\", \"default\": 0, \"type\": \"number\" }, \"y_offset\": { \"title\": \"Y Offset\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"scale\": { \"title\": \"Scale\", \"default\": 0, \"type\": \"number\" }, \"encoding\": { \"title\": \"Encoding\", \"default\": \"\", \"type\": \"string\" }, \"data\": { \"title\": \"Data\", \"type\": \"string\" } }, \"required\": [ \"name\", \"x_offset\", \"y_offset\", \"yaw\", \"scale\", \"encoding\", \"data\" ] }, \"Place\": { \"title\": \"Place\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"position_tolerance\": { \"title\": \"Position Tolerance\", \"default\": 0, \"type\": \"number\" }, \"yaw_tolerance\": { \"title\": \"Yaw Tolerance\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"x\", \"y\", \"yaw\", \"position_tolerance\", \"yaw_tolerance\" ] }, \"Door\": { \"title\": \"Door\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"v1_x\": { \"title\": \"V1 X\", \"default\": 0, \"type\": \"number\" }, \"v1_y\": { \"title\": \"V1 Y\", \"default\": 0, \"type\": \"number\" }, \"v2_x\": { \"title\": \"V2 X\", \"default\": 0, \"type\": \"number\" }, \"v2_y\": { \"title\": \"V2 Y\", \"default\": 0, \"type\": \"number\" }, \"door_type\": { \"title\": \"Door Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_range\": { \"title\": \"Motion Range\", \"default\": 0, \"type\": \"number\" }, \"motion_direction\": { \"title\": \"Motion Direction\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" } }, \"required\": [ \"name\", \"v1_x\", \"v1_y\", \"v2_x\", \"v2_y\", \"door_type\", \"motion_range\", \"motion_direction\" ] }, \"Param\": { \"title\": \"Param\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"type\": { \"title\": \"Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"value_int\": { \"title\": \"Value Int\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"value_float\": { \"title\": \"Value Float\", \"default\": 0, \"type\": \"number\" }, \"value_string\": { \"title\": \"Value String\", \"default\": \"\", \"type\": \"string\" }, \"value_bool\": { \"title\": \"Value Bool\", \"default\": false, \"type\": \"boolean\" } }, \"required\": [ \"name\", \"type\", \"value_int\", \"value_float\", \"value_string\", \"value_bool\" ] }, \"GraphNode\": { \"title\": \"GraphNode\", \"type\": \"object\", \"properties\": { \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"x\", \"y\", \"name\", \"params\" ] }, \"GraphEdge\": { \"title\": \"GraphEdge\", \"type\": \"object\", \"properties\": { \"v1_idx\": { \"title\": \"V1 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"v2_idx\": { \"title\": \"V2 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } }, \"edge_type\": { \"title\": \"Edge Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" } }, \"required\": [ \"v1_idx\", \"v2_idx\", \"params\", \"edge_type\" ] }, \"Graph\": { \"title\": \"Graph\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"vertices\": { \"title\": \"Vertices\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphNode\" } }, \"edges\": { \"title\": \"Edges\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphEdge\" } }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"name\", \"vertices\", \"edges\", \"params\" ] }, \"Level\": { \"title\": \"Level\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"elevation\": { \"title\": \"Elevation\", \"default\": 0, \"type\": \"number\" }, \"images\": { \"title\": \"Images\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/AffineImage\" } }, \"places\": { \"title\": \"Places\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Place\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"nav_graphs\": { \"title\": \"Nav Graphs\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Graph\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] } }, \"required\": [ \"name\", \"elevation\", \"images\", \"places\", \"doors\", \"nav_graphs\", \"wall_graph\" ] }, \"Lift\": { \"title\": \"Lift\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] }, \"ref_x\": { \"title\": \"Ref X\", \"default\": 0, \"type\": \"number\" }, \"ref_y\": { \"title\": \"Ref Y\", \"default\": 0, \"type\": \"number\" }, \"ref_yaw\": { \"title\": \"Ref Yaw\", \"default\": 0, \"type\": \"number\" }, \"width\": { \"title\": \"Width\", \"default\": 0, \"type\": \"number\" }, \"depth\": { \"title\": \"Depth\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"levels\", \"doors\", \"wall_graph\", \"ref_x\", \"ref_y\", \"ref_yaw\", \"width\", \"depth\" ] } } } ``` ### /delivery_alerts ``` { \"title\": \"DeliveryAlert\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"type\": \"string\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"tier\": { \"$ref\": \"#/definitions/Tier\" }, \"action\": { \"$ref\": \"#/definitions/Action\" }, \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"message\": { \"title\": \"Message\", \"type\": \"string\" } }, \"required\": [ \"id\", \"category\", \"tier\", \"action\", \"task_id\", \"message\" ], \"definitions\": { \"Category\": { \"title\": \"Category\", \"description\": \"An enumeration.\", \"enum\": [ \"missing\", \"wrong\", \"obstructed\", \"cancelled\" ], \"type\": \"string\" }, \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"warning\", \"error\" ], \"type\": \"string\" }, \"Action\": { \"title\": \"Action\", \"description\": \"An enumeration.\", \"enum\": [ \"waiting\", \"cancelled\", \"override\", \"resume\" ], \"type\": \"string\" } } } ``` ### /doors/{door_name}/state ``` { \"title\": \"DoorState\", \"type\": \"object\", \"properties\": { \"door_time\": { \"title\": \"Door Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"door_name\": { \"title\": \"Door Name\", \"default\": \"\", \"type\": \"string\" }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": { \"value\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/DoorMode\" } ] } }, \"required\": [ \"door_time\", \"door_name\", \"current_mode\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] }, \"DoorMode\": { \"title\": \"DoorMode\", \"type\": \"object\", \"properties\": { \"value\": { \"title\": \"Value\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"value\" ] } } } ``` ### /doors/{door_name}/health ``` { \"title\": \"DoorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /lifts/{lift_name}/state ``` { \"title\": \"LiftState\", \"type\": \"object\", \"properties\": { \"lift_time\": { \"title\": \"Lift Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"lift_name\": { \"title\": \"Lift Name\", \"default\": \"\", \"type\": \"string\" }, \"available_floors\": { \"title\": \"Available Floors\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"current_floor\": { \"title\": \"Current Floor\", \"default\": \"\", \"type\": \"string\" }, \"destination_floor\": { \"title\": \"Destination Floor\", \"default\": \"\", \"type\": \"string\" }, \"door_state\": { \"title\": \"Door State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_state\": { \"title\": \"Motion State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"available_modes\": { \"title\": \"Available Modes\", \"type\": \"array\", \"items\": { \"type\": \"integer\" } }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"session_id\": { \"title\": \"Session Id\", \"default\": \"\", \"type\": \"string\" } }, \"required\": [ \"lift_time\", \"lift_name\", \"available_floors\", \"current_floor\", \"destination_floor\", \"door_state\", \"motion_state\", \"available_modes\", \"current_mode\", \"session_id\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /lifts/{lift_name}/health ``` { \"title\": \"LiftHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /tasks/{task_id}/state ``` { \"title\": \"TaskState\", \"type\": \"object\", \"properties\": { \"booking\": { \"$ref\": \"#/definitions/Booking\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"assigned_to\": { \"title\": \"Assigned To\", \"description\": \"Which agent (robot) is the task assigned to\", \"allOf\": [ { \"$ref\": \"#/definitions/AssignedTo\" } ] }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"dispatch\": { \"$ref\": \"#/definitions/Dispatch\" }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary of the states of the phases of the task. The keys (property names) are phase IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phase\" } }, \"completed\": { \"title\": \"Completed\", \"description\": \"An array of the IDs of completed phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"active\": { \"title\": \"Active\", \"description\": \"The ID of the active phase for this task\", \"allOf\": [ { \"$ref\": \"#/definitions/Id\" } ] }, \"pending\": { \"title\": \"Pending\", \"description\": \"An array of the pending phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"interruptions\": { \"title\": \"Interruptions\", \"description\": \"A dictionary of interruptions that have been applied to this task. The keys (property names) are the unique token of the interruption request.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Interruption\" } }, \"cancellation\": { \"title\": \"Cancellation\", \"description\": \"If the task was cancelled, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Cancellation\" } ] }, \"killed\": { \"title\": \"Killed\", \"description\": \"If the task was killed, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Killed\" } ] }, \"unix_millis_warn_time\": { \"title\": \"Unix Millis Warn Time\", \"type\": \"integer\" } }, \"required\": [ \"booking\" ], \"definitions\": { \"Booking\": { \"title\": \"Booking\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"description\": \"The unique identifier for this task\", \"type\": \"string\" }, \"unix_millis_earliest_start_time\": { \"title\": \"Unix Millis Earliest Start Time\", \"type\": \"integer\" }, \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"type\": \"integer\" }, \"priority\": { \"title\": \"Priority\", \"description\": \"Priority information about this task\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"string\" } ] }, \"labels\": { \"title\": \"Labels\", \"description\": \"Information about how and why this task was booked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requester\": { \"title\": \"Requester\", \"description\": \"(Optional) An identifier for the entity that requested this task\", \"type\": \"string\" } }, \"required\": [ \"id\" ] }, \"Category\": { \"title\": \"Category\", \"description\": \"The category of this task or phase\", \"type\": \"string\" }, \"Detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about a task, phase, or event\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] }, \"EstimateMillis\": { \"title\": \"EstimateMillis\", \"description\": \"An estimate, in milliseconds, of how long the subject will take to complete\", \"minimum\": 0, \"type\": \"integer\" }, \"AssignedTo\": { \"title\": \"AssignedTo\", \"type\": \"object\", \"properties\": { \"group\": { \"title\": \"Group\", \"type\": \"string\" }, \"name\": { \"title\": \"Name\", \"type\": \"string\" } }, \"required\": [ \"group\", \"name\" ] }, \"Status\": { \"title\": \"Status\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"blocked\", \"error\", \"failed\", \"queued\", \"standby\", \"underway\", \"delayed\", \"skipped\", \"canceled\", \"killed\", \"completed\" ] }, \"Status1\": { \"title\": \"Status1\", \"description\": \"An enumeration.\", \"enum\": [ \"queued\", \"selected\", \"dispatched\", \"failed_to_assign\", \"canceled_in_flight\" ] }, \"Assignment\": { \"title\": \"Assignment\", \"type\": \"object\", \"properties\": { \"fleet_name\": { \"title\": \"Fleet Name\", \"type\": \"string\" }, \"expected_robot_name\": { \"title\": \"Expected Robot Name\", \"type\": \"string\" } } }, \"Error\": { \"title\": \"Error\", \"type\": \"object\", \"properties\": { \"code\": { \"title\": \"Code\", \"description\": \"A standard code for the kind of error that has occurred\", \"minimum\": 0, \"type\": \"integer\" }, \"category\": { \"title\": \"Category\", \"description\": \"The category of the error\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Details about the error\", \"type\": \"string\" } } }, \"Dispatch\": { \"title\": \"Dispatch\", \"type\": \"object\", \"properties\": { \"status\": { \"$ref\": \"#/definitions/Status1\" }, \"assignment\": { \"$ref\": \"#/definitions/Assignment\" }, \"errors\": { \"title\": \"Errors\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Error\" } } }, \"required\": [ \"status\" ] }, \"Id\": { \"title\": \"Id\", \"minimum\": 0, \"type\": \"integer\" }, \"EventState\": { \"title\": \"EventState\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"name\": { \"title\": \"Name\", \"description\": \"The brief name of the event\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the event\", \"allOf\": [ { \"$ref\": \"#/definitions/Detail\" } ] }, \"deps\": { \"title\": \"Deps\", \"description\": \"This event may depend on other events. This array contains the IDs of those other event dependencies.\", \"type\": \"array\", \"items\": { \"type\": \"integer\", \"minimum\": 0 } } }, \"required\": [ \"id\" ] }, \"Undo\": { \"title\": \"Undo\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the undo skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the undo skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"SkipPhaseRequest\": { \"title\": \"SkipPhaseRequest\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"undo\": { \"title\": \"Undo\", \"description\": \"Information about an undo skip request that applied to this request\", \"allOf\": [ { \"$ref\": \"#/definitions/Undo\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Phase\": { \"title\": \"Phase\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"final_event_id\": { \"$ref\": \"#/definitions/Id\" }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary of events for this phase. The keys (property names) are the event IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/EventState\" } }, \"skip_requests\": { \"title\": \"Skip Requests\", \"description\": \"Information about any skip requests that have been received\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/SkipPhaseRequest\" } } }, \"required\": [ \"id\" ] }, \"ResumedBy\": { \"title\": \"ResumedBy\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the resume request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the resume request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"labels\" ] }, \"Interruption\": { \"title\": \"Interruption\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the interruption request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the interruption\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"resumed_by\": { \"title\": \"Resumed By\", \"description\": \"Information about the resume request that ended this interruption. This field will be missing if the interruption is still active.\", \"allOf\": [ { \"$ref\": \"#/definitions/ResumedBy\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Cancellation\": { \"title\": \"Cancellation\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the cancel request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Killed\": { \"title\": \"Killed\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the kill request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] } } } ``` ### /tasks/{task_id}/log ``` { \"title\": \"TaskEventLog\", \"type\": \"object\", \"properties\": { \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary whose keys (property names) are the indices of a phase\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phases\" } } }, \"required\": [ \"task_id\" ], \"additionalProperties\": false, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] }, \"Phases\": { \"title\": \"Phases\", \"type\": \"object\", \"properties\": { \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall phase\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary whose keys (property names) are the indices of an event in the phase\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"additionalProperties\": false } } } ``` ### /dispensers/{guid}/state ``` { \"title\": \"DispenserState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /dispensers/{guid}/health ``` { \"title\": \"DispenserHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /ingestors/{guid}/state ``` { \"title\": \"IngestorState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /ingestors/{guid}/health ``` { \"title\": \"IngestorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /fleets/{name}/state ``` { \"title\": \"FleetState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"robots\": { \"title\": \"Robots\", \"description\": \"A dictionary of the states of the robots that belong to this fleet\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/RobotState\" } } }, \"definitions\": { \"Status2\": { \"title\": \"Status2\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"offline\", \"shutdown\", \"idle\", \"charging\", \"working\", \"error\" ] }, \"Location2D\": { \"title\": \"Location2D\", \"type\": \"object\", \"properties\": { \"map\": { \"title\": \"Map\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"type\": \"number\" } }, \"required\": [ \"map\", \"x\", \"y\", \"yaw\" ] }, \"Issue\": { \"title\": \"Issue\", \"type\": \"object\", \"properties\": { \"category\": { \"title\": \"Category\", \"description\": \"Category of the robot\'s issue\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the issue\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] } } }, \"RobotState\": { \"title\": \"RobotState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"status\": { \"description\": \"A simple token representing the status of the robot\", \"allOf\": [ { \"$ref\": \"#/definitions/Status2\" } ] }, \"task_id\": { \"title\": \"Task Id\", \"description\": \"The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.\", \"type\": \"string\" }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"location\": { \"$ref\": \"#/definitions/Location2D\" }, \"battery\": { \"title\": \"Battery\", \"description\": \"State of charge of the battery. Values range from 0.0 (depleted) to 1.0 (fully charged)\", \"minimum\": 0.0, \"maximum\": 1.0, \"type\": \"number\" }, \"issues\": { \"title\": \"Issues\", \"description\": \"A list of issues with the robot that operators need to address\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Issue\" } } } } } } ``` ### /fleets/{name}/log ``` { \"title\": \"FleetState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log for the overall fleet\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"robots\": { \"title\": \"Robots\", \"description\": \"Dictionary of logs for the individual robots. The keys (property names) are the robot names.\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] } } } ``` + * # NOTE: This endpoint is here for documentation purposes only, this is _not_ a REST endpoint. ## About This exposes a minimal pubsub system built on top of socket.io. It works similar to a normal socket.io endpoint, except that are 2 special rooms which control subscriptions. ## Rooms ### subscribe Clients must send a message to this room to start receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### unsubscribe Clients can send a message to this room to stop receiving messages on other rooms. The message must be of the form: ``` { \"room\": \"\" } ``` ### /alerts ``` { \"title\": \"Alert\", \"description\": \"General alert that can be triggered by events.\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"original_id\": { \"title\": \"Original Id\", \"maxLength\": 255, \"type\": \"string\" }, \"category\": { \"title\": \"Category\", \"description\": \"Default: default
Task: task
Fleet: fleet
Robot: robot\", \"maxLength\": 7, \"type\": \"string\" }, \"unix_millis_created_time\": { \"title\": \"Unix Millis Created Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"type\": \"integer\" }, \"acknowledged_by\": { \"title\": \"Acknowledged By\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"unix_millis_acknowledged_time\": { \"title\": \"Unix Millis Acknowledged Time\", \"minimum\": -9223372036854775808, \"maximum\": 9223372036854775807, \"nullable\": true, \"type\": \"integer\" } }, \"required\": [ \"id\", \"original_id\", \"category\", \"unix_millis_created_time\" ], \"additionalProperties\": false } ``` ### /beacons ``` { \"title\": \"BeaconState\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"maxLength\": 255, \"type\": \"string\" }, \"online\": { \"title\": \"Online\", \"type\": \"boolean\" }, \"category\": { \"title\": \"Category\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"activated\": { \"title\": \"Activated\", \"type\": \"boolean\" }, \"level\": { \"title\": \"Level\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" } }, \"required\": [ \"id\", \"online\", \"activated\" ], \"additionalProperties\": false } ``` ### /building_map ``` { \"title\": \"BuildingMap\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Level\" } }, \"lifts\": { \"title\": \"Lifts\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Lift\" } } }, \"required\": [ \"name\", \"levels\", \"lifts\" ], \"definitions\": { \"AffineImage\": { \"title\": \"AffineImage\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x_offset\": { \"title\": \"X Offset\", \"default\": 0, \"type\": \"number\" }, \"y_offset\": { \"title\": \"Y Offset\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"scale\": { \"title\": \"Scale\", \"default\": 0, \"type\": \"number\" }, \"encoding\": { \"title\": \"Encoding\", \"default\": \"\", \"type\": \"string\" }, \"data\": { \"title\": \"Data\", \"type\": \"string\" } }, \"required\": [ \"name\", \"x_offset\", \"y_offset\", \"yaw\", \"scale\", \"encoding\", \"data\" ] }, \"Place\": { \"title\": \"Place\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"default\": 0, \"type\": \"number\" }, \"position_tolerance\": { \"title\": \"Position Tolerance\", \"default\": 0, \"type\": \"number\" }, \"yaw_tolerance\": { \"title\": \"Yaw Tolerance\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"x\", \"y\", \"yaw\", \"position_tolerance\", \"yaw_tolerance\" ] }, \"Door\": { \"title\": \"Door\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"v1_x\": { \"title\": \"V1 X\", \"default\": 0, \"type\": \"number\" }, \"v1_y\": { \"title\": \"V1 Y\", \"default\": 0, \"type\": \"number\" }, \"v2_x\": { \"title\": \"V2 X\", \"default\": 0, \"type\": \"number\" }, \"v2_y\": { \"title\": \"V2 Y\", \"default\": 0, \"type\": \"number\" }, \"door_type\": { \"title\": \"Door Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_range\": { \"title\": \"Motion Range\", \"default\": 0, \"type\": \"number\" }, \"motion_direction\": { \"title\": \"Motion Direction\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" } }, \"required\": [ \"name\", \"v1_x\", \"v1_y\", \"v2_x\", \"v2_y\", \"door_type\", \"motion_range\", \"motion_direction\" ] }, \"Param\": { \"title\": \"Param\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"type\": { \"title\": \"Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"value_int\": { \"title\": \"Value Int\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"value_float\": { \"title\": \"Value Float\", \"default\": 0, \"type\": \"number\" }, \"value_string\": { \"title\": \"Value String\", \"default\": \"\", \"type\": \"string\" }, \"value_bool\": { \"title\": \"Value Bool\", \"default\": false, \"type\": \"boolean\" } }, \"required\": [ \"name\", \"type\", \"value_int\", \"value_float\", \"value_string\", \"value_bool\" ] }, \"GraphNode\": { \"title\": \"GraphNode\", \"type\": \"object\", \"properties\": { \"x\": { \"title\": \"X\", \"default\": 0, \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"default\": 0, \"type\": \"number\" }, \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"x\", \"y\", \"name\", \"params\" ] }, \"GraphEdge\": { \"title\": \"GraphEdge\", \"type\": \"object\", \"properties\": { \"v1_idx\": { \"title\": \"V1 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"v2_idx\": { \"title\": \"V2 Idx\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } }, \"edge_type\": { \"title\": \"Edge Type\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" } }, \"required\": [ \"v1_idx\", \"v2_idx\", \"params\", \"edge_type\" ] }, \"Graph\": { \"title\": \"Graph\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"vertices\": { \"title\": \"Vertices\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphNode\" } }, \"edges\": { \"title\": \"Edges\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/GraphEdge\" } }, \"params\": { \"title\": \"Params\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Param\" } } }, \"required\": [ \"name\", \"vertices\", \"edges\", \"params\" ] }, \"Level\": { \"title\": \"Level\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"elevation\": { \"title\": \"Elevation\", \"default\": 0, \"type\": \"number\" }, \"images\": { \"title\": \"Images\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/AffineImage\" } }, \"places\": { \"title\": \"Places\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Place\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"nav_graphs\": { \"title\": \"Nav Graphs\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Graph\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] } }, \"required\": [ \"name\", \"elevation\", \"images\", \"places\", \"doors\", \"nav_graphs\", \"wall_graph\" ] }, \"Lift\": { \"title\": \"Lift\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"default\": \"\", \"type\": \"string\" }, \"levels\": { \"title\": \"Levels\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"doors\": { \"title\": \"Doors\", \"default\": [], \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Door\" } }, \"wall_graph\": { \"title\": \"Wall Graph\", \"default\": { \"name\": \"\", \"vertices\": [], \"edges\": [], \"params\": [] }, \"allOf\": [ { \"$ref\": \"#/definitions/Graph\" } ] }, \"ref_x\": { \"title\": \"Ref X\", \"default\": 0, \"type\": \"number\" }, \"ref_y\": { \"title\": \"Ref Y\", \"default\": 0, \"type\": \"number\" }, \"ref_yaw\": { \"title\": \"Ref Yaw\", \"default\": 0, \"type\": \"number\" }, \"width\": { \"title\": \"Width\", \"default\": 0, \"type\": \"number\" }, \"depth\": { \"title\": \"Depth\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"name\", \"levels\", \"doors\", \"wall_graph\", \"ref_x\", \"ref_y\", \"ref_yaw\", \"width\", \"depth\" ] } } } ``` ### /delivery_alerts ``` { \"title\": \"DeliveryAlert\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"type\": \"string\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"tier\": { \"$ref\": \"#/definitions/Tier\" }, \"action\": { \"$ref\": \"#/definitions/Action\" }, \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"message\": { \"title\": \"Message\", \"type\": \"string\" } }, \"required\": [ \"id\", \"category\", \"tier\", \"action\", \"task_id\", \"message\" ], \"definitions\": { \"Category\": { \"title\": \"Category\", \"description\": \"An enumeration.\", \"enum\": [ \"missing\", \"wrong\", \"obstructed\", \"cancelled\" ], \"type\": \"string\" }, \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"warning\", \"error\" ], \"type\": \"string\" }, \"Action\": { \"title\": \"Action\", \"description\": \"An enumeration.\", \"enum\": [ \"waiting\", \"cancelled\", \"override\", \"resume\" ], \"type\": \"string\" } } } ``` ### /doors/{door_name}/state ``` { \"title\": \"DoorState\", \"type\": \"object\", \"properties\": { \"door_time\": { \"title\": \"Door Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"door_name\": { \"title\": \"Door Name\", \"default\": \"\", \"type\": \"string\" }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": { \"value\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/DoorMode\" } ] } }, \"required\": [ \"door_time\", \"door_name\", \"current_mode\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] }, \"DoorMode\": { \"title\": \"DoorMode\", \"type\": \"object\", \"properties\": { \"value\": { \"title\": \"Value\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"value\" ] } } } ``` ### /doors/{door_name}/health ``` { \"title\": \"DoorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /lifts/{lift_name}/state ``` { \"title\": \"LiftState\", \"type\": \"object\", \"properties\": { \"lift_time\": { \"title\": \"Lift Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"lift_name\": { \"title\": \"Lift Name\", \"default\": \"\", \"type\": \"string\" }, \"available_floors\": { \"title\": \"Available Floors\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"current_floor\": { \"title\": \"Current Floor\", \"default\": \"\", \"type\": \"string\" }, \"destination_floor\": { \"title\": \"Destination Floor\", \"default\": \"\", \"type\": \"string\" }, \"door_state\": { \"title\": \"Door State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"motion_state\": { \"title\": \"Motion State\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"available_modes\": { \"title\": \"Available Modes\", \"type\": \"array\", \"items\": { \"type\": \"integer\" } }, \"current_mode\": { \"title\": \"Current Mode\", \"default\": 0, \"minimum\": 0, \"maximum\": 255, \"type\": \"integer\" }, \"session_id\": { \"title\": \"Session Id\", \"default\": \"\", \"type\": \"string\" } }, \"required\": [ \"lift_time\", \"lift_name\", \"available_floors\", \"current_floor\", \"destination_floor\", \"door_state\", \"motion_state\", \"available_modes\", \"current_mode\", \"session_id\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /lifts/{lift_name}/health ``` { \"title\": \"LiftHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /tasks/{task_id}/state ``` { \"title\": \"TaskState\", \"type\": \"object\", \"properties\": { \"booking\": { \"$ref\": \"#/definitions/Booking\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"assigned_to\": { \"title\": \"Assigned To\", \"description\": \"Which agent (robot) is the task assigned to\", \"allOf\": [ { \"$ref\": \"#/definitions/AssignedTo\" } ] }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"dispatch\": { \"$ref\": \"#/definitions/Dispatch\" }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary of the states of the phases of the task. The keys (property names) are phase IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phase\" } }, \"completed\": { \"title\": \"Completed\", \"description\": \"An array of the IDs of completed phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"active\": { \"title\": \"Active\", \"description\": \"The ID of the active phase for this task\", \"allOf\": [ { \"$ref\": \"#/definitions/Id\" } ] }, \"pending\": { \"title\": \"Pending\", \"description\": \"An array of the pending phases of this task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Id\" } }, \"interruptions\": { \"title\": \"Interruptions\", \"description\": \"A dictionary of interruptions that have been applied to this task. The keys (property names) are the unique token of the interruption request.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Interruption\" } }, \"cancellation\": { \"title\": \"Cancellation\", \"description\": \"If the task was cancelled, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Cancellation\" } ] }, \"killed\": { \"title\": \"Killed\", \"description\": \"If the task was killed, this will describe information about the request.\", \"allOf\": [ { \"$ref\": \"#/definitions/Killed\" } ] }, \"unix_millis_warn_time\": { \"title\": \"Unix Millis Warn Time\", \"type\": \"integer\" } }, \"required\": [ \"booking\" ], \"definitions\": { \"Booking\": { \"title\": \"Booking\", \"type\": \"object\", \"properties\": { \"id\": { \"title\": \"Id\", \"description\": \"The unique identifier for this task\", \"type\": \"string\" }, \"unix_millis_earliest_start_time\": { \"title\": \"Unix Millis Earliest Start Time\", \"type\": \"integer\" }, \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"type\": \"integer\" }, \"priority\": { \"title\": \"Priority\", \"description\": \"Priority information about this task\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"string\" } ] }, \"labels\": { \"title\": \"Labels\", \"description\": \"Information about how and why this task was booked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requester\": { \"title\": \"Requester\", \"description\": \"(Optional) An identifier for the entity that requested this task\", \"type\": \"string\" } }, \"required\": [ \"id\" ] }, \"Category\": { \"title\": \"Category\", \"description\": \"The category of this task or phase\", \"type\": \"string\" }, \"Detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about a task, phase, or event\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] }, \"EstimateMillis\": { \"title\": \"EstimateMillis\", \"description\": \"An estimate, in milliseconds, of how long the subject will take to complete\", \"minimum\": 0, \"type\": \"integer\" }, \"AssignedTo\": { \"title\": \"AssignedTo\", \"type\": \"object\", \"properties\": { \"group\": { \"title\": \"Group\", \"type\": \"string\" }, \"name\": { \"title\": \"Name\", \"type\": \"string\" } }, \"required\": [ \"group\", \"name\" ] }, \"Status\": { \"title\": \"Status\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"blocked\", \"error\", \"failed\", \"queued\", \"standby\", \"underway\", \"delayed\", \"skipped\", \"canceled\", \"killed\", \"completed\" ] }, \"Status1\": { \"title\": \"Status1\", \"description\": \"An enumeration.\", \"enum\": [ \"queued\", \"selected\", \"dispatched\", \"failed_to_assign\", \"canceled_in_flight\" ] }, \"Assignment\": { \"title\": \"Assignment\", \"type\": \"object\", \"properties\": { \"fleet_name\": { \"title\": \"Fleet Name\", \"type\": \"string\" }, \"expected_robot_name\": { \"title\": \"Expected Robot Name\", \"type\": \"string\" } } }, \"Error\": { \"title\": \"Error\", \"type\": \"object\", \"properties\": { \"code\": { \"title\": \"Code\", \"description\": \"A standard code for the kind of error that has occurred\", \"minimum\": 0, \"type\": \"integer\" }, \"category\": { \"title\": \"Category\", \"description\": \"The category of the error\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Details about the error\", \"type\": \"string\" } } }, \"Dispatch\": { \"title\": \"Dispatch\", \"type\": \"object\", \"properties\": { \"status\": { \"$ref\": \"#/definitions/Status1\" }, \"assignment\": { \"$ref\": \"#/definitions/Assignment\" }, \"errors\": { \"title\": \"Errors\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Error\" } } }, \"required\": [ \"status\" ] }, \"Id\": { \"title\": \"Id\", \"minimum\": 0, \"type\": \"integer\" }, \"EventState\": { \"title\": \"EventState\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"status\": { \"$ref\": \"#/definitions/Status\" }, \"name\": { \"title\": \"Name\", \"description\": \"The brief name of the event\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the event\", \"allOf\": [ { \"$ref\": \"#/definitions/Detail\" } ] }, \"deps\": { \"title\": \"Deps\", \"description\": \"This event may depend on other events. This array contains the IDs of those other event dependencies.\", \"type\": \"array\", \"items\": { \"type\": \"integer\", \"minimum\": 0 } } }, \"required\": [ \"id\" ] }, \"Undo\": { \"title\": \"Undo\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the undo skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the undo skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"SkipPhaseRequest\": { \"title\": \"SkipPhaseRequest\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the skip request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the skip request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"undo\": { \"title\": \"Undo\", \"description\": \"Information about an undo skip request that applied to this request\", \"allOf\": [ { \"$ref\": \"#/definitions/Undo\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Phase\": { \"title\": \"Phase\", \"type\": \"object\", \"properties\": { \"id\": { \"$ref\": \"#/definitions/Id\" }, \"category\": { \"$ref\": \"#/definitions/Category\" }, \"detail\": { \"$ref\": \"#/definitions/Detail\" }, \"unix_millis_start_time\": { \"title\": \"Unix Millis Start Time\", \"type\": \"integer\" }, \"unix_millis_finish_time\": { \"title\": \"Unix Millis Finish Time\", \"type\": \"integer\" }, \"original_estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"estimate_millis\": { \"$ref\": \"#/definitions/EstimateMillis\" }, \"final_event_id\": { \"$ref\": \"#/definitions/Id\" }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary of events for this phase. The keys (property names) are the event IDs, which are integers.\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/EventState\" } }, \"skip_requests\": { \"title\": \"Skip Requests\", \"description\": \"Information about any skip requests that have been received\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/SkipPhaseRequest\" } } }, \"required\": [ \"id\" ] }, \"ResumedBy\": { \"title\": \"ResumedBy\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the resume request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the resume request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"labels\" ] }, \"Interruption\": { \"title\": \"Interruption\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the interruption request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the purpose of the interruption\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"resumed_by\": { \"title\": \"Resumed By\", \"description\": \"Information about the resume request that ended this interruption. This field will be missing if the interruption is still active.\", \"allOf\": [ { \"$ref\": \"#/definitions/ResumedBy\" } ] } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Cancellation\": { \"title\": \"Cancellation\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the cancel request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] }, \"Killed\": { \"title\": \"Killed\", \"type\": \"object\", \"properties\": { \"unix_millis_request_time\": { \"title\": \"Unix Millis Request Time\", \"description\": \"The time that the cancellation request arrived\", \"type\": \"integer\" }, \"labels\": { \"title\": \"Labels\", \"description\": \"Labels to describe the kill request\", \"type\": \"array\", \"items\": { \"type\": \"string\" } } }, \"required\": [ \"unix_millis_request_time\", \"labels\" ] } } } ``` ### /tasks/{task_id}/log ``` { \"title\": \"TaskEventLog\", \"type\": \"object\", \"properties\": { \"task_id\": { \"title\": \"Task Id\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall task\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"phases\": { \"title\": \"Phases\", \"description\": \"A dictionary whose keys (property names) are the indices of a phase\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/Phases\" } } }, \"required\": [ \"task_id\" ], \"additionalProperties\": false, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] }, \"Phases\": { \"title\": \"Phases\", \"type\": \"object\", \"properties\": { \"log\": { \"title\": \"Log\", \"description\": \"Log entries related to the overall phase\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"events\": { \"title\": \"Events\", \"description\": \"A dictionary whose keys (property names) are the indices of an event in the phase\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"additionalProperties\": false } } } ``` ### /dispensers/{guid}/state ``` { \"title\": \"DispenserState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /dispensers/{guid}/health ``` { \"title\": \"DispenserHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /ingestors/{guid}/state ``` { \"title\": \"IngestorState\", \"type\": \"object\", \"properties\": { \"time\": { \"title\": \"Time\", \"default\": { \"sec\": 0, \"nanosec\": 0 }, \"allOf\": [ { \"$ref\": \"#/definitions/Time\" } ] }, \"guid\": { \"title\": \"Guid\", \"default\": \"\", \"type\": \"string\" }, \"mode\": { \"title\": \"Mode\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"request_guid_queue\": { \"title\": \"Request Guid Queue\", \"default\": [], \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"seconds_remaining\": { \"title\": \"Seconds Remaining\", \"default\": 0, \"type\": \"number\" } }, \"required\": [ \"time\", \"guid\", \"mode\", \"request_guid_queue\", \"seconds_remaining\" ], \"definitions\": { \"Time\": { \"title\": \"Time\", \"type\": \"object\", \"properties\": { \"sec\": { \"title\": \"Sec\", \"default\": 0, \"minimum\": -2147483648, \"maximum\": 2147483647, \"type\": \"integer\" }, \"nanosec\": { \"title\": \"Nanosec\", \"default\": 0, \"minimum\": 0, \"maximum\": 4294967295, \"type\": \"integer\" } }, \"required\": [ \"sec\", \"nanosec\" ] } } } ``` ### /ingestors/{guid}/health ``` { \"title\": \"IngestorHealth\", \"type\": \"object\", \"properties\": { \"health_status\": { \"title\": \"Health Status\", \"maxLength\": 255, \"nullable\": true, \"type\": \"string\" }, \"health_message\": { \"title\": \"Health Message\", \"nullable\": true, \"type\": \"string\" }, \"id_\": { \"title\": \"Id \", \"maxLength\": 255, \"type\": \"string\" } }, \"required\": [ \"health_status\", \"id_\" ], \"additionalProperties\": false } ``` ### /fleets/{name}/state ``` { \"title\": \"FleetState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"robots\": { \"title\": \"Robots\", \"description\": \"A dictionary of the states of the robots that belong to this fleet\", \"type\": \"object\", \"additionalProperties\": { \"$ref\": \"#/definitions/RobotState\" } } }, \"definitions\": { \"Status\": { \"title\": \"Status\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"offline\", \"shutdown\", \"idle\", \"charging\", \"working\", \"error\" ] }, \"Location2D\": { \"title\": \"Location2D\", \"type\": \"object\", \"properties\": { \"map\": { \"title\": \"Map\", \"type\": \"string\" }, \"x\": { \"title\": \"X\", \"type\": \"number\" }, \"y\": { \"title\": \"Y\", \"type\": \"number\" }, \"yaw\": { \"title\": \"Yaw\", \"type\": \"number\" } }, \"required\": [ \"map\", \"x\", \"y\", \"yaw\" ] }, \"Issue\": { \"title\": \"Issue\", \"type\": \"object\", \"properties\": { \"category\": { \"title\": \"Category\", \"description\": \"Category of the robot\'s issue\", \"type\": \"string\" }, \"detail\": { \"title\": \"Detail\", \"description\": \"Detailed information about the issue\", \"anyOf\": [ { \"type\": \"object\" }, { \"type\": \"array\", \"items\": {} }, { \"type\": \"string\" } ] } } }, \"Commission\": { \"title\": \"Commission\", \"type\": \"object\", \"properties\": { \"dispatch_tasks\": { \"title\": \"Dispatch Tasks\", \"description\": \"Should the robot accept dispatched tasks, true/false. When used in a request, leave this unset to not change the robot\'s current value.\", \"type\": \"boolean\" }, \"direct_tasks\": { \"title\": \"Direct Tasks\", \"description\": \"Should the robot accept direct task requests, true/false. When used in a request, leave this unset to not change the robot\'s current value.\", \"type\": \"boolean\" }, \"idle_behavior\": { \"title\": \"Idle Behavior\", \"description\": \"Should the robot perform its idle behavior, true/false. When used in a request, leave this unset to not change the robot\'s current value.\", \"type\": \"boolean\" } } }, \"RobotState\": { \"title\": \"RobotState\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"status\": { \"description\": \"A simple token representing the status of the robot\", \"allOf\": [ { \"$ref\": \"#/definitions/Status\" } ] }, \"task_id\": { \"title\": \"Task Id\", \"description\": \"The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.\", \"type\": \"string\" }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"location\": { \"$ref\": \"#/definitions/Location2D\" }, \"battery\": { \"title\": \"Battery\", \"description\": \"State of charge of the battery. Values range from 0.0 (depleted) to 1.0 (fully charged)\", \"minimum\": 0.0, \"maximum\": 1.0, \"type\": \"number\" }, \"issues\": { \"title\": \"Issues\", \"description\": \"A list of issues with the robot that operators need to address\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/Issue\" } }, \"commission\": { \"$ref\": \"#/definitions/Commission\" } } } } } ``` ### /fleets/{name}/log ``` { \"title\": \"FleetLog\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log for the overall fleet\", \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } }, \"robots\": { \"title\": \"Robots\", \"description\": \"Dictionary of logs for the individual robots. The keys (property names) are the robot names.\", \"type\": \"object\", \"additionalProperties\": { \"type\": \"array\", \"items\": { \"$ref\": \"#/definitions/LogEntry\" } } } }, \"definitions\": { \"Tier\": { \"title\": \"Tier\", \"description\": \"An enumeration.\", \"enum\": [ \"uninitialized\", \"info\", \"warning\", \"error\" ] }, \"LogEntry\": { \"title\": \"LogEntry\", \"type\": \"object\", \"properties\": { \"seq\": { \"title\": \"Seq\", \"description\": \"Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.\", \"exclusiveMaximum\": 4294967296, \"minimum\": 0, \"type\": \"integer\" }, \"tier\": { \"description\": \"The importance level of the log entry\", \"allOf\": [ { \"$ref\": \"#/definitions/Tier\" } ] }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"text\": { \"title\": \"Text\", \"description\": \"The text of the log entry\", \"type\": \"string\" } }, \"required\": [ \"seq\", \"tier\", \"unix_millis_time\", \"text\" ] } } } ``` * @summary Socket.io endpoint * @param {*} [options] Override http request option. * @throws {RequiredError} @@ -6727,6 +6865,79 @@ export class DoorsApi extends BaseAPI { */ export const FleetsApiAxiosParamCreator = function (configuration?: Configuration) { return { + /** + * Decommissions a robot, cancels all direct tasks, and preventing it from accepting any new tasks (both dispatch tasks and direct tasks), with the options to: - Reassign all queued dispatch tasks to other robots. If task reassignment is chosen, the response will contain the results of the reassignment as well, any failed reassignments will be cancelled instead. - Still allow idle behaviors (formerly known as finishing tasks). If allowed, the robot will still be issued idle behavior commands (e.g. return to charger, park somewhere) once it is decommissioned, as opposed to waiting for human intervention at the same position when it was decommissioned. This will not affect the ongoing task that the robot is currently performing. + * @summary Decommission Robot + * @param {string} name + * @param {string} robotName + * @param {boolean} reassignTasks + * @param {boolean} allowIdleBehavior + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + decommissionRobotFleetsNameDecommissionPost: async ( + name: string, + robotName: string, + reassignTasks: boolean, + allowIdleBehavior: boolean, + options: AxiosRequestConfig = {}, + ): Promise => { + // verify required parameter 'name' is not null or undefined + assertParamExists('decommissionRobotFleetsNameDecommissionPost', 'name', name); + // verify required parameter 'robotName' is not null or undefined + assertParamExists('decommissionRobotFleetsNameDecommissionPost', 'robotName', robotName); + // verify required parameter 'reassignTasks' is not null or undefined + assertParamExists( + 'decommissionRobotFleetsNameDecommissionPost', + 'reassignTasks', + reassignTasks, + ); + // verify required parameter 'allowIdleBehavior' is not null or undefined + assertParamExists( + 'decommissionRobotFleetsNameDecommissionPost', + 'allowIdleBehavior', + allowIdleBehavior, + ); + const localVarPath = `/fleets/{name}/decommission`.replace( + `{${'name'}}`, + encodeURIComponent(String(name)), + ); + // use dummy base URL string because the URL constructor only accepts absolute URLs. + const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL); + let baseOptions; + if (configuration) { + baseOptions = configuration.baseOptions; + } + + const localVarRequestOptions = { method: 'POST', ...baseOptions, ...options }; + const localVarHeaderParameter = {} as any; + const localVarQueryParameter = {} as any; + + if (robotName !== undefined) { + localVarQueryParameter['robot_name'] = robotName; + } + + if (reassignTasks !== undefined) { + localVarQueryParameter['reassign_tasks'] = reassignTasks; + } + + if (allowIdleBehavior !== undefined) { + localVarQueryParameter['allow_idle_behavior'] = allowIdleBehavior; + } + + setSearchParams(localVarUrlObj, localVarQueryParameter); + let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {}; + localVarRequestOptions.headers = { + ...localVarHeaderParameter, + ...headersFromBaseOptions, + ...options.headers, + }; + + return { + url: toPathString(localVarUrlObj), + options: localVarRequestOptions, + }; + }, /** * Available in socket.io * @summary Get Fleet Log @@ -6842,6 +7053,55 @@ export const FleetsApiAxiosParamCreator = function (configuration?: Configuratio ...options.headers, }; + return { + url: toPathString(localVarUrlObj), + options: localVarRequestOptions, + }; + }, + /** + * Recommissions a robot, allowing it to accept new dispatch tasks and direct tasks, as well as resume idle behaviors (formerly known as finishing tasks). + * @summary Recommission Robot + * @param {string} name + * @param {string} robotName + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + recommissionRobotFleetsNameRecommissionPost: async ( + name: string, + robotName: string, + options: AxiosRequestConfig = {}, + ): Promise => { + // verify required parameter 'name' is not null or undefined + assertParamExists('recommissionRobotFleetsNameRecommissionPost', 'name', name); + // verify required parameter 'robotName' is not null or undefined + assertParamExists('recommissionRobotFleetsNameRecommissionPost', 'robotName', robotName); + const localVarPath = `/fleets/{name}/recommission`.replace( + `{${'name'}}`, + encodeURIComponent(String(name)), + ); + // use dummy base URL string because the URL constructor only accepts absolute URLs. + const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL); + let baseOptions; + if (configuration) { + baseOptions = configuration.baseOptions; + } + + const localVarRequestOptions = { method: 'POST', ...baseOptions, ...options }; + const localVarHeaderParameter = {} as any; + const localVarQueryParameter = {} as any; + + if (robotName !== undefined) { + localVarQueryParameter['robot_name'] = robotName; + } + + setSearchParams(localVarUrlObj, localVarQueryParameter); + let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {}; + localVarRequestOptions.headers = { + ...localVarHeaderParameter, + ...headersFromBaseOptions, + ...options.headers, + }; + return { url: toPathString(localVarUrlObj), options: localVarRequestOptions, @@ -6857,6 +7117,35 @@ export const FleetsApiAxiosParamCreator = function (configuration?: Configuratio export const FleetsApiFp = function (configuration?: Configuration) { const localVarAxiosParamCreator = FleetsApiAxiosParamCreator(configuration); return { + /** + * Decommissions a robot, cancels all direct tasks, and preventing it from accepting any new tasks (both dispatch tasks and direct tasks), with the options to: - Reassign all queued dispatch tasks to other robots. If task reassignment is chosen, the response will contain the results of the reassignment as well, any failed reassignments will be cancelled instead. - Still allow idle behaviors (formerly known as finishing tasks). If allowed, the robot will still be issued idle behavior commands (e.g. return to charger, park somewhere) once it is decommissioned, as opposed to waiting for human intervention at the same position when it was decommissioned. This will not affect the ongoing task that the robot is currently performing. + * @summary Decommission Robot + * @param {string} name + * @param {string} robotName + * @param {boolean} reassignTasks + * @param {boolean} allowIdleBehavior + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + async decommissionRobotFleetsNameDecommissionPost( + name: string, + robotName: string, + reassignTasks: boolean, + allowIdleBehavior: boolean, + options?: AxiosRequestConfig, + ): Promise< + (axios?: AxiosInstance, basePath?: string) => AxiosPromise + > { + const localVarAxiosArgs = + await localVarAxiosParamCreator.decommissionRobotFleetsNameDecommissionPost( + name, + robotName, + reassignTasks, + allowIdleBehavior, + options, + ); + return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); + }, /** * Available in socket.io * @summary Get Fleet Log @@ -6869,12 +7158,7 @@ export const FleetsApiFp = function (configuration?: Configuration) { name: string, between?: string, options?: AxiosRequestConfig, - ): Promise< - ( - axios?: AxiosInstance, - basePath?: string, - ) => AxiosPromise - > { + ): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise> { const localVarAxiosArgs = await localVarAxiosParamCreator.getFleetLogFleetsNameLogGet( name, between, @@ -6892,12 +7176,7 @@ export const FleetsApiFp = function (configuration?: Configuration) { async getFleetStateFleetsNameStateGet( name: string, options?: AxiosRequestConfig, - ): Promise< - ( - axios?: AxiosInstance, - basePath?: string, - ) => AxiosPromise - > { + ): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise> { const localVarAxiosArgs = await localVarAxiosParamCreator.getFleetStateFleetsNameStateGet( name, options, @@ -6912,13 +7191,31 @@ export const FleetsApiFp = function (configuration?: Configuration) { */ async getFleetsFleetsGet( options?: AxiosRequestConfig, + ): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise>> { + const localVarAxiosArgs = await localVarAxiosParamCreator.getFleetsFleetsGet(options); + return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); + }, + /** + * Recommissions a robot, allowing it to accept new dispatch tasks and direct tasks, as well as resume idle behaviors (formerly known as finishing tasks). + * @summary Recommission Robot + * @param {string} name + * @param {string} robotName + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + async recommissionRobotFleetsNameRecommissionPost( + name: string, + robotName: string, + options?: AxiosRequestConfig, ): Promise< - ( - axios?: AxiosInstance, - basePath?: string, - ) => AxiosPromise> + (axios?: AxiosInstance, basePath?: string) => AxiosPromise > { - const localVarAxiosArgs = await localVarAxiosParamCreator.getFleetsFleetsGet(options); + const localVarAxiosArgs = + await localVarAxiosParamCreator.recommissionRobotFleetsNameRecommissionPost( + name, + robotName, + options, + ); return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); }, }; @@ -6935,6 +7232,33 @@ export const FleetsApiFactory = function ( ) { const localVarFp = FleetsApiFp(configuration); return { + /** + * Decommissions a robot, cancels all direct tasks, and preventing it from accepting any new tasks (both dispatch tasks and direct tasks), with the options to: - Reassign all queued dispatch tasks to other robots. If task reassignment is chosen, the response will contain the results of the reassignment as well, any failed reassignments will be cancelled instead. - Still allow idle behaviors (formerly known as finishing tasks). If allowed, the robot will still be issued idle behavior commands (e.g. return to charger, park somewhere) once it is decommissioned, as opposed to waiting for human intervention at the same position when it was decommissioned. This will not affect the ongoing task that the robot is currently performing. + * @summary Decommission Robot + * @param {string} name + * @param {string} robotName + * @param {boolean} reassignTasks + * @param {boolean} allowIdleBehavior + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + decommissionRobotFleetsNameDecommissionPost( + name: string, + robotName: string, + reassignTasks: boolean, + allowIdleBehavior: boolean, + options?: any, + ): AxiosPromise { + return localVarFp + .decommissionRobotFleetsNameDecommissionPost( + name, + robotName, + reassignTasks, + allowIdleBehavior, + options, + ) + .then((request) => request(axios, basePath)); + }, /** * Available in socket.io * @summary Get Fleet Log @@ -6947,7 +7271,7 @@ export const FleetsApiFactory = function ( name: string, between?: string, options?: any, - ): AxiosPromise { + ): AxiosPromise { return localVarFp .getFleetLogFleetsNameLogGet(name, between, options) .then((request) => request(axios, basePath)); @@ -6959,10 +7283,7 @@ export const FleetsApiFactory = function ( * @param {*} [options] Override http request option. * @throws {RequiredError} */ - getFleetStateFleetsNameStateGet( - name: string, - options?: any, - ): AxiosPromise { + getFleetStateFleetsNameStateGet(name: string, options?: any): AxiosPromise { return localVarFp .getFleetStateFleetsNameStateGet(name, options) .then((request) => request(axios, basePath)); @@ -6973,11 +7294,26 @@ export const FleetsApiFactory = function ( * @param {*} [options] Override http request option. * @throws {RequiredError} */ - getFleetsFleetsGet( - options?: any, - ): AxiosPromise> { + getFleetsFleetsGet(options?: any): AxiosPromise> { return localVarFp.getFleetsFleetsGet(options).then((request) => request(axios, basePath)); }, + /** + * Recommissions a robot, allowing it to accept new dispatch tasks and direct tasks, as well as resume idle behaviors (formerly known as finishing tasks). + * @summary Recommission Robot + * @param {string} name + * @param {string} robotName + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + recommissionRobotFleetsNameRecommissionPost( + name: string, + robotName: string, + options?: any, + ): AxiosPromise { + return localVarFp + .recommissionRobotFleetsNameRecommissionPost(name, robotName, options) + .then((request) => request(axios, basePath)); + }, }; }; @@ -6988,6 +7324,35 @@ export const FleetsApiFactory = function ( * @extends {BaseAPI} */ export class FleetsApi extends BaseAPI { + /** + * Decommissions a robot, cancels all direct tasks, and preventing it from accepting any new tasks (both dispatch tasks and direct tasks), with the options to: - Reassign all queued dispatch tasks to other robots. If task reassignment is chosen, the response will contain the results of the reassignment as well, any failed reassignments will be cancelled instead. - Still allow idle behaviors (formerly known as finishing tasks). If allowed, the robot will still be issued idle behavior commands (e.g. return to charger, park somewhere) once it is decommissioned, as opposed to waiting for human intervention at the same position when it was decommissioned. This will not affect the ongoing task that the robot is currently performing. + * @summary Decommission Robot + * @param {string} name + * @param {string} robotName + * @param {boolean} reassignTasks + * @param {boolean} allowIdleBehavior + * @param {*} [options] Override http request option. + * @throws {RequiredError} + * @memberof FleetsApi + */ + public decommissionRobotFleetsNameDecommissionPost( + name: string, + robotName: string, + reassignTasks: boolean, + allowIdleBehavior: boolean, + options?: AxiosRequestConfig, + ) { + return FleetsApiFp(this.configuration) + .decommissionRobotFleetsNameDecommissionPost( + name, + robotName, + reassignTasks, + allowIdleBehavior, + options, + ) + .then((request) => request(this.axios, this.basePath)); + } + /** * Available in socket.io * @summary Get Fleet Log @@ -7029,6 +7394,25 @@ export class FleetsApi extends BaseAPI { .getFleetsFleetsGet(options) .then((request) => request(this.axios, this.basePath)); } + + /** + * Recommissions a robot, allowing it to accept new dispatch tasks and direct tasks, as well as resume idle behaviors (formerly known as finishing tasks). + * @summary Recommission Robot + * @param {string} name + * @param {string} robotName + * @param {*} [options] Override http request option. + * @throws {RequiredError} + * @memberof FleetsApi + */ + public recommissionRobotFleetsNameRecommissionPost( + name: string, + robotName: string, + options?: AxiosRequestConfig, + ) { + return FleetsApiFp(this.configuration) + .recommissionRobotFleetsNameRecommissionPost(name, robotName, options) + .then((request) => request(this.axios, this.basePath)); + } } /** diff --git a/packages/api-client/lib/version.ts b/packages/api-client/lib/version.ts index be82c1387..24bcb356d 100644 --- a/packages/api-client/lib/version.ts +++ b/packages/api-client/lib/version.ts @@ -3,6 +3,6 @@ import { version as rmfModelVer } from 'rmf-models'; export const version = { rmfModels: rmfModelVer, - rmfServer: '1403b63032764b781ef1ba349e50a9d895204bbb', + rmfServer: 'b33a07c7af58cfc62924ebeb12d513948ac9665b', openapiGenerator: '6.2.1', }; diff --git a/packages/api-client/schema/index.ts b/packages/api-client/schema/index.ts index 46c790d68..20c3b1a37 100644 --- a/packages/api-client/schema/index.ts +++ b/packages/api-client/schema/index.ts @@ -6,7 +6,7 @@ export default { get: { summary: 'Socket.io endpoint', description: - '\n# NOTE: This endpoint is here for documentation purposes only, this is _not_ a REST endpoint.\n\n## About\nThis exposes a minimal pubsub system built on top of socket.io.\nIt works similar to a normal socket.io endpoint, except that are 2 special\nrooms which control subscriptions.\n\n## Rooms\n### subscribe\nClients must send a message to this room to start receiving messages on other rooms.\nThe message must be of the form:\n\n```\n{\n "room": ""\n}\n```\n\n### unsubscribe\nClients can send a message to this room to stop receiving messages on other rooms.\nThe message must be of the form:\n\n```\n{\n "room": ""\n}\n```\n \n### /alerts\n\n\n```\n{\n "title": "Alert",\n "description": "General alert that can be triggered by events.",\n "type": "object",\n "properties": {\n "id": {\n "title": "Id",\n "maxLength": 255,\n "type": "string"\n },\n "original_id": {\n "title": "Original Id",\n "maxLength": 255,\n "type": "string"\n },\n "category": {\n "title": "Category",\n "description": "Default: default
Task: task
Fleet: fleet
Robot: robot",\n "maxLength": 7,\n "type": "string"\n },\n "unix_millis_created_time": {\n "title": "Unix Millis Created Time",\n "minimum": -9223372036854775808,\n "maximum": 9223372036854775807,\n "type": "integer"\n },\n "acknowledged_by": {\n "title": "Acknowledged By",\n "maxLength": 255,\n "nullable": true,\n "type": "string"\n },\n "unix_millis_acknowledged_time": {\n "title": "Unix Millis Acknowledged Time",\n "minimum": -9223372036854775808,\n "maximum": 9223372036854775807,\n "nullable": true,\n "type": "integer"\n }\n },\n "required": [\n "id",\n "original_id",\n "category",\n "unix_millis_created_time"\n ],\n "additionalProperties": false\n}\n```\n\n\n### /beacons\n\n\n```\n{\n "title": "BeaconState",\n "type": "object",\n "properties": {\n "id": {\n "title": "Id",\n "maxLength": 255,\n "type": "string"\n },\n "online": {\n "title": "Online",\n "type": "boolean"\n },\n "category": {\n "title": "Category",\n "maxLength": 255,\n "nullable": true,\n "type": "string"\n },\n "activated": {\n "title": "Activated",\n "type": "boolean"\n },\n "level": {\n "title": "Level",\n "maxLength": 255,\n "nullable": true,\n "type": "string"\n }\n },\n "required": [\n "id",\n "online",\n "activated"\n ],\n "additionalProperties": false\n}\n```\n\n\n### /building_map\n\n\n```\n{\n "title": "BuildingMap",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "levels": {\n "title": "Levels",\n "type": "array",\n "items": {\n "$ref": "#/definitions/Level"\n }\n },\n "lifts": {\n "title": "Lifts",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Lift"\n }\n }\n },\n "required": [\n "name",\n "levels",\n "lifts"\n ],\n "definitions": {\n "AffineImage": {\n "title": "AffineImage",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "x_offset": {\n "title": "X Offset",\n "default": 0,\n "type": "number"\n },\n "y_offset": {\n "title": "Y Offset",\n "default": 0,\n "type": "number"\n },\n "yaw": {\n "title": "Yaw",\n "default": 0,\n "type": "number"\n },\n "scale": {\n "title": "Scale",\n "default": 0,\n "type": "number"\n },\n "encoding": {\n "title": "Encoding",\n "default": "",\n "type": "string"\n },\n "data": {\n "title": "Data",\n "type": "string"\n }\n },\n "required": [\n "name",\n "x_offset",\n "y_offset",\n "yaw",\n "scale",\n "encoding",\n "data"\n ]\n },\n "Place": {\n "title": "Place",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "x": {\n "title": "X",\n "default": 0,\n "type": "number"\n },\n "y": {\n "title": "Y",\n "default": 0,\n "type": "number"\n },\n "yaw": {\n "title": "Yaw",\n "default": 0,\n "type": "number"\n },\n "position_tolerance": {\n "title": "Position Tolerance",\n "default": 0,\n "type": "number"\n },\n "yaw_tolerance": {\n "title": "Yaw Tolerance",\n "default": 0,\n "type": "number"\n }\n },\n "required": [\n "name",\n "x",\n "y",\n "yaw",\n "position_tolerance",\n "yaw_tolerance"\n ]\n },\n "Door": {\n "title": "Door",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "v1_x": {\n "title": "V1 X",\n "default": 0,\n "type": "number"\n },\n "v1_y": {\n "title": "V1 Y",\n "default": 0,\n "type": "number"\n },\n "v2_x": {\n "title": "V2 X",\n "default": 0,\n "type": "number"\n },\n "v2_y": {\n "title": "V2 Y",\n "default": 0,\n "type": "number"\n },\n "door_type": {\n "title": "Door Type",\n "default": 0,\n "minimum": 0,\n "maximum": 255,\n "type": "integer"\n },\n "motion_range": {\n "title": "Motion Range",\n "default": 0,\n "type": "number"\n },\n "motion_direction": {\n "title": "Motion Direction",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n }\n },\n "required": [\n "name",\n "v1_x",\n "v1_y",\n "v2_x",\n "v2_y",\n "door_type",\n "motion_range",\n "motion_direction"\n ]\n },\n "Param": {\n "title": "Param",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "type": {\n "title": "Type",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n },\n "value_int": {\n "title": "Value Int",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n },\n "value_float": {\n "title": "Value Float",\n "default": 0,\n "type": "number"\n },\n "value_string": {\n "title": "Value String",\n "default": "",\n "type": "string"\n },\n "value_bool": {\n "title": "Value Bool",\n "default": false,\n "type": "boolean"\n }\n },\n "required": [\n "name",\n "type",\n "value_int",\n "value_float",\n "value_string",\n "value_bool"\n ]\n },\n "GraphNode": {\n "title": "GraphNode",\n "type": "object",\n "properties": {\n "x": {\n "title": "X",\n "default": 0,\n "type": "number"\n },\n "y": {\n "title": "Y",\n "default": 0,\n "type": "number"\n },\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "params": {\n "title": "Params",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Param"\n }\n }\n },\n "required": [\n "x",\n "y",\n "name",\n "params"\n ]\n },\n "GraphEdge": {\n "title": "GraphEdge",\n "type": "object",\n "properties": {\n "v1_idx": {\n "title": "V1 Idx",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n },\n "v2_idx": {\n "title": "V2 Idx",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n },\n "params": {\n "title": "Params",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Param"\n }\n },\n "edge_type": {\n "title": "Edge Type",\n "default": 0,\n "minimum": 0,\n "maximum": 255,\n "type": "integer"\n }\n },\n "required": [\n "v1_idx",\n "v2_idx",\n "params",\n "edge_type"\n ]\n },\n "Graph": {\n "title": "Graph",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "vertices": {\n "title": "Vertices",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/GraphNode"\n }\n },\n "edges": {\n "title": "Edges",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/GraphEdge"\n }\n },\n "params": {\n "title": "Params",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Param"\n }\n }\n },\n "required": [\n "name",\n "vertices",\n "edges",\n "params"\n ]\n },\n "Level": {\n "title": "Level",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "elevation": {\n "title": "Elevation",\n "default": 0,\n "type": "number"\n },\n "images": {\n "title": "Images",\n "type": "array",\n "items": {\n "$ref": "#/definitions/AffineImage"\n }\n },\n "places": {\n "title": "Places",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Place"\n }\n },\n "doors": {\n "title": "Doors",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Door"\n }\n },\n "nav_graphs": {\n "title": "Nav Graphs",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Graph"\n }\n },\n "wall_graph": {\n "title": "Wall Graph",\n "default": {\n "name": "",\n "vertices": [],\n "edges": [],\n "params": []\n },\n "allOf": [\n {\n "$ref": "#/definitions/Graph"\n }\n ]\n }\n },\n "required": [\n "name",\n "elevation",\n "images",\n "places",\n "doors",\n "nav_graphs",\n "wall_graph"\n ]\n },\n "Lift": {\n "title": "Lift",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "levels": {\n "title": "Levels",\n "default": [],\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "doors": {\n "title": "Doors",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Door"\n }\n },\n "wall_graph": {\n "title": "Wall Graph",\n "default": {\n "name": "",\n "vertices": [],\n "edges": [],\n "params": []\n },\n "allOf": [\n {\n "$ref": "#/definitions/Graph"\n }\n ]\n },\n "ref_x": {\n "title": "Ref X",\n "default": 0,\n "type": "number"\n },\n "ref_y": {\n "title": "Ref Y",\n "default": 0,\n "type": "number"\n },\n "ref_yaw": {\n "title": "Ref Yaw",\n "default": 0,\n "type": "number"\n },\n "width": {\n "title": "Width",\n "default": 0,\n "type": "number"\n },\n "depth": {\n "title": "Depth",\n "default": 0,\n "type": "number"\n }\n },\n "required": [\n "name",\n "levels",\n "doors",\n "wall_graph",\n "ref_x",\n "ref_y",\n "ref_yaw",\n "width",\n "depth"\n ]\n }\n }\n}\n```\n\n\n### /delivery_alerts\n\n\n```\n{\n "title": "DeliveryAlert",\n "type": "object",\n "properties": {\n "id": {\n "title": "Id",\n "type": "string"\n },\n "category": {\n "$ref": "#/definitions/Category"\n },\n "tier": {\n "$ref": "#/definitions/Tier"\n },\n "action": {\n "$ref": "#/definitions/Action"\n },\n "task_id": {\n "title": "Task Id",\n "type": "string"\n },\n "message": {\n "title": "Message",\n "type": "string"\n }\n },\n "required": [\n "id",\n "category",\n "tier",\n "action",\n "task_id",\n "message"\n ],\n "definitions": {\n "Category": {\n "title": "Category",\n "description": "An enumeration.",\n "enum": [\n "missing",\n "wrong",\n "obstructed",\n "cancelled"\n ],\n "type": "string"\n },\n "Tier": {\n "title": "Tier",\n "description": "An enumeration.",\n "enum": [\n "warning",\n "error"\n ],\n "type": "string"\n },\n "Action": {\n "title": "Action",\n "description": "An enumeration.",\n "enum": [\n "waiting",\n "cancelled",\n "override",\n "resume"\n ],\n "type": "string"\n }\n }\n}\n```\n\n\n### /doors/{door_name}/state\n\n\n```\n{\n "title": "DoorState",\n "type": "object",\n "properties": {\n "door_time": {\n "title": "Door Time",\n "default": {\n "sec": 0,\n "nanosec": 0\n },\n "allOf": [\n {\n "$ref": "#/definitions/Time"\n }\n ]\n },\n "door_name": {\n "title": "Door Name",\n "default": "",\n "type": "string"\n },\n "current_mode": {\n "title": "Current Mode",\n "default": {\n "value": 0\n },\n "allOf": [\n {\n "$ref": "#/definitions/DoorMode"\n }\n ]\n }\n },\n "required": [\n "door_time",\n "door_name",\n "current_mode"\n ],\n "definitions": {\n "Time": {\n "title": "Time",\n "type": "object",\n "properties": {\n "sec": {\n "title": "Sec",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n },\n "nanosec": {\n "title": "Nanosec",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n }\n },\n "required": [\n "sec",\n "nanosec"\n ]\n },\n "DoorMode": {\n "title": "DoorMode",\n "type": "object",\n "properties": {\n "value": {\n "title": "Value",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n }\n },\n "required": [\n "value"\n ]\n }\n }\n}\n```\n\n\n### /doors/{door_name}/health\n\n\n```\n{\n "title": "DoorHealth",\n "type": "object",\n "properties": {\n "health_status": {\n "title": "Health Status",\n "maxLength": 255,\n "nullable": true,\n "type": "string"\n },\n "health_message": {\n "title": "Health Message",\n "nullable": true,\n "type": "string"\n },\n "id_": {\n "title": "Id ",\n "maxLength": 255,\n "type": "string"\n }\n },\n "required": [\n "health_status",\n "id_"\n ],\n "additionalProperties": false\n}\n```\n\n\n### /lifts/{lift_name}/state\n\n\n```\n{\n "title": "LiftState",\n "type": "object",\n "properties": {\n "lift_time": {\n "title": "Lift Time",\n "default": {\n "sec": 0,\n "nanosec": 0\n },\n "allOf": [\n {\n "$ref": "#/definitions/Time"\n }\n ]\n },\n "lift_name": {\n "title": "Lift Name",\n "default": "",\n "type": "string"\n },\n "available_floors": {\n "title": "Available Floors",\n "default": [],\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "current_floor": {\n "title": "Current Floor",\n "default": "",\n "type": "string"\n },\n "destination_floor": {\n "title": "Destination Floor",\n "default": "",\n "type": "string"\n },\n "door_state": {\n "title": "Door State",\n "default": 0,\n "minimum": 0,\n "maximum": 255,\n "type": "integer"\n },\n "motion_state": {\n "title": "Motion State",\n "default": 0,\n "minimum": 0,\n "maximum": 255,\n "type": "integer"\n },\n "available_modes": {\n "title": "Available Modes",\n "type": "array",\n "items": {\n "type": "integer"\n }\n },\n "current_mode": {\n "title": "Current Mode",\n "default": 0,\n "minimum": 0,\n "maximum": 255,\n "type": "integer"\n },\n "session_id": {\n "title": "Session Id",\n "default": "",\n "type": "string"\n }\n },\n "required": [\n "lift_time",\n "lift_name",\n "available_floors",\n "current_floor",\n "destination_floor",\n "door_state",\n "motion_state",\n "available_modes",\n "current_mode",\n "session_id"\n ],\n "definitions": {\n "Time": {\n "title": "Time",\n "type": "object",\n "properties": {\n "sec": {\n "title": "Sec",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n },\n "nanosec": {\n "title": "Nanosec",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n }\n },\n "required": [\n "sec",\n "nanosec"\n ]\n }\n }\n}\n```\n\n\n### /lifts/{lift_name}/health\n\n\n```\n{\n "title": "LiftHealth",\n "type": "object",\n "properties": {\n "health_status": {\n "title": "Health Status",\n "maxLength": 255,\n "nullable": true,\n "type": "string"\n },\n "health_message": {\n "title": "Health Message",\n "nullable": true,\n "type": "string"\n },\n "id_": {\n "title": "Id ",\n "maxLength": 255,\n "type": "string"\n }\n },\n "required": [\n "health_status",\n "id_"\n ],\n "additionalProperties": false\n}\n```\n\n\n### /tasks/{task_id}/state\n\n\n```\n{\n "title": "TaskState",\n "type": "object",\n "properties": {\n "booking": {\n "$ref": "#/definitions/Booking"\n },\n "category": {\n "$ref": "#/definitions/Category"\n },\n "detail": {\n "$ref": "#/definitions/Detail"\n },\n "unix_millis_start_time": {\n "title": "Unix Millis Start Time",\n "type": "integer"\n },\n "unix_millis_finish_time": {\n "title": "Unix Millis Finish Time",\n "type": "integer"\n },\n "original_estimate_millis": {\n "$ref": "#/definitions/EstimateMillis"\n },\n "estimate_millis": {\n "$ref": "#/definitions/EstimateMillis"\n },\n "assigned_to": {\n "title": "Assigned To",\n "description": "Which agent (robot) is the task assigned to",\n "allOf": [\n {\n "$ref": "#/definitions/AssignedTo"\n }\n ]\n },\n "status": {\n "$ref": "#/definitions/Status"\n },\n "dispatch": {\n "$ref": "#/definitions/Dispatch"\n },\n "phases": {\n "title": "Phases",\n "description": "A dictionary of the states of the phases of the task. The keys (property names) are phase IDs, which are integers.",\n "type": "object",\n "additionalProperties": {\n "$ref": "#/definitions/Phase"\n }\n },\n "completed": {\n "title": "Completed",\n "description": "An array of the IDs of completed phases of this task",\n "type": "array",\n "items": {\n "$ref": "#/definitions/Id"\n }\n },\n "active": {\n "title": "Active",\n "description": "The ID of the active phase for this task",\n "allOf": [\n {\n "$ref": "#/definitions/Id"\n }\n ]\n },\n "pending": {\n "title": "Pending",\n "description": "An array of the pending phases of this task",\n "type": "array",\n "items": {\n "$ref": "#/definitions/Id"\n }\n },\n "interruptions": {\n "title": "Interruptions",\n "description": "A dictionary of interruptions that have been applied to this task. The keys (property names) are the unique token of the interruption request.",\n "type": "object",\n "additionalProperties": {\n "$ref": "#/definitions/Interruption"\n }\n },\n "cancellation": {\n "title": "Cancellation",\n "description": "If the task was cancelled, this will describe information about the request.",\n "allOf": [\n {\n "$ref": "#/definitions/Cancellation"\n }\n ]\n },\n "killed": {\n "title": "Killed",\n "description": "If the task was killed, this will describe information about the request.",\n "allOf": [\n {\n "$ref": "#/definitions/Killed"\n }\n ]\n },\n "unix_millis_warn_time": {\n "title": "Unix Millis Warn Time",\n "type": "integer"\n }\n },\n "required": [\n "booking"\n ],\n "definitions": {\n "Booking": {\n "title": "Booking",\n "type": "object",\n "properties": {\n "id": {\n "title": "Id",\n "description": "The unique identifier for this task",\n "type": "string"\n },\n "unix_millis_earliest_start_time": {\n "title": "Unix Millis Earliest Start Time",\n "type": "integer"\n },\n "unix_millis_request_time": {\n "title": "Unix Millis Request Time",\n "type": "integer"\n },\n "priority": {\n "title": "Priority",\n "description": "Priority information about this task",\n "anyOf": [\n {\n "type": "object"\n },\n {\n "type": "string"\n }\n ]\n },\n "labels": {\n "title": "Labels",\n "description": "Information about how and why this task was booked",\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "requester": {\n "title": "Requester",\n "description": "(Optional) An identifier for the entity that requested this task",\n "type": "string"\n }\n },\n "required": [\n "id"\n ]\n },\n "Category": {\n "title": "Category",\n "description": "The category of this task or phase",\n "type": "string"\n },\n "Detail": {\n "title": "Detail",\n "description": "Detailed information about a task, phase, or event",\n "anyOf": [\n {\n "type": "object"\n },\n {\n "type": "array",\n "items": {}\n },\n {\n "type": "string"\n }\n ]\n },\n "EstimateMillis": {\n "title": "EstimateMillis",\n "description": "An estimate, in milliseconds, of how long the subject will take to complete",\n "minimum": 0,\n "type": "integer"\n },\n "AssignedTo": {\n "title": "AssignedTo",\n "type": "object",\n "properties": {\n "group": {\n "title": "Group",\n "type": "string"\n },\n "name": {\n "title": "Name",\n "type": "string"\n }\n },\n "required": [\n "group",\n "name"\n ]\n },\n "Status": {\n "title": "Status",\n "description": "An enumeration.",\n "enum": [\n "uninitialized",\n "blocked",\n "error",\n "failed",\n "queued",\n "standby",\n "underway",\n "delayed",\n "skipped",\n "canceled",\n "killed",\n "completed"\n ]\n },\n "Status1": {\n "title": "Status1",\n "description": "An enumeration.",\n "enum": [\n "queued",\n "selected",\n "dispatched",\n "failed_to_assign",\n "canceled_in_flight"\n ]\n },\n "Assignment": {\n "title": "Assignment",\n "type": "object",\n "properties": {\n "fleet_name": {\n "title": "Fleet Name",\n "type": "string"\n },\n "expected_robot_name": {\n "title": "Expected Robot Name",\n "type": "string"\n }\n }\n },\n "Error": {\n "title": "Error",\n "type": "object",\n "properties": {\n "code": {\n "title": "Code",\n "description": "A standard code for the kind of error that has occurred",\n "minimum": 0,\n "type": "integer"\n },\n "category": {\n "title": "Category",\n "description": "The category of the error",\n "type": "string"\n },\n "detail": {\n "title": "Detail",\n "description": "Details about the error",\n "type": "string"\n }\n }\n },\n "Dispatch": {\n "title": "Dispatch",\n "type": "object",\n "properties": {\n "status": {\n "$ref": "#/definitions/Status1"\n },\n "assignment": {\n "$ref": "#/definitions/Assignment"\n },\n "errors": {\n "title": "Errors",\n "type": "array",\n "items": {\n "$ref": "#/definitions/Error"\n }\n }\n },\n "required": [\n "status"\n ]\n },\n "Id": {\n "title": "Id",\n "minimum": 0,\n "type": "integer"\n },\n "EventState": {\n "title": "EventState",\n "type": "object",\n "properties": {\n "id": {\n "$ref": "#/definitions/Id"\n },\n "status": {\n "$ref": "#/definitions/Status"\n },\n "name": {\n "title": "Name",\n "description": "The brief name of the event",\n "type": "string"\n },\n "detail": {\n "title": "Detail",\n "description": "Detailed information about the event",\n "allOf": [\n {\n "$ref": "#/definitions/Detail"\n }\n ]\n },\n "deps": {\n "title": "Deps",\n "description": "This event may depend on other events. This array contains the IDs of those other event dependencies.",\n "type": "array",\n "items": {\n "type": "integer",\n "minimum": 0\n }\n }\n },\n "required": [\n "id"\n ]\n },\n "Undo": {\n "title": "Undo",\n "type": "object",\n "properties": {\n "unix_millis_request_time": {\n "title": "Unix Millis Request Time",\n "description": "The time that the undo skip request arrived",\n "type": "integer"\n },\n "labels": {\n "title": "Labels",\n "description": "Labels to describe the undo skip request",\n "type": "array",\n "items": {\n "type": "string"\n }\n }\n },\n "required": [\n "unix_millis_request_time",\n "labels"\n ]\n },\n "SkipPhaseRequest": {\n "title": "SkipPhaseRequest",\n "type": "object",\n "properties": {\n "unix_millis_request_time": {\n "title": "Unix Millis Request Time",\n "description": "The time that the skip request arrived",\n "type": "integer"\n },\n "labels": {\n "title": "Labels",\n "description": "Labels to describe the purpose of the skip request",\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "undo": {\n "title": "Undo",\n "description": "Information about an undo skip request that applied to this request",\n "allOf": [\n {\n "$ref": "#/definitions/Undo"\n }\n ]\n }\n },\n "required": [\n "unix_millis_request_time",\n "labels"\n ]\n },\n "Phase": {\n "title": "Phase",\n "type": "object",\n "properties": {\n "id": {\n "$ref": "#/definitions/Id"\n },\n "category": {\n "$ref": "#/definitions/Category"\n },\n "detail": {\n "$ref": "#/definitions/Detail"\n },\n "unix_millis_start_time": {\n "title": "Unix Millis Start Time",\n "type": "integer"\n },\n "unix_millis_finish_time": {\n "title": "Unix Millis Finish Time",\n "type": "integer"\n },\n "original_estimate_millis": {\n "$ref": "#/definitions/EstimateMillis"\n },\n "estimate_millis": {\n "$ref": "#/definitions/EstimateMillis"\n },\n "final_event_id": {\n "$ref": "#/definitions/Id"\n },\n "events": {\n "title": "Events",\n "description": "A dictionary of events for this phase. The keys (property names) are the event IDs, which are integers.",\n "type": "object",\n "additionalProperties": {\n "$ref": "#/definitions/EventState"\n }\n },\n "skip_requests": {\n "title": "Skip Requests",\n "description": "Information about any skip requests that have been received",\n "type": "object",\n "additionalProperties": {\n "$ref": "#/definitions/SkipPhaseRequest"\n }\n }\n },\n "required": [\n "id"\n ]\n },\n "ResumedBy": {\n "title": "ResumedBy",\n "type": "object",\n "properties": {\n "unix_millis_request_time": {\n "title": "Unix Millis Request Time",\n "description": "The time that the resume request arrived",\n "type": "integer"\n },\n "labels": {\n "title": "Labels",\n "description": "Labels to describe the resume request",\n "type": "array",\n "items": {\n "type": "string"\n }\n }\n },\n "required": [\n "labels"\n ]\n },\n "Interruption": {\n "title": "Interruption",\n "type": "object",\n "properties": {\n "unix_millis_request_time": {\n "title": "Unix Millis Request Time",\n "description": "The time that the interruption request arrived",\n "type": "integer"\n },\n "labels": {\n "title": "Labels",\n "description": "Labels to describe the purpose of the interruption",\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "resumed_by": {\n "title": "Resumed By",\n "description": "Information about the resume request that ended this interruption. This field will be missing if the interruption is still active.",\n "allOf": [\n {\n "$ref": "#/definitions/ResumedBy"\n }\n ]\n }\n },\n "required": [\n "unix_millis_request_time",\n "labels"\n ]\n },\n "Cancellation": {\n "title": "Cancellation",\n "type": "object",\n "properties": {\n "unix_millis_request_time": {\n "title": "Unix Millis Request Time",\n "description": "The time that the cancellation request arrived",\n "type": "integer"\n },\n "labels": {\n "title": "Labels",\n "description": "Labels to describe the cancel request",\n "type": "array",\n "items": {\n "type": "string"\n }\n }\n },\n "required": [\n "unix_millis_request_time",\n "labels"\n ]\n },\n "Killed": {\n "title": "Killed",\n "type": "object",\n "properties": {\n "unix_millis_request_time": {\n "title": "Unix Millis Request Time",\n "description": "The time that the cancellation request arrived",\n "type": "integer"\n },\n "labels": {\n "title": "Labels",\n "description": "Labels to describe the kill request",\n "type": "array",\n "items": {\n "type": "string"\n }\n }\n },\n "required": [\n "unix_millis_request_time",\n "labels"\n ]\n }\n }\n}\n```\n\n\n### /tasks/{task_id}/log\n\n\n```\n{\n "title": "TaskEventLog",\n "type": "object",\n "properties": {\n "task_id": {\n "title": "Task Id",\n "type": "string"\n },\n "log": {\n "title": "Log",\n "description": "Log entries related to the overall task",\n "type": "array",\n "items": {\n "$ref": "#/definitions/LogEntry"\n }\n },\n "phases": {\n "title": "Phases",\n "description": "A dictionary whose keys (property names) are the indices of a phase",\n "type": "object",\n "additionalProperties": {\n "$ref": "#/definitions/Phases"\n }\n }\n },\n "required": [\n "task_id"\n ],\n "additionalProperties": false,\n "definitions": {\n "Tier": {\n "title": "Tier",\n "description": "An enumeration.",\n "enum": [\n "uninitialized",\n "info",\n "warning",\n "error"\n ]\n },\n "LogEntry": {\n "title": "LogEntry",\n "type": "object",\n "properties": {\n "seq": {\n "title": "Seq",\n "description": "Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.",\n "exclusiveMaximum": 4294967296,\n "minimum": 0,\n "type": "integer"\n },\n "tier": {\n "description": "The importance level of the log entry",\n "allOf": [\n {\n "$ref": "#/definitions/Tier"\n }\n ]\n },\n "unix_millis_time": {\n "title": "Unix Millis Time",\n "type": "integer"\n },\n "text": {\n "title": "Text",\n "description": "The text of the log entry",\n "type": "string"\n }\n },\n "required": [\n "seq",\n "tier",\n "unix_millis_time",\n "text"\n ]\n },\n "Phases": {\n "title": "Phases",\n "type": "object",\n "properties": {\n "log": {\n "title": "Log",\n "description": "Log entries related to the overall phase",\n "type": "array",\n "items": {\n "$ref": "#/definitions/LogEntry"\n }\n },\n "events": {\n "title": "Events",\n "description": "A dictionary whose keys (property names) are the indices of an event in the phase",\n "type": "object",\n "additionalProperties": {\n "type": "array",\n "items": {\n "$ref": "#/definitions/LogEntry"\n }\n }\n }\n },\n "additionalProperties": false\n }\n }\n}\n```\n\n\n### /dispensers/{guid}/state\n\n\n```\n{\n "title": "DispenserState",\n "type": "object",\n "properties": {\n "time": {\n "title": "Time",\n "default": {\n "sec": 0,\n "nanosec": 0\n },\n "allOf": [\n {\n "$ref": "#/definitions/Time"\n }\n ]\n },\n "guid": {\n "title": "Guid",\n "default": "",\n "type": "string"\n },\n "mode": {\n "title": "Mode",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n },\n "request_guid_queue": {\n "title": "Request Guid Queue",\n "default": [],\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "seconds_remaining": {\n "title": "Seconds Remaining",\n "default": 0,\n "type": "number"\n }\n },\n "required": [\n "time",\n "guid",\n "mode",\n "request_guid_queue",\n "seconds_remaining"\n ],\n "definitions": {\n "Time": {\n "title": "Time",\n "type": "object",\n "properties": {\n "sec": {\n "title": "Sec",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n },\n "nanosec": {\n "title": "Nanosec",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n }\n },\n "required": [\n "sec",\n "nanosec"\n ]\n }\n }\n}\n```\n\n\n### /dispensers/{guid}/health\n\n\n```\n{\n "title": "DispenserHealth",\n "type": "object",\n "properties": {\n "health_status": {\n "title": "Health Status",\n "maxLength": 255,\n "nullable": true,\n "type": "string"\n },\n "health_message": {\n "title": "Health Message",\n "nullable": true,\n "type": "string"\n },\n "id_": {\n "title": "Id ",\n "maxLength": 255,\n "type": "string"\n }\n },\n "required": [\n "health_status",\n "id_"\n ],\n "additionalProperties": false\n}\n```\n\n\n### /ingestors/{guid}/state\n\n\n```\n{\n "title": "IngestorState",\n "type": "object",\n "properties": {\n "time": {\n "title": "Time",\n "default": {\n "sec": 0,\n "nanosec": 0\n },\n "allOf": [\n {\n "$ref": "#/definitions/Time"\n }\n ]\n },\n "guid": {\n "title": "Guid",\n "default": "",\n "type": "string"\n },\n "mode": {\n "title": "Mode",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n },\n "request_guid_queue": {\n "title": "Request Guid Queue",\n "default": [],\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "seconds_remaining": {\n "title": "Seconds Remaining",\n "default": 0,\n "type": "number"\n }\n },\n "required": [\n "time",\n "guid",\n "mode",\n "request_guid_queue",\n "seconds_remaining"\n ],\n "definitions": {\n "Time": {\n "title": "Time",\n "type": "object",\n "properties": {\n "sec": {\n "title": "Sec",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n },\n "nanosec": {\n "title": "Nanosec",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n }\n },\n "required": [\n "sec",\n "nanosec"\n ]\n }\n }\n}\n```\n\n\n### /ingestors/{guid}/health\n\n\n```\n{\n "title": "IngestorHealth",\n "type": "object",\n "properties": {\n "health_status": {\n "title": "Health Status",\n "maxLength": 255,\n "nullable": true,\n "type": "string"\n },\n "health_message": {\n "title": "Health Message",\n "nullable": true,\n "type": "string"\n },\n "id_": {\n "title": "Id ",\n "maxLength": 255,\n "type": "string"\n }\n },\n "required": [\n "health_status",\n "id_"\n ],\n "additionalProperties": false\n}\n```\n\n\n### /fleets/{name}/state\n\n\n```\n{\n "title": "FleetState",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "type": "string"\n },\n "robots": {\n "title": "Robots",\n "description": "A dictionary of the states of the robots that belong to this fleet",\n "type": "object",\n "additionalProperties": {\n "$ref": "#/definitions/RobotState"\n }\n }\n },\n "definitions": {\n "Status2": {\n "title": "Status2",\n "description": "An enumeration.",\n "enum": [\n "uninitialized",\n "offline",\n "shutdown",\n "idle",\n "charging",\n "working",\n "error"\n ]\n },\n "Location2D": {\n "title": "Location2D",\n "type": "object",\n "properties": {\n "map": {\n "title": "Map",\n "type": "string"\n },\n "x": {\n "title": "X",\n "type": "number"\n },\n "y": {\n "title": "Y",\n "type": "number"\n },\n "yaw": {\n "title": "Yaw",\n "type": "number"\n }\n },\n "required": [\n "map",\n "x",\n "y",\n "yaw"\n ]\n },\n "Issue": {\n "title": "Issue",\n "type": "object",\n "properties": {\n "category": {\n "title": "Category",\n "description": "Category of the robot\'s issue",\n "type": "string"\n },\n "detail": {\n "title": "Detail",\n "description": "Detailed information about the issue",\n "anyOf": [\n {\n "type": "object"\n },\n {\n "type": "array",\n "items": {}\n },\n {\n "type": "string"\n }\n ]\n }\n }\n },\n "RobotState": {\n "title": "RobotState",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "type": "string"\n },\n "status": {\n "description": "A simple token representing the status of the robot",\n "allOf": [\n {\n "$ref": "#/definitions/Status2"\n }\n ]\n },\n "task_id": {\n "title": "Task Id",\n "description": "The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.",\n "type": "string"\n },\n "unix_millis_time": {\n "title": "Unix Millis Time",\n "type": "integer"\n },\n "location": {\n "$ref": "#/definitions/Location2D"\n },\n "battery": {\n "title": "Battery",\n "description": "State of charge of the battery. Values range from 0.0 (depleted) to 1.0 (fully charged)",\n "minimum": 0.0,\n "maximum": 1.0,\n "type": "number"\n },\n "issues": {\n "title": "Issues",\n "description": "A list of issues with the robot that operators need to address",\n "type": "array",\n "items": {\n "$ref": "#/definitions/Issue"\n }\n }\n }\n }\n }\n}\n```\n\n\n### /fleets/{name}/log\n\n\n```\n{\n "title": "FleetState",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "type": "string"\n },\n "log": {\n "title": "Log",\n "description": "Log for the overall fleet",\n "type": "array",\n "items": {\n "$ref": "#/definitions/LogEntry"\n }\n },\n "robots": {\n "title": "Robots",\n "description": "Dictionary of logs for the individual robots. The keys (property names) are the robot names.",\n "type": "object",\n "additionalProperties": {\n "type": "array",\n "items": {\n "$ref": "#/definitions/LogEntry"\n }\n }\n }\n },\n "definitions": {\n "Tier": {\n "title": "Tier",\n "description": "An enumeration.",\n "enum": [\n "uninitialized",\n "info",\n "warning",\n "error"\n ]\n },\n "LogEntry": {\n "title": "LogEntry",\n "type": "object",\n "properties": {\n "seq": {\n "title": "Seq",\n "description": "Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.",\n "exclusiveMaximum": 4294967296,\n "minimum": 0,\n "type": "integer"\n },\n "tier": {\n "description": "The importance level of the log entry",\n "allOf": [\n {\n "$ref": "#/definitions/Tier"\n }\n ]\n },\n "unix_millis_time": {\n "title": "Unix Millis Time",\n "type": "integer"\n },\n "text": {\n "title": "Text",\n "description": "The text of the log entry",\n "type": "string"\n }\n },\n "required": [\n "seq",\n "tier",\n "unix_millis_time",\n "text"\n ]\n }\n }\n}\n```\n\n', + '\n# NOTE: This endpoint is here for documentation purposes only, this is _not_ a REST endpoint.\n\n## About\nThis exposes a minimal pubsub system built on top of socket.io.\nIt works similar to a normal socket.io endpoint, except that are 2 special\nrooms which control subscriptions.\n\n## Rooms\n### subscribe\nClients must send a message to this room to start receiving messages on other rooms.\nThe message must be of the form:\n\n```\n{\n "room": ""\n}\n```\n\n### unsubscribe\nClients can send a message to this room to stop receiving messages on other rooms.\nThe message must be of the form:\n\n```\n{\n "room": ""\n}\n```\n \n### /alerts\n\n\n```\n{\n "title": "Alert",\n "description": "General alert that can be triggered by events.",\n "type": "object",\n "properties": {\n "id": {\n "title": "Id",\n "maxLength": 255,\n "type": "string"\n },\n "original_id": {\n "title": "Original Id",\n "maxLength": 255,\n "type": "string"\n },\n "category": {\n "title": "Category",\n "description": "Default: default
Task: task
Fleet: fleet
Robot: robot",\n "maxLength": 7,\n "type": "string"\n },\n "unix_millis_created_time": {\n "title": "Unix Millis Created Time",\n "minimum": -9223372036854775808,\n "maximum": 9223372036854775807,\n "type": "integer"\n },\n "acknowledged_by": {\n "title": "Acknowledged By",\n "maxLength": 255,\n "nullable": true,\n "type": "string"\n },\n "unix_millis_acknowledged_time": {\n "title": "Unix Millis Acknowledged Time",\n "minimum": -9223372036854775808,\n "maximum": 9223372036854775807,\n "nullable": true,\n "type": "integer"\n }\n },\n "required": [\n "id",\n "original_id",\n "category",\n "unix_millis_created_time"\n ],\n "additionalProperties": false\n}\n```\n\n\n### /beacons\n\n\n```\n{\n "title": "BeaconState",\n "type": "object",\n "properties": {\n "id": {\n "title": "Id",\n "maxLength": 255,\n "type": "string"\n },\n "online": {\n "title": "Online",\n "type": "boolean"\n },\n "category": {\n "title": "Category",\n "maxLength": 255,\n "nullable": true,\n "type": "string"\n },\n "activated": {\n "title": "Activated",\n "type": "boolean"\n },\n "level": {\n "title": "Level",\n "maxLength": 255,\n "nullable": true,\n "type": "string"\n }\n },\n "required": [\n "id",\n "online",\n "activated"\n ],\n "additionalProperties": false\n}\n```\n\n\n### /building_map\n\n\n```\n{\n "title": "BuildingMap",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "levels": {\n "title": "Levels",\n "type": "array",\n "items": {\n "$ref": "#/definitions/Level"\n }\n },\n "lifts": {\n "title": "Lifts",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Lift"\n }\n }\n },\n "required": [\n "name",\n "levels",\n "lifts"\n ],\n "definitions": {\n "AffineImage": {\n "title": "AffineImage",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "x_offset": {\n "title": "X Offset",\n "default": 0,\n "type": "number"\n },\n "y_offset": {\n "title": "Y Offset",\n "default": 0,\n "type": "number"\n },\n "yaw": {\n "title": "Yaw",\n "default": 0,\n "type": "number"\n },\n "scale": {\n "title": "Scale",\n "default": 0,\n "type": "number"\n },\n "encoding": {\n "title": "Encoding",\n "default": "",\n "type": "string"\n },\n "data": {\n "title": "Data",\n "type": "string"\n }\n },\n "required": [\n "name",\n "x_offset",\n "y_offset",\n "yaw",\n "scale",\n "encoding",\n "data"\n ]\n },\n "Place": {\n "title": "Place",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "x": {\n "title": "X",\n "default": 0,\n "type": "number"\n },\n "y": {\n "title": "Y",\n "default": 0,\n "type": "number"\n },\n "yaw": {\n "title": "Yaw",\n "default": 0,\n "type": "number"\n },\n "position_tolerance": {\n "title": "Position Tolerance",\n "default": 0,\n "type": "number"\n },\n "yaw_tolerance": {\n "title": "Yaw Tolerance",\n "default": 0,\n "type": "number"\n }\n },\n "required": [\n "name",\n "x",\n "y",\n "yaw",\n "position_tolerance",\n "yaw_tolerance"\n ]\n },\n "Door": {\n "title": "Door",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "v1_x": {\n "title": "V1 X",\n "default": 0,\n "type": "number"\n },\n "v1_y": {\n "title": "V1 Y",\n "default": 0,\n "type": "number"\n },\n "v2_x": {\n "title": "V2 X",\n "default": 0,\n "type": "number"\n },\n "v2_y": {\n "title": "V2 Y",\n "default": 0,\n "type": "number"\n },\n "door_type": {\n "title": "Door Type",\n "default": 0,\n "minimum": 0,\n "maximum": 255,\n "type": "integer"\n },\n "motion_range": {\n "title": "Motion Range",\n "default": 0,\n "type": "number"\n },\n "motion_direction": {\n "title": "Motion Direction",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n }\n },\n "required": [\n "name",\n "v1_x",\n "v1_y",\n "v2_x",\n "v2_y",\n "door_type",\n "motion_range",\n "motion_direction"\n ]\n },\n "Param": {\n "title": "Param",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "type": {\n "title": "Type",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n },\n "value_int": {\n "title": "Value Int",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n },\n "value_float": {\n "title": "Value Float",\n "default": 0,\n "type": "number"\n },\n "value_string": {\n "title": "Value String",\n "default": "",\n "type": "string"\n },\n "value_bool": {\n "title": "Value Bool",\n "default": false,\n "type": "boolean"\n }\n },\n "required": [\n "name",\n "type",\n "value_int",\n "value_float",\n "value_string",\n "value_bool"\n ]\n },\n "GraphNode": {\n "title": "GraphNode",\n "type": "object",\n "properties": {\n "x": {\n "title": "X",\n "default": 0,\n "type": "number"\n },\n "y": {\n "title": "Y",\n "default": 0,\n "type": "number"\n },\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "params": {\n "title": "Params",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Param"\n }\n }\n },\n "required": [\n "x",\n "y",\n "name",\n "params"\n ]\n },\n "GraphEdge": {\n "title": "GraphEdge",\n "type": "object",\n "properties": {\n "v1_idx": {\n "title": "V1 Idx",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n },\n "v2_idx": {\n "title": "V2 Idx",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n },\n "params": {\n "title": "Params",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Param"\n }\n },\n "edge_type": {\n "title": "Edge Type",\n "default": 0,\n "minimum": 0,\n "maximum": 255,\n "type": "integer"\n }\n },\n "required": [\n "v1_idx",\n "v2_idx",\n "params",\n "edge_type"\n ]\n },\n "Graph": {\n "title": "Graph",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "vertices": {\n "title": "Vertices",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/GraphNode"\n }\n },\n "edges": {\n "title": "Edges",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/GraphEdge"\n }\n },\n "params": {\n "title": "Params",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Param"\n }\n }\n },\n "required": [\n "name",\n "vertices",\n "edges",\n "params"\n ]\n },\n "Level": {\n "title": "Level",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "elevation": {\n "title": "Elevation",\n "default": 0,\n "type": "number"\n },\n "images": {\n "title": "Images",\n "type": "array",\n "items": {\n "$ref": "#/definitions/AffineImage"\n }\n },\n "places": {\n "title": "Places",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Place"\n }\n },\n "doors": {\n "title": "Doors",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Door"\n }\n },\n "nav_graphs": {\n "title": "Nav Graphs",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Graph"\n }\n },\n "wall_graph": {\n "title": "Wall Graph",\n "default": {\n "name": "",\n "vertices": [],\n "edges": [],\n "params": []\n },\n "allOf": [\n {\n "$ref": "#/definitions/Graph"\n }\n ]\n }\n },\n "required": [\n "name",\n "elevation",\n "images",\n "places",\n "doors",\n "nav_graphs",\n "wall_graph"\n ]\n },\n "Lift": {\n "title": "Lift",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "default": "",\n "type": "string"\n },\n "levels": {\n "title": "Levels",\n "default": [],\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "doors": {\n "title": "Doors",\n "default": [],\n "type": "array",\n "items": {\n "$ref": "#/definitions/Door"\n }\n },\n "wall_graph": {\n "title": "Wall Graph",\n "default": {\n "name": "",\n "vertices": [],\n "edges": [],\n "params": []\n },\n "allOf": [\n {\n "$ref": "#/definitions/Graph"\n }\n ]\n },\n "ref_x": {\n "title": "Ref X",\n "default": 0,\n "type": "number"\n },\n "ref_y": {\n "title": "Ref Y",\n "default": 0,\n "type": "number"\n },\n "ref_yaw": {\n "title": "Ref Yaw",\n "default": 0,\n "type": "number"\n },\n "width": {\n "title": "Width",\n "default": 0,\n "type": "number"\n },\n "depth": {\n "title": "Depth",\n "default": 0,\n "type": "number"\n }\n },\n "required": [\n "name",\n "levels",\n "doors",\n "wall_graph",\n "ref_x",\n "ref_y",\n "ref_yaw",\n "width",\n "depth"\n ]\n }\n }\n}\n```\n\n\n### /delivery_alerts\n\n\n```\n{\n "title": "DeliveryAlert",\n "type": "object",\n "properties": {\n "id": {\n "title": "Id",\n "type": "string"\n },\n "category": {\n "$ref": "#/definitions/Category"\n },\n "tier": {\n "$ref": "#/definitions/Tier"\n },\n "action": {\n "$ref": "#/definitions/Action"\n },\n "task_id": {\n "title": "Task Id",\n "type": "string"\n },\n "message": {\n "title": "Message",\n "type": "string"\n }\n },\n "required": [\n "id",\n "category",\n "tier",\n "action",\n "task_id",\n "message"\n ],\n "definitions": {\n "Category": {\n "title": "Category",\n "description": "An enumeration.",\n "enum": [\n "missing",\n "wrong",\n "obstructed",\n "cancelled"\n ],\n "type": "string"\n },\n "Tier": {\n "title": "Tier",\n "description": "An enumeration.",\n "enum": [\n "warning",\n "error"\n ],\n "type": "string"\n },\n "Action": {\n "title": "Action",\n "description": "An enumeration.",\n "enum": [\n "waiting",\n "cancelled",\n "override",\n "resume"\n ],\n "type": "string"\n }\n }\n}\n```\n\n\n### /doors/{door_name}/state\n\n\n```\n{\n "title": "DoorState",\n "type": "object",\n "properties": {\n "door_time": {\n "title": "Door Time",\n "default": {\n "sec": 0,\n "nanosec": 0\n },\n "allOf": [\n {\n "$ref": "#/definitions/Time"\n }\n ]\n },\n "door_name": {\n "title": "Door Name",\n "default": "",\n "type": "string"\n },\n "current_mode": {\n "title": "Current Mode",\n "default": {\n "value": 0\n },\n "allOf": [\n {\n "$ref": "#/definitions/DoorMode"\n }\n ]\n }\n },\n "required": [\n "door_time",\n "door_name",\n "current_mode"\n ],\n "definitions": {\n "Time": {\n "title": "Time",\n "type": "object",\n "properties": {\n "sec": {\n "title": "Sec",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n },\n "nanosec": {\n "title": "Nanosec",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n }\n },\n "required": [\n "sec",\n "nanosec"\n ]\n },\n "DoorMode": {\n "title": "DoorMode",\n "type": "object",\n "properties": {\n "value": {\n "title": "Value",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n }\n },\n "required": [\n "value"\n ]\n }\n }\n}\n```\n\n\n### /doors/{door_name}/health\n\n\n```\n{\n "title": "DoorHealth",\n "type": "object",\n "properties": {\n "health_status": {\n "title": "Health Status",\n "maxLength": 255,\n "nullable": true,\n "type": "string"\n },\n "health_message": {\n "title": "Health Message",\n "nullable": true,\n "type": "string"\n },\n "id_": {\n "title": "Id ",\n "maxLength": 255,\n "type": "string"\n }\n },\n "required": [\n "health_status",\n "id_"\n ],\n "additionalProperties": false\n}\n```\n\n\n### /lifts/{lift_name}/state\n\n\n```\n{\n "title": "LiftState",\n "type": "object",\n "properties": {\n "lift_time": {\n "title": "Lift Time",\n "default": {\n "sec": 0,\n "nanosec": 0\n },\n "allOf": [\n {\n "$ref": "#/definitions/Time"\n }\n ]\n },\n "lift_name": {\n "title": "Lift Name",\n "default": "",\n "type": "string"\n },\n "available_floors": {\n "title": "Available Floors",\n "default": [],\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "current_floor": {\n "title": "Current Floor",\n "default": "",\n "type": "string"\n },\n "destination_floor": {\n "title": "Destination Floor",\n "default": "",\n "type": "string"\n },\n "door_state": {\n "title": "Door State",\n "default": 0,\n "minimum": 0,\n "maximum": 255,\n "type": "integer"\n },\n "motion_state": {\n "title": "Motion State",\n "default": 0,\n "minimum": 0,\n "maximum": 255,\n "type": "integer"\n },\n "available_modes": {\n "title": "Available Modes",\n "type": "array",\n "items": {\n "type": "integer"\n }\n },\n "current_mode": {\n "title": "Current Mode",\n "default": 0,\n "minimum": 0,\n "maximum": 255,\n "type": "integer"\n },\n "session_id": {\n "title": "Session Id",\n "default": "",\n "type": "string"\n }\n },\n "required": [\n "lift_time",\n "lift_name",\n "available_floors",\n "current_floor",\n "destination_floor",\n "door_state",\n "motion_state",\n "available_modes",\n "current_mode",\n "session_id"\n ],\n "definitions": {\n "Time": {\n "title": "Time",\n "type": "object",\n "properties": {\n "sec": {\n "title": "Sec",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n },\n "nanosec": {\n "title": "Nanosec",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n }\n },\n "required": [\n "sec",\n "nanosec"\n ]\n }\n }\n}\n```\n\n\n### /lifts/{lift_name}/health\n\n\n```\n{\n "title": "LiftHealth",\n "type": "object",\n "properties": {\n "health_status": {\n "title": "Health Status",\n "maxLength": 255,\n "nullable": true,\n "type": "string"\n },\n "health_message": {\n "title": "Health Message",\n "nullable": true,\n "type": "string"\n },\n "id_": {\n "title": "Id ",\n "maxLength": 255,\n "type": "string"\n }\n },\n "required": [\n "health_status",\n "id_"\n ],\n "additionalProperties": false\n}\n```\n\n\n### /tasks/{task_id}/state\n\n\n```\n{\n "title": "TaskState",\n "type": "object",\n "properties": {\n "booking": {\n "$ref": "#/definitions/Booking"\n },\n "category": {\n "$ref": "#/definitions/Category"\n },\n "detail": {\n "$ref": "#/definitions/Detail"\n },\n "unix_millis_start_time": {\n "title": "Unix Millis Start Time",\n "type": "integer"\n },\n "unix_millis_finish_time": {\n "title": "Unix Millis Finish Time",\n "type": "integer"\n },\n "original_estimate_millis": {\n "$ref": "#/definitions/EstimateMillis"\n },\n "estimate_millis": {\n "$ref": "#/definitions/EstimateMillis"\n },\n "assigned_to": {\n "title": "Assigned To",\n "description": "Which agent (robot) is the task assigned to",\n "allOf": [\n {\n "$ref": "#/definitions/AssignedTo"\n }\n ]\n },\n "status": {\n "$ref": "#/definitions/Status"\n },\n "dispatch": {\n "$ref": "#/definitions/Dispatch"\n },\n "phases": {\n "title": "Phases",\n "description": "A dictionary of the states of the phases of the task. The keys (property names) are phase IDs, which are integers.",\n "type": "object",\n "additionalProperties": {\n "$ref": "#/definitions/Phase"\n }\n },\n "completed": {\n "title": "Completed",\n "description": "An array of the IDs of completed phases of this task",\n "type": "array",\n "items": {\n "$ref": "#/definitions/Id"\n }\n },\n "active": {\n "title": "Active",\n "description": "The ID of the active phase for this task",\n "allOf": [\n {\n "$ref": "#/definitions/Id"\n }\n ]\n },\n "pending": {\n "title": "Pending",\n "description": "An array of the pending phases of this task",\n "type": "array",\n "items": {\n "$ref": "#/definitions/Id"\n }\n },\n "interruptions": {\n "title": "Interruptions",\n "description": "A dictionary of interruptions that have been applied to this task. The keys (property names) are the unique token of the interruption request.",\n "type": "object",\n "additionalProperties": {\n "$ref": "#/definitions/Interruption"\n }\n },\n "cancellation": {\n "title": "Cancellation",\n "description": "If the task was cancelled, this will describe information about the request.",\n "allOf": [\n {\n "$ref": "#/definitions/Cancellation"\n }\n ]\n },\n "killed": {\n "title": "Killed",\n "description": "If the task was killed, this will describe information about the request.",\n "allOf": [\n {\n "$ref": "#/definitions/Killed"\n }\n ]\n },\n "unix_millis_warn_time": {\n "title": "Unix Millis Warn Time",\n "type": "integer"\n }\n },\n "required": [\n "booking"\n ],\n "definitions": {\n "Booking": {\n "title": "Booking",\n "type": "object",\n "properties": {\n "id": {\n "title": "Id",\n "description": "The unique identifier for this task",\n "type": "string"\n },\n "unix_millis_earliest_start_time": {\n "title": "Unix Millis Earliest Start Time",\n "type": "integer"\n },\n "unix_millis_request_time": {\n "title": "Unix Millis Request Time",\n "type": "integer"\n },\n "priority": {\n "title": "Priority",\n "description": "Priority information about this task",\n "anyOf": [\n {\n "type": "object"\n },\n {\n "type": "string"\n }\n ]\n },\n "labels": {\n "title": "Labels",\n "description": "Information about how and why this task was booked",\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "requester": {\n "title": "Requester",\n "description": "(Optional) An identifier for the entity that requested this task",\n "type": "string"\n }\n },\n "required": [\n "id"\n ]\n },\n "Category": {\n "title": "Category",\n "description": "The category of this task or phase",\n "type": "string"\n },\n "Detail": {\n "title": "Detail",\n "description": "Detailed information about a task, phase, or event",\n "anyOf": [\n {\n "type": "object"\n },\n {\n "type": "array",\n "items": {}\n },\n {\n "type": "string"\n }\n ]\n },\n "EstimateMillis": {\n "title": "EstimateMillis",\n "description": "An estimate, in milliseconds, of how long the subject will take to complete",\n "minimum": 0,\n "type": "integer"\n },\n "AssignedTo": {\n "title": "AssignedTo",\n "type": "object",\n "properties": {\n "group": {\n "title": "Group",\n "type": "string"\n },\n "name": {\n "title": "Name",\n "type": "string"\n }\n },\n "required": [\n "group",\n "name"\n ]\n },\n "Status": {\n "title": "Status",\n "description": "An enumeration.",\n "enum": [\n "uninitialized",\n "blocked",\n "error",\n "failed",\n "queued",\n "standby",\n "underway",\n "delayed",\n "skipped",\n "canceled",\n "killed",\n "completed"\n ]\n },\n "Status1": {\n "title": "Status1",\n "description": "An enumeration.",\n "enum": [\n "queued",\n "selected",\n "dispatched",\n "failed_to_assign",\n "canceled_in_flight"\n ]\n },\n "Assignment": {\n "title": "Assignment",\n "type": "object",\n "properties": {\n "fleet_name": {\n "title": "Fleet Name",\n "type": "string"\n },\n "expected_robot_name": {\n "title": "Expected Robot Name",\n "type": "string"\n }\n }\n },\n "Error": {\n "title": "Error",\n "type": "object",\n "properties": {\n "code": {\n "title": "Code",\n "description": "A standard code for the kind of error that has occurred",\n "minimum": 0,\n "type": "integer"\n },\n "category": {\n "title": "Category",\n "description": "The category of the error",\n "type": "string"\n },\n "detail": {\n "title": "Detail",\n "description": "Details about the error",\n "type": "string"\n }\n }\n },\n "Dispatch": {\n "title": "Dispatch",\n "type": "object",\n "properties": {\n "status": {\n "$ref": "#/definitions/Status1"\n },\n "assignment": {\n "$ref": "#/definitions/Assignment"\n },\n "errors": {\n "title": "Errors",\n "type": "array",\n "items": {\n "$ref": "#/definitions/Error"\n }\n }\n },\n "required": [\n "status"\n ]\n },\n "Id": {\n "title": "Id",\n "minimum": 0,\n "type": "integer"\n },\n "EventState": {\n "title": "EventState",\n "type": "object",\n "properties": {\n "id": {\n "$ref": "#/definitions/Id"\n },\n "status": {\n "$ref": "#/definitions/Status"\n },\n "name": {\n "title": "Name",\n "description": "The brief name of the event",\n "type": "string"\n },\n "detail": {\n "title": "Detail",\n "description": "Detailed information about the event",\n "allOf": [\n {\n "$ref": "#/definitions/Detail"\n }\n ]\n },\n "deps": {\n "title": "Deps",\n "description": "This event may depend on other events. This array contains the IDs of those other event dependencies.",\n "type": "array",\n "items": {\n "type": "integer",\n "minimum": 0\n }\n }\n },\n "required": [\n "id"\n ]\n },\n "Undo": {\n "title": "Undo",\n "type": "object",\n "properties": {\n "unix_millis_request_time": {\n "title": "Unix Millis Request Time",\n "description": "The time that the undo skip request arrived",\n "type": "integer"\n },\n "labels": {\n "title": "Labels",\n "description": "Labels to describe the undo skip request",\n "type": "array",\n "items": {\n "type": "string"\n }\n }\n },\n "required": [\n "unix_millis_request_time",\n "labels"\n ]\n },\n "SkipPhaseRequest": {\n "title": "SkipPhaseRequest",\n "type": "object",\n "properties": {\n "unix_millis_request_time": {\n "title": "Unix Millis Request Time",\n "description": "The time that the skip request arrived",\n "type": "integer"\n },\n "labels": {\n "title": "Labels",\n "description": "Labels to describe the purpose of the skip request",\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "undo": {\n "title": "Undo",\n "description": "Information about an undo skip request that applied to this request",\n "allOf": [\n {\n "$ref": "#/definitions/Undo"\n }\n ]\n }\n },\n "required": [\n "unix_millis_request_time",\n "labels"\n ]\n },\n "Phase": {\n "title": "Phase",\n "type": "object",\n "properties": {\n "id": {\n "$ref": "#/definitions/Id"\n },\n "category": {\n "$ref": "#/definitions/Category"\n },\n "detail": {\n "$ref": "#/definitions/Detail"\n },\n "unix_millis_start_time": {\n "title": "Unix Millis Start Time",\n "type": "integer"\n },\n "unix_millis_finish_time": {\n "title": "Unix Millis Finish Time",\n "type": "integer"\n },\n "original_estimate_millis": {\n "$ref": "#/definitions/EstimateMillis"\n },\n "estimate_millis": {\n "$ref": "#/definitions/EstimateMillis"\n },\n "final_event_id": {\n "$ref": "#/definitions/Id"\n },\n "events": {\n "title": "Events",\n "description": "A dictionary of events for this phase. The keys (property names) are the event IDs, which are integers.",\n "type": "object",\n "additionalProperties": {\n "$ref": "#/definitions/EventState"\n }\n },\n "skip_requests": {\n "title": "Skip Requests",\n "description": "Information about any skip requests that have been received",\n "type": "object",\n "additionalProperties": {\n "$ref": "#/definitions/SkipPhaseRequest"\n }\n }\n },\n "required": [\n "id"\n ]\n },\n "ResumedBy": {\n "title": "ResumedBy",\n "type": "object",\n "properties": {\n "unix_millis_request_time": {\n "title": "Unix Millis Request Time",\n "description": "The time that the resume request arrived",\n "type": "integer"\n },\n "labels": {\n "title": "Labels",\n "description": "Labels to describe the resume request",\n "type": "array",\n "items": {\n "type": "string"\n }\n }\n },\n "required": [\n "labels"\n ]\n },\n "Interruption": {\n "title": "Interruption",\n "type": "object",\n "properties": {\n "unix_millis_request_time": {\n "title": "Unix Millis Request Time",\n "description": "The time that the interruption request arrived",\n "type": "integer"\n },\n "labels": {\n "title": "Labels",\n "description": "Labels to describe the purpose of the interruption",\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "resumed_by": {\n "title": "Resumed By",\n "description": "Information about the resume request that ended this interruption. This field will be missing if the interruption is still active.",\n "allOf": [\n {\n "$ref": "#/definitions/ResumedBy"\n }\n ]\n }\n },\n "required": [\n "unix_millis_request_time",\n "labels"\n ]\n },\n "Cancellation": {\n "title": "Cancellation",\n "type": "object",\n "properties": {\n "unix_millis_request_time": {\n "title": "Unix Millis Request Time",\n "description": "The time that the cancellation request arrived",\n "type": "integer"\n },\n "labels": {\n "title": "Labels",\n "description": "Labels to describe the cancel request",\n "type": "array",\n "items": {\n "type": "string"\n }\n }\n },\n "required": [\n "unix_millis_request_time",\n "labels"\n ]\n },\n "Killed": {\n "title": "Killed",\n "type": "object",\n "properties": {\n "unix_millis_request_time": {\n "title": "Unix Millis Request Time",\n "description": "The time that the cancellation request arrived",\n "type": "integer"\n },\n "labels": {\n "title": "Labels",\n "description": "Labels to describe the kill request",\n "type": "array",\n "items": {\n "type": "string"\n }\n }\n },\n "required": [\n "unix_millis_request_time",\n "labels"\n ]\n }\n }\n}\n```\n\n\n### /tasks/{task_id}/log\n\n\n```\n{\n "title": "TaskEventLog",\n "type": "object",\n "properties": {\n "task_id": {\n "title": "Task Id",\n "type": "string"\n },\n "log": {\n "title": "Log",\n "description": "Log entries related to the overall task",\n "type": "array",\n "items": {\n "$ref": "#/definitions/LogEntry"\n }\n },\n "phases": {\n "title": "Phases",\n "description": "A dictionary whose keys (property names) are the indices of a phase",\n "type": "object",\n "additionalProperties": {\n "$ref": "#/definitions/Phases"\n }\n }\n },\n "required": [\n "task_id"\n ],\n "additionalProperties": false,\n "definitions": {\n "Tier": {\n "title": "Tier",\n "description": "An enumeration.",\n "enum": [\n "uninitialized",\n "info",\n "warning",\n "error"\n ]\n },\n "LogEntry": {\n "title": "LogEntry",\n "type": "object",\n "properties": {\n "seq": {\n "title": "Seq",\n "description": "Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.",\n "exclusiveMaximum": 4294967296,\n "minimum": 0,\n "type": "integer"\n },\n "tier": {\n "description": "The importance level of the log entry",\n "allOf": [\n {\n "$ref": "#/definitions/Tier"\n }\n ]\n },\n "unix_millis_time": {\n "title": "Unix Millis Time",\n "type": "integer"\n },\n "text": {\n "title": "Text",\n "description": "The text of the log entry",\n "type": "string"\n }\n },\n "required": [\n "seq",\n "tier",\n "unix_millis_time",\n "text"\n ]\n },\n "Phases": {\n "title": "Phases",\n "type": "object",\n "properties": {\n "log": {\n "title": "Log",\n "description": "Log entries related to the overall phase",\n "type": "array",\n "items": {\n "$ref": "#/definitions/LogEntry"\n }\n },\n "events": {\n "title": "Events",\n "description": "A dictionary whose keys (property names) are the indices of an event in the phase",\n "type": "object",\n "additionalProperties": {\n "type": "array",\n "items": {\n "$ref": "#/definitions/LogEntry"\n }\n }\n }\n },\n "additionalProperties": false\n }\n }\n}\n```\n\n\n### /dispensers/{guid}/state\n\n\n```\n{\n "title": "DispenserState",\n "type": "object",\n "properties": {\n "time": {\n "title": "Time",\n "default": {\n "sec": 0,\n "nanosec": 0\n },\n "allOf": [\n {\n "$ref": "#/definitions/Time"\n }\n ]\n },\n "guid": {\n "title": "Guid",\n "default": "",\n "type": "string"\n },\n "mode": {\n "title": "Mode",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n },\n "request_guid_queue": {\n "title": "Request Guid Queue",\n "default": [],\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "seconds_remaining": {\n "title": "Seconds Remaining",\n "default": 0,\n "type": "number"\n }\n },\n "required": [\n "time",\n "guid",\n "mode",\n "request_guid_queue",\n "seconds_remaining"\n ],\n "definitions": {\n "Time": {\n "title": "Time",\n "type": "object",\n "properties": {\n "sec": {\n "title": "Sec",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n },\n "nanosec": {\n "title": "Nanosec",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n }\n },\n "required": [\n "sec",\n "nanosec"\n ]\n }\n }\n}\n```\n\n\n### /dispensers/{guid}/health\n\n\n```\n{\n "title": "DispenserHealth",\n "type": "object",\n "properties": {\n "health_status": {\n "title": "Health Status",\n "maxLength": 255,\n "nullable": true,\n "type": "string"\n },\n "health_message": {\n "title": "Health Message",\n "nullable": true,\n "type": "string"\n },\n "id_": {\n "title": "Id ",\n "maxLength": 255,\n "type": "string"\n }\n },\n "required": [\n "health_status",\n "id_"\n ],\n "additionalProperties": false\n}\n```\n\n\n### /ingestors/{guid}/state\n\n\n```\n{\n "title": "IngestorState",\n "type": "object",\n "properties": {\n "time": {\n "title": "Time",\n "default": {\n "sec": 0,\n "nanosec": 0\n },\n "allOf": [\n {\n "$ref": "#/definitions/Time"\n }\n ]\n },\n "guid": {\n "title": "Guid",\n "default": "",\n "type": "string"\n },\n "mode": {\n "title": "Mode",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n },\n "request_guid_queue": {\n "title": "Request Guid Queue",\n "default": [],\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "seconds_remaining": {\n "title": "Seconds Remaining",\n "default": 0,\n "type": "number"\n }\n },\n "required": [\n "time",\n "guid",\n "mode",\n "request_guid_queue",\n "seconds_remaining"\n ],\n "definitions": {\n "Time": {\n "title": "Time",\n "type": "object",\n "properties": {\n "sec": {\n "title": "Sec",\n "default": 0,\n "minimum": -2147483648,\n "maximum": 2147483647,\n "type": "integer"\n },\n "nanosec": {\n "title": "Nanosec",\n "default": 0,\n "minimum": 0,\n "maximum": 4294967295,\n "type": "integer"\n }\n },\n "required": [\n "sec",\n "nanosec"\n ]\n }\n }\n}\n```\n\n\n### /ingestors/{guid}/health\n\n\n```\n{\n "title": "IngestorHealth",\n "type": "object",\n "properties": {\n "health_status": {\n "title": "Health Status",\n "maxLength": 255,\n "nullable": true,\n "type": "string"\n },\n "health_message": {\n "title": "Health Message",\n "nullable": true,\n "type": "string"\n },\n "id_": {\n "title": "Id ",\n "maxLength": 255,\n "type": "string"\n }\n },\n "required": [\n "health_status",\n "id_"\n ],\n "additionalProperties": false\n}\n```\n\n\n### /fleets/{name}/state\n\n\n```\n{\n "title": "FleetState",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "type": "string"\n },\n "robots": {\n "title": "Robots",\n "description": "A dictionary of the states of the robots that belong to this fleet",\n "type": "object",\n "additionalProperties": {\n "$ref": "#/definitions/RobotState"\n }\n }\n },\n "definitions": {\n "Status": {\n "title": "Status",\n "description": "An enumeration.",\n "enum": [\n "uninitialized",\n "offline",\n "shutdown",\n "idle",\n "charging",\n "working",\n "error"\n ]\n },\n "Location2D": {\n "title": "Location2D",\n "type": "object",\n "properties": {\n "map": {\n "title": "Map",\n "type": "string"\n },\n "x": {\n "title": "X",\n "type": "number"\n },\n "y": {\n "title": "Y",\n "type": "number"\n },\n "yaw": {\n "title": "Yaw",\n "type": "number"\n }\n },\n "required": [\n "map",\n "x",\n "y",\n "yaw"\n ]\n },\n "Issue": {\n "title": "Issue",\n "type": "object",\n "properties": {\n "category": {\n "title": "Category",\n "description": "Category of the robot\'s issue",\n "type": "string"\n },\n "detail": {\n "title": "Detail",\n "description": "Detailed information about the issue",\n "anyOf": [\n {\n "type": "object"\n },\n {\n "type": "array",\n "items": {}\n },\n {\n "type": "string"\n }\n ]\n }\n }\n },\n "Commission": {\n "title": "Commission",\n "type": "object",\n "properties": {\n "dispatch_tasks": {\n "title": "Dispatch Tasks",\n "description": "Should the robot accept dispatched tasks, true/false. When used in a request, leave this unset to not change the robot\'s current value.",\n "type": "boolean"\n },\n "direct_tasks": {\n "title": "Direct Tasks",\n "description": "Should the robot accept direct task requests, true/false. When used in a request, leave this unset to not change the robot\'s current value.",\n "type": "boolean"\n },\n "idle_behavior": {\n "title": "Idle Behavior",\n "description": "Should the robot perform its idle behavior, true/false. When used in a request, leave this unset to not change the robot\'s current value.",\n "type": "boolean"\n }\n }\n },\n "RobotState": {\n "title": "RobotState",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "type": "string"\n },\n "status": {\n "description": "A simple token representing the status of the robot",\n "allOf": [\n {\n "$ref": "#/definitions/Status"\n }\n ]\n },\n "task_id": {\n "title": "Task Id",\n "description": "The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.",\n "type": "string"\n },\n "unix_millis_time": {\n "title": "Unix Millis Time",\n "type": "integer"\n },\n "location": {\n "$ref": "#/definitions/Location2D"\n },\n "battery": {\n "title": "Battery",\n "description": "State of charge of the battery. Values range from 0.0 (depleted) to 1.0 (fully charged)",\n "minimum": 0.0,\n "maximum": 1.0,\n "type": "number"\n },\n "issues": {\n "title": "Issues",\n "description": "A list of issues with the robot that operators need to address",\n "type": "array",\n "items": {\n "$ref": "#/definitions/Issue"\n }\n },\n "commission": {\n "$ref": "#/definitions/Commission"\n }\n }\n }\n }\n}\n```\n\n\n### /fleets/{name}/log\n\n\n```\n{\n "title": "FleetLog",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "type": "string"\n },\n "log": {\n "title": "Log",\n "description": "Log for the overall fleet",\n "type": "array",\n "items": {\n "$ref": "#/definitions/LogEntry"\n }\n },\n "robots": {\n "title": "Robots",\n "description": "Dictionary of logs for the individual robots. The keys (property names) are the robot names.",\n "type": "object",\n "additionalProperties": {\n "type": "array",\n "items": {\n "$ref": "#/definitions/LogEntry"\n }\n }\n }\n },\n "definitions": {\n "Tier": {\n "title": "Tier",\n "description": "An enumeration.",\n "enum": [\n "uninitialized",\n "info",\n "warning",\n "error"\n ]\n },\n "LogEntry": {\n "title": "LogEntry",\n "type": "object",\n "properties": {\n "seq": {\n "title": "Seq",\n "description": "Sequence number for this entry. Each entry has a unique sequence number which monotonically increase, until integer overflow causes a wrap around.",\n "exclusiveMaximum": 4294967296,\n "minimum": 0,\n "type": "integer"\n },\n "tier": {\n "description": "The importance level of the log entry",\n "allOf": [\n {\n "$ref": "#/definitions/Tier"\n }\n ]\n },\n "unix_millis_time": {\n "title": "Unix Millis Time",\n "type": "integer"\n },\n "text": {\n "title": "Text",\n "description": "The text of the log entry",\n "type": "string"\n }\n },\n "required": [\n "seq",\n "tier",\n "unix_millis_time",\n "text"\n ]\n }\n }\n}\n```\n\n', operationId: '_lambda__socket_io_get', responses: { '200': { @@ -1741,9 +1741,7 @@ export default { schema: { title: 'Response Get Fleets Fleets Get', type: 'array', - items: { - $ref: '#/components/schemas/api_server__models__rmf_api__fleet_state__FleetState', - }, + items: { $ref: '#/components/schemas/FleetState' }, }, }, }, @@ -1764,11 +1762,7 @@ export default { '200': { description: 'Successful Response', content: { - 'application/json': { - schema: { - $ref: '#/components/schemas/api_server__models__rmf_api__fleet_state__FleetState', - }, - }, + 'application/json': { schema: { $ref: '#/components/schemas/FleetState' } }, }, }, '422': { @@ -1803,14 +1797,88 @@ export default { in: 'query', }, ], + responses: { + '200': { + description: 'Successful Response', + content: { 'application/json': { schema: { $ref: '#/components/schemas/FleetLog' } } }, + }, + '422': { + description: 'Validation Error', + content: { + 'application/json': { schema: { $ref: '#/components/schemas/HTTPValidationError' } }, + }, + }, + }, + }, + }, + '/fleets/{name}/decommission': { + post: { + tags: ['Fleets'], + summary: 'Decommission Robot', + description: + 'Decommissions a robot, cancels all direct tasks, and preventing it from\naccepting any new tasks (both dispatch tasks and direct tasks), with the\noptions to:\n\n- Reassign all queued dispatch tasks to other robots. If task reassignment\n is chosen, the response will contain the results of the reassignment as\n well, any failed reassignments will be cancelled instead.\n- Still allow idle behaviors (formerly known as finishing tasks). If\n allowed, the robot will still be issued idle behavior commands (e.g.\n return to charger, park somewhere) once it is decommissioned, as opposed\n to waiting for human intervention at the same position when it was\n decommissioned.\n\nThis will not affect the ongoing task that the robot is currently\nperforming.', + operationId: 'decommission_robot_fleets__name__decommission_post', + parameters: [ + { required: true, schema: { title: 'Name', type: 'string' }, name: 'name', in: 'path' }, + { + required: true, + schema: { title: 'Robot Name', type: 'string' }, + name: 'robot_name', + in: 'query', + }, + { + required: true, + schema: { title: 'Reassign Tasks', type: 'boolean' }, + name: 'reassign_tasks', + in: 'query', + }, + { + required: true, + schema: { title: 'Allow Idle Behavior', type: 'boolean' }, + name: 'allow_idle_behavior', + in: 'query', + }, + ], responses: { '200': { description: 'Successful Response', content: { 'application/json': { - schema: { - $ref: '#/components/schemas/api_server__models__rmf_api__fleet_log__FleetState', - }, + schema: { $ref: '#/components/schemas/RobotCommissionResponse' }, + }, + }, + }, + '422': { + description: 'Validation Error', + content: { + 'application/json': { schema: { $ref: '#/components/schemas/HTTPValidationError' } }, + }, + }, + }, + }, + }, + '/fleets/{name}/recommission': { + post: { + tags: ['Fleets'], + summary: 'Recommission Robot', + description: + 'Recommissions a robot, allowing it to accept new dispatch tasks and direct\ntasks, as well as resume idle behaviors (formerly known as finishing tasks).', + operationId: 'recommission_robot_fleets__name__recommission_post', + parameters: [ + { required: true, schema: { title: 'Name', type: 'string' }, name: 'name', in: 'path' }, + { + required: true, + schema: { title: 'Robot Name', type: 'string' }, + name: 'robot_name', + in: 'query', + }, + ], + responses: { + '200': { + description: 'Successful Response', + content: { + 'application/json': { + schema: { $ref: '#/components/schemas/RobotCommissionResponse' }, }, }, }, @@ -2437,6 +2505,30 @@ export default { }, }, }, + Commission: { + title: 'Commission', + type: 'object', + properties: { + dispatch_tasks: { + title: 'Dispatch Tasks', + type: 'boolean', + description: + "Should the robot accept dispatched tasks, true/false. When used in a request, leave this unset to not change the robot's current value.", + }, + direct_tasks: { + title: 'Direct Tasks', + type: 'boolean', + description: + "Should the robot accept direct task requests, true/false. When used in a request, leave this unset to not change the robot's current value.", + }, + idle_behavior: { + title: 'Idle Behavior', + type: 'boolean', + description: + "Should the robot perform its idle behavior, true/false. When used in a request, leave this unset to not change the robot's current value.", + }, + }, + }, Data: { title: 'Data', type: 'object', @@ -2680,7 +2772,7 @@ export default { type: 'object', properties: { id: { $ref: '#/components/schemas/Id' }, - status: { $ref: '#/components/schemas/Status' }, + status: { $ref: '#/components/schemas/api_server__models__rmf_api__task_state__Status' }, name: { title: 'Name', type: 'string', description: 'The brief name of the event' }, detail: { title: 'Detail', @@ -2696,6 +2788,42 @@ export default { }, }, }, + FleetLog: { + title: 'FleetLog', + type: 'object', + properties: { + name: { title: 'Name', type: 'string' }, + log: { + title: 'Log', + type: 'array', + items: { $ref: '#/components/schemas/LogEntry' }, + description: 'Log for the overall fleet', + }, + robots: { + title: 'Robots', + type: 'object', + additionalProperties: { + type: 'array', + items: { $ref: '#/components/schemas/LogEntry' }, + }, + description: + 'Dictionary of logs for the individual robots. The keys (property names) are the robot names.', + }, + }, + }, + FleetState: { + title: 'FleetState', + type: 'object', + properties: { + name: { title: 'Name', type: 'string' }, + robots: { + title: 'Robots', + type: 'object', + additionalProperties: { $ref: '#/components/schemas/RobotState' }, + description: 'A dictionary of the states of the robots that belong to this fleet', + }, + }, + }, Graph: { title: 'Graph', required: ['name', 'vertices', 'edges', 'params'], @@ -3214,6 +3342,33 @@ export default { is_admin: { title: 'Is Admin', type: 'boolean', default: false }, }, }, + Result: { + title: 'Result', + anyOf: [ + { $ref: '#/components/schemas/ResultItem' }, + { $ref: '#/components/schemas/ResultItem1' }, + ], + }, + ResultItem: { + title: 'ResultItem', + required: ['success'], + type: 'object', + properties: { success: { title: 'Success', enum: [true], type: 'boolean' } }, + }, + ResultItem1: { + title: 'ResultItem1', + required: ['success'], + type: 'object', + properties: { + success: { title: 'Success', enum: [false], type: 'boolean' }, + errors: { + title: 'Errors', + type: 'array', + items: { $ref: '#/components/schemas/Error' }, + description: 'Any error messages explaining why the request failed', + }, + }, + }, ResumedBy: { title: 'ResumedBy', required: ['labels'], @@ -3232,13 +3387,25 @@ export default { }, }, }, + RobotCommissionResponse: { + title: 'RobotCommissionResponse', + required: ['commission'], + type: 'object', + properties: { + commission: { $ref: '#/components/schemas/Result' }, + pending_dispatch_tasks_policy: { $ref: '#/components/schemas/Result' }, + pending_direct_tasks_policy: { $ref: '#/components/schemas/Result' }, + }, + }, RobotState: { title: 'RobotState', type: 'object', properties: { name: { title: 'Name', type: 'string' }, status: { - allOf: [{ $ref: '#/components/schemas/Status2' }], + allOf: [ + { $ref: '#/components/schemas/api_server__models__rmf_api__robot_state__Status' }, + ], description: 'A simple token representing the status of the robot', }, task_id: { @@ -3263,6 +3430,7 @@ export default { items: { $ref: '#/components/schemas/Issue' }, description: 'A list of issues with the robot that operators need to address', }, + commission: { $ref: '#/components/schemas/Commission' }, }, }, RobotTaskRequest: { @@ -3273,7 +3441,7 @@ export default { type: { title: 'Type', type: 'string', - description: 'Indicate that this is a task dispatch request', + description: 'Indicate that this is a direct task request', }, robot: { title: 'Robot', type: 'string', description: 'The name of the robot' }, fleet: { title: 'Fleet', type: 'string', description: 'The fleet the robot belongs to' }, @@ -3348,34 +3516,11 @@ export default { allOf: [{ $ref: '#/components/schemas/TokenResponse' }], description: 'Response to a request for a phase to be skipped', }, - Status: { - title: 'Status', - enum: [ - 'uninitialized', - 'blocked', - 'error', - 'failed', - 'queued', - 'standby', - 'underway', - 'delayed', - 'skipped', - 'canceled', - 'killed', - 'completed', - ], - description: 'An enumeration.', - }, Status1: { title: 'Status1', enum: ['queued', 'selected', 'dispatched', 'failed_to_assign', 'canceled_in_flight'], description: 'An enumeration.', }, - Status2: { - title: 'Status2', - enum: ['uninitialized', 'offline', 'shutdown', 'idle', 'charging', 'working', 'error'], - description: 'An enumeration.', - }, Task: { title: 'Task', required: ['category', 'detail'], @@ -3621,6 +3766,12 @@ export default { type: 'string', description: '(Optional) An identifier for the entity that requested this task', }, + fleet_name: { + title: 'Fleet Name', + type: 'string', + description: + '(Optional) The name of the fleet that should perform this task. If specified, other fleets will not bid for this task.', + }, unix_millis_warn_time: { title: 'Unix Millis Warn Time', type: 'integer', @@ -3714,7 +3865,7 @@ export default { allOf: [{ $ref: '#/components/schemas/AssignedTo' }], description: 'Which agent (robot) is the task assigned to', }, - status: { $ref: '#/components/schemas/Status' }, + status: { $ref: '#/components/schemas/api_server__models__rmf_api__task_state__Status' }, dispatch: { $ref: '#/components/schemas/Dispatch' }, phases: { title: 'Phases', @@ -4037,47 +4188,16 @@ export default { type: 'string', description: 'An enumeration.', }, - api_server__models__rmf_api__fleet_log__FleetState: { - title: 'FleetState', - type: 'object', - properties: { - name: { title: 'Name', type: 'string' }, - log: { - title: 'Log', - type: 'array', - items: { $ref: '#/components/schemas/LogEntry' }, - description: 'Log for the overall fleet', - }, - robots: { - title: 'Robots', - type: 'object', - additionalProperties: { - type: 'array', - items: { $ref: '#/components/schemas/LogEntry' }, - }, - description: - 'Dictionary of logs for the individual robots. The keys (property names) are the robot names.', - }, - }, - }, - api_server__models__rmf_api__fleet_state__FleetState: { - title: 'FleetState', - type: 'object', - properties: { - name: { title: 'Name', type: 'string' }, - robots: { - title: 'Robots', - type: 'object', - additionalProperties: { $ref: '#/components/schemas/RobotState' }, - description: 'A dictionary of the states of the robots that belong to this fleet', - }, - }, - }, api_server__models__rmf_api__log_entry__Tier: { title: 'Tier', enum: ['uninitialized', 'info', 'warning', 'error'], description: 'An enumeration.', }, + api_server__models__rmf_api__robot_state__Status: { + title: 'Status', + enum: ['uninitialized', 'offline', 'shutdown', 'idle', 'charging', 'working', 'error'], + description: 'An enumeration.', + }, api_server__models__rmf_api__simple_response__Failure: { title: 'Failure', enum: [false], @@ -4093,6 +4213,24 @@ export default { type: 'string', description: 'The category of this task or phase', }, + api_server__models__rmf_api__task_state__Status: { + title: 'Status', + enum: [ + 'uninitialized', + 'blocked', + 'error', + 'failed', + 'queued', + 'standby', + 'underway', + 'delayed', + 'skipped', + 'canceled', + 'killed', + 'completed', + ], + description: 'An enumeration.', + }, api_server__models__rmf_api__token_response__Failure: { title: 'Failure', enum: [false], diff --git a/packages/api-server/api_server/models/__init__.py b/packages/api-server/api_server/models/__init__.py index 611d88b6a..954c218f5 100644 --- a/packages/api-server/api_server/models/__init__.py +++ b/packages/api-server/api_server/models/__init__.py @@ -12,9 +12,11 @@ from .rmf_api.activity_discovery_response import ActivityDiscovery from .rmf_api.cancel_task_request import CancelTaskRequest from .rmf_api.cancel_task_response import TaskCancelResponse +from .rmf_api.commission import Commission from .rmf_api.dispatch_task_request import DispatchTaskRequest from .rmf_api.dispatch_task_response import * -from .rmf_api.fleet_log import FleetState as FleetLog +from .rmf_api.error import * +from .rmf_api.fleet_log import FleetLog from .rmf_api.fleet_log_request import FleetLogRequest from .rmf_api.fleet_log_response import FleetLogResponse from .rmf_api.fleet_log_update import TaskEventLogUpdate as FleetLogUpdate @@ -29,7 +31,10 @@ from .rmf_api.resume_task_response import TaskResumeResponse from .rmf_api.rewind_task_request import TaskRewindRequest from .rmf_api.rewind_task_response import TaskRewindResponse -from .rmf_api.robot_state import Status2 +from .rmf_api.robot_commission_request import * +from .rmf_api.robot_commission_response import * +from .rmf_api.robot_state import RobotState +from .rmf_api.robot_state import Status as Status2 from .rmf_api.robot_task_request import RobotTaskRequest from .rmf_api.robot_task_response import * from .rmf_api.skip_phase_request import TaskPhaseSkipRequest diff --git a/packages/api-server/api_server/models/rmf_api/commission.py b/packages/api-server/api_server/models/rmf_api/commission.py new file mode 100644 index 000000000..98fcb82ff --- /dev/null +++ b/packages/api-server/api_server/models/rmf_api/commission.py @@ -0,0 +1,23 @@ +# generated by datamodel-codegen: +# filename: commission.json + +from __future__ import annotations + +from typing import Optional + +from pydantic import BaseModel, Field + + +class Commission(BaseModel): + dispatch_tasks: Optional[bool] = Field( + None, + description="Should the robot accept dispatched tasks, true/false. When used in a request, leave this unset to not change the robot's current value.", + ) + direct_tasks: Optional[bool] = Field( + None, + description="Should the robot accept direct task requests, true/false. When used in a request, leave this unset to not change the robot's current value.", + ) + idle_behavior: Optional[bool] = Field( + None, + description="Should the robot perform its idle behavior, true/false. When used in a request, leave this unset to not change the robot's current value.", + ) diff --git a/packages/api-server/api_server/models/rmf_api/fleet_log.py b/packages/api-server/api_server/models/rmf_api/fleet_log.py index 42c9a3aac..869b67b7e 100644 --- a/packages/api-server/api_server/models/rmf_api/fleet_log.py +++ b/packages/api-server/api_server/models/rmf_api/fleet_log.py @@ -10,7 +10,7 @@ from . import log_entry -class FleetState(BaseModel): +class FleetLog(BaseModel): name: Optional[str] = None log: Optional[List[log_entry.LogEntry]] = Field( None, description="Log for the overall fleet" diff --git a/packages/api-server/api_server/models/rmf_api/fleet_log_response.py b/packages/api-server/api_server/models/rmf_api/fleet_log_response.py index 874c9fb52..d426a2436 100644 --- a/packages/api-server/api_server/models/rmf_api/fleet_log_response.py +++ b/packages/api-server/api_server/models/rmf_api/fleet_log_response.py @@ -21,7 +21,7 @@ class Success(Enum): class FleetLogResponseItem(BaseModel): success: Success - data: fleet_log.FleetState + data: fleet_log.FleetLog class FleetLogResponseItem1(BaseModel): diff --git a/packages/api-server/api_server/models/rmf_api/fleet_log_update.py b/packages/api-server/api_server/models/rmf_api/fleet_log_update.py index 06a691004..f250bfc2a 100644 --- a/packages/api-server/api_server/models/rmf_api/fleet_log_update.py +++ b/packages/api-server/api_server/models/rmf_api/fleet_log_update.py @@ -13,4 +13,4 @@ class TaskEventLogUpdate(BaseModel): type: Literal["fleet_log_update"] = Field( ..., description="Indicate that this is a fleet log update" ) - data: fleet_log.FleetState + data: fleet_log.FleetLog diff --git a/packages/api-server/api_server/models/rmf_api/robot_commission_request.py b/packages/api-server/api_server/models/rmf_api/robot_commission_request.py new file mode 100644 index 000000000..533003279 --- /dev/null +++ b/packages/api-server/api_server/models/rmf_api/robot_commission_request.py @@ -0,0 +1,39 @@ +# generated by datamodel-codegen: +# filename: robot_commission_request.json + +from __future__ import annotations + +from enum import Enum +from typing import Optional + +from pydantic import BaseModel, Field + +from . import commission + + +class PendingDispatchTasksPolicy(Enum): + reassign = "reassign" + complete = "complete" + cancel = "cancel" + + +class PendingDirectTasksPolicy(Enum): + complete = "complete" + cancel = "cancel" + + +class RobotCommissionRequest(BaseModel): + type: str = Field( + ..., description="Indicate that this is a robot commission request" + ) + robot: str = Field(..., description="The name of the robot") + fleet: str = Field(..., description="The fleet the robot belongs to") + commission: commission.Commission + pending_dispatch_tasks_policy: Optional[PendingDispatchTasksPolicy] = Field( + None, + description="What should be done for pending dispatched tasks that were assigned to this robot? reassign: pending dispatched tasks will be reassigned to other robots in the fleet, or canceled if there are no more robots available. complete: the robot will complete its pending dispatched tasks. cancel: pending dispatched tasks will be immediately canceled. If unset, it will default to reassign.", + ) + pending_direct_tasks_policy: Optional[PendingDirectTasksPolicy] = Field( + None, + description="Set the behavior for what should happen with the pending direct task assignments of a robot. complete: pending direct tasks will be completed. canceled: pending direct tasks will be immediately canceled. If unset, it will default to complete.", + ) diff --git a/packages/api-server/api_server/models/rmf_api/robot_commission_response.py b/packages/api-server/api_server/models/rmf_api/robot_commission_response.py new file mode 100644 index 000000000..cd481d854 --- /dev/null +++ b/packages/api-server/api_server/models/rmf_api/robot_commission_response.py @@ -0,0 +1,32 @@ +# generated by datamodel-codegen: +# filename: robot_commission_response.json + +from __future__ import annotations + +from typing import List, Optional, Union + +from pydantic import BaseModel, Field +from typing_extensions import Literal + +from . import error + + +class ResultItem(BaseModel): + success: Literal[True] + + +class ResultItem1(BaseModel): + success: Literal[False] + errors: Optional[List[error.Error]] = Field( + None, description="Any error messages explaining why the request failed" + ) + + +class Result(BaseModel): + __root__: Union[ResultItem, ResultItem1] + + +class RobotCommissionResponse(BaseModel): + commission: Result + pending_dispatch_tasks_policy: Optional[Result] = None + pending_direct_tasks_policy: Optional[Result] = None diff --git a/packages/api-server/api_server/models/rmf_api/robot_state.py b/packages/api-server/api_server/models/rmf_api/robot_state.py index b16fff479..3abb1d18c 100644 --- a/packages/api-server/api_server/models/rmf_api/robot_state.py +++ b/packages/api-server/api_server/models/rmf_api/robot_state.py @@ -8,10 +8,10 @@ from pydantic import BaseModel, Field, confloat -from . import location_2D +from . import commission, location_2D -class Status2(Enum): +class Status(Enum): uninitialized = "uninitialized" offline = "offline" shutdown = "shutdown" @@ -30,7 +30,7 @@ class Issue(BaseModel): class RobotState(BaseModel): name: Optional[str] = None - status: Optional[Status2] = Field( + status: Optional[Status] = Field( None, description="A simple token representing the status of the robot" ) task_id: Optional[str] = Field( @@ -47,3 +47,4 @@ class RobotState(BaseModel): None, description="A list of issues with the robot that operators need to address", ) + commission: Optional[commission.Commission] = None diff --git a/packages/api-server/api_server/models/rmf_api/robot_task_request.py b/packages/api-server/api_server/models/rmf_api/robot_task_request.py index 3a75e8836..a9dec22cc 100644 --- a/packages/api-server/api_server/models/rmf_api/robot_task_request.py +++ b/packages/api-server/api_server/models/rmf_api/robot_task_request.py @@ -9,7 +9,7 @@ class RobotTaskRequest(BaseModel): - type: str = Field(..., description="Indicate that this is a task dispatch request") + type: str = Field(..., description="Indicate that this is a direct task request") robot: str = Field(..., description="The name of the robot") fleet: str = Field(..., description="The fleet the robot belongs to") request: task_request.TaskRequest diff --git a/packages/api-server/api_server/models/rmf_api/rtls_tag_state.py b/packages/api-server/api_server/models/rmf_api/rtls_tag_state.py new file mode 100644 index 000000000..3b17ef74a --- /dev/null +++ b/packages/api-server/api_server/models/rmf_api/rtls_tag_state.py @@ -0,0 +1,60 @@ +# generated by datamodel-codegen: +# filename: rtls_tag_state.json + +from __future__ import annotations + +from enum import Enum +from typing import Any, Dict, List, Optional, Union + +from pydantic import BaseModel, Field, confloat + +from . import location_2D + + +class Status2(Enum): + uninitialized = "uninitialized" + offline = "offline" + shutdown = "shutdown" + idle = "idle" + charging = "charging" + working = "working" + error = "error" + + +class LocationType(Enum): + zone = "zone" + coord = "coord" + + +class AssetType(BaseModel): + asset_type: Optional[str] = Field(None, description="type of the asset") + asset_subtype: Optional[str] = Field(None, description="subtype of the asset") + + +class Issue(BaseModel): + category: Optional[str] = Field(None, description="Category of the tag's issue") + detail: Optional[Union[Dict[str, Any], List, str]] = Field( + None, description="Detailed information about the issue" + ) + + +class RtlsTagState(BaseModel): + tag_id: str = Field(..., description="The ID of the rtls tag.") + status: Optional[Status2] = Field( + None, description="A simple token representing the status of the tag" + ) + location_type: Optional[LocationType] = Field( + None, description="The type location information provided by the tag." + ) + asset_type: Optional[AssetType] = Field( + None, description="The type of the tagged asset." + ) + unix_millis_time: Optional[int] = None + location: Optional[location_2D.Location2D] = None + battery: Optional[confloat(ge=0.0, le=1.0)] = Field( + None, + description="State of charge of the battery. Values range from 0.0 (depleted) to 1.0 (fully charged)", + ) + issues: Optional[List[Issue]] = Field( + None, description="A list of issues with the tag that operators need to address" + ) diff --git a/packages/api-server/api_server/models/rmf_api/task_request.py b/packages/api-server/api_server/models/rmf_api/task_request.py index a17f2266a..98c0a61df 100644 --- a/packages/api-server/api_server/models/rmf_api/task_request.py +++ b/packages/api-server/api_server/models/rmf_api/task_request.py @@ -31,6 +31,10 @@ class TaskRequest(BaseModel): None, description="(Optional) An identifier for the entity that requested this task", ) + fleet_name: Optional[str] = Field( + None, + description="(Optional) The name of the fleet that should perform this task. If specified, other fleets will not bid for this task.", + ) unix_millis_warn_time: Optional[int] = Field( None, description="(Optional) The time at which a warning will be issued if the estimated completion time is later than expected", diff --git a/packages/api-server/api_server/models/rmf_api/transformation_2D.py b/packages/api-server/api_server/models/rmf_api/transformation_2D.py new file mode 100644 index 000000000..bc27d9715 --- /dev/null +++ b/packages/api-server/api_server/models/rmf_api/transformation_2D.py @@ -0,0 +1,15 @@ +# generated by datamodel-codegen: +# filename: transformation_2D.json + +from __future__ import annotations + +from pydantic import BaseModel + + +class Transformation2D(BaseModel): + target_map: str + ref_map: str + x: float + y: float + yaw: float + scale: float diff --git a/packages/api-server/api_server/models/rmf_api/version.py b/packages/api-server/api_server/models/rmf_api/version.py index 79086fc9a..c9645d967 100644 --- a/packages/api-server/api_server/models/rmf_api/version.py +++ b/packages/api-server/api_server/models/rmf_api/version.py @@ -1,5 +1,5 @@ # THIS FILE IS GENERATED version = { - "rmf_api_msgs": "91295892192d24ec73c9a1c6fa54334963586784", + "rmf_api_msgs": "a27f15f9c536ae4daee2d243323f43724242ded3", "datamodel-code-generator": "0.11.19", } diff --git a/packages/api-server/api_server/routes/fleets.py b/packages/api-server/api_server/routes/fleets.py index 1a818d7ad..6b85a30bd 100644 --- a/packages/api-server/api_server/routes/fleets.py +++ b/packages/api-server/api_server/routes/fleets.py @@ -3,11 +3,22 @@ from fastapi import Depends, HTTPException from rx import operators as rxops +from api_server.authenticator import user_dep from api_server.dependencies import between_query, sio_user from api_server.fast_io import FastIORouter, SubscriptionRequest -from api_server.models import FleetLog, FleetState +from api_server.logger import logger +from api_server.models import ( + Commission, + FleetLog, + FleetState, + PendingDirectTasksPolicy, + PendingDispatchTasksPolicy, + RobotCommissionRequest, + RobotCommissionResponse, + User, +) from api_server.repositories import FleetRepository, fleet_repo_dep -from api_server.rmf_io import fleet_events +from api_server.rmf_io import fleet_events, tasks_service router = FastIORouter(tags=["Fleets"]) @@ -63,3 +74,109 @@ async def sub_fleet_log(_req: SubscriptionRequest, name: str): return fleet_events.fleet_logs.pipe( rxops.filter(lambda x: cast(FleetLog, x).name == name) ) + + +@router.post("/{name}/decommission", response_model=RobotCommissionResponse) +async def decommission_robot( + name: str, + robot_name: str, + reassign_tasks: bool, + allow_idle_behavior: bool, + repo: FleetRepository = Depends(fleet_repo_dep), + user: User = Depends(user_dep), +): + """ + Decommissions a robot, cancels all direct tasks, and preventing it from + accepting any new tasks (both dispatch tasks and direct tasks), with the + options to: + + - Reassign all queued dispatch tasks to other robots. If task reassignment + is chosen, the response will contain the results of the reassignment as + well, any failed reassignments will be cancelled instead. + - Still allow idle behaviors (formerly known as finishing tasks). If + allowed, the robot will still be issued idle behavior commands (e.g. + return to charger, park somewhere) once it is decommissioned, as opposed + to waiting for human intervention at the same position when it was + decommissioned. + + This will not affect the ongoing task that the robot is currently + performing. + """ + fleet_state = await repo.get_fleet_state(name) + if fleet_state is None: + raise HTTPException(404, f"Fleet {name} not found") + if fleet_state.robots is None or robot_name not in fleet_state.robots: + raise HTTPException(404, f"Robot {robot_name} not found in fleet {name}") + + commission = Commission( + dispatch_tasks=False, direct_tasks=False, idle_behavior=allow_idle_behavior + ) + dispatch_policy = ( + PendingDispatchTasksPolicy.reassign + if reassign_tasks + else PendingDispatchTasksPolicy.cancel + ) + request = RobotCommissionRequest( + type="robot_commission_request", + robot=robot_name, + fleet=name, + commission=commission, + pending_direct_tasks_policy=PendingDirectTasksPolicy.cancel, + pending_dispatch_tasks_policy=dispatch_policy, + ) + + reassignment_log_str = "No Task re-assignment requested, tasks will be cancelled." + if reassign_tasks: + reassignment_log_str = "Task re-assignment requested." + logger.info( + f"Decommissioning {robot_name} of {name} called by {user.username}. {reassignment_log_str}" + ) + resp = RobotCommissionResponse.parse_raw( + await tasks_service().call(request.json(exclude_none=True)) + ) + logger.info(resp) + if not resp.commission.__root__.success: + logger.error(f"Failed to decommission {robot_name} of {name}") + raise HTTPException(400, resp) + return resp + + +@router.post( + "/{name}/recommission", + response_model=RobotCommissionResponse, +) +async def recommission_robot( + name: str, + robot_name: str, + repo: FleetRepository = Depends(fleet_repo_dep), + user: User = Depends(user_dep), +): + """ + Recommissions a robot, allowing it to accept new dispatch tasks and direct + tasks, as well as resume idle behaviors (formerly known as finishing tasks). + """ + fleet_state = await repo.get_fleet_state(name) + if fleet_state is None: + raise HTTPException(404, f"Fleet {name} not found") + if fleet_state.robots is None or robot_name not in fleet_state.robots: + raise HTTPException(404, f"Robot {robot_name} not found in fleet {name}") + + commission = Commission(dispatch_tasks=True, direct_tasks=True, idle_behavior=True) + request = RobotCommissionRequest( + type="robot_commission_request", + robot=robot_name, + fleet=name, + commission=commission, + pending_direct_tasks_policy=PendingDirectTasksPolicy.complete, + pending_dispatch_tasks_policy=PendingDispatchTasksPolicy.complete, + ) + + logger.info(f"Recommissioning {robot_name} of {name} called by {user.username}") + resp = RobotCommissionResponse.parse_raw( + await tasks_service().call(request.json(exclude_none=True)) + ) + logger.info(resp) + if not resp.commission.__root__.success: + logger.error(f"Failed to recommission {robot_name} of {name}") + raise HTTPException(400, resp) + return resp diff --git a/packages/api-server/api_server/routes/test_fleets.py b/packages/api-server/api_server/routes/test_fleets.py index 7f15bdd64..136bbe1b3 100644 --- a/packages/api-server/api_server/routes/test_fleets.py +++ b/packages/api-server/api_server/routes/test_fleets.py @@ -1,11 +1,18 @@ +from urllib.parse import urlencode + from api_server.models import FleetLogUpdate, FleetStateUpdate -from api_server.test import AppFixture, make_fleet_log, make_fleet_state +from api_server.test import ( + AppFixture, + make_fleet_log, + make_fleet_state, + make_robot_state, +) class TestFleetsRoute(AppFixture): def test_fleet_states(self): # subscribe to fleet states - fleet_state = make_fleet_state() + fleet_state = make_fleet_state("test_fleet") gen = self.subscribe_sio(f"/fleets/{fleet_state.name}/state") with self.client.websocket_connect("/_internal") as ws: @@ -43,3 +50,83 @@ def test_fleet_logs(self): resp = self.client.get(f"/fleets/{fleet_log.name}/log") self.assertEqual(200, resp.status_code) self.assertEqual(fleet_log.name, resp.json()["name"]) + + def test_decommission_robot(self): + # add a new robot + robot_name = "test_robot" + robot_state = make_robot_state(robot_name) + fleet_state = make_fleet_state("test_fleet") + fleet_state.robots = {robot_name: robot_state} + + with self.client.websocket_connect("/_internal") as ws: + ws.send_text( + FleetStateUpdate(type="fleet_state_update", data=fleet_state).json() + ) + + # invalid fleets + params = { + "robot_name": robot_name, + "reassign_tasks": True, + "allow_idle_behavior": False, + } + resp = self.client.post( + f"fleets/invalid_fleet/decommission?{urlencode(params)}" + ) + self.assertEqual(404, resp.status_code) + + # invalid robot + params = { + "robot_name": "", + "reassign_tasks": True, + "allow_idle_behavior": False, + } + resp = self.client.post( + f"fleets/{fleet_state.name}/decommission?{urlencode(params)}" + ) + self.assertEqual(404, resp.status_code) + params = { + "robot_name": "invalid_robot", + "reassign_tasks": True, + "allow_idle_behavior": False, + } + resp = self.client.post( + f"fleets/{fleet_state.name}/decommission?{urlencode(params)}" + ) + self.assertEqual(404, resp.status_code) + + def test_recommission_robot(self): + # add a new robot + robot_name = "test_robot" + robot_state = make_robot_state(robot_name) + fleet_state = make_fleet_state("test_fleet") + fleet_state.robots = {robot_name: robot_state} + + with self.client.websocket_connect("/_internal") as ws: + ws.send_text( + FleetStateUpdate(type="fleet_state_update", data=fleet_state).json() + ) + + # invalid fleet + params = { + "robot_name": robot_name, + } + resp = self.client.post( + f"fleets/invalid_fleet/recommission?{urlencode(params)}" + ) + self.assertEqual(404, resp.status_code) + + # invalid robot + params = { + "robot_name": "", + } + resp = self.client.post( + f"fleets/{fleet_state.name}/recommission?{urlencode(params)}" + ) + self.assertEqual(404, resp.status_code) + params = { + "robot_name": "invalid_robot", + } + resp = self.client.post( + f"fleets/{fleet_state.name}/recommission?{urlencode(params)}" + ) + self.assertEqual(404, resp.status_code) diff --git a/packages/api-server/api_server/test/test_data.py b/packages/api-server/api_server/test/test_data.py index 7572257cd..a1a7131d7 100644 --- a/packages/api-server/api_server/test/test_data.py +++ b/packages/api-server/api_server/test/test_data.py @@ -1,4 +1,5 @@ import json +from typing import Optional from uuid import uuid4 from rmf_building_map_msgs.msg import Door as RmfDoor @@ -20,6 +21,7 @@ Level, Lift, LiftState, + RobotState, TaskEventLog, TaskState, ) @@ -100,8 +102,22 @@ def make_ingestor_state(guid: str = "test_ingestor") -> IngestorState: ) -def make_fleet_state() -> FleetState: - return FleetState(name=str(uuid4()), robots={}) +def make_robot_state(name: Optional[str] = None) -> RobotState: + robot_name = name if name is not None else str(uuid4()) + return RobotState( + name=robot_name, + status=None, + task_id=None, + unix_millis_time=None, + location=None, + battery=None, + issues=None, + ) + + +def make_fleet_state(name: Optional[str] = None) -> FleetState: + fleet_name = name if name is not None else str(uuid4()) + return FleetState(name=fleet_name, robots={}) def make_fleet_log() -> FleetLog: diff --git a/packages/api-server/generate-models.sh b/packages/api-server/generate-models.sh index 61432f051..a5eb00f3d 100755 --- a/packages/api-server/generate-models.sh +++ b/packages/api-server/generate-models.sh @@ -4,7 +4,7 @@ shopt -s globstar RMF_BUILDING_MAP_MSGS_VER=c5e0352e2dfd3d11e4d292a1c2901cad867c1441 RMF_INTERNAL_MSGS_VER=3690a47055ef45466cf970587d8b8e09df1a8825 -RMF_API_MSGS_VER=91295892192d24ec73c9a1c6fa54334963586784 +RMF_API_MSGS_VER=a27f15f9c536ae4daee2d243323f43724242ded3 RMF_ROS2_VER=bf038461b5b0fb7d4594461a724bc9e5e7cb97c6 CODEGEN_VER=$(pipenv run datamodel-codegen --version) diff --git a/packages/dashboard/src/components/app-events.ts b/packages/dashboard/src/components/app-events.ts index 585979224..1f4a6d081 100644 --- a/packages/dashboard/src/components/app-events.ts +++ b/packages/dashboard/src/components/app-events.ts @@ -17,6 +17,7 @@ export const AppEvents = { ingestorSelect: new Subject(), robotSelect: new Subject<[fleetName: string, robotName: string] | null>(), taskSelect: new Subject(), + refreshRobotApp: new Subject(), refreshTaskApp: new Subject(), refreshFavoriteTasks: new Subject(), refreshTaskSchedule: new Subject(), diff --git a/packages/dashboard/src/components/map-app.tsx b/packages/dashboard/src/components/map-app.tsx index 862f905c1..eed3e596c 100644 --- a/packages/dashboard/src/components/map-app.tsx +++ b/packages/dashboard/src/components/map-app.tsx @@ -1,5 +1,5 @@ import { Box, styled, Typography, useMediaQuery } from '@mui/material'; -import { BuildingMap, ApiServerModelsRmfApiFleetStateFleetState, Level, Lift } from 'api-client'; +import { BuildingMap, FleetState, Level, Lift } from 'api-client'; import { Door as DoorModel } from 'rmf-models'; import Debug from 'debug'; import React, { ChangeEvent, Suspense } from 'react'; @@ -31,8 +31,6 @@ import { Lifts, Door, RobotThree } from './three-fiber'; import { DoorSummary } from './door-summary'; import { LiftSummary } from './lift-summary'; -type FleetState = ApiServerModelsRmfApiFleetStateFleetState; - const debug = Debug('MapApp'); const TrajectoryUpdateInterval = 2000; diff --git a/packages/dashboard/src/components/rmf-app/rmf-ingress.ts b/packages/dashboard/src/components/rmf-app/rmf-ingress.ts index fe59f21bd..d9a4cb53c 100644 --- a/packages/dashboard/src/components/rmf-app/rmf-ingress.ts +++ b/packages/dashboard/src/components/rmf-app/rmf-ingress.ts @@ -17,7 +17,7 @@ import { DoorsApi, DoorState, FleetsApi, - ApiServerModelsRmfApiFleetStateFleetState, + FleetState, Ingestor, IngestorsApi, IngestorState, @@ -40,7 +40,6 @@ import { } from '../../managers/robot-trajectory-manager'; type Alert = ApiServerModelsTortoiseModelsAlertsAlertLeaf; -type FleetState = ApiServerModelsRmfApiFleetStateFleetState; export class RmfIngress { // This should be private because socketio does not support "replaying" subscription. If diff --git a/packages/dashboard/src/components/robots/robot-decommission.tsx b/packages/dashboard/src/components/robots/robot-decommission.tsx new file mode 100644 index 000000000..8a3e83e64 --- /dev/null +++ b/packages/dashboard/src/components/robots/robot-decommission.tsx @@ -0,0 +1,217 @@ +import { + Button, + ButtonProps, + Checkbox, + FormGroup, + FormControlLabel, + Theme, + Tooltip, + Typography, +} from '@mui/material'; +import { AppEvents } from '../app-events'; +import { RobotState } from 'api-client'; +import React from 'react'; +import { AppControllerContext } from '../app-contexts'; +import { RmfAppContext } from '../rmf-app'; +import { makeStyles, createStyles } from '@mui/styles'; +import { ConfirmationDialog } from 'react-components'; + +const useStyles = makeStyles((theme: Theme) => + createStyles({ + enableHover: { + '&.Mui-disabled': { + pointerEvents: 'auto', + }, + }, + }), +); + +export interface RobotDecommissionButtonProp extends Omit { + fleet: string; + robotState: RobotState | null; +} + +export function RobotDecommissionButton({ + fleet, + robotState, + ...otherProps +}: RobotDecommissionButtonProp): JSX.Element { + const classes = useStyles(); + const rmf = React.useContext(RmfAppContext); + const appController = React.useContext(AppControllerContext); + const [reassignTasks, setReassignTasks] = React.useState(true); + const [allowIdleBehavior, setAllowIdleBehavior] = React.useState(false); + const [openConfirmDialog, setOpenConfirmDialog] = React.useState(false); + + const handleReassignTasksChange = (event: React.ChangeEvent) => { + setReassignTasks(event.target.checked); + }; + + const handleAllowIdleBehaviorChange = (event: React.ChangeEvent) => { + setAllowIdleBehavior(event.target.checked); + }; + + const resetDecommissionConfiguration = () => { + setReassignTasks(true); + setAllowIdleBehavior(false); + setOpenConfirmDialog(false); + }; + + const robotDecommissioned = + robotState && + robotState.commission && + robotState.commission.dispatch_tasks === false && + robotState.commission.direct_tasks === false; + + // TODO: use authz for decommissioning robot + // const profile: UserProfile | null = React.useContext(UserProfileContext); + // const userCanDecommissionRobot = profile && Enforcer.canDecommissionRobot(profile); + + const handleDecommission = React.useCallback(async () => { + if (!robotState || !robotState.name) { + return; + } + try { + if (!rmf) { + throw new Error('fleets api not available'); + } + const resp = await rmf.fleetsApi?.decommissionRobotFleetsNameDecommissionPost( + fleet, + robotState.name, + reassignTasks, + allowIdleBehavior, + ); + + if (!resp.data.commission.success) { + appController.showAlert( + 'error', + `Failed to decommission ${fleet}:${robotState.name}: ${ + resp.data.commission.errors ?? '' + }`, + ); + } else { + const errors = []; + if ( + resp.data.pending_direct_tasks_policy && + !resp.data.pending_direct_tasks_policy?.success + ) { + errors.push(`${resp.data.pending_direct_tasks_policy.errors}`); + } + if ( + resp.data.pending_dispatch_tasks_policy && + !resp.data.pending_dispatch_tasks_policy?.success + ) { + errors.push(`${resp.data.pending_dispatch_tasks_policy.errors}`); + } + + appController.showAlert( + errors.length !== 0 ? 'warning' : 'success', + `Decommission of ${fleet}:${robotState.name} requested, ${ + reassignTasks ? 'with' : 'without' + } task re-assignment, ${allowIdleBehavior ? 'allow' : 'not allowing'} idle behaviors${ + errors.length !== 0 ? `, but with errors: ${errors}` : '' + }`, + ); + } + } catch (e) { + appController.showAlert( + 'error', + `Failed to decommission ${fleet}:${robotState.name}: ${(e as Error).message}`, + ); + } + resetDecommissionConfiguration(); + AppEvents.refreshRobotApp.next(); + }, [appController, fleet, robotState, reassignTasks, allowIdleBehavior, rmf]); + + const handleRecommission = React.useCallback(async () => { + if (!robotState || !robotState.name) { + return; + } + try { + if (!rmf) { + throw new Error('fleets api not available'); + } + const resp = await rmf.fleetsApi?.recommissionRobotFleetsNameRecommissionPost( + fleet, + robotState.name, + ); + if (!resp.data.commission.success) { + appController.showAlert( + 'error', + `Failed to recommission ${fleet}:${robotState.name}: ${ + resp.data.commission.errors ?? '' + }`, + ); + } else { + appController.showAlert('success', `Recommission of ${fleet}:${robotState.name} requested`); + } + } catch (e) { + appController.showAlert( + 'error', + `Failed to recommission ${fleet}:${robotState.name}: ${(e as Error).message}`, + ); + } + resetDecommissionConfiguration(); + AppEvents.refreshRobotApp.next(); + }, [appController, fleet, robotState, rmf]); + + return ( + <> + {robotState ? ( + + ) : ( + + + + )} + {openConfirmDialog && ( + { + resetDecommissionConfiguration(); + }} + onSubmit={robotDecommissioned ? handleRecommission : handleDecommission} + > + {robotDecommissioned ? ( + Confirm recommission robot? + ) : ( + <> + Confirm decommission robot? + + + + } + label="Re-assign queued tasks" + /> + + + + } + label="Allow idle behavior" + /> + + + + )} + + )} + + ); +} diff --git a/packages/dashboard/src/components/robots/robot-summary.tsx b/packages/dashboard/src/components/robots/robot-summary.tsx index 9aa28eea9..2a6efe46b 100644 --- a/packages/dashboard/src/components/robots/robot-summary.tsx +++ b/packages/dashboard/src/components/robots/robot-summary.tsx @@ -17,7 +17,7 @@ import { makeStyles, createStyles } from '@mui/styles'; import React from 'react'; import { RmfAppContext } from '../rmf-app'; import { RobotTableData, base } from 'react-components'; -import { RobotState, Status2, TaskState } from 'api-client'; +import { RobotState, ApiServerModelsRmfApiRobotStateStatus as Status, TaskState } from 'api-client'; import { EMPTY, combineLatest, mergeMap, of } from 'rxjs'; import { TaskInspector } from '../tasks/task-inspector'; import { @@ -33,6 +33,7 @@ import { BatteryUnknown, } from '@mui/icons-material'; import { TaskCancelButton } from '../tasks/task-cancellation'; +import { RobotDecommissionButton } from './robot-decommission'; const useStyles = makeStyles((theme: Theme) => createStyles({ @@ -45,16 +46,16 @@ const useStyles = makeStyles((theme: Theme) => }), ); -const setTaskDialogColor = (robotStatus: Status2 | undefined) => { +const setTaskDialogColor = (robotStatus: Status | undefined) => { if (!robotStatus) { return base.palette.background.default; } switch (robotStatus) { - case Status2.Error: + case Status.Error: return base.palette.error.dark; - case Status2.Working: + case Status.Working: return base.palette.success.dark; default: @@ -83,7 +84,7 @@ interface RobotSummaryProps { } const showBatteryIcon = (robot: RobotState, robotBattery: number) => { - if (robot.status === Status2.Charging) { + if (robot.status === Status.Charging) { return ; } @@ -292,6 +293,17 @@ export const RobotSummary = React.memo(({ onClose, robot }: RobotSummaryProps) = )} {returnDialogContent()} + { : undefined, lastUpdateTime: robot.unix_millis_time ? robot.unix_millis_time : undefined, level: robot.location?.map || 'N/A', + commission: robot.commission, })) : [], }; @@ -76,10 +77,18 @@ export const RobotsApp = createMicroApp('Robots', () => { await refreshRobotTable(); })(); + // Set up the refresh trigger subscription + const sub = AppEvents.refreshRobotApp.subscribe({ + next: async () => { + await refreshRobotTable(); + }, + }); + // Set up regular interval to refresh table const refreshInterval = window.setInterval(refreshRobotTable, RefreshRobotTableInterval); return () => { clearInterval(refreshInterval); + sub.unsubscribe(); }; }, [rmf]); diff --git a/packages/dashboard/src/components/tasks/task-alert.tsx b/packages/dashboard/src/components/tasks/task-alert.tsx index 59e6c79c1..84af097ff 100644 --- a/packages/dashboard/src/components/tasks/task-alert.tsx +++ b/packages/dashboard/src/components/tasks/task-alert.tsx @@ -3,7 +3,7 @@ import { ApiServerModelsRmfApiLogEntryTier as Tier, ApiServerModelsTortoiseModelsAlertsAlertLeaf, LogEntry, - Status, + ApiServerModelsRmfApiTaskStateStatus as Status, Status1, TaskEventLog, TaskState, diff --git a/packages/dashboard/src/components/tasks/task-logs.tsx b/packages/dashboard/src/components/tasks/task-logs.tsx index f8b4870af..d10cbe30a 100644 --- a/packages/dashboard/src/components/tasks/task-logs.tsx +++ b/packages/dashboard/src/components/tasks/task-logs.tsx @@ -1,5 +1,10 @@ import { Box, Divider, Grid, Paper, Typography, useTheme } from '@mui/material'; -import { EventState, Status, TaskEventLog, TaskState } from 'api-client'; +import { + EventState, + ApiServerModelsRmfApiTaskStateStatus as Status, + TaskEventLog, + TaskState, +} from 'api-client'; import { format } from 'date-fns'; interface TaskLogProps { diff --git a/packages/dashboard/src/components/tasks/task-summary.tsx b/packages/dashboard/src/components/tasks/task-summary.tsx index 12da073e6..458bfa766 100644 --- a/packages/dashboard/src/components/tasks/task-summary.tsx +++ b/packages/dashboard/src/components/tasks/task-summary.tsx @@ -14,7 +14,7 @@ import DialogActions from '@mui/material/DialogActions'; import DialogContent from '@mui/material/DialogContent'; import DialogTitle from '@mui/material/DialogTitle'; import { makeStyles, createStyles } from '@mui/styles'; -import { Status, TaskRequest, TaskState } from 'api-client'; +import { ApiServerModelsRmfApiTaskStateStatus as Status, TaskRequest, TaskState } from 'api-client'; import { base, parseCartId, parseCategory, parseDestination, parsePickup } from 'react-components'; import { TaskInspector } from './task-inspector'; import { RmfAppContext } from '../rmf-app'; diff --git a/packages/dashboard/src/util/common-subscriptions.ts b/packages/dashboard/src/util/common-subscriptions.ts index 6269c35d4..c79a12eec 100644 --- a/packages/dashboard/src/util/common-subscriptions.ts +++ b/packages/dashboard/src/util/common-subscriptions.ts @@ -1,16 +1,8 @@ import React from 'react'; import * as RmfModels from 'rmf-models'; -import { - ApiServerModelsRmfApiFleetStateFleetState, - SioClient, - Ingestor, - Dispenser, - Subscription, -} from 'api-client'; +import { FleetState, SioClient, Ingestor, Dispenser, Subscription } from 'api-client'; import { RmfIngress } from '../components/rmf-app/rmf-ingress'; -type FleetState = ApiServerModelsRmfApiFleetStateFleetState; - export const useFleets = ( rmfIngress: RmfIngress | undefined, setFleets: React.Dispatch>, diff --git a/packages/react-components/lib/robots/index.ts b/packages/react-components/lib/robots/index.ts index 1f3e8f453..33a08981f 100644 --- a/packages/react-components/lib/robots/index.ts +++ b/packages/react-components/lib/robots/index.ts @@ -1,4 +1,3 @@ export * from './robot-info'; -export * from './robot-table'; export * from './robot-table-datagrid'; export * from './utils'; diff --git a/packages/react-components/lib/robots/robot-table-datagrid.spec.tsx b/packages/react-components/lib/robots/robot-table-datagrid.spec.tsx index 213b9163b..81604507f 100644 --- a/packages/react-components/lib/robots/robot-table-datagrid.spec.tsx +++ b/packages/react-components/lib/robots/robot-table-datagrid.spec.tsx @@ -1,5 +1,5 @@ import { render, fireEvent } from '@testing-library/react'; -import { Status2 as RobotStatus } from 'api-client'; +import { ApiServerModelsRmfApiRobotStateStatus as RobotStatus } from 'api-client'; import React from 'react'; import { RobotTableData } from './robot-table'; import { makeRobot } from './test-utils.spec'; diff --git a/packages/react-components/lib/robots/robot-table-datagrid.stories.tsx b/packages/react-components/lib/robots/robot-table-datagrid.stories.tsx index 5e9521784..3e6191df5 100644 --- a/packages/react-components/lib/robots/robot-table-datagrid.stories.tsx +++ b/packages/react-components/lib/robots/robot-table-datagrid.stories.tsx @@ -1,7 +1,7 @@ import React from 'react'; import { storiesOf } from '@storybook/react'; import { RobotDataGridTable } from './robot-table-datagrid'; -import { Status2 as RobotStatus } from 'api-client'; +import { ApiServerModelsRmfApiRobotStateStatus as RobotStatus } from 'api-client'; import { RobotTableData } from './robot-table'; // Define the stories diff --git a/packages/react-components/lib/robots/robot-table-datagrid.tsx b/packages/react-components/lib/robots/robot-table-datagrid.tsx index de6dfa523..43601cce0 100644 --- a/packages/react-components/lib/robots/robot-table-datagrid.tsx +++ b/packages/react-components/lib/robots/robot-table-datagrid.tsx @@ -9,10 +9,20 @@ import { } from '@mui/x-data-grid'; import { Box, SxProps, Typography, useTheme, useMediaQuery } from '@mui/material'; import * as React from 'react'; -import { Status2 } from 'api-client'; -import { RobotTableData } from './robot-table'; +import { ApiServerModelsRmfApiRobotStateStatus as Status, Commission } from 'api-client'; import { robotStatusToUpperCase } from './utils'; +export interface RobotTableData { + fleet: string; + name: string; + status?: Status; + battery?: number; + estFinishTime?: number; + lastUpdateTime?: number; + level?: string; + commission?: Commission; +} + export interface RobotDataGridTableProps { onRobotClick?(ev: MuiEvent>, robotName: RobotTableData): void; robots: RobotTableData[]; @@ -30,7 +40,10 @@ export function RobotDataGridTable({ onRobotClick, robots }: RobotDataGridTableP } }; - const Status = (params: GridCellParams): React.ReactNode => { + const StatusCell = (params: GridCellParams): React.ReactNode => { + const robotDecommissioned = + params.row.commission && params.row.commission.dispatch_tasks === false; + const theme = useTheme(); const statusLabelStyle: SxProps = (() => { const error = { @@ -42,16 +55,26 @@ export function RobotDataGridTable({ onRobotClick, robots }: RobotDataGridTableP const working = { color: theme.palette.success.main, }; + const disabled = { + color: theme.palette.action.disabled, + }; const defaultColor = { color: theme.palette.warning.main, }; + if (robotDecommissioned) { + return disabled; + } + switch (params.row.status) { - case Status2.Error: + case Status.Error: return error; - case Status2.Charging: + case Status.Offline: + case Status.Uninitialized: + return disabled; + case Status.Charging: return charging; - case Status2.Working: + case Status.Working: return working; default: return defaultColor; @@ -68,7 +91,7 @@ export function RobotDataGridTable({ onRobotClick, robots }: RobotDataGridTableP fontSize: isScreenHeightLessThan800 ? 10 : 16, }} > - {robotStatusToUpperCase(params.row.status)} + {robotDecommissioned ? 'DECOMMISSIONED' : robotStatusToUpperCase(params.row.status)} ); @@ -135,7 +158,7 @@ export function RobotDataGridTable({ onRobotClick, robots }: RobotDataGridTableP headerName: 'Status', editable: false, flex: 1, - renderCell: Status, + renderCell: StatusCell, filterable: true, }, ]; diff --git a/packages/react-components/lib/robots/robot-table.spec.tsx b/packages/react-components/lib/robots/robot-table.spec.tsx deleted file mode 100644 index 7245a5a47..000000000 --- a/packages/react-components/lib/robots/robot-table.spec.tsx +++ /dev/null @@ -1,81 +0,0 @@ -import { render, fireEvent } from '@testing-library/react'; -import { Status2 as RobotStatus } from 'api-client'; -import React from 'react'; -import { RobotTable, RobotTableData } from './robot-table'; -import { makeRobot } from './test-utils.spec'; - -const allStatuses = Object.values(RobotStatus) as RobotStatus[]; - -describe('RobotTable', () => { - it('shows all robots', () => { - const robots = [makeRobot({ name: 'test_robot1' }), makeRobot({ name: 'test_robot2' })]; - const tableData: RobotTableData[] = robots.map((robot) => ({ - fleet: 'test_fleet', - name: robot.name, - })); - const root = render(); - expect(root.getByText('test_robot1')).toBeTruthy(); - expect(root.getByText('test_robot2')).toBeTruthy(); - }); - - it('smoke test for different robot status', () => { - const robots = allStatuses.map((status) => makeRobot({ name: `${status}_robot`, status })); - render( - ({ - fleet: 'test_fleet', - name: robot.name, - status: robot.status, - }))} - />, - ); - }); - - it('onRobotClick is called when row is clicked', () => { - const onRobotClick = jasmine.createSpy(); - const root = render( - , - ); - const robot = root.getByText('test_robot'); - fireEvent.click(robot); - expect(onRobotClick).toHaveBeenCalled(); - }); - - it('finish time is shown when it is available', () => { - const root = render( - , - ); - // TODO: use a less convoluted test when - // https://github.com/testing-library/react-testing-library/issues/1160 - // is resolved. - expect(() => - root.getByText((_, node) => { - if (!node) { - return false; - } - const hasText = (node) => node.textContent === new Date(1000).toLocaleString(); - const nodeHasText = hasText(node); - const childrenDontHaveText = Array.from(node.children).every((child) => !hasText(child)); - return nodeHasText && childrenDontHaveText; - }), - ).not.toThrow(); - expect(() => - root.getByText((_, node) => { - if (!node) { - return false; - } - const hasText = (node) => node.textContent === new Date(900).toLocaleString(); - const nodeHasText = hasText(node); - const childrenDontHaveText = Array.from(node.children).every((child) => !hasText(child)); - return nodeHasText && childrenDontHaveText; - }), - ).not.toThrow(); - }); -}); diff --git a/packages/react-components/lib/robots/robot-table.stories.tsx b/packages/react-components/lib/robots/robot-table.stories.tsx deleted file mode 100644 index 9376467cf..000000000 --- a/packages/react-components/lib/robots/robot-table.stories.tsx +++ /dev/null @@ -1,48 +0,0 @@ -import { Meta, Story } from '@storybook/react'; -import React from 'react'; -import { PaginationOptions, RobotTable, RobotTableProps } from './robot-table'; -import { RobotTableData } from './robot-table'; -import { Status2 as RobotStatus } from 'api-client'; - -export default { - title: 'Robots/Table', -} as Meta; - -export const Table: Story = (args) => { - const [page, setPage] = React.useState(0); - const paginationOptions: PaginationOptions = { - count: args.robots.length, - rowsPerPage: 10, - rowsPerPageOptions: [10], - page, - onPageChange: (_ev, newPage) => setPage(newPage), - }; - - return ( - <> - - - ); -}; - -const allStatuses: RobotStatus[] = Object.values(RobotStatus) as RobotStatus[]; - -const robots: RobotTableData[] = []; -for (let i = 0; i < 12; ++i) { - robots.push({ - name: `Robot ${i + 1}`, - battery: Math.min(i / 10, 1), - status: allStatuses[i % allStatuses.length], - estFinishTime: Date.now() + i * 1000000, - lastUpdateTime: Date.now(), - }); -} - -Table.args = { - robots, -}; diff --git a/packages/react-components/lib/robots/robot-table.tsx b/packages/react-components/lib/robots/robot-table.tsx deleted file mode 100644 index e08eaf92b..000000000 --- a/packages/react-components/lib/robots/robot-table.tsx +++ /dev/null @@ -1,119 +0,0 @@ -import { - SxProps, - Table, - TableBody, - TableCell, - TableHead, - TablePagination, - TableProps, - TableRow, - useTheme, -} from '@mui/material'; -import type { RobotState } from 'api-client'; -import React from 'react'; - -type RobotStatus = Required['status']; - -export interface RobotTableData { - fleet: string; - name: string; - status?: RobotStatus; - battery?: number; - estFinishTime?: number; - lastUpdateTime?: number; - level?: string; -} - -interface RobotRowProps extends RobotTableData { - onClick: React.MouseEventHandler; -} - -const RobotRow = React.memo( - ({ fleet, name, status, battery = 0, estFinishTime, lastUpdateTime, onClick }: RobotRowProps) => { - const theme = useTheme(); - - const robotStatusClass: SxProps = React.useMemo(() => { - if (!status) { - return {}; - } - switch (status) { - case 'error': - return { - backgroundColor: theme.palette.error.main, - }; - case 'charging': - return { - backgroundColor: theme.palette.info.main, - }; - case 'working': - return { - backgroundColor: theme.palette.success.main, - }; - case 'idle': - case 'offline': - case 'shutdown': - case 'uninitialized': - return { - backgroundColor: theme.palette.warning.main, - }; - } - }, [status, theme]); - - return ( - - {fleet} - {name} - {estFinishTime ? new Date(estFinishTime).toLocaleString() : '-'} - {(battery * 100).toFixed(2)}% - {lastUpdateTime ? new Date(lastUpdateTime).toLocaleString() : '-'} - {status} - - ); - }, -); - -export type PaginationOptions = Omit< - React.ComponentPropsWithoutRef, - 'component' ->; - -export interface RobotTableProps extends TableProps { - /** - * The current list of robots to display, when pagination is enabled, this should only - * contain the robots for the current page. - */ - robots: RobotTableData[]; - onRobotClick?(ev: React.MouseEvent, robotName: RobotTableData): void; -} - -export function RobotTable({ robots, onRobotClick, ...otherProps }: RobotTableProps): JSX.Element { - return ( - - - - Fleet - Robot Name - Est. Task Finish Time - Battery - Last Updated - Status - - - - {robots.map((robot, robot_id) => ( - onRobotClick && onRobotClick(ev, robot)} - /> - ))} - -
- ); -} diff --git a/packages/react-components/lib/robots/utils.ts b/packages/react-components/lib/robots/utils.ts index b6ca8f3a3..eb6636cd3 100644 --- a/packages/react-components/lib/robots/utils.ts +++ b/packages/react-components/lib/robots/utils.ts @@ -1,4 +1,4 @@ -import { Status2 } from 'api-client'; +import { ApiServerModelsRmfApiRobotStateStatus as Status2 } from 'api-client'; import { RobotMode as RmfRobotMode } from 'rmf-models'; /** diff --git a/packages/react-components/lib/tasks/task-table-datagrid.tsx b/packages/react-components/lib/tasks/task-table-datagrid.tsx index e5abc03e9..a5fde005f 100644 --- a/packages/react-components/lib/tasks/task-table-datagrid.tsx +++ b/packages/react-components/lib/tasks/task-table-datagrid.tsx @@ -13,7 +13,7 @@ import { } from '@mui/x-data-grid'; import { styled, Stack, Typography, Tooltip, useMediaQuery, SxProps, Theme } from '@mui/material'; import * as React from 'react'; -import { TaskState, TaskRequest, Status } from 'api-client'; +import { TaskState, TaskRequest, ApiServerModelsRmfApiTaskStateStatus as Status } from 'api-client'; import { InsertInvitation as ScheduleIcon, Person as UserIcon } from '@mui/icons-material/'; import { parsePickup, parseDestination } from './utils'; diff --git a/packages/react-components/lib/tasks/task-table.tsx b/packages/react-components/lib/tasks/task-table.tsx index 65f2f8373..bc140e95c 100644 --- a/packages/react-components/lib/tasks/task-table.tsx +++ b/packages/react-components/lib/tasks/task-table.tsx @@ -9,7 +9,7 @@ import { TableRow, } from '@mui/material'; import { ArrowCircleDown, ArrowCircleUp } from '@mui/icons-material'; -import { Status, TaskState } from 'api-client'; +import { ApiServerModelsRmfApiTaskStateStatus as Status, TaskState } from 'api-client'; import clsx from 'clsx'; import React from 'react'; diff --git a/packages/react-components/lib/tasks/task-timeline.tsx b/packages/react-components/lib/tasks/task-timeline.tsx index 0fe30eb82..8315d05da 100644 --- a/packages/react-components/lib/tasks/task-timeline.tsx +++ b/packages/react-components/lib/tasks/task-timeline.tsx @@ -15,7 +15,12 @@ import { } from '@mui/lab'; import { styled } from '@mui/material'; import Typography from '@mui/material/Typography'; -import { EventState, Phase, Status, TaskState } from 'api-client'; +import { + EventState, + Phase, + ApiServerModelsRmfApiTaskStateStatus as Status, + TaskState, +} from 'api-client'; import React from 'react'; interface TimeLinePropsWithRef extends TimelineProps {