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environment_editor_openapi_spec.yaml
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openapi: 3.0.2
info:
title: Magazino Environment Editor Public REST API
version: 1.0.0
description: |2-
This interface offers endpoints to export environments and deployments.
paths:
/api/public/v1/deployments:
get:
operationId: environment_editor_backend_api_endpoints_deployments_api_public_get_deployments
summary: Get a list of executed Deployments
parameters:
- in: query
name: states
schema:
type: array
items:
$ref: '#/components/schemas/DeploymentState'
required: false
- in: query
name: project_name
schema:
title: Project Name
type: string
required: false
- in: query
name: created_before
schema:
title: Created Before
type: number
required: false
- in: query
name: created_after
schema:
title: Created After
type: number
required: false
responses:
'200':
description: OK
content:
application/json:
schema:
title: Response
type: array
items:
$ref: '#/components/schemas/DeploymentOutSchema'
description: |-
Returns a history of Deployments by state (defaults to succesfull ones).
Returns:
```
[
{
"id": "b75a4d85-43a2-4dd8-bae5-ea21cc54df39",
"project_id": "b75a4d85-43a2-4dd8-bae5-ea21cc54df26",
"version": 0.2.0,
"data_version": 2,
"state": "started",
"errors": [],
"timestamp_created": 1623922297.390299,
"timestamp_updated": 1623922297.390304,
"metadata": {...}
},
...
]
```
/api/public/v1/deployments/{deployment_id}:
get:
operationId: environment_editor_backend_api_endpoints_deployments_api_public_get_deployment
summary: Get the status of a Deployment
parameters:
- in: path
name: deployment_id
schema:
title: Deployment Id
type: string
required: true
responses:
'200':
description: OK
content:
application/json:
schema:
$ref: '#/components/schemas/DeploymentOutSchema'
'404':
description: Not Found
content:
application/json:
schema:
$ref: '#/components/schemas/FailureResponse'
description: |-
Returns the status of the given Deployment.
Returns:
```
{
"id": "b75a4d85-43a2-4dd8-bae5-ea21cc54df39",
"project_id": "b75a4d85-43a2-4dd8-bae5-ea21cc54df26",
"version": 0.2.0,
"data_version": 2,
"state": "started",
"errors": [],
"timestamp_created": 1623922297.390299,
"timestamp_updated": 1623922297.390304
}
```
/api/public/v1/environments/{deployment_id}:
get:
operationId: environment_editor_backend_api_endpoints_environments_api_public_get_environment
summary: Get the Environment of a successful Deployment
parameters:
- in: path
name: deployment_id
schema:
title: Deployment Id
type: string
required: true
- in: query
name: filter_large_files
schema:
title: Filter Large Files
default: true
type: boolean
required: false
responses:
'200':
description: OK
description: |-
Returns the generated Environment files for a successfull Deployment.
Returns: environment.zip with all files as raw bytes
/api/public/v1/lif-structures/{deployment_id}:
get:
operationId: environment_editor_backend_api_endpoints_lif_structures_api_get_lif_structure
summary: Get a successfully generated environment in the Layout Interchange Format (LIF) LIF.
parameters:
- in: path
name: deployment_id
schema:
title: Deployment Id
type: string
required: true
responses:
'200':
description: OK
content:
application/json:
schema:
$ref: '#/components/schemas/LIFStructure'
'400':
description: Bad Request
content:
application/json:
schema:
$ref: '#/components/schemas/FailureResponse'
'404':
description: Not Found
content:
application/json:
schema:
$ref: '#/components/schemas/FailureResponse'
'500':
description: Internal Server Error
content:
application/json:
schema:
$ref: '#/components/schemas/FailureResponse'
description: |-
Returns a LIF structure for a specific Deployment based on the Project Version data.
Responses:
200 - Successfully generated LIF structure.
400 - Failed to generate the LIF structure (e.g. due to outdated `data_version`).
404 - Failed to find a successful Deployment for the provided UUID.
500 - Unexpected error while generating the LIF structure.
/api/public/v1/vda-environments/latest:
get:
operationId: environment_editor_backend_api_endpoints_vda_environments_get_latest_vda_environment
summary: Get a VDA environment for the latest successful Deployment
parameters: []
responses:
'200':
description: OK
content:
application/json:
schema:
$ref: '#/components/schemas/VdaEnvironment'
'404':
description: Not Found
content:
application/json:
schema:
$ref: '#/components/schemas/FailureResponse'
'500':
description: Internal Server Error
content:
application/json:
schema:
$ref: '#/components/schemas/FailureResponse'
description: |-
Returns a VDA environment for the latest successful Deployment based on the Project Version
data.
- fails if there is no successful Deployment so far (404)
- can fail if there are logical errors in the Project Version data (500)
/api/public/v1/vda-environments/{deployment_id}:
get:
operationId: environment_editor_backend_api_endpoints_vda_environments_get_vda_environment
summary: Get a VDA environment of a specific successful Deployment
parameters:
- in: path
name: deployment_id
schema:
title: Deployment Id
type: string
required: true
responses:
'200':
description: OK
content:
application/json:
schema:
$ref: '#/components/schemas/VdaEnvironment'
'400':
description: Bad Request
content:
application/json:
schema:
$ref: '#/components/schemas/FailureResponse'
'404':
description: Not Found
content:
application/json:
schema:
$ref: '#/components/schemas/FailureResponse'
'500':
description: Internal Server Error
content:
application/json:
schema:
$ref: '#/components/schemas/FailureResponse'
description: |-
Returns a VDA environment for a specific Deployment based on the Project Version data.
- fails if there is no Deployment with the given `deployment_id` (404)
- can fail if there are logical errors in the Project Version data (500)
components:
schemas:
DeploymentState:
title: DeploymentState
description: An enumeration.
enum:
- started
- validated
- environment_is_generated
- deployed
- aborted
type: string
DeploymentError:
title: DeploymentError
type: object
properties:
error_code:
title: Error Code
type: integer
message:
title: Message
maxLength: 1023
type: string
required:
- error_code
- message
DeploymentOutSchema:
title: DeploymentOutSchema
type: object
properties:
id:
title: Id
description: UUID of the Deployment
type: string
project_id:
title: Project Id
description: UUID of the Project
type: string
project_name:
title: Project Name
type: string
version:
title: Version
description: Version of the Project (`x.y.z`).
type: string
data_version:
title: Data Version
description: Version of the data schema.
type: integer
state:
$ref: '#/components/schemas/DeploymentState'
errors:
title: Errors
default: []
type: array
items:
$ref: '#/components/schemas/DeploymentError'
timestamp_created:
title: Timestamp Created
description: Datetime as unix timestamp.
type: number
timestamp_updated:
title: Timestamp Updated
description: Datetime as unix timestamp.
type: number
metadata:
title: Metadata
description: Metadata about the deployment process.
type: object
required:
- id
- project_id
- project_name
- version
- data_version
- state
- timestamp_created
- timestamp_updated
- metadata
ErrorName:
title: ErrorName
description: |-
Error names as communicated to frontend.
Documented in https://magazino.atlassian.net/wiki/spaces/SD/pages/3529637983/Error+Messages.
enum:
- handover_station_does_not_exist
- invalid_graph
- invalid_image
- invalid_map
- invalid_model
- invalid_project_data
- invalid_source
- invalid_yaml
- yaml_does_not_exist
- duplicate_project_name
- duplicate_project_uuid
- incompatible_data_version
- max_number_of_copies_reached
- project_does_not_exist
- projectversion_does_already_exist
- projectversion_does_not_exist
- deployment_does_not_exist
- illegal_deployment
- multiple_active_deployments
- no_active_deployment
- unterminated_jobs_or_requests
- map_folder_already_exists
- map_folder_does_not_exist
- missing_map_file
- unexpected_error
- environment_upload_invalid_format
- environment_upload_invalid_structure
- environment_upload_error
type: string
FailureResponse:
title: FailureResponse
type: object
properties:
error_id:
$ref: '#/components/schemas/ErrorName'
error:
title: Error
type: string
required:
- error
MetaInformation:
title: MetaInformation
type: object
properties:
projectIdentification:
title: Projectidentification
description: Human-readable name of the project (e.g., for display purposes).
type: string
creator:
title: Creator
description: Creator of the LIF file (e.g., name of company, or name of person)
type: string
exportTimestamp:
title: Exporttimestamp
description: 'The timestamp at which this LIF file was created/updated/modified specified in ISO8601. Used to distinguish LIF file versions over time. '
type: string
lifVersion:
title: Lifversion
description: 'Version of LIF: [Major].[Minor].[Patch] (0.10.0).'
default: 0.10.0
type: string
required:
- projectIdentification
- creator
- exportTimestamp
NodePosition:
title: NodePosition
type: object
properties:
x:
title: X
description: X position on the layout in reference to the global origin.
type: number
'y':
title: 'Y'
description: Y position on the layout in reference to the global origin.
type: number
required:
- x
- 'y'
ActionType:
title: ActionType
description: Possibly what we could see as job class
enum:
- startPause
- stopPause
- startCharging
- stopCharging
- initPosition
- stateRequest
- logReport
- pick
- drop
- detectObject
- finePositioning
- waitForTrigger
- cancelOrder
- resetAgv
- factsheetRequest
- chargeBattery
- initialize
- pause
- handling
- identify
- sleep
- scanFreeSpot
- emergencyStop
- speedLimit
- speedLimitBackwards
- silent
- displayText
- setHeight
- setAlarm
- setAgvParameter
- opticalSignal
- acousticSignal
- switchSensorMode
- goToPosition
type: string
BlockingType:
title: BlockingType
description: While this action is executed, how much does it block the robot.
enum:
- NONE
- SOFT
- HARD
type: string
ActionParameter:
title: ActionParameter
type: object
properties:
key:
title: Key
description: Key which must be unique among the collection of action parameters.
type: string
value:
title: Value
description: Value corresponding to the key.
type: string
required:
- key
- value
Action:
title: Action
type: object
properties:
actionType:
description: Name of the action.
allOf:
- $ref: '#/components/schemas/ActionType'
actionDescription:
title: Actiondescription
description: Brief description of the action.
type: string
required:
title: Required
description: Defines whether this action must be interpreted as strictly required to be performed on this node or edge.
default: false
type: boolean
blockingType:
description: Enum {NONE, SOFT, HARD}
allOf:
- $ref: '#/components/schemas/BlockingType'
actionParameters:
title: Actionparameters
description: Exact list of parameters and their statically JSON-object defined values which must be sent along with this action.
type: array
items:
$ref: '#/components/schemas/ActionParameter'
required:
- actionType
- blockingType
VehicleTypeNodeProperties:
title: VehicleTypeNodeProperties
type: object
properties:
vehicleTypeId:
title: Vehicletypeid
description: Unique identifier of the vehicle type [factsheet.manufacturer]. [factsheet.seriesName]
type: string
theta:
title: Theta
description: 'Absolute orientation of the vehicle on the node in reference to the global origin''s rotation (range: [-pi..pi]).'
type: number
actions:
title: Actions
description: Possible actions that the master controller can send for this vehicle type on this node. If no actions are possible, the attribute may be omitted.
type: array
items:
$ref: '#/components/schemas/Action'
required:
- vehicleTypeId
Node:
title: Node
type: object
properties:
nodeId:
title: Nodeid
description: Unique identifier of the node across all layouts contained in this LIF file.
type: string
nodeName:
title: Nodename
description: Name of the node (for visualization).
type: string
nodeDescription:
title: Nodedescription
description: Brief description of the node (for visualization).
type: string
mapId:
title: Mapid
description: Unique identification of the map in which the position is referenced. Each map has the same project specific global origin of coordinates.
type: string
nodePosition:
title: Nodeposition
description: Geometric location of the node.
allOf:
- $ref: '#/components/schemas/NodePosition'
vehicleTypeNodeProperties:
title: Vehicletypenodeproperties
description: Vehicle type specific properties for this node. JSON-object This attribute must not be empty.There must be an element for each vehicle type that may use this node.
minItems: 1
type: array
items:
$ref: '#/components/schemas/VehicleTypeNodeProperties'
required:
- nodeId
- mapId
- nodePosition
- vehicleTypeNodeProperties
OrientationType:
title: OrientationType
description: An enumeration.
enum:
- GLOBAL
- TANGENTIAL
type: string
AllowedRotations:
title: AllowedRotations
description: An enumeration.
enum:
- NONE
- CW
- CCW
- BOTH
type: string
LoadRestriction:
title: LoadRestriction
type: object
properties:
unloaded:
title: Unloaded
description: If this edge can be used by an unloaded AGV.
type: boolean
loaded:
title: Loaded
description: If this edge can be used by a loaded AGV.
type: boolean
loadSetNames:
title: Loadsetnames
description: List of load sets that may be transported by the vehicle on this edge.
type: array
items:
type: string
required:
- unloaded
- loaded
ControlPoint:
title: ControlPoint
type: object
properties:
x:
title: X
description: X position on the layout in reference to the global origin.
type: number
'y':
title: 'Y'
description: Y position on the layout in reference to the global origin.
type: number
weight:
title: Weight
description: The weight with which this control point pulls on the curve.
default: 1
type: number
required:
- x
- 'y'
Trajectory:
title: Trajectory
type: object
properties:
degree:
title: Degree
description: Defines the number of control points that influence any given point on the curve. Increasing the degree increases continuity.
default: 1
type: number
knotVector:
title: Knotvector
description: Sequence of parameter values that determines where and how the control points affect the NURBS curve (range [0..1]).
type: array
items:
type: number
controlPoints:
title: Controlpoints
description: Control points of the NURBS, which includes the beginning and end point
type: array
items:
$ref: '#/components/schemas/ControlPoint'
required:
- knotVector
- controlPoints
VehicleTypeEdgeProperties:
title: VehicleTypeEdgeProperties
type: object
properties:
vehicleTypeId:
title: Vehicletypeid
description: Unique identifier of the vehicle type [factsheet.manufacturer]. [factsheet.seriesName]
type: string
vehicleOrientation:
title: Vehicleorientation
description: Orientation of the vehicle on the edge in radian. The value `orientationType` defines if it has to be interpreted relative to the global project specific map coordinate system or tangential to the edge. In case of interpreted tangential to the edge 0.0=forwards and PI=backwards.
type: number
orientationType:
description: '`GLOBAL`: relative to the global project specific map coordinate system. `TANGENTIAL` (default): tangential to the edge. Defaults to `TANGENTIAL`.'
default: TANGENTIAL
allOf:
- $ref: '#/components/schemas/OrientationType'
rotationAllowed:
title: Rotationallowed
description: If the AGV can rotate on the edge.
type: boolean
rotationAtStartNodeAllowed:
description: 'Allowed directions of rotation for the vehicle at the start node. `NONE`: Rotation not allowed. `CCW`: Counter clockwise (positive). `CW`: Clockwise (negative). `BOTH` (default): Both directions.'
default: BOTH
allOf:
- $ref: '#/components/schemas/AllowedRotations'
rotationAtEndNodeAllowed:
description: 'Allowed directions of rotation for the vehicle at the start node. `NONE`: Rotation not allowed. `CCW`: Counter clockwise (positive). `CW`: Clockwise (negative). `BOTH` (default): Both directions.'
default: BOTH
allOf:
- $ref: '#/components/schemas/AllowedRotations'
maxSpeed:
title: Maxspeed
description: Permitted maximum speed on the edge in m/sec. Speed is defined by the fastest measurement of the vehicle.
type: number
maxRotationSpeed:
title: Maxrotationspeed
description: Maximum rotation speed.
type: number
minHeight:
title: Minheight
description: Permitted minimal height in meter of the load handling device on the edge.
type: number
maxHeight:
title: Maxheight
description: Permitted maximum height of the vehicle, including the load, on edge.
type: number
loadRestriction:
title: Loadrestriction
description: Describes the load restriction on this edge for a vehicle of the corresponding vehicleTypeId.
allOf:
- $ref: '#/components/schemas/LoadRestriction'
actions:
title: Actions
description: Possible actions that the master controller can send for this vehicle type on this node. If no actions are possible, the attribute may be omitted.
type: array
items:
$ref: '#/components/schemas/Action'
trajectory:
title: Trajectory
description: Defines the curve on which the vehicle should move between startNode and endNode.
allOf:
- $ref: '#/components/schemas/Trajectory'
reentryAllowed:
title: Reentryallowed
description: If AGVs can enter automatic management on this edge.
default: true
type: boolean
required:
- vehicleTypeId
- rotationAllowed
Edge:
title: Edge
type: object
properties:
edgeId:
title: Edgeid
description: Unique identifier of the edge across all layouts within this LIF file.
type: string
edgeName:
title: Edgename
description: Name of the edge (for visualization).
type: string
edgeDescription:
title: Edgedescription
description: Brief description of the edge (for visualization).
type: string
startNodeId:
title: Startnodeid
description: Id of the start node. The start node must always be part of the current layout.
type: string
endNodeId:
title: Endnodeid
description: Id of the end node. The end node can be located in another layout. This models a transition from one layout to another.
type: string
vehicleTypeEdgeProperties:
title: Vehicletypeedgeproperties
description: Vehicle type specific properties for this edge. This attribute must not be empty. For each allowed vehicle type there must be an element.
minItems: 1
type: array
items:
$ref: '#/components/schemas/VehicleTypeEdgeProperties'
required:
- edgeId
- startNodeId
- endNodeId
- vehicleTypeEdgeProperties
StationPosition:
title: StationPosition
type: object
properties:
x:
title: X
description: X position on the layout in reference to the global origin.
type: number
'y':
title: 'Y'
description: Y position on the layout in reference to the global origin.
type: number
theta:
title: Theta
description: 'Absolute orientation of the station on the node (range: [-pi..pi]).'
type: number
required:
- x
- 'y'
- theta
Station:
title: Station
type: object
properties:
stationId:
title: Stationid
description: Unique identifier of the station across all layouts within this LIF file.
type: string
interactionNodeIds:
title: Interactionnodeids
description: List of `nodeIds` for this station.
minItems: 1
type: array
items:
type: string
stationName:
title: Stationname
description: Human-readable name for the station (for visualization).
type: string
stationDescription:
title: Stationdescription
description: Brief description of the station.
type: string
stationHeight:
title: Stationheight
description: Absolute physical height of the station in meter.
type: number
stationPosition:
title: Stationposition
description: Center point and orientation of the station.
allOf:
- $ref: '#/components/schemas/StationPosition'
required:
- stationId
- interactionNodeIds
Layout:
title: Layout
type: object
properties:
layoutId:
title: Layoutid
description: Unique identifier for this layout.
type: string
layoutName:
title: Layoutname
description: Human-readable name of the layout (e.g., for displaying).
type: string
layoutVersion:
title: Layoutversion
description: Version of the layout (suggested to be an increasing integer).
type: string
layoutLevelId:
title: Layoutlevelid
description: This attribute can be used to explicitly indicate which level or floor within a building or buildings a layout represents in a situation where there are multiple, such as multiple levels in the same facility, or two disconnected areas in the same facility.
type: string
layoutDescription:
title: Layoutdescription
description: Brief description of the layout.
type: string
nodes:
title: Nodes
description: Collection of all nodes in the layout.
type: array
items:
$ref: '#/components/schemas/Node'
edges:
title: Edges
description: Collection of all edges in the layout.
type: array
items:
$ref: '#/components/schemas/Edge'
stations:
title: Stations
description: Collection of all stations in the layout.
type: array
items:
$ref: '#/components/schemas/Station'
required:
- layoutId
- layoutVersion
- nodes
- edges
- stations
LIFStructure:
title: LIFStructure
type: object
properties:
metaInformation:
$ref: '#/components/schemas/MetaInformation'
layouts:
title: Layouts
type: array
items:
$ref: '#/components/schemas/Layout'
required:
- metaInformation
- layouts
VertexCategory:
title: VertexCategory
description: Enumeration of the different vertex categories found in a Topological Graph.
enum:
- approach
- compartment
- charger
- dock
type: string
VdaNode:
title: VdaNode
description: A node of the topological graph.
type: object
properties:
id:
title: Id
description: The name of the node.
type: string
category:
description: The category of the node. Can be a compartment, dock, charger, approach.
allOf:
- $ref: '#/components/schemas/VertexCategory'
x:
title: X
description: The x coordinate of the node.
type: number
'y':
title: 'Y'
description: The y coordinate of the node.
type: number
fence_radius:
title: Fence Radius
description: The fence radius of the node in meter.
type: number
required:
- id
- category
- x
- 'y'
- fence_radius
VdaEdge:
title: VdaEdge
description: Directed edge of the topological graph.
type: object
properties:
id:
title: Id
description: The name of the edge.
type: string
start_node_id:
title: Start Node Id
description: The name of the source node.
type: string
end_node_id:
title: End Node Id
description: The name of the target node.
type: string
navigation_method:
title: Navigation Method
description: Navigation method of the edge.
type: string
fence_left:
title: Fence Left
description: Distance from the edge to the left fence border (in edge direction).
type: number
fence_right:
title: Fence Right
description: Distance from the edge to the right fence border (in edge direction).
type: number
required:
- id
- start_node_id
- end_node_id
- navigation_method
- fence_left
- fence_right
AdapterType:
title: AdapterType
description: An enumeration.
enum:
- flat
- pickup
- putdown
type: string
VdaStation:
title: VdaStation
description: Describes a compartment of a handover station.
type: object
properties:
id:
title: Id
description: Name and barcode of the adapter on the compartment.
type: string
node_id:
title: Node Id
description: Name of the dock vertex that is linked to the handover.
type: string
x:
title: X
description: Absolute x-coordinate of the center of the compartment.
type: number
'y':
title: 'Y'
description: Absolute y-coordinate of the center of the compartment.
type: number
z:
title: Z
description: Height of the front of the compartment (at the pole).
type: number
layer_x:
title: Layer X
description: distance from the layer center in meter
type: number
length:
title: Length
description: Length of the compartment (front).
type: number
width:
title: Width
description: Width of the compartment (depth).
type: number
height:
title: Height
description: Height of the compartment.
type: number
type:
description: Type of compartment (pickup, putdown, flat).
allOf:
- $ref: '#/components/schemas/AdapterType'
required:
- id