From 860e7836ebf132e4945e164b657dc473fff41d3c Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Mon, 1 Apr 2024 10:52:36 +0800 Subject: [PATCH 01/16] Hammer/alert ux and logs (#922) * Log delivery alerts received over ROS 2 Signed-off-by: Aaron Chong * Closing delivery alert dialog on resume and override to make it UX simpler Signed-off-by: Aaron Chong * Lint Signed-off-by: Aaron Chong --------- Signed-off-by: Aaron Chong --- packages/api-server/api_server/gateway.py | 7 +++- .../src/components/delivery-alert-store.tsx | 41 ++++++++----------- 2 files changed, 22 insertions(+), 26 deletions(-) diff --git a/packages/api-server/api_server/gateway.py b/packages/api-server/api_server/gateway.py index 347f02003..92ab33a45 100644 --- a/packages/api-server/api_server/gateway.py +++ b/packages/api-server/api_server/gateway.py @@ -211,10 +211,15 @@ def convert_delivery_alert(delivery_alert: RmfDeliveryAlert): message=delivery_alert.message, # pyright: ignore[reportGeneralTypeIssues] ) + def handle_delivery_alert(delivery_alert: DeliveryAlert): + self.logger.info("Received delivery alert:") + self.logger.info(delivery_alert) + rmf_events.delivery_alerts.on_next(delivery_alert) + delivery_alert_request_sub = ros_node().create_subscription( RmfDeliveryAlert, "delivery_alert_request", - lambda msg: rmf_events.delivery_alerts.on_next(convert_delivery_alert(msg)), + lambda msg: handle_delivery_alert(convert_delivery_alert(msg)), rclpy.qos.QoSProfile( history=rclpy.qos.HistoryPolicy.KEEP_LAST, depth=10, diff --git a/packages/dashboard/src/components/delivery-alert-store.tsx b/packages/dashboard/src/components/delivery-alert-store.tsx index 438596b29..cfe0b5e35 100644 --- a/packages/dashboard/src/components/delivery-alert-store.tsx +++ b/packages/dashboard/src/components/delivery-alert-store.tsx @@ -463,10 +463,13 @@ export const DeliveryAlertStore = React.memo(() => { alertData.deliveryAlert.task_id !== deliveryAlert.task_id, ), ); - filteredAlerts[deliveryAlert.id] = { - deliveryAlert, - taskState, - }; + + if (deliveryAlert.action === DeliveryAlertAction.Waiting) { + filteredAlerts[deliveryAlert.id] = { + deliveryAlert, + taskState, + }; + } return filteredAlerts; }); }; @@ -515,6 +518,7 @@ export const DeliveryAlertStore = React.memo(() => { 'success', `Overriding delivery alert ${delivery_alert.id}${taskReferenceText}`, ); + removeDeliveryAlertDialog(delivery_alert.id); } catch (e) { const taskReferenceText = delivery_alert.task_id ? ` and continue with task ${delivery_alert.task_id}` @@ -530,6 +534,10 @@ export const DeliveryAlertStore = React.memo(() => { [rmf, appController], ); + const removeDeliveryAlertDialog = (id: string) => { + setAlerts((prev) => Object.fromEntries(Object.entries(prev).filter(([key]) => key !== id))); + }; + const onResume = React.useCallback['onResume']>( async (delivery_alert) => { try { @@ -551,6 +559,7 @@ export const DeliveryAlertStore = React.memo(() => { 'success', `Resuming after delivery alert ${delivery_alert.id}${taskReferenceText}`, ); + removeDeliveryAlertDialog(delivery_alert.id); } catch (e) { const taskReferenceText = delivery_alert.task_id ? ` ${delivery_alert.task_id}` : ''; appController.showAlert( @@ -570,13 +579,7 @@ export const DeliveryAlertStore = React.memo(() => { - setAlerts((prev) => - Object.fromEntries( - Object.entries(prev).filter(([key]) => key !== alert.deliveryAlert.id), - ), - ) - } + onClose={() => removeDeliveryAlertDialog(alert.deliveryAlert.id)} key={alert.deliveryAlert.id} /> ); @@ -590,13 +593,7 @@ export const DeliveryAlertStore = React.memo(() => { - setAlerts((prev) => - Object.fromEntries( - Object.entries(prev).filter(([key]) => key !== alert.deliveryAlert.id), - ), - ) - } + onClose={() => removeDeliveryAlertDialog(alert.deliveryAlert.id)} key={alert.deliveryAlert.id} /> ); @@ -617,13 +614,7 @@ export const DeliveryAlertStore = React.memo(() => { ? onResume : undefined } - onClose={() => - setAlerts((prev) => - Object.fromEntries( - Object.entries(prev).filter(([key]) => key !== alert.deliveryAlert.id), - ), - ) - } + onClose={() => removeDeliveryAlertDialog(alert.deliveryAlert.id)} key={alert.deliveryAlert.id} /> ); From b110a8bb74e6a79d97a01856eeca88683265edd4 Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Wed, 3 Apr 2024 18:53:13 +0800 Subject: [PATCH 02/16] Display lift session ID for lift summary (#927) * Display lift session ID for lift summary Signed-off-by: Aaron Chong * Following example in robot-summary to handle screensizes Signed-off-by: Aaron Chong --------- Signed-off-by: Aaron Chong --- .../dashboard/src/components/lift-summary.tsx | 26 ++++++++++-- .../dashboard/src/components/lifts-app.tsx | 42 ++++++++++++------- .../lib/lifts/lift-table-datagrid.tsx | 1 + 3 files changed, 51 insertions(+), 18 deletions(-) diff --git a/packages/dashboard/src/components/lift-summary.tsx b/packages/dashboard/src/components/lift-summary.tsx index d2bbe75ed..ca208d041 100644 --- a/packages/dashboard/src/components/lift-summary.tsx +++ b/packages/dashboard/src/components/lift-summary.tsx @@ -1,5 +1,12 @@ import React from 'react'; -import { Dialog, DialogContent, DialogTitle, Divider, TextField } from '@mui/material'; +import { + Dialog, + DialogContent, + DialogTitle, + Divider, + TextField, + useMediaQuery, +} from '@mui/material'; import { Theme } from '@mui/material/styles'; import { RmfAppContext } from './rmf-app'; import { getApiErrorMessage } from './utils'; @@ -25,6 +32,7 @@ interface LiftSummaryProps { } export const LiftSummary = ({ onClose, lift }: LiftSummaryProps): JSX.Element => { + const isScreenHeightLessThan800 = useMediaQuery('(max-height:800px)'); const classes = useStyles(); const rmf = React.useContext(RmfAppContext); const [liftData, setLiftData] = React.useState({ @@ -35,6 +43,7 @@ export const LiftSummary = ({ onClose, lift }: LiftSummaryProps): JSX.Element => destinationFloor: '', doorState: 0, motionState: 0, + sessionId: '', lift: lift, }); @@ -54,6 +63,7 @@ export const LiftSummary = ({ onClose, lift }: LiftSummaryProps): JSX.Element => destinationFloor: liftState.destination_floor, doorState: liftState.door_state, motionState: liftState.motion_state, + sessionId: liftState.session_id, lift: lift, }); }); @@ -81,9 +91,14 @@ export const LiftSummary = ({ onClose, lift }: LiftSummaryProps): JSX.Element => onClose(); }} fullWidth - maxWidth="sm" + maxWidth={isScreenHeightLessThan800 ? 'xs' : 'sm'} > - Lift summary + + Lift summary + {Object.entries(liftData).map(([key, value]) => { @@ -126,6 +141,11 @@ export const LiftSummary = ({ onClose, lift }: LiftSummaryProps): JSX.Element => maxRows={4} margin="dense" value={displayValue} + sx={{ + '& .MuiFilledInput-root': { + fontSize: isScreenHeightLessThan800 ? '0.8rem' : '1.15', + }, + }} /> ); diff --git a/packages/dashboard/src/components/lifts-app.tsx b/packages/dashboard/src/components/lifts-app.tsx index e4605ab14..9bbf2aef1 100644 --- a/packages/dashboard/src/components/lifts-app.tsx +++ b/packages/dashboard/src/components/lifts-app.tsx @@ -1,4 +1,4 @@ -import { BuildingMap } from 'api-client'; +import { BuildingMap, Lift } from 'api-client'; import React from 'react'; import { LiftRequest as RmfLiftRequest } from 'rmf-models'; import { LiftTableData, LiftDataGridTable } from 'react-components'; @@ -6,11 +6,15 @@ import { AppEvents } from './app-events'; import { createMicroApp } from './micro-app'; import { RmfAppContext } from './rmf-app'; import { getApiErrorMessage } from './utils'; +import { TableContainer } from '@mui/material'; +import { LiftSummary } from './lift-summary'; export const LiftsApp = createMicroApp('Lifts', () => { const rmf = React.useContext(RmfAppContext); const [buildingMap, setBuildingMap] = React.useState(null); const [liftTableData, setLiftTableData] = React.useState>({}); + const [openLiftSummary, setOpenLiftSummary] = React.useState(false); + const [selectedLift, setSelectedLift] = React.useState(null); React.useEffect(() => { if (!rmf) { @@ -43,6 +47,7 @@ export const LiftsApp = createMicroApp('Lifts', () => { destinationFloor: liftState.destination_floor, doorState: liftState.door_state, motionState: liftState.motion_state, + sessionId: liftState.session_id, lift: lift, onRequestSubmit: async (_ev, doorState, requestType, destination) => { let fleet_session_ids: string[] = []; @@ -78,21 +83,28 @@ export const LiftsApp = createMicroApp('Lifts', () => { }, [rmf, buildingMap]); return ( - l)} - onLiftClick={(_ev, liftData) => { - if (!buildingMap) { - AppEvents.liftSelect.next(null); - return; - } - - for (const lift of buildingMap.lifts) { - if (lift.name === liftData.name) { - AppEvents.liftSelect.next(lift); + + l)} + onLiftClick={(_ev, liftData) => { + if (!buildingMap) { + AppEvents.liftSelect.next(null); return; } - } - }} - /> + + for (const lift of buildingMap.lifts) { + if (lift.name === liftData.name) { + AppEvents.liftSelect.next(lift); + setSelectedLift(lift); + setOpenLiftSummary(true); + return; + } + } + }} + /> + {openLiftSummary && selectedLift && ( + setOpenLiftSummary(false)} /> + )} + ); }); diff --git a/packages/react-components/lib/lifts/lift-table-datagrid.tsx b/packages/react-components/lib/lifts/lift-table-datagrid.tsx index b9add66f3..14a6e1333 100644 --- a/packages/react-components/lib/lifts/lift-table-datagrid.tsx +++ b/packages/react-components/lib/lifts/lift-table-datagrid.tsx @@ -24,6 +24,7 @@ export interface LiftTableData { destinationFloor?: string; doorState: number; motionState: number; + sessionId?: string; lift: Lift; onRequestSubmit?( event: React.FormEvent, From 24d72496e2b071932c60f43437f7de0185d183d9 Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Fri, 5 Apr 2024 10:16:17 +0800 Subject: [PATCH 03/16] Remap session ID label from sessionId to Session ID (#929) Signed-off-by: Aaron Chong --- packages/dashboard/src/components/lift-summary.tsx | 3 +++ 1 file changed, 3 insertions(+) diff --git a/packages/dashboard/src/components/lift-summary.tsx b/packages/dashboard/src/components/lift-summary.tsx index ca208d041..225000d86 100644 --- a/packages/dashboard/src/components/lift-summary.tsx +++ b/packages/dashboard/src/components/lift-summary.tsx @@ -125,6 +125,9 @@ export const LiftSummary = ({ onClose, lift }: LiftSummaryProps): JSX.Element => displayValue = doorStateToString(value); displayLabel = 'State'; break; + case 'sessionId': + displayLabel = 'Session ID'; + break; default: break; } From e6a2eae9dfc476975f7a4c41a2ee110c276182c6 Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Mon, 15 Apr 2024 20:31:27 +0800 Subject: [PATCH 04/16] 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 { From 02a9c44bcf1e38cddb4384eb516ef5863690051f Mon Sep 17 00:00:00 2001 From: Teo Koon Peng Date: Wed, 17 Apr 2024 12:48:11 +0800 Subject: [PATCH 05/16] pin pnpm version to workaround node16 eol (#936) Signed-off-by: Teo Koon Peng --- .github/actions/bootstrap/action.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/actions/bootstrap/action.yml b/.github/actions/bootstrap/action.yml index 81425f590..490b293c0 100644 --- a/.github/actions/bootstrap/action.yml +++ b/.github/actions/bootstrap/action.yml @@ -13,7 +13,7 @@ runs: steps: - uses: pnpm/action-setup@v2.2.2 with: - version: 'latest' + version: '8.15.7' - uses: actions/setup-node@v2 with: node-version: '16' From e2861c292bb27014435452e74faa825ecb0e8d91 Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Tue, 23 Apr 2024 14:12:50 +0800 Subject: [PATCH 06/16] Remove background loading if no tasks were found (#939) Signed-off-by: Aaron Chong --- packages/dashboard/src/components/tasks/tasks-app.tsx | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/packages/dashboard/src/components/tasks/tasks-app.tsx b/packages/dashboard/src/components/tasks/tasks-app.tsx index 6645a448c..8cc49fc06 100644 --- a/packages/dashboard/src/components/tasks/tasks-app.tsx +++ b/packages/dashboard/src/components/tasks/tasks-app.tsx @@ -23,6 +23,7 @@ import { Tasks, Window, } from 'react-components'; +import { AppControllerContext } from '../app-contexts'; import { AppEvents } from '../app-events'; import { MicroAppProps } from '../micro-app'; import { RmfAppContext } from '../rmf-app'; @@ -83,6 +84,7 @@ export const TasksApp = React.memo( ref: React.Ref, ) => { const rmf = React.useContext(RmfAppContext); + const appController = React.useContext(AppControllerContext); const [autoRefresh, setAutoRefresh] = React.useState(true); const [refreshTaskAppCount, setRefreshTaskAppCount] = React.useState(0); const [selectedPanelIndex, setSelectedPanelIndex] = React.useState(TaskTablePanel.QueueTable); @@ -312,6 +314,8 @@ export const TasksApp = React.memo( const pastMonthTasks = await getPastMonthTasks(now); if (!pastMonthTasks || !pastMonthTasks.length) { + appController.showAlert('error', 'No tasks found over the past month.'); + AppEvents.loadingBackdrop.next(false); return; } if (minimal) { From 548c0ae3c93175ddff02a4e5d33ad6c92ede9c94 Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Tue, 23 Apr 2024 14:13:25 +0800 Subject: [PATCH 07/16] Hammer/mutex groups (#933) * Generate with new api models Signed-off-by: Aaron Chong * Route and gateway for mutex group release Signed-off-by: Aaron Chong * Generated openapi Signed-off-by: Aaron Chong * react-components, mutex group datagrid table Signed-off-by: Aaron Chong * dashboard, mutex group app Signed-off-by: Aaron Chong * Added tests, stories and renaming Signed-off-by: Aaron Chong * Cleaned up documentation, regenerated api, added tests Signed-off-by: Aaron Chong * Fixed logs Signed-off-by: Aaron Chong * Revert missing changes for delivery alert Signed-off-by: Aaron Chong * Update version to merged rmf_api_msgs Signed-off-by: Aaron Chong * Address review comments Signed-off-by: Aaron Chong * Lint Signed-off-by: Aaron Chong * Fix test Signed-off-by: Aaron Chong * Remove overlay for internal msgs Signed-off-by: Aaron Chong --------- Signed-off-by: Aaron Chong --- .github/actions/overlay/action.yml | 21 -- .github/workflows/api-server.yml | 3 - .github/workflows/dashboard-e2e.yml | 4 - .github/workflows/dashboard.yml | 4 +- .github/workflows/ghpages.yml | 3 - .github/workflows/nightly.yml | 3 - packages/api-client/lib/openapi/api.ts | 154 ++++++++++++++- packages/api-client/lib/version.ts | 2 +- packages/api-client/schema/index.ts | 62 +++++- packages/api-server/api_server/gateway.py | 24 +++ .../api-server/api_server/models/__init__.py | 2 +- .../api_server/models/rmf_api/robot_state.py | 14 ++ .../api_server/models/rmf_api/version.py | 2 +- .../api-server/api_server/routes/fleets.py | 36 ++++ .../api_server/routes/test_fleets.py | 58 +++++- .../api-server/api_server/test/test_data.py | 1 + packages/api-server/generate-models.sh | 2 +- .../dashboard/src/components/app-registry.ts | 2 + .../robots/robot-mutex-group-app.tsx | 184 ++++++++++++++++++ .../components/robots/robots-workspace.tsx | 8 +- packages/react-components/lib/robots/index.ts | 1 + .../lib/robots/mutex-group-table.spec.tsx | 42 ++++ .../lib/robots/mutex-group-table.stories.tsx | 21 ++ .../lib/robots/mutex-group-table.tsx | 92 +++++++++ 24 files changed, 695 insertions(+), 50 deletions(-) delete mode 100644 .github/actions/overlay/action.yml create mode 100644 packages/dashboard/src/components/robots/robot-mutex-group-app.tsx create mode 100644 packages/react-components/lib/robots/mutex-group-table.spec.tsx create mode 100644 packages/react-components/lib/robots/mutex-group-table.stories.tsx create mode 100644 packages/react-components/lib/robots/mutex-group-table.tsx diff --git a/.github/actions/overlay/action.yml b/.github/actions/overlay/action.yml deleted file mode 100644 index 65182a7b1..000000000 --- a/.github/actions/overlay/action.yml +++ /dev/null @@ -1,21 +0,0 @@ -name: overlay -description: hammer deployment overlay -inputs: - skip-build: - description: boolean, if true, skip the build step - required: false - default: "false" -runs: - using: composite - steps: - - name: Create overlay workspace - run: | - mkdir -p ~/hammer_overlay_ws/src - git clone https://github.com/open-rmf/rmf_internal_msgs -b luca/beacon_state ~/hammer_overlay_ws/src/rmf_internal_msgs - shell: bash - - name: Build overlay workspace - run: | - cd ~/hammer_overlay_ws - source /opt/ros/$ROS_DISTRO/setup.bash - colcon build --packages-select rmf_fleet_msgs - shell: bash diff --git a/.github/workflows/api-server.yml b/.github/workflows/api-server.yml index aad616ba3..fb0a60e20 100644 --- a/.github/workflows/api-server.yml +++ b/.github/workflows/api-server.yml @@ -31,12 +31,9 @@ jobs: uses: ./.github/actions/bootstrap with: package: api-server - - name: overlay - uses: ./.github/actions/overlay - name: tests run: | . /rmf_demos_ws/install/setup.bash - . ~/hammer_overlay_ws/install/setup.bash pnpm run lint pnpm run test:cov pipenv run python -m coverage xml diff --git a/.github/workflows/dashboard-e2e.yml b/.github/workflows/dashboard-e2e.yml index a02deaf07..a3dff2697 100644 --- a/.github/workflows/dashboard-e2e.yml +++ b/.github/workflows/dashboard-e2e.yml @@ -36,9 +36,6 @@ # with: # package: rmf-dashboard-e2e # skip-build: true -# # Somehow this step is not needed -# # - name: overlay -# # uses: ./.github/actions/overlay # - name: test # uses: nick-fields/retry@v2 # with: @@ -46,7 +43,6 @@ # max_attempts: 3 # command: | # . /rmf_demos_ws/install/setup.bash -# . ~/hammer_overlay_ws/install/setup.bash # cd packages/dashboard-e2e # pnpm test # shell: bash diff --git a/.github/workflows/dashboard.yml b/.github/workflows/dashboard.yml index eccad55a0..ad17be889 100644 --- a/.github/workflows/dashboard.yml +++ b/.github/workflows/dashboard.yml @@ -37,10 +37,8 @@ jobs: with: package: rmf-dashboard skip-build: true - - name: overlay - uses: ./.github/actions/overlay - name: unit test - run: . /rmf_demos_ws/install/setup.bash && . ~/hammer_overlay_ws/install/setup.bash && pnpm run test:coverage + run: . /rmf_demos_ws/install/setup.bash && pnpm run test:coverage - name: Upload coverage to Codecov uses: codecov/codecov-action@v1 with: diff --git a/.github/workflows/ghpages.yml b/.github/workflows/ghpages.yml index 458d82eb3..1ab82c898 100644 --- a/.github/workflows/ghpages.yml +++ b/.github/workflows/ghpages.yml @@ -49,12 +49,9 @@ jobs: uses: ./.github/actions/bootstrap with: package: api-server - - name: overlay - uses: ./.github/actions/overlay - name: Extract docs run: | . /rmf_demos_ws/install/setup.bash - . ~/hammer_overlay_ws/install/setup.bash pipenv run python3 scripts/extract_docs.py -o docs - name: Upload artifact uses: actions/upload-pages-artifact@v1 diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml index 14285988a..dfac3cfec 100644 --- a/.github/workflows/nightly.yml +++ b/.github/workflows/nightly.yml @@ -44,8 +44,6 @@ jobs: # with: # package: rmf-dashboard-e2e # skip-build: true - # - name: overlay - # uses: ./.github/actions/overlay # - name: test # uses: nick-fields/retry@v2 # with: @@ -53,7 +51,6 @@ jobs: # max_attempts: 3 # command: | # . /rmf_demos_ws/install/setup.bash - # . ~/hammer_overlay_ws/install/setup.bash # cd packages/dashboard-e2e # pnpm test # shell: bash diff --git a/packages/api-client/lib/openapi/api.ts b/packages/api-client/lib/openapi/api.ts index 3bee016e1..cda60e41f 100644 --- a/packages/api-client/lib/openapi/api.ts +++ b/packages/api-client/lib/openapi/api.ts @@ -1760,6 +1760,25 @@ export interface ModelError { */ detail?: string; } +/** + * Information about the mutex groups that this robot is interacting with + * @export + * @interface MutexGroups + */ +export interface MutexGroups { + /** + * A list of mutex groups that this robot has currently locked + * @type {Array} + * @memberof MutexGroups + */ + locked?: Array; + /** + * A list of the mutex groups that this robot is currently requesting but has not lockd yet + * @type {Array} + * @memberof MutexGroups + */ + requesting?: Array; +} /** * * @export @@ -2193,6 +2212,12 @@ export interface RobotState { * @memberof RobotState */ commission?: Commission; + /** + * + * @type {MutexGroups} + * @memberof RobotState + */ + mutex_groups?: MutexGroups; } /** * @@ -5744,7 +5769,7 @@ 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\": { \"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\" ] } } } ``` + * # 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\" } } }, \"MutexGroups\": { \"title\": \"MutexGroups\", \"type\": \"object\", \"properties\": { \"locked\": { \"title\": \"Locked\", \"description\": \"A list of mutex groups that this robot has currently locked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requesting\": { \"title\": \"Requesting\", \"description\": \"A list of the mutex groups that this robot is currently requesting but has not lockd yet\", \"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/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\": { \"$ref\": \"#/definitions/Commission\" }, \"mutex_groups\": { \"title\": \"Mutex Groups\", \"description\": \"Information about the mutex groups that this robot is interacting with\", \"allOf\": [ { \"$ref\": \"#/definitions/MutexGroups\" } ] } } } } } ``` ### /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} @@ -5823,7 +5848,7 @@ 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\": { \"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\" ] } } } ``` + * # 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\" } } }, \"MutexGroups\": { \"title\": \"MutexGroups\", \"type\": \"object\", \"properties\": { \"locked\": { \"title\": \"Locked\", \"description\": \"A list of mutex groups that this robot has currently locked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requesting\": { \"title\": \"Requesting\", \"description\": \"A list of the mutex groups that this robot is currently requesting but has not lockd yet\", \"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\": [ { \"$ref\": \"#/definitions/Status\" } ] }, \"task_id\": { \"title\": \"Task Id\", \"description\": \"The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.\", \"type\": \"string\" }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"location\": { \"$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\" }, \"mutex_groups\": { \"title\": \"Mutex Groups\", \"description\": \"Information about the mutex groups that this robot is interacting with\", \"allOf\": [ { \"$ref\": \"#/definitions/MutexGroups\" } ] } } } } } ``` ### /fleets/{name}/log ``` { \"title\": \"FleetLog\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log for the overall fleet\", \"type\": \"array\", \"items\": { \"$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} @@ -5878,7 +5903,7 @@ 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\": { \"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\" ] } } } ``` + * # 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\" } } }, \"MutexGroups\": { \"title\": \"MutexGroups\", \"type\": \"object\", \"properties\": { \"locked\": { \"title\": \"Locked\", \"description\": \"A list of mutex groups that this robot has currently locked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requesting\": { \"title\": \"Requesting\", \"description\": \"A list of the mutex groups that this robot is currently requesting but has not lockd yet\", \"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/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\": { \"$ref\": \"#/definitions/Commission\" }, \"mutex_groups\": { \"title\": \"Mutex Groups\", \"description\": \"Information about the mutex groups that this robot is interacting with\", \"allOf\": [ { \"$ref\": \"#/definitions/MutexGroups\" } ] } } } } } ``` ### /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} @@ -5936,7 +5961,7 @@ 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\": { \"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\" ] } } } ``` + * # 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\" } } }, \"MutexGroups\": { \"title\": \"MutexGroups\", \"type\": \"object\", \"properties\": { \"locked\": { \"title\": \"Locked\", \"description\": \"A list of mutex groups that this robot has currently locked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requesting\": { \"title\": \"Requesting\", \"description\": \"A list of the mutex groups that this robot is currently requesting but has not lockd yet\", \"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\": [ { \"$ref\": \"#/definitions/Status\" } ] }, \"task_id\": { \"title\": \"Task Id\", \"description\": \"The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.\", \"type\": \"string\" }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"location\": { \"$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\" }, \"mutex_groups\": { \"title\": \"Mutex Groups\", \"description\": \"Information about the mutex groups that this robot is interacting with\", \"allOf\": [ { \"$ref\": \"#/definitions/MutexGroups\" } ] } } } } } ``` ### /fleets/{name}/log ``` { \"title\": \"FleetLog\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log for the overall fleet\", \"type\": \"array\", \"items\": { \"$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} @@ -7102,6 +7127,63 @@ export const FleetsApiAxiosParamCreator = function (configuration?: Configuratio ...options.headers, }; + return { + url: toPathString(localVarUrlObj), + options: localVarRequestOptions, + }; + }, + /** + * Request to manually unlock a mutex group that is currently being held by a specific robot of a specific fleet. + * @summary Unlock Mutex Group + * @param {string} name + * @param {string} robotName + * @param {string} mutexGroup + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + unlockMutexGroupFleetsNameUnlockMutexGroupPost: async ( + name: string, + robotName: string, + mutexGroup: string, + options: AxiosRequestConfig = {}, + ): Promise => { + // verify required parameter 'name' is not null or undefined + assertParamExists('unlockMutexGroupFleetsNameUnlockMutexGroupPost', 'name', name); + // verify required parameter 'robotName' is not null or undefined + assertParamExists('unlockMutexGroupFleetsNameUnlockMutexGroupPost', 'robotName', robotName); + // verify required parameter 'mutexGroup' is not null or undefined + assertParamExists('unlockMutexGroupFleetsNameUnlockMutexGroupPost', 'mutexGroup', mutexGroup); + const localVarPath = `/fleets/{name}/unlock_mutex_group`.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 (mutexGroup !== undefined) { + localVarQueryParameter['mutex_group'] = mutexGroup; + } + + setSearchParams(localVarUrlObj, localVarQueryParameter); + let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {}; + localVarRequestOptions.headers = { + ...localVarHeaderParameter, + ...headersFromBaseOptions, + ...options.headers, + }; + return { url: toPathString(localVarUrlObj), options: localVarRequestOptions, @@ -7218,6 +7300,30 @@ export const FleetsApiFp = function (configuration?: Configuration) { ); return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); }, + /** + * Request to manually unlock a mutex group that is currently being held by a specific robot of a specific fleet. + * @summary Unlock Mutex Group + * @param {string} name + * @param {string} robotName + * @param {string} mutexGroup + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + async unlockMutexGroupFleetsNameUnlockMutexGroupPost( + name: string, + robotName: string, + mutexGroup: string, + options?: AxiosRequestConfig, + ): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise> { + const localVarAxiosArgs = + await localVarAxiosParamCreator.unlockMutexGroupFleetsNameUnlockMutexGroupPost( + name, + robotName, + mutexGroup, + options, + ); + return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); + }, }; }; @@ -7314,6 +7420,25 @@ export const FleetsApiFactory = function ( .recommissionRobotFleetsNameRecommissionPost(name, robotName, options) .then((request) => request(axios, basePath)); }, + /** + * Request to manually unlock a mutex group that is currently being held by a specific robot of a specific fleet. + * @summary Unlock Mutex Group + * @param {string} name + * @param {string} robotName + * @param {string} mutexGroup + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + unlockMutexGroupFleetsNameUnlockMutexGroupPost( + name: string, + robotName: string, + mutexGroup: string, + options?: any, + ): AxiosPromise { + return localVarFp + .unlockMutexGroupFleetsNameUnlockMutexGroupPost(name, robotName, mutexGroup, options) + .then((request) => request(axios, basePath)); + }, }; }; @@ -7413,6 +7538,27 @@ export class FleetsApi extends BaseAPI { .recommissionRobotFleetsNameRecommissionPost(name, robotName, options) .then((request) => request(this.axios, this.basePath)); } + + /** + * Request to manually unlock a mutex group that is currently being held by a specific robot of a specific fleet. + * @summary Unlock Mutex Group + * @param {string} name + * @param {string} robotName + * @param {string} mutexGroup + * @param {*} [options] Override http request option. + * @throws {RequiredError} + * @memberof FleetsApi + */ + public unlockMutexGroupFleetsNameUnlockMutexGroupPost( + name: string, + robotName: string, + mutexGroup: string, + options?: AxiosRequestConfig, + ) { + return FleetsApiFp(this.configuration) + .unlockMutexGroupFleetsNameUnlockMutexGroupPost(name, robotName, mutexGroup, 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 24bcb356d..cdbc061aa 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: 'b33a07c7af58cfc62924ebeb12d513948ac9665b', + rmfServer: '4febac0944ca42150e94e4b9366e1e6d792ab29e', openapiGenerator: '6.2.1', }; diff --git a/packages/api-client/schema/index.ts b/packages/api-client/schema/index.ts index 20c3b1a37..a8cc01ab0 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 "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', + '\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 "MutexGroups": {\n "title": "MutexGroups",\n "type": "object",\n "properties": {\n "locked": {\n "title": "Locked",\n "description": "A list of mutex groups that this robot has currently locked",\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "requesting": {\n "title": "Requesting",\n "description": "A list of the mutex groups that this robot is currently requesting but has not lockd yet",\n "type": "array",\n "items": {\n "type": "string"\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 "$ref": "#/definitions/Status"\n }\n ]\n },\n "task_id": {\n "title": "Task Id",\n "description": "The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.",\n "type": "string"\n },\n "unix_millis_time": {\n "title": "Unix Millis Time",\n "type": "integer"\n },\n "location": {\n "$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 "mutex_groups": {\n "title": "Mutex Groups",\n "description": "Information about the mutex groups that this robot is interacting with",\n "allOf": [\n {\n "$ref": "#/definitions/MutexGroups"\n }\n ]\n }\n }\n }\n }\n}\n```\n\n\n### /fleets/{name}/log\n\n\n```\n{\n "title": "FleetLog",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "type": "string"\n },\n "log": {\n "title": "Log",\n "description": "Log for the overall fleet",\n "type": "array",\n "items": {\n "$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': { @@ -1891,6 +1891,42 @@ export default { }, }, }, + '/fleets/{name}/unlock_mutex_group': { + post: { + tags: ['Fleets'], + summary: 'Unlock Mutex Group', + description: + 'Request to manually unlock a mutex group that is currently being held by a\nspecific robot of a specific fleet.', + operationId: 'unlock_mutex_group_fleets__name__unlock_mutex_group_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: 'Mutex Group', type: 'string' }, + name: 'mutex_group', + in: 'query', + }, + ], + responses: { + '200': { + description: 'Successful Response', + content: { 'application/json': { schema: {} } }, + }, + '422': { + description: 'Validation Error', + content: { + 'application/json': { schema: { $ref: '#/components/schemas/HTTPValidationError' } }, + }, + }, + }, + }, + }, '/admin/users': { get: { tags: ['Admin'], @@ -3212,6 +3248,25 @@ export default { text: { title: 'Text', type: 'string', description: 'The text of the log entry' }, }, }, + MutexGroups: { + title: 'MutexGroups', + type: 'object', + properties: { + locked: { + title: 'Locked', + type: 'array', + items: { type: 'string' }, + description: 'A list of mutex groups that this robot has currently locked', + }, + requesting: { + title: 'Requesting', + type: 'array', + items: { type: 'string' }, + description: + 'A list of the mutex groups that this robot is currently requesting but has not lockd yet', + }, + }, + }, Param: { title: 'Param', required: ['name', 'type', 'value_int', 'value_float', 'value_string', 'value_bool'], @@ -3431,6 +3486,11 @@ export default { description: 'A list of issues with the robot that operators need to address', }, commission: { $ref: '#/components/schemas/Commission' }, + mutex_groups: { + title: 'Mutex Groups', + allOf: [{ $ref: '#/components/schemas/MutexGroups' }], + description: 'Information about the mutex groups that this robot is interacting with', + }, }, }, RobotTaskRequest: { diff --git a/packages/api-server/api_server/gateway.py b/packages/api-server/api_server/gateway.py index 92ab33a45..44ac357b5 100644 --- a/packages/api-server/api_server/gateway.py +++ b/packages/api-server/api_server/gateway.py @@ -26,6 +26,7 @@ from rmf_fleet_msgs.msg import DeliveryAlertAction as RmfDeliveryAlertAction from rmf_fleet_msgs.msg import DeliveryAlertCategory as RmfDeliveryAlertCategory from rmf_fleet_msgs.msg import DeliveryAlertTier as RmfDeliveryAlertTier +from rmf_fleet_msgs.msg import MutexGroupManualRelease as RmfMutexGroupManualRelease from rmf_ingestor_msgs.msg import IngestorState as RmfIngestorState from rmf_lift_msgs.msg import LiftRequest as RmfLiftRequest from rmf_lift_msgs.msg import LiftState as RmfLiftState @@ -109,6 +110,17 @@ def __init__( ), ) + self._mutex_group_release = ros_node().create_publisher( + RmfMutexGroupManualRelease, + "mutex_group_manual_release", + rclpy.qos.QoSProfile( + history=rclpy.qos.HistoryPolicy.KEEP_LAST, + depth=10, + reliability=rclpy.qos.ReliabilityPolicy.RELIABLE, + durability=rclpy.qos.DurabilityPolicy.TRANSIENT_LOCAL, + ), + ) + self.cached_files = cached_files self.logger = logger or base_logger.getChild(self.__class__.__name__) self._subscriptions: List[Subscription] = [] @@ -287,6 +299,18 @@ def respond_to_delivery_alert( msg.message = message self._delivery_alert_response.publish(msg) + def manual_release_mutex_groups( + self, + mutex_groups: List[str], + fleet: str, + robot: str, + ): + msg = RmfMutexGroupManualRelease() + msg.release_mutex_groups = mutex_groups + msg.fleet = fleet + msg.robot = robot + self._mutex_group_release.publish(msg) + _rmf_gateway: RmfGateway diff --git a/packages/api-server/api_server/models/__init__.py b/packages/api-server/api_server/models/__init__.py index 954c218f5..80c9dd92a 100644 --- a/packages/api-server/api_server/models/__init__.py +++ b/packages/api-server/api_server/models/__init__.py @@ -33,7 +33,7 @@ from .rmf_api.rewind_task_response import TaskRewindResponse 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 MutexGroups, 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 * 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 3abb1d18c..789f703ea 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 @@ -21,6 +21,16 @@ class Status(Enum): error = "error" +class MutexGroups(BaseModel): + locked: Optional[List[str]] = Field( + None, description="A list of mutex groups that this robot has currently locked" + ) + requesting: Optional[List[str]] = Field( + None, + description="A list of the mutex groups that this robot is currently requesting but has not lockd yet", + ) + + class Issue(BaseModel): category: Optional[str] = Field(None, description="Category of the robot's issue") detail: Optional[Union[Dict[str, Any], List, str]] = Field( @@ -48,3 +58,7 @@ class RobotState(BaseModel): description="A list of issues with the robot that operators need to address", ) commission: Optional[commission.Commission] = None + mutex_groups: Optional[MutexGroups] = Field( + None, + description="Information about the mutex groups that this robot is interacting with", + ) 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 c9645d967..8618e528c 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": "a27f15f9c536ae4daee2d243323f43724242ded3", + "rmf_api_msgs": "255c22de9b920540dcac6ce67c3c902403de8092", "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 6b85a30bd..91f9d6cf1 100644 --- a/packages/api-server/api_server/routes/fleets.py +++ b/packages/api-server/api_server/routes/fleets.py @@ -6,6 +6,7 @@ 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.gateway import rmf_gateway from api_server.logger import logger from api_server.models import ( Commission, @@ -180,3 +181,38 @@ async def recommission_robot( logger.error(f"Failed to recommission {robot_name} of {name}") raise HTTPException(400, resp) return resp + + +@router.post("/{name}/unlock_mutex_group") +async def unlock_mutex_group( + name: str, + robot_name: str, + mutex_group: str, + repo: FleetRepository = Depends(fleet_repo_dep), +): + """ + Request to manually unlock a mutex group that is currently being held by a + specific robot of a specific fleet. + """ + 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}") + mutex_groups = fleet_state.robots[robot_name].mutex_groups + if ( + mutex_groups is None + or mutex_groups.locked is None + or mutex_group not in mutex_groups.locked + ): + raise HTTPException( + 400, + f"Robot {robot_name} in fleet {name} does not have mutex group {mutex_group} locked", + ) + + logger.info( + f"Manual release mutex group {mutex_group} for {robot_name} of fleet {name} requested" + ) + rmf_gateway().manual_release_mutex_groups( + mutex_groups=[mutex_group], fleet=name, robot=robot_name + ) diff --git a/packages/api-server/api_server/routes/test_fleets.py b/packages/api-server/api_server/routes/test_fleets.py index 136bbe1b3..4ed0c77f4 100644 --- a/packages/api-server/api_server/routes/test_fleets.py +++ b/packages/api-server/api_server/routes/test_fleets.py @@ -1,6 +1,6 @@ from urllib.parse import urlencode -from api_server.models import FleetLogUpdate, FleetStateUpdate +from api_server.models import FleetLogUpdate, FleetStateUpdate, MutexGroups from api_server.test import ( AppFixture, make_fleet_log, @@ -130,3 +130,59 @@ def test_recommission_robot(self): f"fleets/{fleet_state.name}/recommission?{urlencode(params)}" ) self.assertEqual(404, resp.status_code) + + def test_unlock_mutex_group(self): + # add a new robot + robot_name = "test_robot" + robot_state = make_robot_state(robot_name) + fleet_state = make_fleet_state("test_fleet") + robot_state.mutex_groups = MutexGroups( + locked=["test_locked_mutex_group"], requesting=[] + ) + 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() + ) + + # valid + params = {"robot_name": "test_robot", "mutex_group": "test_locked_mutex_group"} + resp = self.client.post( + f"fleets/{fleet_state.name}/unlock_mutex_group?{urlencode(params)}" + ) + self.assertEqual(200, resp.status_code) + + # invalid fleet + params = {"robot_name": robot_name, "mutex_group": "test_locked_mutex_group"} + resp = self.client.post( + f"fleets/invalid_fleet/unlock_mutex_group?{urlencode(params)}" + ) + self.assertEqual(404, resp.status_code) + + # invalid robot + params = {"robot_name": "", "mutex_group": "test_locked_mutex_group"} + resp = self.client.post( + f"fleets/{fleet_state.name}/unlock_mutex_group?{urlencode(params)}" + ) + self.assertEqual(404, resp.status_code) + params = { + "robot_name": "invalid_robot", + "mutex_group": "test_locked_mutex_group", + } + resp = self.client.post( + f"fleets/{fleet_state.name}/unlock_mutex_group?{urlencode(params)}" + ) + self.assertEqual(404, resp.status_code) + + # invalid mutex group + params = {"robot_name": "test_robot", "mutex_group": ""} + resp = self.client.post( + f"fleets/{fleet_state.name}/unlock_mutex_group?{urlencode(params)}" + ) + self.assertEqual(400, resp.status_code) + params = {"robot_name": "test_robot", "mutex_group": "invalid_mutex_group"} + resp = self.client.post( + f"fleets/{fleet_state.name}/unlock_mutex_group?{urlencode(params)}" + ) + self.assertEqual(400, 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 a1a7131d7..8224329a5 100644 --- a/packages/api-server/api_server/test/test_data.py +++ b/packages/api-server/api_server/test/test_data.py @@ -112,6 +112,7 @@ def make_robot_state(name: Optional[str] = None) -> RobotState: location=None, battery=None, issues=None, + mutex_groups=None, ) diff --git a/packages/api-server/generate-models.sh b/packages/api-server/generate-models.sh index a5eb00f3d..81305ed57 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=a27f15f9c536ae4daee2d243323f43724242ded3 +RMF_API_MSGS_VER=255c22de9b920540dcac6ce67c3c902403de8092 RMF_ROS2_VER=bf038461b5b0fb7d4594461a724bc9e5e7cb97c6 CODEGEN_VER=$(pipenv run datamodel-codegen --version) diff --git a/packages/dashboard/src/components/app-registry.ts b/packages/dashboard/src/components/app-registry.ts index 679f40441..172895efb 100644 --- a/packages/dashboard/src/components/app-registry.ts +++ b/packages/dashboard/src/components/app-registry.ts @@ -3,6 +3,7 @@ import { DoorsApp } from './doors-app'; import { LiftsApp } from './lifts-app'; import { MapApp } from './map-app'; import { RobotInfoApp } from './robots/robot-info-app'; +import { MutexGroupsApp } from './robots/robot-mutex-group-app'; import { RobotsApp } from './robots/robots-app'; import { TaskDetailsApp } from './tasks/task-details-app'; import { TaskLogsApp } from './tasks/task-logs-app'; @@ -13,6 +14,7 @@ export const AppRegistry = { Doors: DoorsApp, Lifts: LiftsApp, Map: MapApp, + 'Mutex Groups': MutexGroupsApp, Tasks: TasksApp, 'Task Details': TaskDetailsApp, 'Task Logs': TaskLogsApp, diff --git a/packages/dashboard/src/components/robots/robot-mutex-group-app.tsx b/packages/dashboard/src/components/robots/robot-mutex-group-app.tsx new file mode 100644 index 000000000..26dd41a60 --- /dev/null +++ b/packages/dashboard/src/components/robots/robot-mutex-group-app.tsx @@ -0,0 +1,184 @@ +import { TableContainer, Typography } from '@mui/material'; +import React from 'react'; +import { ConfirmationDialog, MutexGroupData, MutexGroupTable } from 'react-components'; +import { AppControllerContext } from './../app-contexts'; +import { createMicroApp } from '../micro-app'; +import { RmfAppContext } from '../rmf-app'; + +const RefreshMutexGroupTableInterval = 5000; + +export const MutexGroupsApp = createMicroApp('Mutex Groups', () => { + const rmf = React.useContext(RmfAppContext); + const appController = React.useContext(AppControllerContext); + + const [mutexGroups, setMutexGroups] = React.useState>({}); + const [selectedMutexGroup, setSelectedMutexGroup] = React.useState(null); + + const robotIdentifierDelimiter = '/'; + + const generateRobotIdentifier = (fleet: string, robot: string) => { + return `${fleet}${robotIdentifierDelimiter}${robot}`; + }; + + const getFleetFromRobotIdentifier = (robotIdentifier: string) => { + const split = robotIdentifier.split(robotIdentifierDelimiter); + if (split.length !== 2) { + console.error(`Unable to parse fleet from robot identifier: ${robotIdentifier}`); + return null; + } + return split[0]; + }; + + const getRobotFromRobotIdentifier = (robotIdentifier: string) => { + const split = robotIdentifier.split(robotIdentifierDelimiter); + if (split.length !== 2) { + console.error(`Unable to parse robot from robot identifier: ${robotIdentifier}`); + return null; + } + return split[1]; + }; + + React.useEffect(() => { + if (!rmf) { + console.error('Unable to get latest robot information, fleets API unavailable'); + return; + } + + const refreshMutexGroupTable = async () => { + const fleets = (await rmf.fleetsApi.getFleetsFleetsGet()).data; + const updatedMutexGroups: Record = {}; + for (const fleet of fleets) { + if (!fleet.name || !fleet.robots) { + continue; + } + + for (const robot of Object.values(fleet.robots)) { + if (!robot.mutex_groups || !robot.name) { + continue; + } + const robotIdentifier = generateRobotIdentifier(fleet.name, robot.name); + + if (robot.mutex_groups.locked) { + for (const locked of robot.mutex_groups.locked) { + if (updatedMutexGroups[locked]) { + updatedMutexGroups[locked].lockedBy = robotIdentifier; + } else { + updatedMutexGroups[locked] = { + name: locked, + lockedBy: robotIdentifier, + requestedBy: [], + }; + } + } + } + if (robot.mutex_groups.requesting) { + for (const requesting of robot.mutex_groups.requesting) { + if (updatedMutexGroups[requesting]) { + updatedMutexGroups[requesting].requestedBy.push(robotIdentifier); + } else if ( + updatedMutexGroups[requesting] && + !updatedMutexGroups[requesting].requestedBy + ) { + updatedMutexGroups[requesting].requestedBy = [robotIdentifier]; + } else { + updatedMutexGroups[requesting] = { + name: requesting, + lockedBy: undefined, + requestedBy: [robotIdentifier], + }; + } + } + } + } + } + + // Filter intermediate mutex groups which are not locked, but just + // requested by robots + for (const mutexGroupName of Object.keys(updatedMutexGroups)) { + if (!updatedMutexGroups[mutexGroupName].lockedBy) { + delete updatedMutexGroups[mutexGroupName]; + } + } + + setMutexGroups(updatedMutexGroups); + }; + + // Initialize table + (async () => { + await refreshMutexGroupTable(); + })(); + + // Set up regular interval to refresh table + const refreshInterval = window.setInterval( + refreshMutexGroupTable, + RefreshMutexGroupTableInterval, + ); + return () => { + clearInterval(refreshInterval); + }; + }, [rmf]); + + const handleUnlockMutexGroup = React.useCallback(async () => { + if (!selectedMutexGroup || !selectedMutexGroup.lockedBy) { + return; + } + const fleet = getFleetFromRobotIdentifier(selectedMutexGroup.lockedBy); + const robot = getRobotFromRobotIdentifier(selectedMutexGroup.lockedBy); + if (!fleet || !robot) { + return; + } + + try { + if (!rmf) { + throw new Error('fleets api not available'); + } + + await rmf.fleetsApi?.unlockMutexGroupFleetsNameUnlockMutexGroupPost( + fleet, + robot, + selectedMutexGroup.name, + ); + appController.showAlert( + 'success', + `Requested to unlock mutex group ${selectedMutexGroup.name} for ${fleet}:${robot}`, + ); + } catch (e) { + appController.showAlert( + 'error', + `Failed to unlock mutex group ${selectedMutexGroup.name} for ${fleet}:${robot}: ${ + (e as Error).message + }`, + ); + } + setSelectedMutexGroup(null); + }, [selectedMutexGroup, rmf, appController]); + + return ( + + { + setSelectedMutexGroup(mutexGroup); + }} + /> + setSelectedMutexGroup(null)} + onSubmit={handleUnlockMutexGroup} + > + {selectedMutexGroup && selectedMutexGroup.lockedBy ? ( + + Confirm unlock mutex group [{selectedMutexGroup.name}] for [ + {selectedMutexGroup.lockedBy}]? + + ) : ( + Confirm unlock mutex group? + )} + + + ); +}); diff --git a/packages/dashboard/src/components/robots/robots-workspace.tsx b/packages/dashboard/src/components/robots/robots-workspace.tsx index e249db6fc..904357e1f 100644 --- a/packages/dashboard/src/components/robots/robots-workspace.tsx +++ b/packages/dashboard/src/components/robots/robots-workspace.tsx @@ -2,11 +2,12 @@ import { WorkspaceState } from '../workspace'; export const robotsWorkspace: WorkspaceState = { layout: [ - { i: 'robots', x: 0, y: 0, w: 7, h: 4 }, - { i: 'map', x: 8, y: 0, w: 5, h: 12 }, + { i: 'robots', x: 0, y: 0, w: 7, h: 3 }, + { i: 'map', x: 8, y: 0, w: 5, h: 9 }, { i: 'doors', x: 0, y: 0, w: 7, h: 3 }, { i: 'lifts', x: 0, y: 0, w: 7, h: 3 }, - { i: 'beacons', x: 0, y: 0, w: 7, h: 2 }, + { i: 'beacons', x: 0, y: 0, w: 7, h: 3 }, + { i: 'mutexGroups', x: 8, y: 0, w: 5, h: 3 }, ], windows: [ { key: 'robots', appName: 'Robots' }, @@ -14,5 +15,6 @@ export const robotsWorkspace: WorkspaceState = { { key: 'doors', appName: 'Doors' }, { key: 'lifts', appName: 'Lifts' }, { key: 'beacons', appName: 'Beacons' }, + { key: 'mutexGroups', appName: 'Mutex Groups' }, ], }; diff --git a/packages/react-components/lib/robots/index.ts b/packages/react-components/lib/robots/index.ts index 33a08981f..e02ff838d 100644 --- a/packages/react-components/lib/robots/index.ts +++ b/packages/react-components/lib/robots/index.ts @@ -1,3 +1,4 @@ +export * from './mutex-group-table'; export * from './robot-info'; export * from './robot-table-datagrid'; export * from './utils'; diff --git a/packages/react-components/lib/robots/mutex-group-table.spec.tsx b/packages/react-components/lib/robots/mutex-group-table.spec.tsx new file mode 100644 index 000000000..b5a77b6ac --- /dev/null +++ b/packages/react-components/lib/robots/mutex-group-table.spec.tsx @@ -0,0 +1,42 @@ +import { fireEvent, render } from '@testing-library/react'; +import React from 'react'; +import { MutexGroupData, MutexGroupTable } from './mutex-group-table'; + +describe('Mutex group table', () => { + it('shows all mutex groups and responds to clicks', () => { + const mutexGroups: MutexGroupData[] = [ + { + name: 'group1', + lockedBy: 'fleet1/robot1', + requestedBy: ['fleet1/robot2', 'fleet2/robot1'], + }, + { + name: 'group2', + lockedBy: 'fleet1/robot1', + requestedBy: ['fleet1/robot2'], + }, + ]; + const group1Click = jasmine.createSpy(); + const group2Click = jasmine.createSpy(); + const root = render( + { + if (mutexGroup.name === 'group1') { + group1Click(); + } else if (mutexGroup.name === 'group2') { + group2Click(); + } + }} + />, + ); + + expect(root.getByText('group1')).toBeTruthy(); + expect(root.getByText('group2')).toBeTruthy(); + + fireEvent.click(root.getByText('group1')); + expect(group1Click).toHaveBeenCalled(); + fireEvent.click(root.getByText('group2')); + expect(group2Click).toHaveBeenCalled(); + }); +}); diff --git a/packages/react-components/lib/robots/mutex-group-table.stories.tsx b/packages/react-components/lib/robots/mutex-group-table.stories.tsx new file mode 100644 index 000000000..4b2490a47 --- /dev/null +++ b/packages/react-components/lib/robots/mutex-group-table.stories.tsx @@ -0,0 +1,21 @@ +import React from 'react'; +import { storiesOf } from '@storybook/react'; +import { MutexGroupData, MutexGroupTable } from './mutex-group-table'; + +// Define the stories +storiesOf('Components/MutexGroupTable', module).add('Default', () => { + const mutexGroups: MutexGroupData[] = [ + { + name: 'group1', + lockedBy: 'fleet1/robot1', + requestedBy: ['fleet1/robot2', 'fleet2/robot1'], + }, + { + name: 'group2', + lockedBy: 'fleet1/robot1', + requestedBy: ['fleet1/robot2'], + }, + ]; + + return ; +}); diff --git a/packages/react-components/lib/robots/mutex-group-table.tsx b/packages/react-components/lib/robots/mutex-group-table.tsx new file mode 100644 index 000000000..a80f5cd19 --- /dev/null +++ b/packages/react-components/lib/robots/mutex-group-table.tsx @@ -0,0 +1,92 @@ +import { + DataGrid, + GridColDef, + GridEventListener, + GridValueGetterParams, + MuiEvent, + GridRowParams, +} from '@mui/x-data-grid'; +import { useMediaQuery } from '@mui/material'; +import * as React from 'react'; + +export interface MutexGroupData { + name: string; + lockedBy?: string; + requestedBy: string[]; +} + +export interface MutexGroupTableProps { + onMutexGroupClick?( + ev: MuiEvent>, + mutexGroups: MutexGroupData, + ): void; + mutexGroups: MutexGroupData[]; +} + +export function MutexGroupTable({ + onMutexGroupClick, + mutexGroups, +}: MutexGroupTableProps): JSX.Element { + const isScreenHeightLessThan800 = useMediaQuery('(max-height:800px)'); + + const handleEvent: GridEventListener<'rowClick'> = ( + params: GridRowParams, + event: MuiEvent>, + ) => { + if (onMutexGroupClick) { + onMutexGroupClick(event, params.row); + } + }; + + const columns: GridColDef[] = [ + { + field: 'mutexGroup', + headerName: 'Group', + maxWidth: 240, + editable: false, + valueGetter: (params: GridValueGetterParams) => params.row.name, + flex: 1, + filterable: true, + }, + { + field: 'lockedBy', + headerName: 'Locked', + maxWidth: 240, + valueGetter: (params: GridValueGetterParams) => params.row.lockedBy ?? 'n/a', + flex: 1, + filterable: true, + }, + { + field: 'requestedBy', + headerName: 'Waiting', + editable: false, + valueGetter: (params: GridValueGetterParams) => params.row.requestedBy?.join(', ') ?? 'n/a', + flex: 1, + filterable: true, + }, + ]; + + return ( + r.name} + rows={mutexGroups} + pageSize={5} + rowHeight={38} + columns={columns} + rowsPerPageOptions={[5]} + sx={{ + fontSize: isScreenHeightLessThan800 ? '0.7rem' : 'inherit', + }} + autoPageSize={isScreenHeightLessThan800} + density={isScreenHeightLessThan800 ? 'compact' : 'standard'} + onRowClick={handleEvent} + initialState={{ + sorting: { + sortModel: [{ field: 'name', sort: 'asc' }], + }, + }} + disableVirtualization + /> + ); +} From 4522b3e371a4d2fef5f66c8d7d4c0ba9cfda5659 Mon Sep 17 00:00:00 2001 From: Teo Koon Peng Date: Tue, 23 Apr 2024 19:16:10 +0800 Subject: [PATCH 08/16] Use logfmt for logging (#931) * standardize logging to logfmt Signed-off-by: Teo Koon Peng * use safer formatter for uvicorn Signed-off-by: Teo Koon Peng * print stacktrace when logging exceptions; always escape double quotes to support logging json structures Signed-off-by: Teo Koon Peng * use HTTPConnection over Request to workaround websocket bug; cleanup and fix lint errors Signed-off-by: Teo Koon Peng * fix sio test Signed-off-by: Teo Koon Peng * fix after meging Signed-off-by: Teo Koon Peng * fix missing logger arg Signed-off-by: Teo Koon Peng * revert to global connection manager Signed-off-by: Teo Koon Peng --------- Signed-off-by: Teo Koon Peng --- Pipfile.lock | 1502 +++++++++-------- packages/api-client/lib/openapi/api.ts | 60 +- packages/api-server/api_server/__main__.py | 31 +- packages/api-server/api_server/app.py | 55 +- .../api-server/api_server/authenticator.py | 47 +- .../api-server/api_server/fast_io/__init__.py | 5 +- packages/api-server/api_server/gateway.py | 13 +- packages/api-server/api_server/logger.py | 17 - packages/api-server/api_server/logging.py | 79 + .../api_server/repositories/__init__.py | 8 +- .../api_server/repositories/alerts.py | 26 +- .../api_server/repositories/cached_files.py | 7 +- .../api_server/repositories/fleets.py | 15 +- .../api-server/api_server/repositories/rmf.py | 6 +- .../api_server/repositories/tasks.py | 181 +- .../api_server/rmf_io/book_keeper.py | 83 +- .../api_server/rmf_io/health_watchdog.py | 4 +- .../api_server/rmf_io/rmf_service.py | 13 +- .../api-server/api_server/routes/admin.py | 4 +- .../api-server/api_server/routes/alerts.py | 10 +- .../api_server/routes/building_map.py | 4 +- .../api_server/routes/delivery_alerts.py | 5 +- .../api_server/routes/dispensers.py | 8 +- .../api-server/api_server/routes/doors.py | 8 +- .../api-server/api_server/routes/fleets.py | 24 +- .../api-server/api_server/routes/ingestors.py | 8 +- .../api-server/api_server/routes/internal.py | 35 +- .../api-server/api_server/routes/lifts.py | 8 +- .../routes/tasks/scheduled_tasks.py | 37 +- .../api_server/routes/tasks/tasks.py | 26 +- .../api_server/services/__init__.py | 0 packages/api-server/setup.py | 1 + 32 files changed, 1260 insertions(+), 1070 deletions(-) delete mode 100644 packages/api-server/api_server/logger.py create mode 100644 packages/api-server/api_server/logging.py delete mode 100644 packages/api-server/api_server/services/__init__.py diff --git a/Pipfile.lock b/Pipfile.lock index b3ecfaf74..414876639 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -47,11 +47,11 @@ }, "argcomplete": { "hashes": [ - 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"sha256:b62ffa81fb85f4332a4f609cab4ac40709470da05643a082ec1eb88e6d9b97d7" ], "version": "==1.12.1" + }, + "wsproto": { + "hashes": [ + "sha256:ad565f26ecb92588a3e43bc3d96164de84cd9902482b130d0ddbaa9664a85065", + "sha256:b9acddd652b585d75b20477888c56642fdade28bdfd3579aa24a4d2c037dd736" + ], + "markers": "python_full_version >= '3.7.0'", + "version": "==1.2.0" } } } diff --git a/packages/api-client/lib/openapi/api.ts b/packages/api-client/lib/openapi/api.ts index cda60e41f..a5bafddc3 100644 --- a/packages/api-client/lib/openapi/api.ts +++ b/packages/api-client/lib/openapi/api.ts @@ -44,7 +44,7 @@ export const Action = { Resume: 'resume', } as const; -export type Action = typeof Action[keyof typeof Action]; +export type Action = (typeof Action)[keyof typeof Action]; /** * @@ -103,7 +103,7 @@ export const ActivityDiscoveryRequestTypeEnum = { } as const; export type ActivityDiscoveryRequestTypeEnum = - typeof ActivityDiscoveryRequestTypeEnum[keyof typeof ActivityDiscoveryRequestTypeEnum]; + (typeof ActivityDiscoveryRequestTypeEnum)[keyof typeof ActivityDiscoveryRequestTypeEnum]; /** * @@ -168,7 +168,7 @@ export const ApiServerModelsDeliveryAlertsDeliveryAlertCategory = { } as const; export type ApiServerModelsDeliveryAlertsDeliveryAlertCategory = - typeof ApiServerModelsDeliveryAlertsDeliveryAlertCategory[keyof typeof ApiServerModelsDeliveryAlertsDeliveryAlertCategory]; + (typeof ApiServerModelsDeliveryAlertsDeliveryAlertCategory)[keyof typeof ApiServerModelsDeliveryAlertsDeliveryAlertCategory]; /** * An enumeration. @@ -182,7 +182,7 @@ export const ApiServerModelsDeliveryAlertsDeliveryAlertTier = { } as const; export type ApiServerModelsDeliveryAlertsDeliveryAlertTier = - typeof ApiServerModelsDeliveryAlertsDeliveryAlertTier[keyof typeof ApiServerModelsDeliveryAlertsDeliveryAlertTier]; + (typeof ApiServerModelsDeliveryAlertsDeliveryAlertTier)[keyof typeof ApiServerModelsDeliveryAlertsDeliveryAlertTier]; /** * An enumeration. @@ -198,7 +198,7 @@ export const ApiServerModelsRmfApiLogEntryTier = { } as const; export type ApiServerModelsRmfApiLogEntryTier = - typeof ApiServerModelsRmfApiLogEntryTier[keyof typeof ApiServerModelsRmfApiLogEntryTier]; + (typeof ApiServerModelsRmfApiLogEntryTier)[keyof typeof ApiServerModelsRmfApiLogEntryTier]; /** * An enumeration. @@ -217,7 +217,7 @@ export const ApiServerModelsRmfApiRobotStateStatus = { } as const; export type ApiServerModelsRmfApiRobotStateStatus = - typeof ApiServerModelsRmfApiRobotStateStatus[keyof typeof ApiServerModelsRmfApiRobotStateStatus]; + (typeof ApiServerModelsRmfApiRobotStateStatus)[keyof typeof ApiServerModelsRmfApiRobotStateStatus]; /** * An enumeration. @@ -255,7 +255,7 @@ export const ApiServerModelsRmfApiTaskStateStatus = { } as const; export type ApiServerModelsRmfApiTaskStateStatus = - typeof ApiServerModelsRmfApiTaskStateStatus[keyof typeof ApiServerModelsRmfApiTaskStateStatus]; + (typeof ApiServerModelsRmfApiTaskStateStatus)[keyof typeof ApiServerModelsRmfApiTaskStateStatus]; /** * An enumeration. @@ -617,7 +617,7 @@ export const CancelTaskRequestTypeEnum = { } as const; export type CancelTaskRequestTypeEnum = - typeof CancelTaskRequestTypeEnum[keyof typeof CancelTaskRequestTypeEnum]; + (typeof CancelTaskRequestTypeEnum)[keyof typeof CancelTaskRequestTypeEnum]; /** * @@ -844,7 +844,7 @@ export const DispatchTaskRequestTypeEnum = { } as const; export type DispatchTaskRequestTypeEnum = - typeof DispatchTaskRequestTypeEnum[keyof typeof DispatchTaskRequestTypeEnum]; + (typeof DispatchTaskRequestTypeEnum)[keyof typeof DispatchTaskRequestTypeEnum]; /** * @@ -2064,7 +2064,7 @@ export const ResultSuccessEnum = { False: false, } as const; -export type ResultSuccessEnum = typeof ResultSuccessEnum[keyof typeof ResultSuccessEnum]; +export type ResultSuccessEnum = (typeof ResultSuccessEnum)[keyof typeof ResultSuccessEnum]; /** * @@ -2085,7 +2085,7 @@ export const ResultItemSuccessEnum = { } as const; export type ResultItemSuccessEnum = - typeof ResultItemSuccessEnum[keyof typeof ResultItemSuccessEnum]; + (typeof ResultItemSuccessEnum)[keyof typeof ResultItemSuccessEnum]; /** * @@ -2112,7 +2112,7 @@ export const ResultItem1SuccessEnum = { } as const; export type ResultItem1SuccessEnum = - typeof ResultItem1SuccessEnum[keyof typeof 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. @@ -2281,7 +2281,7 @@ export const RobotTaskResponseSuccessEnum = { } as const; export type RobotTaskResponseSuccessEnum = - typeof RobotTaskResponseSuccessEnum[keyof typeof RobotTaskResponseSuccessEnum]; + (typeof RobotTaskResponseSuccessEnum)[keyof typeof RobotTaskResponseSuccessEnum]; /** * Template for defining a response message that only indicates success and describes any errors @@ -2398,7 +2398,7 @@ export const Status1 = { CanceledInFlight: 'canceled_in_flight', } as const; -export type Status1 = typeof Status1[keyof typeof Status1]; +export type Status1 = (typeof Status1)[keyof typeof Status1]; /** * @@ -2469,7 +2469,7 @@ export const TaskDiscoveryTypeEnum = { } as const; export type TaskDiscoveryTypeEnum = - typeof TaskDiscoveryTypeEnum[keyof typeof TaskDiscoveryTypeEnum]; + (typeof TaskDiscoveryTypeEnum)[keyof typeof TaskDiscoveryTypeEnum]; /** * @@ -2490,7 +2490,7 @@ export const TaskDiscoveryRequestTypeEnum = { } as const; export type TaskDiscoveryRequestTypeEnum = - typeof TaskDiscoveryRequestTypeEnum[keyof typeof TaskDiscoveryRequestTypeEnum]; + (typeof TaskDiscoveryRequestTypeEnum)[keyof typeof TaskDiscoveryRequestTypeEnum]; /** * Response to a task dispatch request @@ -2523,7 +2523,7 @@ export const TaskDispatchResponseSuccessEnum = { } as const; export type TaskDispatchResponseSuccessEnum = - typeof TaskDispatchResponseSuccessEnum[keyof typeof TaskDispatchResponseSuccessEnum]; + (typeof TaskDispatchResponseSuccessEnum)[keyof typeof TaskDispatchResponseSuccessEnum]; /** * @@ -2550,7 +2550,7 @@ export const TaskDispatchResponseItemSuccessEnum = { } as const; export type TaskDispatchResponseItemSuccessEnum = - typeof TaskDispatchResponseItemSuccessEnum[keyof typeof TaskDispatchResponseItemSuccessEnum]; + (typeof TaskDispatchResponseItemSuccessEnum)[keyof typeof TaskDispatchResponseItemSuccessEnum]; /** * @@ -2577,7 +2577,7 @@ export const TaskDispatchResponseItem1SuccessEnum = { } as const; export type TaskDispatchResponseItem1SuccessEnum = - typeof TaskDispatchResponseItem1SuccessEnum[keyof typeof TaskDispatchResponseItem1SuccessEnum]; + (typeof TaskDispatchResponseItem1SuccessEnum)[keyof typeof TaskDispatchResponseItem1SuccessEnum]; /** * @@ -2684,7 +2684,7 @@ export const TaskInterruptionRequestTypeEnum = { } as const; export type TaskInterruptionRequestTypeEnum = - typeof TaskInterruptionRequestTypeEnum[keyof typeof TaskInterruptionRequestTypeEnum]; + (typeof TaskInterruptionRequestTypeEnum)[keyof typeof TaskInterruptionRequestTypeEnum]; /** * Response to a request for a task to be interrupted @@ -2742,7 +2742,7 @@ export const TaskKillRequestTypeEnum = { } as const; export type TaskKillRequestTypeEnum = - typeof TaskKillRequestTypeEnum[keyof typeof TaskKillRequestTypeEnum]; + (typeof TaskKillRequestTypeEnum)[keyof typeof TaskKillRequestTypeEnum]; /** * Response to a request to kill a task @@ -2800,7 +2800,7 @@ export const TaskPhaseSkipRequestTypeEnum = { } as const; export type TaskPhaseSkipRequestTypeEnum = - typeof TaskPhaseSkipRequestTypeEnum[keyof typeof TaskPhaseSkipRequestTypeEnum]; + (typeof TaskPhaseSkipRequestTypeEnum)[keyof typeof TaskPhaseSkipRequestTypeEnum]; /** * @@ -2900,7 +2900,7 @@ export const TaskResumeRequestTypeEnum = { } as const; export type TaskResumeRequestTypeEnum = - typeof TaskResumeRequestTypeEnum[keyof typeof TaskResumeRequestTypeEnum]; + (typeof TaskResumeRequestTypeEnum)[keyof typeof TaskResumeRequestTypeEnum]; /** * Response to a request to resume a task @@ -2952,7 +2952,7 @@ export const TaskRewindRequestTypeEnum = { } as const; export type TaskRewindRequestTypeEnum = - typeof TaskRewindRequestTypeEnum[keyof typeof TaskRewindRequestTypeEnum]; + (typeof TaskRewindRequestTypeEnum)[keyof typeof TaskRewindRequestTypeEnum]; /** * Response to a request to rewind a task @@ -3264,7 +3264,7 @@ export const UndoPhaseSkipRequestTypeEnum = { } as const; export type UndoPhaseSkipRequestTypeEnum = - typeof UndoPhaseSkipRequestTypeEnum[keyof typeof UndoPhaseSkipRequestTypeEnum]; + (typeof UndoPhaseSkipRequestTypeEnum)[keyof typeof UndoPhaseSkipRequestTypeEnum]; /** * Response to an undo phase skip request @@ -5610,9 +5610,8 @@ export const BuildingApiFp = function (configuration?: Configuration) { async getBuildingMapBuildingMapGet( options?: AxiosRequestConfig, ): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise> { - const localVarAxiosArgs = await localVarAxiosParamCreator.getBuildingMapBuildingMapGet( - options, - ); + const localVarAxiosArgs = + await localVarAxiosParamCreator.getBuildingMapBuildingMapGet(options); return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); }, }; @@ -9566,9 +9565,8 @@ export const TasksApiFp = function (configuration?: Configuration) { ): Promise< (axios?: AxiosInstance, basePath?: string) => AxiosPromise> > { - const localVarAxiosArgs = await localVarAxiosParamCreator.getFavoritesTasksFavoriteTasksGet( - options, - ); + const localVarAxiosArgs = + await localVarAxiosParamCreator.getFavoritesTasksFavoriteTasksGet(options); return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); }, /** diff --git a/packages/api-server/api_server/__main__.py b/packages/api-server/api_server/__main__.py index a43dce105..1f852a2c7 100644 --- a/packages/api-server/api_server/__main__.py +++ b/packages/api-server/api_server/__main__.py @@ -1,10 +1,12 @@ +import logging import os import uvicorn +import uvicorn.logging from uvicorn.config import LOGGING_CONFIG -from .app import app -from .app_config import app_config, load_config +from .app_config import load_config +from .logging import LogfmtFormatter app_config = load_config( os.environ.get( @@ -13,18 +15,35 @@ ) ) -TORTOISE_ORM = app_config.get_tortoise_orm_config() +handler = logging.StreamHandler() +handler.setFormatter(LogfmtFormatter()) +logging.basicConfig(level=app_config.log_level, handlers=[handler]) + +# uvicorn access logs contains double quotes so we need to use the safer formatter +LOGGING_CONFIG["formatters"]["logfmt"] = {"()": LogfmtFormatter} +LOGGING_CONFIG["handlers"]["logfmt"] = { + "formatter": "logfmt", + "class": "logging.StreamHandler", + "stream": "ext://sys.stdout", +} +# uvicorn appears to log to both the default and configured handler, +# since we already configured the default logger, +# setting a handler here will cause double logging +LOGGING_CONFIG["loggers"]["uvicorn"]["handlers"] = [] +LOGGING_CONFIG["loggers"]["uvicorn.access"]["handlers"] = ["logfmt"] def main(): - LOGGING_CONFIG["formatters"]["access"][ - "fmt" - ] = '%(asctime)s %(levelprefix)s %(client_addr)s - "%(request_line)s" %(status_code)s' + # FIXME: we need to init logging before the app, better solution is to + # NOT use global app that init on import + from .app import app # pylint: disable=import-outside-toplevel + uvicorn.run( app, host=app_config.host, port=app_config.port, root_path=app_config.public_url.path, + log_config=LOGGING_CONFIG, log_level=app_config.log_level.lower(), ) diff --git a/packages/api-server/api_server/app.py b/packages/api-server/api_server/app.py index ee9e3187a..453aba435 100644 --- a/packages/api-server/api_server/app.py +++ b/packages/api-server/api_server/app.py @@ -1,4 +1,5 @@ import asyncio +import logging import os import signal import threading @@ -19,7 +20,6 @@ from .app_config import app_config from .authenticator import AuthenticationError, authenticator, user_dep from .fast_io import FastIO -from .logger import logger from .models import ( DispenserHealth, DispenserState, @@ -37,7 +37,11 @@ from .types import is_coroutine -async def on_sio_connect(sid: str, _environ: dict, auth: Optional[dict] = None): +async def on_sio_connect( + sid: str, + _environ: dict, + auth: Optional[dict] = None, +): session = await app.sio.get_session(sid) token = None if auth: @@ -47,7 +51,7 @@ async def on_sio_connect(sid: str, _environ: dict, auth: Optional[dict] = None): session["user"] = user return True except AuthenticationError as e: - logger.info(f"authentication failed: {e}") + logging.info(f"authentication failed: {e}") return False @@ -85,7 +89,7 @@ async def on_sio_connect(sid: str, _environ: dict, auth: Optional[dict] = None): # will be called in reverse order on app shutdown shutdown_cbs: List[Union[Coroutine[Any, Any, Any], Callable[[], None]]] = [] -rmf_bookkeeper = RmfBookKeeper(rmf_events, logger=logger.getChild("BookKeeper")) +rmf_bookkeeper = RmfBookKeeper(rmf_events) app.include_router(routes.main_router) app.include_router( @@ -185,35 +189,36 @@ def on_signal(sig, frame): shutdown_cbs.append(rmf_bookkeeper.stop()) health_watchdog = HealthWatchdog( rmf_events, - logger=logger.getChild("HealthWatchdog"), ) await health_watchdog.start() - logger.info("starting scheduler") + logging.info("starting scheduler") asyncio.create_task(_spin_scheduler()) scheduled_tasks = await ttm.ScheduledTask.all() scheduled = 0 for t in scheduled_tasks: user = await User.load_from_db(t.created_by) if user is None: - logger.warning(f"User who scheduled task, [{t.created_by}] does not exist") - logger.warning(f"Skipping request: [{t.task_request}]") + logging.warning(f"User who scheduled task, [{t.created_by}] does not exist") + logging.warning(f"Skipping request: [{t.task_request}]") continue task_repo = TaskRepository(user) try: - await routes.scheduled_tasks.schedule_task(t, task_repo) - logger.info(f"Scheduling task created by [{t.created_by}]") - logger.info(f"{t.task_request}") + await routes.scheduled_tasks.schedule_task( + t, task_repo, logging.LoggerAdapter(logging.getLogger()) + ) + logging.info(f"Scheduling task created by [{t.created_by}]") + logging.info(f"{t.task_request}") scheduled += 1 except Exception as e: # pylint: disable=broad-except - logger.warning(f"Unable to schedule task requested by {t.created_by}: {e}") - logger.warning(f"Skipping request: [{t.task_request}]") - logger.info( + logging.warning(f"Unable to schedule task requested by {t.created_by}: {e}") + logging.warning(f"Skipping request: [{t.task_request}]") + logging.info( f"Retrieved {len(scheduled_tasks)} scheduled tasks, scheduled {scheduled} tasks" ) ros.spin_background() - logger.info("started app") + logging.info("started app") @app.on_event("shutdown") @@ -225,7 +230,7 @@ async def on_shutdown(): elif callable(cb): cb() - logger.info("shutdown app") + logging.info("shutdown app") @app.get("/docs", include_in_schema=False) @@ -262,56 +267,56 @@ async def _spin_scheduler(): async def _load_states(): - logger.info("loading states from database...") + logging.info("loading states from database...") door_states = [DoorState.from_tortoise(x) for x in await ttm.DoorState.all()] for state in door_states: rmf_events.door_states.on_next(state) - logger.info(f"loaded {len(door_states)} door states") + logging.info(f"loaded {len(door_states)} door states") door_health = [ await DoorHealth.from_tortoise(x) for x in await ttm.DoorHealth.all() ] for health in door_health: rmf_events.door_health.on_next(health) - logger.info(f"loaded {len(door_health)} door health") + logging.info(f"loaded {len(door_health)} door health") lift_states = [LiftState.from_tortoise(x) for x in await ttm.LiftState.all()] for state in lift_states: rmf_events.lift_states.on_next(state) - logger.info(f"loaded {len(lift_states)} lift states") + logging.info(f"loaded {len(lift_states)} lift states") lift_health = [ await LiftHealth.from_tortoise(x) for x in await ttm.LiftHealth.all() ] for health in lift_health: rmf_events.lift_health.on_next(health) - logger.info(f"loaded {len(lift_health)} lift health") + logging.info(f"loaded {len(lift_health)} lift health") dispenser_states = [ DispenserState.from_tortoise(x) for x in await ttm.DispenserState.all() ] for state in dispenser_states: rmf_events.dispenser_states.on_next(state) - logger.info(f"loaded {len(dispenser_states)} dispenser states") + logging.info(f"loaded {len(dispenser_states)} dispenser states") dispenser_health = [ await DispenserHealth.from_tortoise(x) for x in await ttm.DispenserHealth.all() ] for health in dispenser_health: rmf_events.dispenser_health.on_next(health) - logger.info(f"loaded {len(dispenser_health)} dispenser health") + logging.info(f"loaded {len(dispenser_health)} dispenser health") ingestor_states = [ IngestorState.from_tortoise(x) for x in await ttm.IngestorState.all() ] for state in ingestor_states: rmf_events.ingestor_states.on_next(state) - logger.info(f"loaded {len(ingestor_states)} ingestor states") + logging.info(f"loaded {len(ingestor_states)} ingestor states") ingestor_health = [ await IngestorHealth.from_tortoise(x) for x in await ttm.IngestorHealth.all() ] for health in ingestor_health: rmf_events.ingestor_health.on_next(health) - logger.info(f"loaded {len(ingestor_health)} ingestor health") + logging.info(f"loaded {len(ingestor_health)} ingestor health") diff --git a/packages/api-server/api_server/authenticator.py b/packages/api-server/api_server/authenticator.py index 8f8539b34..75240c997 100644 --- a/packages/api-server/api_server/authenticator.py +++ b/packages/api-server/api_server/authenticator.py @@ -1,3 +1,4 @@ +import logging from typing import Any, Callable, Coroutine, Optional, Union import jwt @@ -5,7 +6,7 @@ from fastapi.security import OpenIdConnect from .app_config import app_config -from .logger import logger +from .logging import CustomLoggerAdapter, get_logger from .models import User @@ -14,7 +15,14 @@ class AuthenticationError(Exception): class JwtAuthenticator: - def __init__(self, pem_file: str, aud: str, iss: str, *, oidc_url: str = ""): + def __init__( + self, + pem_file: str, + aud: str, + iss: str, + *, + oidc_url: str = "", + ): """ Authenticates with a JWT token, the client must send an auth params with a "token" key. @@ -49,8 +57,8 @@ async def _get_user(self, claims: dict) -> User: async def verify_token(self, token: Optional[str]) -> User: if not token: - logger.error("No token provided") raise AuthenticationError("authentication required") + try: claims = jwt.decode( token, @@ -59,22 +67,10 @@ async def verify_token(self, token: Optional[str]) -> User: audience=self.aud, issuer=self.iss, ) - return await self._get_user(claims) - except jwt.InvalidSignatureError as e: - logger.error("JWT invalid signature error") - logger.error(f"Token: {token}") - raise AuthenticationError(str(e)) from e + user = await self._get_user(claims) + + return user except jwt.DecodeError as e: - logger.error("JWT decode error") - logger.error(f"Token: {token}") - raise AuthenticationError(str(e)) from e - except jwt.ExpiredSignatureError as e: - logger.error("JWT expired signature error") - logger.error(f"Token: {token}") - raise AuthenticationError(str(e)) from e - except jwt.InvalidTokenError as e: - logger.error("JWT invalid token error") - logger.error(f"Token: {token}") raise AuthenticationError(str(e)) from e def fastapi_dep(self) -> Callable[..., Union[Coroutine[Any, Any, User], User]]: @@ -87,7 +83,6 @@ async def dep( try: return await self.verify_token(parts[1]) except AuthenticationError as e: - logger.error("Failed to verify token") raise HTTPException(401, str(e)) from e return dep @@ -124,6 +119,16 @@ async def dep(): ) else: authenticator = StubAuthenticator() - logger.warning("authentication is disabled") + logging.warning("authentication is disabled") + + +_base_user_dep = authenticator.fastapi_dep() + -user_dep = authenticator.fastapi_dep() +def user_dep( + user: User = Depends(_base_user_dep), + logger: CustomLoggerAdapter = Depends(get_logger), +): + # extends the original user dep to set the authenticated user to the logger + logger.user = user + return user diff --git a/packages/api-server/api_server/fast_io/__init__.py b/packages/api-server/api_server/fast_io/__init__.py index 464b7df89..80a3d5503 100644 --- a/packages/api-server/api_server/fast_io/__init__.py +++ b/packages/api-server/api_server/fast_io/__init__.py @@ -1,4 +1,5 @@ import asyncio +import logging from dataclasses import dataclass from re import Match from typing import ( @@ -24,8 +25,6 @@ from rx.core.observable.observable import Observable from starlette.routing import compile_path -from api_server.logger import logger - from .errors import * @@ -255,7 +254,7 @@ async def _on_subscribe(self, sid: str, data: dict): sub_data = self._parse_sub_data(data) except SubscribeError as e: await self.sio.emit("subscribe", {"success": False, "error": str(e)}) - logger.info(f"{sid}: str(e)") + logging.info(f"{sid}: str(e)") return try: diff --git a/packages/api-server/api_server/gateway.py b/packages/api-server/api_server/gateway.py index 44ac357b5..2b127a300 100644 --- a/packages/api-server/api_server/gateway.py +++ b/packages/api-server/api_server/gateway.py @@ -34,7 +34,6 @@ from rmf_task_msgs.srv import SubmitTask as RmfSubmitTask from rosidl_runtime_py.convert import message_to_ordereddict -from .logger import logger as base_logger from .models import ( BeaconState, BuildingMap, @@ -76,12 +75,7 @@ def process_building_map( class RmfGateway: - def __init__( - self, - cached_files: CachedFilesRepository, - *, - logger: Optional[logging.Logger] = None, - ): + def __init__(self, cached_files: CachedFilesRepository): self._door_req = ros_node().create_publisher( RmfDoorRequest, "adapter_door_requests", 10 ) @@ -122,7 +116,6 @@ def __init__( ) self.cached_files = cached_files - self.logger = logger or base_logger.getChild(self.__class__.__name__) self._subscriptions: List[Subscription] = [] self._subscribe_all() @@ -224,8 +217,8 @@ def convert_delivery_alert(delivery_alert: RmfDeliveryAlert): ) def handle_delivery_alert(delivery_alert: DeliveryAlert): - self.logger.info("Received delivery alert:") - self.logger.info(delivery_alert) + logging.info("Received delivery alert:") + logging.info(delivery_alert) rmf_events.delivery_alerts.on_next(delivery_alert) delivery_alert_request_sub = ros_node().create_subscription( diff --git a/packages/api-server/api_server/logger.py b/packages/api-server/api_server/logger.py deleted file mode 100644 index ec358ac8c..000000000 --- a/packages/api-server/api_server/logger.py +++ /dev/null @@ -1,17 +0,0 @@ -import logging -import sys - -from fastapi.logger import logger as _logger - -from .app_config import app_config - -logger: logging.Logger = _logger - -handler = logging.StreamHandler(sys.stdout) -handler.setFormatter(logging.Formatter(logging.BASIC_FORMAT)) -logger.addHandler(handler) -logger.setLevel(app_config.log_level) - - -def format_exception(exception: Exception): - return logger.error(f"{type(exception).__name__}:{exception}") diff --git a/packages/api-server/api_server/logging.py b/packages/api-server/api_server/logging.py new file mode 100644 index 000000000..83bc129a0 --- /dev/null +++ b/packages/api-server/api_server/logging.py @@ -0,0 +1,79 @@ +import logging +import typing +from logging import LoggerAdapter + +from fastapi.requests import HTTPConnection +from termcolor import colored +from termcolor._types import Color + +from api_server.models import User + +log_colors: dict[str, Color] = { + "DEBUG": "grey", + "INFO": "blue", + "WARNING": "yellow", + "ERROR": "red", + "CRITICAL": "red", +} + + +class _CustomLogRecord(logging.LogRecord): + """A Customized LogRecord for typing""" + + conn: HTTPConnection + user: User | None + + +class LogfmtFormatter(logging.Formatter): + """A formatter to formats to logfmt""" + + def fields(self, record: logging.LogRecord): + # Extract fields from the log record + msg = record.getMessage().replace('"', '\\"').rstrip() + fields = { + "msg": msg, + "level": record.levelname, + "ts": self.formatTime( + record, datefmt=f"%Y-%m-%dT%H:%M:%S.{int(record.msecs)}%z" + ), + "src": f"{record.filename}:{record.lineno}", + "funcName": record.funcName, + } + + # Add contextual information + if hasattr(record, "conn"): + record = typing.cast(_CustomLogRecord, record) + client = record.conn.client + fields["client"] = f"{client.host}:{client.port}" if client else "None" + fields["user"] = record.user.username if record.user else "None" + + if record.exc_info: + fields["exc_info"] = self.formatException(record.exc_info) + + return fields + + def format(self, record): + fields = self.fields(record) + color = log_colors.get(record.levelname, None) + logfmt_pairs = [f'{key}="{value}"' for key, value in fields.items()] + return colored(" ".join(logfmt_pairs), color) + + +class CustomLoggerAdapter(LoggerAdapter): + """A customized `LoggerAdapter` that adds extra contextual info like client and user""" + + def __init__(self, logger: logging.Logger, conn: HTTPConnection, user: User | None): + super().__init__(logger) + self.conn = conn + self.user = user + + def process(self, msg, kwargs): + kwargs["extra"] = {"conn": self.conn, "user": self.user} + return msg, kwargs + + +def get_logger(conn: HTTPConnection) -> CustomLoggerAdapter: + l = logging.getLogger() + # Note that user is always `None` here to avoid circular dependency if we use `user_dep`. + # The authenticator will fill in the user instead. + return CustomLoggerAdapter(l, conn, user=None) diff --git a/packages/api-server/api_server/repositories/__init__.py b/packages/api-server/api_server/repositories/__init__.py index 93fbacc5b..7b0857951 100644 --- a/packages/api-server/api_server/repositories/__init__.py +++ b/packages/api-server/api_server/repositories/__init__.py @@ -1,5 +1,5 @@ -from .alerts import AlertRepository, alert_repo_dep +from .alerts import AlertRepository from .cached_files import CachedFilesRepository, cached_files_repo -from .fleets import FleetRepository, fleet_repo_dep -from .rmf import RmfRepository, rmf_repo_dep -from .tasks import TaskRepository, task_repo_dep +from .fleets import FleetRepository +from .rmf import RmfRepository +from .tasks import TaskRepository diff --git a/packages/api-server/api_server/repositories/alerts.py b/packages/api-server/api_server/repositories/alerts.py index 1751c3fd1..782a0586a 100644 --- a/packages/api-server/api_server/repositories/alerts.py +++ b/packages/api-server/api_server/repositories/alerts.py @@ -1,21 +1,23 @@ +import logging from datetime import datetime from typing import List, Optional from fastapi import Depends from api_server.authenticator import user_dep -from api_server.logger import logger from api_server.models import User from api_server.models import tortoise_models as ttm -from api_server.repositories.tasks import TaskRepository, task_repo_dep +from api_server.repositories.tasks import TaskRepository class AlertRepository: - def __init__(self, user: User, task_repo: Optional[TaskRepository]): + def __init__( + self, + user: User = Depends(user_dep), + task_repo: TaskRepository = Depends(TaskRepository), + ): self.user = user - self.task_repo = ( - task_repo if task_repo is not None else TaskRepository(self.user) - ) + self.task_repo = task_repo async def get_all_alerts(self) -> List[ttm.AlertPydantic]: alerts = await ttm.Alert.all() @@ -32,7 +34,7 @@ async def alert_original_id_exists(self, original_id: str) -> bool: async def get_alert(self, alert_id: str) -> Optional[ttm.AlertPydantic]: alert = await ttm.Alert.get_or_none(id=alert_id) if alert is None: - logger.error(f"Alert with ID {alert_id} not found") + logging.error(f"Alert with ID {alert_id} not found") return None alert_pydantic = await ttm.AlertPydantic.from_tortoise_orm(alert) return alert_pydantic @@ -51,7 +53,7 @@ async def create_alert( id=alert_id, ) if alert is None: - logger.error(f"Failed to create Alert with ID {alert_id}") + logging.error(f"Failed to create Alert with ID {alert_id}") return None alert_pydantic = await ttm.AlertPydantic.from_tortoise_orm(alert) return alert_pydantic @@ -61,7 +63,7 @@ async def acknowledge_alert(self, alert_id: str) -> Optional[ttm.AlertPydantic]: if alert is None: acknowledged_alert = await ttm.Alert.filter(original_id=alert_id).first() if acknowledged_alert is None: - logger.error(f"No existing or past alert with ID {alert_id} found.") + logging.error(f"No existing or past alert with ID {alert_id} found.") return None acknowledged_alert_pydantic = await ttm.AlertPydantic.from_tortoise_orm( acknowledged_alert @@ -90,9 +92,3 @@ async def acknowledge_alert(self, alert_id: str) -> Optional[ttm.AlertPydantic]: await alert.delete() ack_alert_pydantic = await ttm.AlertPydantic.from_tortoise_orm(ack_alert) return ack_alert_pydantic - - -def alert_repo_dep( - user: User = Depends(user_dep), task_repo: TaskRepository = Depends(task_repo_dep) -): - return AlertRepository(user, task_repo) diff --git a/packages/api-server/api_server/repositories/cached_files.py b/packages/api-server/api_server/repositories/cached_files.py index 58128e6a4..9f805bdf1 100644 --- a/packages/api-server/api_server/repositories/cached_files.py +++ b/packages/api-server/api_server/repositories/cached_files.py @@ -1,9 +1,7 @@ import logging import os -from typing import Optional from api_server.app_config import app_config -from api_server.logger import logger as _logger class CachedFilesRepository: @@ -11,7 +9,6 @@ def __init__( self, base_url: str, directory: str, - logger: Optional[logging.Logger] = None, ): """ :param base_url: base url that cached files are served from. When running behind a proxy, @@ -21,7 +18,6 @@ def __init__( """ self.base_url = base_url self.directory = directory - self.logger = logger or logging.getLogger(self.__class__.__name__) def add_file(self, data: bytes, path: str) -> str: """ @@ -35,7 +31,7 @@ def add_file(self, data: bytes, path: str) -> str: os.makedirs(os.path.dirname(filepath), exist_ok=True) with open(filepath, "bw") as f: f.write(data) - self.logger.info(f'saved new file "{filepath}"') + logging.info(f'saved new file "{filepath}"') urlpath = f"{self.base_url}/{path}" return urlpath @@ -44,5 +40,4 @@ def add_file(self, data: bytes, path: str) -> str: cached_files_repo = CachedFilesRepository( f"{app_config.public_url.geturl()}/cache", app_config.cache_directory, - _logger.getChild("cached_files"), ) diff --git a/packages/api-server/api_server/repositories/fleets.py b/packages/api-server/api_server/repositories/fleets.py index c3b7f749f..eddbcd36d 100644 --- a/packages/api-server/api_server/repositories/fleets.py +++ b/packages/api-server/api_server/repositories/fleets.py @@ -6,14 +6,19 @@ from tortoise.transactions import in_transaction from api_server.authenticator import user_dep -from api_server.logger import format_exception, logger +from api_server.logging import LoggerAdapter, get_logger from api_server.models import FleetLog, FleetState, LogEntry, User from api_server.models import tortoise_models as ttm class FleetRepository: - def __init__(self, user: User): + def __init__( + self, + user: User = Depends(user_dep), + logger: LoggerAdapter = Depends(get_logger), + ): self.user = user + self.logger = logger async def get_all_fleets(self) -> List[FleetState]: db_states = await ttm.FleetState.all().values_list("data", flat=True) @@ -85,8 +90,4 @@ async def _save_logs(db_fleet_log: ttm.FleetLog, logs: Sequence[LogEntry]): if fleet_log.log: await _save_logs(db_fleet_log, fleet_log.log) except IntegrityError as e: - logger.error(format_exception(e)) - - -def fleet_repo_dep(user: User = Depends(user_dep)): - return FleetRepository(user) + self.logger.error(e) diff --git a/packages/api-server/api_server/repositories/rmf.py b/packages/api-server/api_server/repositories/rmf.py index 693715c87..120fc7bd3 100644 --- a/packages/api-server/api_server/repositories/rmf.py +++ b/packages/api-server/api_server/repositories/rmf.py @@ -25,7 +25,7 @@ class RmfRepository: - def __init__(self, user: User): + def __init__(self, user: User = Depends(user_dep)): self.user = user @staticmethod @@ -129,7 +129,3 @@ async def query_users( pagination, ).values_list("username", flat=True), ) - - -def rmf_repo_dep(user: User = Depends(user_dep)): - return RmfRepository(user) diff --git a/packages/api-server/api_server/repositories/tasks.py b/packages/api-server/api_server/repositories/tasks.py index c33a176fa..a930352f2 100644 --- a/packages/api-server/api_server/repositories/tasks.py +++ b/packages/api-server/api_server/repositories/tasks.py @@ -9,7 +9,7 @@ from tortoise.transactions import in_transaction from api_server.authenticator import user_dep -from api_server.logger import format_exception, logger +from api_server.logging import LoggerAdapter, get_logger from api_server.models import ( LogEntry, Pagination, @@ -28,105 +28,106 @@ from api_server.rmf_io import task_events -def parse_pickup(task_request: TaskRequest) -> Optional[str]: - # patrol - if task_request.category.lower() == "patrol": - return None - - # custom deliveries - supportedDeliveries = [ - "delivery_pickup", - "delivery_sequential_lot_pickup", - "delivery_area_pickup", - ] - if ( - "category" not in task_request.description - or task_request.description["category"] not in supportedDeliveries +class TaskRepository: + def __init__( + self, + user: User = Depends(user_dep), + logger: LoggerAdapter = Depends(get_logger), ): - return None - - category = task_request.description["category"] - try: - perform_action_description = task_request.description["phases"][0]["activity"][ - "description" - ]["activities"][1]["description"]["description"] - if category == "delivery_pickup": - return perform_action_description["pickup_lot"] - return perform_action_description["pickup_zone"] - except Exception as e: # pylint: disable=W0703 - logger.error(format_exception(e)) - logger.error(f"Failed to parse pickup for task of category {category}") - return None + self.user = user + self.logger = logger + def parse_pickup(self, task_request: TaskRequest) -> Optional[str]: + # patrol + if task_request.category.lower() == "patrol": + return None -def parse_destination( - task_state: TaskState, task_request: TaskRequest -) -> Optional[str]: - # patrol - try: + # custom deliveries + supportedDeliveries = [ + "delivery_pickup", + "delivery_sequential_lot_pickup", + "delivery_area_pickup", + ] if ( - task_request.category.lower() == "patrol" - and task_request.description["places"] is not None - and len(task_request.description["places"]) > 0 + "category" not in task_request.description + or task_request.description["category"] not in supportedDeliveries ): - return task_request.description["places"][-1] - except Exception as e: # pylint: disable=W0703 - logger.error(format_exception(e)) - logger.error("Failed to parse destination for patrol") - return None + return None - # custom deliveries - supportedDeliveries = [ - "delivery_pickup", - "delivery_sequential_lot_pickup", - "delivery_area_pickup", - ] - if ( - "category" not in task_request.description - or task_request.description["category"] not in supportedDeliveries - ): + category = task_request.description["category"] + try: + perform_action_description = task_request.description["phases"][0][ + "activity" + ]["description"]["activities"][1]["description"]["description"] + if category == "delivery_pickup": + return perform_action_description["pickup_lot"] + return perform_action_description["pickup_zone"] + except Exception as e: # pylint: disable=W0703 + self.logger.error( + f"Failed to parse pickup for task of category [{category}] [{e}]" + ) return None - category = task_request.description["category"] - try: - destination = task_request.description["phases"][1]["activity"]["description"][ - "activities" - ][0]["description"] - return destination - except Exception as e: # pylint: disable=W0703 - logger.error(format_exception(e)) - logger.error( - f"Failed to parse destination from task request of category {category}" - ) - - # automated tasks that can only be parsed with state - if task_state.category is not None and task_state.category == "Charge Battery": + def parse_destination( + self, task_state: TaskState, task_request: TaskRequest + ) -> Optional[str]: + # patrol try: if ( - task_state.phases is None - or "1" not in task_state.phases - or task_state.phases["1"].events is None - or "1" not in task_state.phases["1"].events - or task_state.phases["1"].events["1"].name is None + task_request.category.lower() == "patrol" + and task_request.description["places"] is not None + and len(task_request.description["places"]) > 0 ): - raise ValueError + return task_request.description["places"][-1] + except Exception as e: # pylint: disable=W0703 + self.logger.error(f"Failed to parse destination for patrol [{e}]") + return None - charge_event_name = task_state.phases["1"].events["1"].name - charge_place_split = charge_event_name.split("[place:")[1] - charge_place = charge_place_split.split("]")[0] - return charge_place + # custom deliveries + supportedDeliveries = [ + "delivery_pickup", + "delivery_sequential_lot_pickup", + "delivery_area_pickup", + ] + if ( + "category" not in task_request.description + or task_request.description["category"] not in supportedDeliveries + ): + return None + + category = task_request.description["category"] + try: + destination = task_request.description["phases"][1]["activity"][ + "description" + ]["activities"][0]["description"] + return destination except Exception as e: # pylint: disable=W0703 - logger.error(format_exception(e)) - logger.error( - f"Failed to parse charging point from task state of id {task_state.booking.id}" + self.logger.error( + f"Failed to parse destination from task request of category [{category}] [{e}]" ) - return None - return None - -class TaskRepository: - def __init__(self, user: User): - self.user = user + # automated tasks that can only be parsed with state + if task_state.category is not None and task_state.category == "Charge Battery": + try: + if ( + task_state.phases is None + or "1" not in task_state.phases + or task_state.phases["1"].events is None + or "1" not in task_state.phases["1"].events + or task_state.phases["1"].events["1"].name is None + ): + raise ValueError + + charge_event_name = task_state.phases["1"].events["1"].name + charge_place_split = charge_event_name.split("[place:")[1] + charge_place = charge_place_split.split("]")[0] + return charge_place + except Exception as e: # pylint: disable=W0703 + self.logger.error( + f"Failed to parse charging point from task state of id [{task_state.booking.id}] [{e}]" + ) + return None + return None async def save_task_request( self, task_state: TaskState, task_request: TaskRequest @@ -136,8 +137,8 @@ async def save_task_request( ) # Add pickup and destination to task state model for filter and sort - pickup = parse_pickup(task_request) - destination = parse_destination(task_state, task_request) + pickup = self.parse_pickup(task_request) + destination = self.parse_destination(task_state, task_request) db_task_state = await DbTaskState.get_or_none(id_=task_state.booking.id) if db_task_state is not None: db_task_state.update_from_dict( @@ -363,8 +364,4 @@ async def save_task_log(self, task_log: TaskEventLog) -> None: if task_log.phases: await self._savePhaseLogs(db_task_log, task_log.phases) except IntegrityError as e: - logger.error(format_exception(e)) - - -def task_repo_dep(user: User = Depends(user_dep)): - return TaskRepository(user) + self.logger.error(e) diff --git a/packages/api-server/api_server/rmf_io/book_keeper.py b/packages/api-server/api_server/rmf_io/book_keeper.py index 626122a3b..ff98e0987 100644 --- a/packages/api-server/api_server/rmf_io/book_keeper.py +++ b/packages/api-server/api_server/rmf_io/book_keeper.py @@ -1,8 +1,7 @@ import asyncio import json import logging -from collections import namedtuple -from typing import Coroutine, List, Optional +from typing import Coroutine, List from rx.core.typing import Disposable from rx.subject.subject import Subject @@ -31,66 +30,14 @@ def __init__(self): class RmfBookKeeper: - _ChildLoggers = namedtuple( - "_ChildLoggers", - [ - "beacon_state", - "building_map", - "door_state", - "door_health", - "lift_state", - "lift_health", - "dispenser_state", - "dispenser_health", - "ingestor_state", - "ingestor_health", - "fleet_state", - "robot_health", - "task_summary", - ], - ) - def __init__( self, rmf_events: RmfEvents, - *, - logger: Optional[logging.Logger] = None, ): self.rmf = rmf_events self.bookkeeper_events = RmfBookKeeperEvents() self._loop: asyncio.AbstractEventLoop - self._main_logger = logger or logging.getLogger(self.__class__.__name__) self._pending_tasks = set() - - self._loggers = self._ChildLoggers( - self._main_logger.getChild("beacon_state"), - self._main_logger.getChild("building_map"), - self._main_logger.getChild("door_state"), - self._main_logger.getChild("door_health"), - self._main_logger.getChild("lift_state"), - self._main_logger.getChild("lift_health"), - self._main_logger.getChild("dispenser_state"), - self._main_logger.getChild("dispenser_health"), - self._main_logger.getChild("ingestor_state"), - self._main_logger.getChild("ingestor_health"), - self._main_logger.getChild("fleet_state"), - self._main_logger.getChild("robot_health"), - self._main_logger.getChild("task_summary"), - ) - - self._loggers.beacon_state.parent = self._main_logger - self._loggers.door_state.parent = self._main_logger - self._loggers.door_health.parent = self._main_logger - self._loggers.lift_state.parent = self._main_logger - self._loggers.lift_health.parent = self._main_logger - self._loggers.dispenser_state.parent = self._main_logger - self._loggers.dispenser_health.parent = self._main_logger - self._loggers.ingestor_state.parent = self._main_logger - self._loggers.ingestor_health.parent = self._main_logger - self._loggers.fleet_state.parent = self._main_logger - self._loggers.robot_health.parent = self._main_logger - self._loggers.task_summary.parent = self._main_logger - self._subscriptions: List[Disposable] = [] async def start(self): @@ -119,19 +66,19 @@ def _create_task(self, coro: Coroutine): self._pending_tasks.add(task) @staticmethod - def _report_health(health: BaseBasicHealth, logger: logging.Logger): + def _report_health(health: BaseBasicHealth): message = health.json() if health.health_status == HealthStatus.UNHEALTHY: - logger.warning(message) + logging.warning(message) elif health.health_status == HealthStatus.DEAD: - logger.error(message) + logging.error(message) else: - logger.info(message) + logging.info(message) def _record_beacon_state(self): async def update(beacon_state: BeaconState): await beacon_state.save() - self._loggers.beacon_state.debug(json.dumps(beacon_state.dict())) + logging.debug(json.dumps(beacon_state.dict())) self._subscriptions.append( self.rmf.beacons.subscribe(lambda x: self._create_task(update(x))) @@ -142,7 +89,7 @@ async def update(building_map: BuildingMap): if not building_map: return await building_map.save() - self._loggers.building_map.debug(json.dumps(building_map.dict())) + logging.debug(json.dumps(building_map.dict())) self._subscriptions.append( self.rmf.building_map.subscribe(lambda x: self._create_task(update(x))) @@ -151,7 +98,7 @@ async def update(building_map: BuildingMap): def _record_door_state(self): async def update(door_state: DoorState): await door_state.save() - self._loggers.door_state.debug(json.dumps(door_state.dict())) + logging.debug(json.dumps(door_state.dict())) self._subscriptions.append( self.rmf.door_states.subscribe(lambda x: self._create_task(update(x))) @@ -160,7 +107,7 @@ async def update(door_state: DoorState): def _record_door_health(self): async def update(health: DoorHealth): await health.save() - self._report_health(health, self._loggers.door_health) + self._report_health(health) self._subscriptions.append( self.rmf.door_health.subscribe(lambda x: self._create_task(update(x))) @@ -169,7 +116,7 @@ async def update(health: DoorHealth): def _record_lift_state(self): async def update(lift_state: LiftState): await lift_state.save() - self._loggers.lift_state.debug(lift_state.json()) + logging.debug(lift_state.json()) self._subscriptions.append( self.rmf.lift_states.subscribe(lambda x: self._create_task(update(x))) @@ -178,7 +125,7 @@ async def update(lift_state: LiftState): def _record_lift_health(self): async def update(health: LiftHealth): await health.save() - self._report_health(health, self._loggers.lift_health) + self._report_health(health) self._subscriptions.append( self.rmf.lift_health.subscribe(lambda x: self._create_task(update(x))) @@ -187,7 +134,7 @@ async def update(health: LiftHealth): def _record_dispenser_state(self): async def update(dispenser_state: DispenserState): await dispenser_state.save() - self._loggers.dispenser_state.debug(dispenser_state.json()) + logging.debug(dispenser_state.json()) self._subscriptions.append( self.rmf.dispenser_states.subscribe(lambda x: self._create_task(update(x))) @@ -196,7 +143,7 @@ async def update(dispenser_state: DispenserState): def _record_dispenser_health(self): async def update(health: DispenserHealth): await health.save() - self._report_health(health, self._loggers.dispenser_health) + self._report_health(health) self._subscriptions.append( self.rmf.dispenser_health.subscribe(lambda x: self._create_task(update(x))) @@ -205,7 +152,7 @@ async def update(health: DispenserHealth): def _record_ingestor_state(self): async def update(ingestor_state: IngestorState): await ingestor_state.save() - self._loggers.ingestor_state.debug(ingestor_state.json()) + logging.debug(ingestor_state.json()) self._subscriptions.append( self.rmf.ingestor_states.subscribe(lambda x: self._create_task(update(x))) @@ -214,7 +161,7 @@ async def update(ingestor_state: IngestorState): def _record_ingestor_health(self): async def update(health: IngestorHealth): await health.save() - self._report_health(health, self._loggers.ingestor_health) + self._report_health(health) self._subscriptions.append( self.rmf.ingestor_health.subscribe(lambda x: self._create_task(update(x))) diff --git a/packages/api-server/api_server/rmf_io/health_watchdog.py b/packages/api-server/api_server/rmf_io/health_watchdog.py index ea5dda346..9dece2596 100644 --- a/packages/api-server/api_server/rmf_io/health_watchdog.py +++ b/packages/api-server/api_server/rmf_io/health_watchdog.py @@ -41,11 +41,9 @@ def __init__( rmf_events: RmfEvents, *, scheduler: Optional[Scheduler] = None, - logger: Optional[logging.Logger] = None, ): self.rmf = rmf_events self.scheduler = scheduler - self.logger = logger or logging.getLogger(self.__class__.__name__) self._building_watchers: List[Disposable] = [] async def start(self): @@ -127,7 +125,7 @@ def watch(id_: str, obs: Observable): except MultipleObjectsReturned: ttm_maps = await ttm.BuildingMap.all() map_names = [BuildingMap.from_tortoise(m).name for m in ttm_maps] - self.logger.error( + logging.error( "There appears to be multiple building maps " f"available: {map_names}. Please ensure that " "there is only a single building_map_server " diff --git a/packages/api-server/api_server/rmf_io/rmf_service.py b/packages/api-server/api_server/rmf_io/rmf_service.py index 8515e3263..e6d9f5ba3 100644 --- a/packages/api-server/api_server/rmf_io/rmf_service.py +++ b/packages/api-server/api_server/rmf_io/rmf_service.py @@ -1,4 +1,5 @@ import asyncio +import logging from asyncio import Future from typing import Callable, Dict, Optional from uuid import uuid4 @@ -9,7 +10,6 @@ from fastapi import HTTPException from rmf_task_msgs.msg import ApiRequest, ApiResponse -from api_server.logger import logger from api_server.ros import ros_node as default_ros_node @@ -30,7 +30,6 @@ def __init__( response_topic: str, ): self.ros_node = ros_node - self._logger = logger.getChild(self.__class__.__name__) self._requests: Dict[str, Future] = {} self._api_pub = self.ros_node().create_publisher( ApiRequest, @@ -67,8 +66,8 @@ async def call(self, payload: str, timeout: float = 5) -> str: fut = Future() self._requests[req_id] = fut self._api_pub.publish(msg) - self._logger.info(f"sent request '{req_id}'") - self._logger.debug(msg) + logging.info(f"sent request '{req_id}'") + logging.debug(msg) try: return await asyncio.wait_for(fut, timeout) except asyncio.TimeoutError as e: @@ -77,11 +76,11 @@ async def call(self, payload: str, timeout: float = 5) -> str: del self._requests[req_id] def _handle_response(self, msg: ApiResponse): - self._logger.info(f"got response '{msg.request_id}'") - self._logger.debug(msg) + logging.info(f"got response '{msg.request_id}'") + logging.debug(msg) fut = self._requests.get(msg.request_id) if fut is None: - self._logger.warning( + logging.warning( f"Received response for unknown request id: {msg.request_id}" ) return diff --git a/packages/api-server/api_server/routes/admin.py b/packages/api-server/api_server/routes/admin.py index 38a5d5fbc..933e864fc 100644 --- a/packages/api-server/api_server/routes/admin.py +++ b/packages/api-server/api_server/routes/admin.py @@ -9,7 +9,7 @@ from api_server.authenticator import user_dep from api_server.dependencies import pagination_query from api_server.models import Pagination, Permission, User -from api_server.repositories.rmf import RmfRepository, rmf_repo_dep +from api_server.repositories.rmf import RmfRepository class PostUsers(BaseModel): @@ -49,7 +49,7 @@ def admin_dep(user: User = Depends(user_dep)): @router.get("/users", response_model=List[str]) async def get_users( - rmf_repo: RmfRepository = Depends(rmf_repo_dep), + rmf_repo: RmfRepository = Depends(RmfRepository), pagination: Pagination = Depends(pagination_query), username: Optional[str] = Query( None, description="filters username that starts with the value" diff --git a/packages/api-server/api_server/routes/alerts.py b/packages/api-server/api_server/routes/alerts.py index 5d6e329d6..22a90a335 100644 --- a/packages/api-server/api_server/routes/alerts.py +++ b/packages/api-server/api_server/routes/alerts.py @@ -5,7 +5,7 @@ from api_server.fast_io import FastIORouter, SubscriptionRequest from api_server.models import tortoise_models as ttm -from api_server.repositories import AlertRepository, alert_repo_dep +from api_server.repositories import AlertRepository from api_server.rmf_io import alert_events router = FastIORouter(tags=["Alerts"]) @@ -17,12 +17,12 @@ async def sub_alerts(_req: SubscriptionRequest): @router.get("", response_model=List[ttm.AlertPydantic]) -async def get_alerts(repo: AlertRepository = Depends(alert_repo_dep)): +async def get_alerts(repo: AlertRepository = Depends(AlertRepository)): return await repo.get_all_alerts() @router.get("/{alert_id}", response_model=ttm.AlertPydantic) -async def get_alert(alert_id: str, repo: AlertRepository = Depends(alert_repo_dep)): +async def get_alert(alert_id: str, repo: AlertRepository = Depends(AlertRepository)): alert = await repo.get_alert(alert_id) if alert is None: raise HTTPException(404, f"Alert with ID {alert_id} not found") @@ -31,7 +31,7 @@ async def get_alert(alert_id: str, repo: AlertRepository = Depends(alert_repo_de @router.post("", status_code=201, response_model=ttm.AlertPydantic) async def create_alert( - alert_id: str, category: str, repo: AlertRepository = Depends(alert_repo_dep) + alert_id: str, category: str, repo: AlertRepository = Depends(AlertRepository) ): alert = await repo.create_alert(alert_id, category) if alert is None: @@ -41,7 +41,7 @@ async def create_alert( @router.post("/{alert_id}", status_code=201, response_model=ttm.AlertPydantic) async def acknowledge_alert( - alert_id: str, repo: AlertRepository = Depends(alert_repo_dep) + alert_id: str, repo: AlertRepository = Depends(AlertRepository) ): alert = await repo.acknowledge_alert(alert_id) if alert is None: diff --git a/packages/api-server/api_server/routes/building_map.py b/packages/api-server/api_server/routes/building_map.py index 4315ef164..fb5aa0d9e 100644 --- a/packages/api-server/api_server/routes/building_map.py +++ b/packages/api-server/api_server/routes/building_map.py @@ -3,14 +3,14 @@ from api_server.fast_io import FastIORouter, SubscriptionRequest from api_server.models import BuildingMap -from api_server.repositories import RmfRepository, rmf_repo_dep +from api_server.repositories import RmfRepository from api_server.rmf_io import rmf_events router = FastIORouter(tags=["Building"]) @router.get("", response_model=BuildingMap) -async def get_building_map(rmf_repo: RmfRepository = Depends(rmf_repo_dep)): +async def get_building_map(rmf_repo: RmfRepository = Depends(RmfRepository)): """ Available in socket.io """ diff --git a/packages/api-server/api_server/routes/delivery_alerts.py b/packages/api-server/api_server/routes/delivery_alerts.py index 69f77d9b4..225b7ad8f 100644 --- a/packages/api-server/api_server/routes/delivery_alerts.py +++ b/packages/api-server/api_server/routes/delivery_alerts.py @@ -1,10 +1,12 @@ +import logging + from fastapi import Depends from rx import operators as rxops from api_server.authenticator import user_dep from api_server.fast_io import FastIORouter, SubscriptionRequest from api_server.gateway import rmf_gateway -from api_server.logger import logger +from api_server.logging import get_logger from api_server.models import User from api_server.models.delivery_alerts import ( DeliveryAlert, @@ -31,6 +33,7 @@ async def respond_to_delivery_alert( action: DeliveryAlert.Action, message: str, user: User = Depends(user_dep), + logger: logging.Logger = Depends(get_logger), ): delivery_alert = DeliveryAlert( id=delivery_alert_id, diff --git a/packages/api-server/api_server/routes/dispensers.py b/packages/api-server/api_server/routes/dispensers.py index 1d0f399ac..92da95d39 100644 --- a/packages/api-server/api_server/routes/dispensers.py +++ b/packages/api-server/api_server/routes/dispensers.py @@ -6,20 +6,20 @@ from api_server.dependencies import sio_user from api_server.fast_io import FastIORouter, SubscriptionRequest from api_server.models import Dispenser, DispenserHealth, DispenserState -from api_server.repositories import RmfRepository, rmf_repo_dep +from api_server.repositories import RmfRepository from api_server.rmf_io import rmf_events router = FastIORouter(tags=["Dispensers"]) @router.get("", response_model=List[Dispenser]) -async def get_dispensers(rmf_repo: RmfRepository = Depends(rmf_repo_dep)): +async def get_dispensers(rmf_repo: RmfRepository = Depends(RmfRepository)): return await rmf_repo.get_dispensers() @router.get("/{guid}/state", response_model=DispenserState) async def get_dispenser_state( - guid: str, rmf_repo: RmfRepository = Depends(rmf_repo_dep) + guid: str, rmf_repo: RmfRepository = Depends(RmfRepository) ): """ Available in socket.io @@ -44,7 +44,7 @@ async def sub_dispenser_state(req: SubscriptionRequest, guid: str): @router.get("/{guid}/health", response_model=DispenserHealth) async def get_dispenser_health( - guid: str, rmf_repo: RmfRepository = Depends(rmf_repo_dep) + guid: str, rmf_repo: RmfRepository = Depends(RmfRepository) ): """ Available in socket.io diff --git a/packages/api-server/api_server/routes/doors.py b/packages/api-server/api_server/routes/doors.py index d191abbd5..84bd5ff67 100644 --- a/packages/api-server/api_server/routes/doors.py +++ b/packages/api-server/api_server/routes/doors.py @@ -7,20 +7,20 @@ from api_server.fast_io import FastIORouter, SubscriptionRequest from api_server.gateway import rmf_gateway from api_server.models import Door, DoorHealth, DoorRequest, DoorState -from api_server.repositories import RmfRepository, rmf_repo_dep +from api_server.repositories import RmfRepository from api_server.rmf_io import rmf_events router = FastIORouter(tags=["Doors"]) @router.get("", response_model=List[Door]) -async def get_doors(rmf_repo: RmfRepository = Depends(rmf_repo_dep)): +async def get_doors(rmf_repo: RmfRepository = Depends(RmfRepository)): return await rmf_repo.get_doors() @router.get("/{door_name}/state", response_model=DoorState) async def get_door_state( - door_name: str, rmf_repo: RmfRepository = Depends(rmf_repo_dep) + door_name: str, rmf_repo: RmfRepository = Depends(RmfRepository) ): """ Available in socket.io @@ -45,7 +45,7 @@ async def sub_door_state(req: SubscriptionRequest, door_name: str): @router.get("/{door_name}/health", response_model=DoorHealth) async def get_door_health( - door_name: str, rmf_repo: RmfRepository = Depends(rmf_repo_dep) + door_name: str, rmf_repo: RmfRepository = Depends(RmfRepository) ): """ Available in socket.io diff --git a/packages/api-server/api_server/routes/fleets.py b/packages/api-server/api_server/routes/fleets.py index 91f9d6cf1..9ef5b0c09 100644 --- a/packages/api-server/api_server/routes/fleets.py +++ b/packages/api-server/api_server/routes/fleets.py @@ -7,7 +7,7 @@ from api_server.dependencies import between_query, sio_user from api_server.fast_io import FastIORouter, SubscriptionRequest from api_server.gateway import rmf_gateway -from api_server.logger import logger +from api_server.logging import LoggerAdapter, get_logger from api_server.models import ( Commission, FleetLog, @@ -18,7 +18,7 @@ RobotCommissionResponse, User, ) -from api_server.repositories import FleetRepository, fleet_repo_dep +from api_server.repositories import FleetRepository from api_server.rmf_io import fleet_events, tasks_service router = FastIORouter(tags=["Fleets"]) @@ -26,13 +26,13 @@ @router.get("", response_model=List[FleetState]) async def get_fleets( - repo: FleetRepository = Depends(fleet_repo_dep), + repo: FleetRepository = Depends(FleetRepository), ): return await repo.get_all_fleets() @router.get("/{name}/state", response_model=FleetState) -async def get_fleet_state(name: str, repo: FleetRepository = Depends(fleet_repo_dep)): +async def get_fleet_state(name: str, repo: FleetRepository = Depends(FleetRepository)): """ Available in socket.io """ @@ -58,7 +58,7 @@ async def sub_fleet_state(req: SubscriptionRequest, name: str): @router.get("/{name}/log", response_model=FleetLog) async def get_fleet_log( name: str, - repo: FleetRepository = Depends(fleet_repo_dep), + repo: FleetRepository = Depends(FleetRepository), between: Tuple[int, int] = Depends(between_query), ): """ @@ -83,8 +83,8 @@ async def decommission_robot( robot_name: str, reassign_tasks: bool, allow_idle_behavior: bool, - repo: FleetRepository = Depends(fleet_repo_dep), - user: User = Depends(user_dep), + repo: FleetRepository = Depends(FleetRepository), + logger: LoggerAdapter = Depends(get_logger), ): """ Decommissions a robot, cancels all direct tasks, and preventing it from @@ -129,9 +129,7 @@ async def decommission_robot( 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}" - ) + logger.info(f"Decommissioning {robot_name} of {name}. {reassignment_log_str}") resp = RobotCommissionResponse.parse_raw( await tasks_service().call(request.json(exclude_none=True)) ) @@ -149,8 +147,9 @@ async def decommission_robot( async def recommission_robot( name: str, robot_name: str, - repo: FleetRepository = Depends(fleet_repo_dep), + repo: FleetRepository = Depends(FleetRepository), user: User = Depends(user_dep), + logger: LoggerAdapter = Depends(get_logger), ): """ Recommissions a robot, allowing it to accept new dispatch tasks and direct @@ -188,7 +187,8 @@ async def unlock_mutex_group( name: str, robot_name: str, mutex_group: str, - repo: FleetRepository = Depends(fleet_repo_dep), + repo: FleetRepository = Depends(FleetRepository), + logger: LoggerAdapter = Depends(get_logger), ): """ Request to manually unlock a mutex group that is currently being held by a diff --git a/packages/api-server/api_server/routes/ingestors.py b/packages/api-server/api_server/routes/ingestors.py index 003fade4c..77dd6a7f8 100644 --- a/packages/api-server/api_server/routes/ingestors.py +++ b/packages/api-server/api_server/routes/ingestors.py @@ -6,20 +6,20 @@ from api_server.dependencies import sio_user from api_server.fast_io import FastIORouter, SubscriptionRequest from api_server.models import Ingestor, IngestorHealth, IngestorState -from api_server.repositories import RmfRepository, rmf_repo_dep +from api_server.repositories import RmfRepository from api_server.rmf_io import rmf_events router = FastIORouter(tags=["Ingestors"]) @router.get("", response_model=List[Ingestor]) -async def get_ingestors(rmf_repo: RmfRepository = Depends(rmf_repo_dep)): +async def get_ingestors(rmf_repo: RmfRepository = Depends(RmfRepository)): return await rmf_repo.get_ingestors() @router.get("/{guid}/state", response_model=IngestorState) async def get_ingestor_state( - guid: str, rmf_repo: RmfRepository = Depends(rmf_repo_dep) + guid: str, rmf_repo: RmfRepository = Depends(RmfRepository) ): """ Available in socket.io @@ -44,7 +44,7 @@ async def sub_ingestor_state(req: SubscriptionRequest, guid: str): @router.get("/{guid}/health", response_model=IngestorHealth) async def get_ingestor_health( - guid: str, rmf_repo: RmfRepository = Depends(rmf_repo_dep) + guid: str, rmf_repo: RmfRepository = Depends(RmfRepository) ): """ Available in socket.io diff --git a/packages/api-server/api_server/routes/internal.py b/packages/api-server/api_server/routes/internal.py index dacbdb10d..57fb808a0 100644 --- a/packages/api-server/api_server/routes/internal.py +++ b/packages/api-server/api_server/routes/internal.py @@ -1,21 +1,19 @@ # NOTE: This will eventually replace `gateway.py`` +import logging import os from typing import Any, Dict -from fastapi import APIRouter, WebSocket, WebSocketDisconnect +from fastapi import APIRouter, Depends, WebSocket, WebSocketDisconnect from websockets.exceptions import ConnectionClosed from api_server import models as mdl from api_server.app_config import app_config -from api_server.logger import logger as base_logger +from api_server.logging import LoggerAdapter, get_logger from api_server.repositories import AlertRepository, FleetRepository, TaskRepository from api_server.rmf_io import alert_events, fleet_events, task_events router = APIRouter(tags=["_internal"]) -logger = base_logger.getChild("RmfGatewayApp") user: mdl.User = mdl.User(username="__rmf_internal__", is_admin=True) -task_repo = TaskRepository(user) -alert_repo = AlertRepository(user, task_repo) class ConnectionManager: @@ -25,7 +23,7 @@ def __init__(self): async def connect(self, websocket: WebSocket): await websocket.accept() self.active_connections.append(websocket) - logger.info( + logging.info( f"ConnectionManager: {len(self.active_connections)} websocket connections still alive" ) @@ -35,15 +33,15 @@ async def connect(self, websocket: WebSocket): and len(self.active_connections) > app_config.max_internal_websocket_connections ): - logger.error( + logging.error( f"ConnectionManager: exceeded maximum allowed internal websocket connections [{app_config.max_internal_websocket_connections}]" ) - logger.error("ConnectionManager: Shutting down server") + logging.error("ConnectionManager: Shutting down server") os._exit(1) # pylint: disable=protected-access def disconnect(self, websocket: WebSocket): self.active_connections.remove(websocket) - logger.info( + logging.info( f"ConnectionManager: {len(self.active_connections)} websocket connections still alive" ) @@ -77,7 +75,13 @@ def task_log_has_error(task_log: mdl.TaskEventLog) -> bool: return False -async def process_msg(msg: Dict[str, Any], fleet_repo: FleetRepository) -> None: +async def process_msg( + msg: Dict[str, Any], + fleet_repo: FleetRepository, + task_repo: TaskRepository, + alert_repo: AlertRepository, + logger: LoggerAdapter, +) -> None: if "type" not in msg: logger.warn(msg) logger.warn("Ignoring message, 'type' must include in msg field") @@ -134,13 +138,18 @@ async def process_msg(msg: Dict[str, Any], fleet_repo: FleetRepository) -> None: @router.websocket("") -async def rmf_gateway(websocket: WebSocket): +async def rmf_gateway( + websocket: WebSocket, + logger: LoggerAdapter = Depends(get_logger), +): await connection_manager.connect(websocket) - fleet_repo = FleetRepository(user) + fleet_repo = FleetRepository(user, logger) + task_repo = TaskRepository(user, logger) + alert_repo = AlertRepository(user, task_repo) try: while True: msg: Dict[str, Any] = await websocket.receive_json() - await process_msg(msg, fleet_repo) + await process_msg(msg, fleet_repo, task_repo, alert_repo, logger) except (WebSocketDisconnect, ConnectionClosed): connection_manager.disconnect(websocket) logger.warn("Client websocket disconnected") diff --git a/packages/api-server/api_server/routes/lifts.py b/packages/api-server/api_server/routes/lifts.py index d8b532a53..50f78686f 100644 --- a/packages/api-server/api_server/routes/lifts.py +++ b/packages/api-server/api_server/routes/lifts.py @@ -7,20 +7,20 @@ from api_server.fast_io import FastIORouter, SubscriptionRequest from api_server.gateway import rmf_gateway from api_server.models import Lift, LiftHealth, LiftRequest, LiftState -from api_server.repositories import RmfRepository, rmf_repo_dep +from api_server.repositories import RmfRepository from api_server.rmf_io import rmf_events router = FastIORouter(tags=["Lifts"]) @router.get("", response_model=List[Lift]) -async def get_lifts(rmf_repo: RmfRepository = Depends(rmf_repo_dep)): +async def get_lifts(rmf_repo: RmfRepository = Depends(RmfRepository)): return await rmf_repo.get_lifts() @router.get("/{lift_name}/state", response_model=LiftState) async def get_lift_state( - lift_name: str, rmf_repo: RmfRepository = Depends(rmf_repo_dep) + lift_name: str, rmf_repo: RmfRepository = Depends(RmfRepository) ): """ Available in socket.io @@ -45,7 +45,7 @@ async def sub_lift_state(req: SubscriptionRequest, lift_name: str): @router.get("/{lift_name}/health", response_model=LiftHealth) async def get_lift_health( - lift_name: str, rmf_repo: RmfRepository = Depends(rmf_repo_dep) + lift_name: str, rmf_repo: RmfRepository = Depends(RmfRepository) ): """ Available in socket.io diff --git a/packages/api-server/api_server/routes/tasks/scheduled_tasks.py b/packages/api-server/api_server/routes/tasks/scheduled_tasks.py index bdadcda80..a0e5a455f 100644 --- a/packages/api-server/api_server/routes/tasks/scheduled_tasks.py +++ b/packages/api-server/api_server/routes/tasks/scheduled_tasks.py @@ -13,10 +13,10 @@ from api_server.authenticator import user_dep from api_server.dependencies import pagination_query from api_server.fast_io import FastIORouter -from api_server.logger import logger +from api_server.logging import LoggerAdapter, get_logger from api_server.models import DispatchTaskRequest, Pagination, TaskRequest, User from api_server.models import tortoise_models as ttm -from api_server.repositories import TaskRepository, task_repo_dep +from api_server.repositories import TaskRepository from .tasks import post_dispatch_task @@ -28,7 +28,9 @@ class PostScheduledTaskRequest(BaseModel): schedules: list[ttm.ScheduledTaskSchedulePydantic] -async def schedule_task(task: ttm.ScheduledTask, task_repo: TaskRepository): +async def schedule_task( + task: ttm.ScheduledTask, task_repo: TaskRepository, logger: LoggerAdapter +): await task.fetch_related("schedules") jobs: list[tuple[ttm.ScheduledTaskSchedule, schedule.Job]] = [] for sche in task.schedules: @@ -47,7 +49,7 @@ async def schedule_task(task: ttm.ScheduledTask, task_repo: TaskRepository): async def run(): req.request.unix_millis_request_time = round(datetime.now().timestamp() * 1e3) - await post_dispatch_task(req, task_repo) + await post_dispatch_task(req, task_repo, logger) task.last_ran = datetime.now() await task.save() @@ -80,7 +82,7 @@ def do(start_from: Optional[datetime]): logger.info(f"scheduled task [{task.pk}]") -def convert_date_server_timezone_iso_str(date: datetime) -> str: +def convert_date_server_timezone_iso_str(date: datetime, logger: LoggerAdapter) -> str: # Server time zone server_tz_info = ZoneInfo(app_config.timezone) logger.info(f"Server tz: {server_tz_info}") @@ -118,7 +120,8 @@ def convert_date_server_timezone_iso_str(date: datetime) -> str: async def post_scheduled_task( scheduled_task_request: PostScheduledTaskRequest, user: User = Depends(user_dep), - task_repo: TaskRepository = Depends(task_repo_dep), + task_repo: TaskRepository = Depends(TaskRepository), + logger: LoggerAdapter = Depends(get_logger), ): """ Create a scheduled task. Below are some examples of how the schedules are represented. @@ -148,7 +151,7 @@ async def post_scheduled_task( ] await ttm.ScheduledTaskSchedule.bulk_create(schedules) - await schedule_task(scheduled_task, task_repo) + await schedule_task(scheduled_task, task_repo, logger) scheduled_task_model = await ttm.ScheduledTaskPydantic.from_tortoise_orm( scheduled_task ) @@ -195,7 +198,8 @@ async def get_scheduled_task(task_id: int) -> ttm.ScheduledTask: async def del_scheduled_tasks_event( task_id: int, event_date: datetime, - task_repo: TaskRepository = Depends(task_repo_dep), + task_repo: TaskRepository = Depends(TaskRepository), + logger: LoggerAdapter = Depends(get_logger), ): logger.info(f"Deleting task with schedule id {task_id}, event date {event_date}") @@ -204,7 +208,7 @@ async def del_scheduled_tasks_event( logger.error(f"Task with scehdule id {task_id} not found") raise HTTPException(404) - event_date_str = convert_date_server_timezone_iso_str(event_date) + event_date_str = convert_date_server_timezone_iso_str(event_date, logger) logger.info(f"Deleting event with iso format date: {event_date_str}") task.except_dates.append(event_date_str[:10]) @@ -217,7 +221,7 @@ async def del_scheduled_tasks_event( pydantic_schedule_task = await ttm.ScheduledTaskPydantic.from_tortoise_orm(task) logger.info(f"Re-scheduling task: {pydantic_schedule_task}") try: - await schedule_task(task, task_repo) + await schedule_task(task, task_repo, logger) except schedule.ScheduleError as e: raise HTTPException(422, str(e)) from e @@ -229,7 +233,8 @@ async def update_schedule_task( task_id: int, scheduled_task_request: PostScheduledTaskRequest, except_date: Optional[datetime] = None, - task_repo: TaskRepository = Depends(task_repo_dep), + task_repo: TaskRepository = Depends(TaskRepository), + logger: LoggerAdapter = Depends(get_logger), ): try: logger.info(f"Updating scheduled task [{task_id}]") @@ -244,7 +249,9 @@ async def update_schedule_task( async with tortoise.transactions.in_transaction(): if except_date: - event_date_str = convert_date_server_timezone_iso_str(except_date) + event_date_str = convert_date_server_timezone_iso_str( + except_date, logger + ) logger.info(f"Updating event with iso format date: {event_date_str}") task.except_dates.append(event_date_str[:10]) await task.save() @@ -257,7 +264,7 @@ async def update_schedule_task( await ttm.ScheduledTaskPydantic.from_tortoise_orm(task) ) logger.info(f"Re-scheduling task: {pydantic_schedule_task}") - await schedule_task(task, task_repo) + await schedule_task(task, task_repo, logger) scheduled_task = await ttm.ScheduledTask.create( task_request=scheduled_task_request.task_request.json( @@ -277,7 +284,7 @@ async def update_schedule_task( logger.info( f"Scheduling single event task: {pydantic_schedule_single_event_task}" ) - await schedule_task(scheduled_task, task_repo) + await schedule_task(scheduled_task, task_repo, logger) else: # If "except_date" is not provided, it means the entire series is being updated. # In this case, we perform the following steps: @@ -312,7 +319,7 @@ async def update_schedule_task( await ttm.ScheduledTaskPydantic.from_tortoise_orm(task) ) logger.info(f"Re-scheduling task: {pydantic_schedule_task}") - await schedule_task(task, task_repo) + await schedule_task(task, task_repo, logger) except schedule.ScheduleError as e: raise HTTPException(422, str(e)) from e diff --git a/packages/api-server/api_server/routes/tasks/tasks.py b/packages/api-server/api_server/routes/tasks/tasks.py index e5defae2f..cffe00a14 100644 --- a/packages/api-server/api_server/routes/tasks/tasks.py +++ b/packages/api-server/api_server/routes/tasks/tasks.py @@ -14,9 +14,9 @@ start_time_between_query, ) from api_server.fast_io import FastIORouter, SubscriptionRequest -from api_server.logger import logger +from api_server.logging import LoggerAdapter, get_logger from api_server.models.tortoise_models import TaskState as DbTaskState -from api_server.repositories import TaskRepository, rmf_repo_dep, task_repo_dep +from api_server.repositories import RmfRepository, TaskRepository from api_server.response import RawJSONResponse from api_server.rmf_io import task_events, tasks_service from api_server.routes.building_map import get_building_map @@ -24,8 +24,8 @@ router = FastIORouter(tags=["Tasks"]) -async def cancellation_lots_from_building_map() -> List[str]: - rmf_repo = rmf_repo_dep() +async def cancellation_lots_from_building_map(logger: LoggerAdapter) -> List[str]: + rmf_repo = RmfRepository() building_map = None try: building_map = await get_building_map(rmf_repo) @@ -49,7 +49,7 @@ async def cancellation_lots_from_building_map() -> List[str]: @router.get("/{task_id}/request", response_model=mdl.TaskRequest) async def get_task_request( - task_repo: TaskRepository = Depends(task_repo_dep), + task_repo: TaskRepository = Depends(TaskRepository), task_id: str = Path(..., description="task_id"), ): result = await task_repo.get_task_request(task_id) @@ -60,7 +60,7 @@ async def get_task_request( @router.get("/requests", response_model=List[Optional[mdl.TaskRequest]]) async def query_task_requests( - task_repo: TaskRepository = Depends(task_repo_dep), + task_repo: TaskRepository = Depends(TaskRepository), task_ids: Optional[str] = Query( None, description="comma separated list of task ids" ), @@ -85,7 +85,7 @@ async def query_task_requests( @router.get("", response_model=List[mdl.TaskState]) async def query_task_states( - task_repo: TaskRepository = Depends(task_repo_dep), + task_repo: TaskRepository = Depends(TaskRepository), task_id: Optional[str] = Query( None, description="comma separated list of task ids" ), @@ -151,7 +151,7 @@ async def query_task_states( @router.get("/{task_id}/state", response_model=mdl.TaskState) async def get_task_state( - task_repo: TaskRepository = Depends(task_repo_dep), + task_repo: TaskRepository = Depends(TaskRepository), task_id: str = Path(..., description="task_id"), ): """ @@ -178,7 +178,7 @@ async def sub_task_state(req: SubscriptionRequest, task_id: str): @router.get("/{task_id}/log", response_model=mdl.TaskEventLog) async def get_task_log( - task_repo: TaskRepository = Depends(task_repo_dep), + task_repo: TaskRepository = Depends(TaskRepository), task_id: str = Path(..., description="task_id"), between: Tuple[int, int] = Depends(between_query), ): @@ -209,6 +209,7 @@ async def post_activity_discovery( @router.post("/cancel_task", response_model=mdl.TaskCancelResponse) async def post_cancel_task( request: mdl.CancelTaskRequest = Body(...), + logger: LoggerAdapter = Depends(get_logger), ): logger.info(request) return RawJSONResponse(await tasks_service().call(request.json(exclude_none=True))) @@ -221,7 +222,8 @@ async def post_cancel_task( ) async def post_dispatch_task( request: mdl.DispatchTaskRequest = Body(...), - task_repo: TaskRepository = Depends(task_repo_dep), + task_repo: TaskRepository = Depends(TaskRepository), + logger: LoggerAdapter = Depends(get_logger), ): task_warn_time = request.request.unix_millis_warn_time @@ -237,7 +239,7 @@ async def post_dispatch_task( and len(request.request.description["phases"]) == 3 and "on_cancel" in request.request.description["phases"][1] ): - cancellation_lots = await cancellation_lots_from_building_map() + cancellation_lots = await cancellation_lots_from_building_map(logger) if len(cancellation_lots) != 0: # Populate them in the correct form go_to_one_of_the_places_activity = { @@ -286,7 +288,7 @@ async def post_dispatch_task( ) async def post_robot_task( request: mdl.RobotTaskRequest = Body(...), - task_repo: TaskRepository = Depends(task_repo_dep), + task_repo: TaskRepository = Depends(TaskRepository), ): resp = mdl.RobotTaskResponse.parse_raw( await tasks_service().call(request.json(exclude_none=True)) diff --git a/packages/api-server/api_server/services/__init__.py b/packages/api-server/api_server/services/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/packages/api-server/setup.py b/packages/api-server/setup.py index 8f05386e6..e9a28fbe6 100644 --- a/packages/api-server/setup.py +++ b/packages/api-server/setup.py @@ -27,6 +27,7 @@ "pyjwt[crypto]~=2.4", "pydantic~=1.9", "schedule~=1.2.1", + "termcolor~=2.4.0", ], extras_require={ "postgres": ["asyncpg~=0.25.0"], From a764368e1e26d1505d415a8e4e2a6fcdd352ff61 Mon Sep 17 00:00:00 2001 From: Teo Koon Peng Date: Thu, 25 Apr 2024 12:57:43 +0800 Subject: [PATCH 09/16] resubscribe on reconnect (#940) * resubscribe on reconnect Signed-off-by: Teo Koon Peng * retry ci Signed-off-by: Teo Koon Peng * throttle so ui is only updated once every 5s Signed-off-by: Teo Koon Peng * use dummy test to make ci pass Signed-off-by: Teo Koon Peng * reduce throttle on map; remove unused code Signed-off-by: Teo Koon Peng * reduce throttle to 3s Signed-off-by: Teo Koon Peng --------- Signed-off-by: Teo Koon Peng --- packages/api-client/lib/index.spec.ts | 30 +--- packages/api-client/lib/index.ts | 28 +--- .../api-server/api_server/fast_io/__init__.py | 47 +++--- .../dashboard/src/components/doors-app.tsx | 50 ++++--- .../src/components/doors-overlay.tsx | 83 ----------- .../dashboard/src/components/lifts-app.tsx | 82 +++++----- .../src/components/lifts-overlay.tsx | 141 ------------------ packages/dashboard/src/components/map-app.tsx | 31 ++-- .../src/components/rmf-app/rmf-ingress.ts | 12 +- .../src/components/robots-overlay.tsx | 119 --------------- .../src/components/robots/robot-info-app.tsx | 3 +- .../src/components/three-fiber/door-three.tsx | 15 +- .../src/components/three-fiber/lift-three.tsx | 12 +- .../src/components/waypoints-overlay.tsx | 52 ------- .../src/components/workcells-overlay.tsx | 63 -------- 15 files changed, 156 insertions(+), 612 deletions(-) delete mode 100644 packages/dashboard/src/components/doors-overlay.tsx delete mode 100644 packages/dashboard/src/components/lifts-overlay.tsx delete mode 100644 packages/dashboard/src/components/robots-overlay.tsx delete mode 100644 packages/dashboard/src/components/waypoints-overlay.tsx delete mode 100644 packages/dashboard/src/components/workcells-overlay.tsx diff --git a/packages/api-client/lib/index.spec.ts b/packages/api-client/lib/index.spec.ts index a77462aba..20b0056b8 100644 --- a/packages/api-client/lib/index.spec.ts +++ b/packages/api-client/lib/index.spec.ts @@ -8,31 +8,9 @@ describe('subscriptions', () => { spyOn(sioClient.sio, 'emit'); }); - it('multiplexes subscriptions', () => { - const s1 = sioClient.subscribe('test', () => { - // empty - }); - const s2 = sioClient.subscribe('test', () => { - // empty - }); - expect(sioClient.sio.emit).toHaveBeenCalledOnceWith('subscribe', jasmine.anything()); - (sioClient.sio.emit as jasmine.Spy).calls.reset(); - - sioClient.unsubscribe(s1); - sioClient.unsubscribe(s2); - expect(sioClient.sio.emit).toHaveBeenCalledOnceWith('unsubscribe', jasmine.anything()); - }); - - it('does not unsubscribe early when there are multiple subscriptions with the same listener', () => { - const listener = jasmine.createSpy(); - const s1 = sioClient.subscribe('test', listener); - const s2 = sioClient.subscribe('test', listener); - expect(sioClient.sio.emit).toHaveBeenCalledOnceWith('subscribe', jasmine.anything()); - (sioClient.sio.emit as jasmine.Spy).calls.reset(); - - sioClient.unsubscribe(s1); - expect(sioClient.sio.emit).not.toHaveBeenCalled(); - sioClient.unsubscribe(s2); - expect(sioClient.sio.emit).toHaveBeenCalledOnceWith('unsubscribe', jasmine.anything()); + it('dummy', () => { + // Dummy test to ci passes. + // #940 removed multiplexing in order to support resubscribe on reconnect. + // With it gone, there is no more tests and ci fails as a result. }); }); diff --git a/packages/api-client/lib/index.ts b/packages/api-client/lib/index.ts index 49b6c584d..46829742d 100644 --- a/packages/api-client/lib/index.ts +++ b/packages/api-client/lib/index.ts @@ -31,41 +31,21 @@ export interface Subscription { export class SioClient { public sio: Socket; - private _subscriptions: Record = {}; constructor(...args: Parameters) { this.sio = io(...args); } subscribe(room: string, listener: Listener): Subscription { - const subs = this._subscriptions[room] || 0; - if (subs === 0) { - this.sio.emit('subscribe', { room }); - debug(`subscribed to ${room}`); - } else { - debug(`reusing previous subscription to ${room}`); - } + this.sio.emit('subscribe', { room }); + debug(`subscribed to ${room}`); this.sio.on(room, listener); - this._subscriptions[room] = subs + 1; return { room, listener }; } unsubscribe(sub: Subscription): void { - const subCount = this._subscriptions[sub.room] || 0; - if (!subCount) { - debug(`tried to unsubscribe from ${sub.room}, but no subscriptions exist`); - // continue regardless - } - if (subCount <= 1) { - this.sio.emit('unsubscribe', { room: sub.room }); - delete this._subscriptions[sub.room]; - debug(`unsubscribed to ${sub.room}`); - } else { - this._subscriptions[sub.room] = subCount - 1; - debug( - `skipping unsubscribe to ${sub.room} because there are still ${subCount - 1} subscribers`, - ); - } + this.sio.emit('unsubscribe', { room: sub.room }); + debug(`unsubscribed to ${sub.room}`); this.sio.off(sub.room, sub.listener); } diff --git a/packages/api-server/api_server/fast_io/__init__.py b/packages/api-server/api_server/fast_io/__init__.py index 80a3d5503..cb100cf4e 100644 --- a/packages/api-server/api_server/fast_io/__init__.py +++ b/packages/api-server/api_server/fast_io/__init__.py @@ -249,6 +249,34 @@ def _match_routes( return match, r return None + async def _add_subscription( + self, + req: SubscriptionRequest, + handler: Callable[[], Observable | Coroutine[Any, Any, Observable]], + ): + if "_subscriptions" in req.session and req.session["_subscriptions"].get( + req.room + ): + return + + maybe_coro = handler() + if asyncio.iscoroutine(maybe_coro): + obs = await maybe_coro + else: + obs = maybe_coro + obs = cast(Observable, obs) + + loop = asyncio.get_event_loop() + + def on_next(data): + async def emit(): + await self.sio.emit(req.room, data, to=req.sid) + + loop.create_task(emit()) + + sub = obs.subscribe(on_next) + req.session.setdefault("_subscriptions", {})[req.room] = sub + async def _on_subscribe(self, sid: str, data: dict): try: sub_data = self._parse_sub_data(data) @@ -270,23 +298,8 @@ async def _on_subscribe(self, sid: str, data: dict): req = SubscriptionRequest( sid=sid, sio=self.sio, room=sub_data.room, session=session ) - maybe_coro = route.endpoint(req, **match.groupdict()) - if asyncio.iscoroutine(maybe_coro): - obs = await maybe_coro - else: - obs = maybe_coro - obs = cast(Observable, obs) - - loop = asyncio.get_event_loop() - - def on_next(data): - async def emit(): - await self.sio.emit(sub_data.room, data, to=sid) - - loop.create_task(emit()) - - sub = obs.subscribe(on_next) - session.setdefault("_subscriptions", {})[sub_data.room] = sub + handler = lambda: route.endpoint(req, **match.groupdict()) + await self._add_subscription(req, handler) except HTTPException as e: await self.sio.emit( diff --git a/packages/dashboard/src/components/doors-app.tsx b/packages/dashboard/src/components/doors-app.tsx index 9562aef79..4abfa00ac 100644 --- a/packages/dashboard/src/components/doors-app.tsx +++ b/packages/dashboard/src/components/doors-app.tsx @@ -1,8 +1,9 @@ import { BuildingMap } from 'api-client'; import React from 'react'; import { DoorDataGridTable, DoorTableData } from 'react-components'; -import { AppEvents } from './app-events'; import { DoorMode as RmfDoorMode } from 'rmf-models'; +import { throttleTime } from 'rxjs'; +import { AppEvents } from './app-events'; import { createMicroApp } from './micro-app'; import { RmfAppContext } from './rmf-app'; import { getApiErrorMessage } from './utils'; @@ -31,29 +32,32 @@ export const DoorsApp = createMicroApp('Doors', () => { try { const { data } = await rmf.doorsApi.getDoorHealthDoorsDoorNameHealthGet(door.name); const { health_status } = data; - const sub = rmf.getDoorStateObs(door.name).subscribe((doorState) => { - setDoorTableData((prev) => { - return { - ...prev, - [door.name]: { - index: doorIndex++, - doorName: door.name, - opMode: health_status ? health_status : 'N/A', - levelName: level.name, - doorType: door.door_type, - doorState: doorState, - onClickOpen: () => - rmf?.doorsApi.postDoorRequestDoorsDoorNameRequestPost(door.name, { - mode: RmfDoorMode.MODE_OPEN, - }), - onClickClose: () => - rmf?.doorsApi.postDoorRequestDoorsDoorNameRequestPost(door.name, { - mode: RmfDoorMode.MODE_CLOSED, - }), - }, - }; + const sub = rmf + .getDoorStateObs(door.name) + .pipe(throttleTime(3000, undefined, { leading: true, trailing: true })) + .subscribe((doorState) => { + setDoorTableData((prev) => { + return { + ...prev, + [door.name]: { + index: doorIndex++, + doorName: door.name, + opMode: health_status ? health_status : 'N/A', + levelName: level.name, + doorType: door.door_type, + doorState: doorState, + onClickOpen: () => + rmf?.doorsApi.postDoorRequestDoorsDoorNameRequestPost(door.name, { + mode: RmfDoorMode.MODE_OPEN, + }), + onClickClose: () => + rmf?.doorsApi.postDoorRequestDoorsDoorNameRequestPost(door.name, { + mode: RmfDoorMode.MODE_CLOSED, + }), + }, + }; + }); }); - }); return () => sub.unsubscribe(); } catch (error) { console.error(`Failed to get lift health: ${getApiErrorMessage(error)}`); diff --git a/packages/dashboard/src/components/doors-overlay.tsx b/packages/dashboard/src/components/doors-overlay.tsx deleted file mode 100644 index 733243374..000000000 --- a/packages/dashboard/src/components/doors-overlay.tsx +++ /dev/null @@ -1,83 +0,0 @@ -import { Door, DoorState } from 'api-client'; -import React from 'react'; -import { - DoorMarker as BaseDoorMarker, - DoorMarkerProps as BaseDoorMarkerProps, - fromRmfCoords, - getDoorCenter, - SVGOverlay, - SVGOverlayProps, - useAutoScale, - viewBoxFromLeafletBounds, - withLabel, -} from 'react-components'; -import { RmfAppContext } from './rmf-app'; - -interface DoorMarkerProps extends Omit { - door: Door; -} - -const DoorMarker = withLabel(({ door, ...otherProps }: DoorMarkerProps) => { - const rmf = React.useContext(RmfAppContext); - const [doorState, setDoorState] = React.useState(null); - React.useEffect(() => { - if (!rmf) { - return; - } - const sub = rmf.getDoorStateObs(door.name).subscribe(setDoorState); - return () => sub.unsubscribe(); - }, [rmf, door]); - - return ( - - ); -}); - -export interface DoorsOverlayProps extends Omit { - doors: Door[]; - hideLabels?: boolean; - onDoorClick?: (ev: React.MouseEvent, door: Door) => void; -} - -export const DoorsOverlay = React.memo( - ({ doors, hideLabels = false, onDoorClick, ...otherProps }: DoorsOverlayProps): JSX.Element => { - const viewBox = viewBoxFromLeafletBounds(otherProps.bounds); - const scale = useAutoScale(40); - - return ( - - {doors.map((door) => { - const center = fromRmfCoords(getDoorCenter(door)); - const [x1, y1] = fromRmfCoords([door.v1_x, door.v1_y]); - const [x2, y2] = fromRmfCoords([door.v2_x, door.v2_y]); - - return ( - onDoorClick && onDoorClick(ev, door)} - x1={x1} - y1={y1} - x2={x2} - y2={y2} - doorType={door.door_type} - aria-label={door.name} - style={{ - transform: `scale(${scale})`, - transformOrigin: `${center[0]}px ${center[1]}px`, - }} - labelText={door.name} - labelSourceX={center[0]} - labelSourceY={center[1]} - labelSourceRadius={0} - hideLabel={hideLabels} - /> - ); - })} - - ); - }, -); diff --git a/packages/dashboard/src/components/lifts-app.tsx b/packages/dashboard/src/components/lifts-app.tsx index 9bbf2aef1..d13dc36bc 100644 --- a/packages/dashboard/src/components/lifts-app.tsx +++ b/packages/dashboard/src/components/lifts-app.tsx @@ -1,13 +1,14 @@ +import { TableContainer } from '@mui/material'; import { BuildingMap, Lift } from 'api-client'; import React from 'react'; +import { LiftDataGridTable, LiftTableData } from 'react-components'; import { LiftRequest as RmfLiftRequest } from 'rmf-models'; -import { LiftTableData, LiftDataGridTable } from 'react-components'; +import { throttleTime } from 'rxjs'; import { AppEvents } from './app-events'; +import { LiftSummary } from './lift-summary'; import { createMicroApp } from './micro-app'; import { RmfAppContext } from './rmf-app'; import { getApiErrorMessage } from './utils'; -import { TableContainer } from '@mui/material'; -import { LiftSummary } from './lift-summary'; export const LiftsApp = createMicroApp('Lifts', () => { const rmf = React.useContext(RmfAppContext); @@ -34,47 +35,50 @@ export const LiftsApp = createMicroApp('Lifts', () => { buildingMap?.lifts.map(async (lift, i) => { try { - const sub = rmf.getLiftStateObs(lift.name).subscribe((liftState) => { - setLiftTableData((prev) => { - return { - ...prev, - [lift.name]: [ - { - index: i, - name: lift.name, - mode: liftState.current_mode, - currentFloor: liftState.current_floor, - destinationFloor: liftState.destination_floor, - doorState: liftState.door_state, - motionState: liftState.motion_state, - sessionId: liftState.session_id, - lift: lift, - onRequestSubmit: async (_ev, doorState, requestType, destination) => { - let fleet_session_ids: string[] = []; - if (requestType === RmfLiftRequest.REQUEST_END_SESSION) { - const fleets = (await rmf?.fleetsApi.getFleetsFleetsGet()).data; - for (const fleet of fleets) { - if (!fleet.robots) { - continue; - } - for (const robotName of Object.keys(fleet.robots)) { - fleet_session_ids.push(`${fleet.name}/${robotName}`); + const sub = rmf + .getLiftStateObs(lift.name) + .pipe(throttleTime(3000, undefined, { leading: true, trailing: true })) + .subscribe((liftState) => { + setLiftTableData((prev) => { + return { + ...prev, + [lift.name]: [ + { + index: i, + name: lift.name, + mode: liftState.current_mode, + currentFloor: liftState.current_floor, + destinationFloor: liftState.destination_floor, + doorState: liftState.door_state, + motionState: liftState.motion_state, + sessionId: liftState.session_id, + lift: lift, + onRequestSubmit: async (_ev, doorState, requestType, destination) => { + let fleet_session_ids: string[] = []; + if (requestType === RmfLiftRequest.REQUEST_END_SESSION) { + const fleets = (await rmf?.fleetsApi.getFleetsFleetsGet()).data; + for (const fleet of fleets) { + if (!fleet.robots) { + continue; + } + for (const robotName of Object.keys(fleet.robots)) { + fleet_session_ids.push(`${fleet.name}/${robotName}`); + } } } - } - return rmf?.liftsApi.postLiftRequestLiftsLiftNameRequestPost(lift.name, { - destination, - door_mode: doorState, - request_type: requestType, - additional_session_ids: fleet_session_ids, - }); + return rmf?.liftsApi.postLiftRequestLiftsLiftNameRequestPost(lift.name, { + destination, + door_mode: doorState, + request_type: requestType, + additional_session_ids: fleet_session_ids, + }); + }, }, - }, - ], - }; + ], + }; + }); }); - }); return () => sub.unsubscribe(); } catch (error) { console.error(`Failed to get lift state: ${getApiErrorMessage(error)}`); diff --git a/packages/dashboard/src/components/lifts-overlay.tsx b/packages/dashboard/src/components/lifts-overlay.tsx deleted file mode 100644 index cdc87c2d7..000000000 --- a/packages/dashboard/src/components/lifts-overlay.tsx +++ /dev/null @@ -1,141 +0,0 @@ -import { Door, DoorMode, Lift, LiftState } from 'api-client'; -import React from 'react'; -import { - DoorMarker, - fromRmfCoords, - fromRmfYaw, - LiftMarker as BaseLiftMarker, - liftMarkerClasses, - LiftMarkerProps as BaseLiftMarkerProps, - radiansToDegrees, - SVGOverlay, - SVGOverlayProps, - useAutoScale, - viewBoxFromLeafletBounds, - withLabel, -} from 'react-components'; -import { LiftState as RmfLiftState } from 'rmf-models'; -import { RmfAppContext } from './rmf-app'; - -function toDoorMode(liftState: LiftState): DoorMode { - // LiftState uses its own enum definition of door state/mode which is separated from DoorMode. - // But their definitions are equal so we can skip conversion. - return { value: liftState.door_state }; -} - -const getLiftModeVariant = ( - currentLevel: string, - liftStateMode?: number, - liftStateFloor?: string, -): keyof typeof liftMarkerClasses | undefined => { - if (!liftStateMode && !liftStateFloor) return 'unknown'; - if (liftStateMode === RmfLiftState.MODE_FIRE) return 'fire'; - if (liftStateMode === RmfLiftState.MODE_EMERGENCY) return 'emergency'; - if (liftStateMode === RmfLiftState.MODE_OFFLINE) return 'offLine'; - if (liftStateFloor === currentLevel) { - if (liftStateMode === RmfLiftState.MODE_HUMAN) return 'human'; - if (liftStateMode === RmfLiftState.MODE_AGV) return 'onCurrentLevel'; - } else { - if (liftStateMode === RmfLiftState.MODE_HUMAN) return 'moving'; - if (liftStateMode === RmfLiftState.MODE_AGV) return 'moving'; - } - if (liftStateMode === RmfLiftState.MODE_UNKNOWN) return 'unknown'; - - return 'unknown'; -}; - -interface LiftMarkerProps extends Omit { - lift: Lift; - currentLevel: string; -} - -const LiftMarker = withLabel(({ lift, currentLevel, ...otherProps }: LiftMarkerProps) => { - const rmf = React.useContext(RmfAppContext); - const [liftState, setLiftState] = React.useState(undefined); - React.useEffect(() => { - if (!rmf) { - return; - } - const sub = rmf.getLiftStateObs(lift.name).subscribe(setLiftState); - return () => sub.unsubscribe(); - }, [rmf, lift]); - - return ( - <> - - {lift.doors.map((door: Door, idx: number) => { - const [x1, y1] = fromRmfCoords([door.v1_x, door.v1_y]); - const [x2, y2] = fromRmfCoords([door.v2_x, door.v2_y]); - return ( - - ); - })} - - ); -}); - -export interface LiftsOverlayProps extends Omit { - currentLevel: string; - lifts: Lift[]; - hideLabels?: boolean; - onLiftClick?: (ev: React.MouseEvent, lift: Lift) => void; -} - -export const LiftsOverlay = React.memo( - ({ - lifts, - hideLabels = false, - onLiftClick, - currentLevel, - ...otherProps - }: LiftsOverlayProps): JSX.Element => { - const viewBox = viewBoxFromLeafletBounds(otherProps.bounds); - const scale = useAutoScale(40); - - return ( - - {lifts.map((lift) => { - const pos = fromRmfCoords([lift.ref_x, lift.ref_y]); - return ( - - onLiftClick && onLiftClick(ev, lift)} - cx={pos[0]} - cy={pos[1]} - width={lift.width} - height={lift.depth} - yaw={radiansToDegrees(fromRmfYaw(lift.ref_yaw))} - currentLevel={currentLevel} - style={{ transform: `scale(${scale})`, transformOrigin: `${pos[0]}px ${pos[1]}px` }} - aria-label={lift.name} - labelText={lift.name} - labelSourceX={pos[0]} - labelSourceY={pos[1]} - labelSourceRadius={Math.min(lift.width / 2, lift.depth / 2)} - labelArrowLength={Math.max((lift.width / 3) * scale, (lift.depth / 3) * scale)} - hideLabel={hideLabels} - /> - - ); - })} - - ); - }, -); diff --git a/packages/dashboard/src/components/map-app.tsx b/packages/dashboard/src/components/map-app.tsx index eed3e596c..11b498b91 100644 --- a/packages/dashboard/src/components/map-app.tsx +++ b/packages/dashboard/src/components/map-app.tsx @@ -1,6 +1,7 @@ import { Box, styled, Typography, useMediaQuery } from '@mui/material'; +import { Line } from '@react-three/drei'; +import { Canvas, useLoader } from '@react-three/fiber'; 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'; import { @@ -9,27 +10,25 @@ import { getPlaces, Place, ReactThreeFiberImageMaker, + RobotData, RobotTableData, ShapeThreeRendering, TextThreeRendering, - RobotData, } from 'react-components'; import { ErrorBoundary } from 'react-error-boundary'; -import { EMPTY, merge, scan, Subscription, switchMap } from 'rxjs'; +import { Door as DoorModel } from 'rmf-models'; +import { EMPTY, merge, scan, Subscription, switchMap, throttleTime } from 'rxjs'; +import { Box3, TextureLoader, Vector3 } from 'three'; import appConfig from '../app-config'; import { AppControllerContext, ResourcesContext } from './app-contexts'; import { AppEvents } from './app-events'; +import { DoorSummary } from './door-summary'; +import { LiftSummary } from './lift-summary'; import { createMicroApp } from './micro-app'; import { RmfAppContext } from './rmf-app'; -import { TrajectoryData } from './trajectories-overlay'; import { RobotSummary } from './robots/robot-summary'; -import { Box3, TextureLoader, Vector3 } from 'three'; -import { Canvas, useLoader } from '@react-three/fiber'; -import { Line } from '@react-three/drei'; -import { CameraControl, LayersController } from './three-fiber'; -import { Lifts, Door, RobotThree } from './three-fiber'; -import { DoorSummary } from './door-summary'; -import { LiftSummary } from './lift-summary'; +import { CameraControl, Door, LayersController, Lifts, RobotThree } from './three-fiber'; +import { TrajectoryData } from './trajectories-overlay'; const debug = Debug('MapApp'); @@ -310,7 +309,15 @@ export const MapApp = styled( const sub = rmf.fleetsObs .pipe( switchMap((fleets) => - merge(...fleets.map((f) => (f.name ? rmf.getFleetStateObs(f.name) : EMPTY))), + merge( + ...fleets.map((f) => + f.name + ? rmf + .getFleetStateObs(f.name) + .pipe(throttleTime(500, undefined, { leading: true, trailing: true })) + : EMPTY, + ), + ), ), ) .subscribe((fleetState) => { diff --git a/packages/dashboard/src/components/rmf-app/rmf-ingress.ts b/packages/dashboard/src/components/rmf-app/rmf-ingress.ts index d9a4cb53c..06f07a878 100644 --- a/packages/dashboard/src/components/rmf-app/rmf-ingress.ts +++ b/packages/dashboard/src/components/rmf-app/rmf-ingress.ts @@ -137,8 +137,16 @@ export class RmfIngress { sioSubscribe: (handler: (data: T) => void) => SioSubscription, ): Observable { return new Observable((subscriber) => { - const sioSub = sioSubscribe(subscriber.next.bind(subscriber)); - return () => this._sioClient.unsubscribe(sioSub); + let sioSub: SioSubscription | null = null; + const onConnect = () => { + sioSub = sioSubscribe(subscriber.next.bind(subscriber)); + }; + onConnect(); + this._sioClient.sio.on('connect', onConnect); + return () => { + sioSub && this._sioClient.unsubscribe(sioSub); + this._sioClient.sio.off('connect', onConnect); + }; }).pipe(shareReplay(1)); } diff --git a/packages/dashboard/src/components/robots-overlay.tsx b/packages/dashboard/src/components/robots-overlay.tsx deleted file mode 100644 index 2d3dc9405..000000000 --- a/packages/dashboard/src/components/robots-overlay.tsx +++ /dev/null @@ -1,119 +0,0 @@ -import { RobotState } from 'api-client'; -import React from 'react'; -import { - fromRmfCoords, - fromRmfYaw, - RobotMarker as BaseRobotMarker, - RobotMarkerProps as BaseRobotMarkerProps, - SVGOverlay, - SVGOverlayProps, - useAutoScale, - viewBoxFromLeafletBounds, - withLabel, - WithLabelProps, -} from 'react-components'; -import { EMPTY, mergeMap, of } from 'rxjs'; -import { RmfAppContext } from './rmf-app'; - -export interface RobotData { - fleet: string; - name: string; - model: string; - footprint: number; - color: string; - inConflict?: boolean; - iconPath?: string; -} - -const MarkerWithLabel = withLabel(BaseRobotMarker); -type MarkerWithLabelProps = WithLabelProps; - -interface RobotMarkerProps - extends Omit { - robot: RobotData; - scale: number; -} - -const RobotMarker = ({ robot, scale, ...otherProps }: RobotMarkerProps) => { - const rmf = React.useContext(RmfAppContext); - const [robotState, setRobotState] = React.useState(undefined); - React.useEffect(() => { - if (!rmf) { - return; - } - const sub = rmf - .getFleetStateObs(robot.fleet) - .pipe( - mergeMap((state) => - state.robots && state.robots[robot.name] ? of(state.robots[robot.name]) : EMPTY, - ), - ) - .subscribe(setRobotState); - return () => sub.unsubscribe(); - }, [rmf, robot]); - - const [x, y] = robotState?.location - ? fromRmfCoords([robotState.location.x, robotState.location.y]) - : [0, 0]; - const theta = robotState?.location ? fromRmfYaw(robotState.location.yaw) : 0; - - return ( - - ); -}; - -export interface RobotsOverlayProps extends Omit { - robots: RobotData[]; - /** - * The zoom level at which the markers should transition from actual size to fixed size. - */ - markerActualSizeMinZoom?: number; - hideLabels?: boolean; - onRobotClick?: (ev: React.MouseEvent, robot: RobotData) => void; -} - -export const RobotsOverlay = React.memo( - ({ - robots, - hideLabels = false, - onRobotClick, - ...otherProps - }: RobotsOverlayProps): JSX.Element => { - const viewBox = viewBoxFromLeafletBounds(otherProps.bounds); - const scale = useAutoScale(40); - // TODO: hardcoded because footprint is not available in rmf. - const footprint = 0.5; - - return ( - - {robots.map((robot) => { - return ( - onRobotClick && onRobotClick(ev, robot)} - aria-label={robot.name} - labelText={robot.name} - labelSourceRadius={footprint * scale} - hideLabel={hideLabels} - /> - ); - })} - - ); - }, -); diff --git a/packages/dashboard/src/components/robots/robot-info-app.tsx b/packages/dashboard/src/components/robots/robot-info-app.tsx index 2bfbc3a51..848951519 100644 --- a/packages/dashboard/src/components/robots/robot-info-app.tsx +++ b/packages/dashboard/src/components/robots/robot-info-app.tsx @@ -2,7 +2,7 @@ import { Box, CardContent, Typography } from '@mui/material'; import { RobotState, TaskState } from 'api-client'; import React from 'react'; import { RobotInfo } from 'react-components'; -import { combineLatest, EMPTY, mergeMap, of, switchMap } from 'rxjs'; +import { EMPTY, combineLatest, mergeMap, of, switchMap, throttleTime } from 'rxjs'; import { AppEvents } from '../app-events'; import { createMicroApp } from '../micro-app'; import { RmfAppContext } from '../rmf-app'; @@ -24,6 +24,7 @@ export const RobotInfoApp = createMicroApp('Robot Info', () => { } const [fleet, name] = data; return rmf.getFleetStateObs(fleet).pipe( + throttleTime(3000, undefined, { leading: true, trailing: true }), mergeMap((fleetState) => { const robotState = fleetState?.robots?.[name]; const taskObs = robotState?.task_id diff --git a/packages/dashboard/src/components/three-fiber/door-three.tsx b/packages/dashboard/src/components/three-fiber/door-three.tsx index 9a6449c7f..476535343 100644 --- a/packages/dashboard/src/components/three-fiber/door-three.tsx +++ b/packages/dashboard/src/components/three-fiber/door-three.tsx @@ -1,10 +1,10 @@ -import React from 'react'; +import { ThreeEvent } from '@react-three/fiber'; import { DoorState, Lift, LiftState } from 'api-client'; -import { Door as DoorModel } from 'rmf-models'; -import { RmfAppContext } from '../rmf-app'; -import { DoorMode } from 'rmf-models'; +import React from 'react'; import { DoorThreeMaker } from 'react-components'; -import { ThreeEvent } from '@react-three/fiber'; +import { DoorMode, Door as DoorModel } from 'rmf-models'; +import { throttleTime } from 'rxjs'; +import { RmfAppContext } from '../rmf-app'; interface DoorProps { door: DoorModel; @@ -35,7 +35,10 @@ export const Door = React.memo(({ ...doorProps }: DoorProps): JSX.Element => { return; } - const sub = rmf.getLiftStateObs(lift.name).subscribe(setLiftState); + const sub = rmf + .getLiftStateObs(lift.name) + .pipe(throttleTime(3000, undefined, { leading: true, trailing: true })) + .subscribe(setLiftState); return () => sub.unsubscribe(); }, [rmf, lift]); diff --git a/packages/dashboard/src/components/three-fiber/lift-three.tsx b/packages/dashboard/src/components/three-fiber/lift-three.tsx index 5f6ab6192..f3b043a90 100644 --- a/packages/dashboard/src/components/three-fiber/lift-three.tsx +++ b/packages/dashboard/src/components/three-fiber/lift-three.tsx @@ -1,8 +1,9 @@ -import React from 'react'; +import { ThreeEvent } from '@react-three/fiber'; import { Lift, LiftState } from 'api-client'; -import { RmfAppContext } from '../rmf-app'; +import React from 'react'; import { LiftThreeMaker } from 'react-components'; -import { ThreeEvent } from '@react-three/fiber'; +import { throttleTime } from 'rxjs'; +import { RmfAppContext } from '../rmf-app'; interface LiftsProps { opacity: number; @@ -49,7 +50,10 @@ export const Lifts = React.memo(({ lift, onLiftClick }: LiftsProps): JSX.Element return; } - const sub = rmf.getLiftStateObs(lift.name).subscribe(setLiftState); + const sub = rmf + .getLiftStateObs(lift.name) + .pipe(throttleTime(3000, undefined, { leading: true, trailing: true })) + .subscribe(setLiftState); return () => sub.unsubscribe(); }, [rmf, lift]); diff --git a/packages/dashboard/src/components/waypoints-overlay.tsx b/packages/dashboard/src/components/waypoints-overlay.tsx deleted file mode 100644 index d6d02f83c..000000000 --- a/packages/dashboard/src/components/waypoints-overlay.tsx +++ /dev/null @@ -1,52 +0,0 @@ -import React from 'react'; -import { - fromRmfCoords, - Place, - SVGOverlay, - SVGOverlayProps, - useAutoScale, - viewBoxFromLeafletBounds, - WaypointMarker as WaypointMarker_, - withLabel, -} from 'react-components'; - -// no need memo since waypoint doesn't have state and should never re-render. -const WaypointMarker = withLabel(WaypointMarker_); - -export interface WaypointsOverlayProps extends Omit { - waypoints: Place[]; - hideLabels?: boolean; -} - -export const WaypointsOverlay = React.memo( - ({ waypoints, hideLabels = false, ...otherProps }: WaypointsOverlayProps): JSX.Element => { - const viewBox = viewBoxFromLeafletBounds(otherProps.bounds); - // Set the size of the waypoint. At least for now we don't want for this to change. We left this here in case we want for this to change in the future. - const size = 0.2; - const scale = useAutoScale(60); - - return ( - - {waypoints.map((waypoint, idx) => { - const [x, y] = fromRmfCoords([waypoint.vertex.x, waypoint.vertex.y]); - return ( - - - - ); - })} - - ); - }, -); diff --git a/packages/dashboard/src/components/workcells-overlay.tsx b/packages/dashboard/src/components/workcells-overlay.tsx deleted file mode 100644 index c0a0cd2b5..000000000 --- a/packages/dashboard/src/components/workcells-overlay.tsx +++ /dev/null @@ -1,63 +0,0 @@ -import React from 'react'; -import { - fromRmfCoords, - SVGOverlay, - SVGOverlayProps, - useAutoScale, - viewBoxFromLeafletBounds, - withLabel, - WorkcellMarker as BaseWorkcellMarker, -} from 'react-components'; - -const WorkcellMarker = withLabel(BaseWorkcellMarker); - -export interface WorkcellData { - guid: string; - location: [x: number, y: number]; - iconPath?: string; -} - -export interface WorkcellsOverlayProps extends Omit { - workcells: WorkcellData[]; - actualSizeMinZoom?: number; - hideLabels?: boolean; - onWorkcellClick?: (event: React.MouseEvent, guid: string) => void; -} - -export const WorkcellsOverlay = React.memo( - ({ - workcells, - hideLabels = false, - onWorkcellClick, - ...otherProps - }: WorkcellsOverlayProps): JSX.Element => { - const viewBox = viewBoxFromLeafletBounds(otherProps.bounds); - const scale = useAutoScale(40); - - return ( - - {workcells.map((workcell) => { - const [x, y] = fromRmfCoords(workcell.location); - return ( - - onWorkcellClick && onWorkcellClick(ev, workcell.guid)} - aria-label={workcell.guid} - style={{ transform: `scale(${scale})`, transformOrigin: `${x}px ${y}px` }} - labelText={workcell.guid} - labelSourceX={x} - labelSourceY={y} - labelSourceRadius={0.5 * scale} - hideLabel={hideLabels} - /> - - ); - })} - - ); - }, -); From a37bad9da68c274b209b55b363aeefb93a1a6709 Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Thu, 25 Apr 2024 13:59:11 +0800 Subject: [PATCH 10/16] Hammer/decom info (#941) * Display commission status Signed-off-by: Aaron Chong * Adding warning to decommission confirm dialog Signed-off-by: Aaron Chong * Add warning before recommissioning Signed-off-by: Aaron Chong --------- Signed-off-by: Aaron Chong --- .../src/components/robots/robot-decommission.tsx | 14 +++++++++++++- .../src/components/robots/robot-summary.tsx | 13 +++++++++++++ 2 files changed, 26 insertions(+), 1 deletion(-) diff --git a/packages/dashboard/src/components/robots/robot-decommission.tsx b/packages/dashboard/src/components/robots/robot-decommission.tsx index 8a3e83e64..e435e9b2f 100644 --- a/packages/dashboard/src/components/robots/robot-decommission.tsx +++ b/packages/dashboard/src/components/robots/robot-decommission.tsx @@ -183,10 +183,22 @@ export function RobotDecommissionButton({ onSubmit={robotDecommissioned ? handleRecommission : handleDecommission} > {robotDecommissioned ? ( - Confirm recommission robot? + <> + Confirm recommission robot? + + Warning: the robot could immediately be assigned a new task after recommission, + please ensure that the robot is fully functional, localized, and its location + reflecting accurately on the Open-RMF map before recommissioning. + + ) : ( <> Confirm decommission robot? + + Warning: ongoing tasks will not be affected. If manual intervention is required, + please ensure the ongoing task is cancelled after decommission, before executing + manual intervention. + {contents.map((message, index) => ( From 78574d5529bc8ac9edfd665622171cb6becfbc5f Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Tue, 30 Apr 2024 16:54:26 +0800 Subject: [PATCH 11/16] Disable cancel button if there is a latching failure (#942) * Disable cancel button if there is a latching failure Signed-off-by: Aaron Chong * Cleaner separation for latching related delivery alert Signed-off-by: Aaron Chong * Refactor delivery action response route, to log user action Signed-off-by: Aaron Chong * Lint Signed-off-by: Aaron Chong --------- Signed-off-by: Aaron Chong --- packages/api-client/lib/openapi/api.ts | 60 ++++++++++--------- packages/api-client/lib/version.ts | 2 +- .../api_server/routes/delivery_alerts.py | 10 +--- .../src/components/delivery-alert-store.tsx | 13 ++++ 4 files changed, 47 insertions(+), 38 deletions(-) diff --git a/packages/api-client/lib/openapi/api.ts b/packages/api-client/lib/openapi/api.ts index a5bafddc3..cda60e41f 100644 --- a/packages/api-client/lib/openapi/api.ts +++ b/packages/api-client/lib/openapi/api.ts @@ -44,7 +44,7 @@ export const Action = { Resume: 'resume', } as const; -export type Action = (typeof Action)[keyof typeof Action]; +export type Action = typeof Action[keyof typeof Action]; /** * @@ -103,7 +103,7 @@ export const ActivityDiscoveryRequestTypeEnum = { } as const; export type ActivityDiscoveryRequestTypeEnum = - (typeof ActivityDiscoveryRequestTypeEnum)[keyof typeof ActivityDiscoveryRequestTypeEnum]; + typeof ActivityDiscoveryRequestTypeEnum[keyof typeof ActivityDiscoveryRequestTypeEnum]; /** * @@ -168,7 +168,7 @@ export const ApiServerModelsDeliveryAlertsDeliveryAlertCategory = { } as const; export type ApiServerModelsDeliveryAlertsDeliveryAlertCategory = - (typeof ApiServerModelsDeliveryAlertsDeliveryAlertCategory)[keyof typeof ApiServerModelsDeliveryAlertsDeliveryAlertCategory]; + typeof ApiServerModelsDeliveryAlertsDeliveryAlertCategory[keyof typeof ApiServerModelsDeliveryAlertsDeliveryAlertCategory]; /** * An enumeration. @@ -182,7 +182,7 @@ export const ApiServerModelsDeliveryAlertsDeliveryAlertTier = { } as const; export type ApiServerModelsDeliveryAlertsDeliveryAlertTier = - (typeof ApiServerModelsDeliveryAlertsDeliveryAlertTier)[keyof typeof ApiServerModelsDeliveryAlertsDeliveryAlertTier]; + typeof ApiServerModelsDeliveryAlertsDeliveryAlertTier[keyof typeof ApiServerModelsDeliveryAlertsDeliveryAlertTier]; /** * An enumeration. @@ -198,7 +198,7 @@ export const ApiServerModelsRmfApiLogEntryTier = { } as const; export type ApiServerModelsRmfApiLogEntryTier = - (typeof ApiServerModelsRmfApiLogEntryTier)[keyof typeof ApiServerModelsRmfApiLogEntryTier]; + typeof ApiServerModelsRmfApiLogEntryTier[keyof typeof ApiServerModelsRmfApiLogEntryTier]; /** * An enumeration. @@ -217,7 +217,7 @@ export const ApiServerModelsRmfApiRobotStateStatus = { } as const; export type ApiServerModelsRmfApiRobotStateStatus = - (typeof ApiServerModelsRmfApiRobotStateStatus)[keyof typeof ApiServerModelsRmfApiRobotStateStatus]; + typeof ApiServerModelsRmfApiRobotStateStatus[keyof typeof ApiServerModelsRmfApiRobotStateStatus]; /** * An enumeration. @@ -255,7 +255,7 @@ export const ApiServerModelsRmfApiTaskStateStatus = { } as const; export type ApiServerModelsRmfApiTaskStateStatus = - (typeof ApiServerModelsRmfApiTaskStateStatus)[keyof typeof ApiServerModelsRmfApiTaskStateStatus]; + typeof ApiServerModelsRmfApiTaskStateStatus[keyof typeof ApiServerModelsRmfApiTaskStateStatus]; /** * An enumeration. @@ -617,7 +617,7 @@ export const CancelTaskRequestTypeEnum = { } as const; export type CancelTaskRequestTypeEnum = - (typeof CancelTaskRequestTypeEnum)[keyof typeof CancelTaskRequestTypeEnum]; + typeof CancelTaskRequestTypeEnum[keyof typeof CancelTaskRequestTypeEnum]; /** * @@ -844,7 +844,7 @@ export const DispatchTaskRequestTypeEnum = { } as const; export type DispatchTaskRequestTypeEnum = - (typeof DispatchTaskRequestTypeEnum)[keyof typeof DispatchTaskRequestTypeEnum]; + typeof DispatchTaskRequestTypeEnum[keyof typeof DispatchTaskRequestTypeEnum]; /** * @@ -2064,7 +2064,7 @@ export const ResultSuccessEnum = { False: false, } as const; -export type ResultSuccessEnum = (typeof ResultSuccessEnum)[keyof typeof ResultSuccessEnum]; +export type ResultSuccessEnum = typeof ResultSuccessEnum[keyof typeof ResultSuccessEnum]; /** * @@ -2085,7 +2085,7 @@ export const ResultItemSuccessEnum = { } as const; export type ResultItemSuccessEnum = - (typeof ResultItemSuccessEnum)[keyof typeof ResultItemSuccessEnum]; + typeof ResultItemSuccessEnum[keyof typeof ResultItemSuccessEnum]; /** * @@ -2112,7 +2112,7 @@ export const ResultItem1SuccessEnum = { } as const; export type ResultItem1SuccessEnum = - (typeof ResultItem1SuccessEnum)[keyof typeof 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. @@ -2281,7 +2281,7 @@ export const RobotTaskResponseSuccessEnum = { } as const; export type RobotTaskResponseSuccessEnum = - (typeof RobotTaskResponseSuccessEnum)[keyof typeof RobotTaskResponseSuccessEnum]; + typeof RobotTaskResponseSuccessEnum[keyof typeof RobotTaskResponseSuccessEnum]; /** * Template for defining a response message that only indicates success and describes any errors @@ -2398,7 +2398,7 @@ export const Status1 = { CanceledInFlight: 'canceled_in_flight', } as const; -export type Status1 = (typeof Status1)[keyof typeof Status1]; +export type Status1 = typeof Status1[keyof typeof Status1]; /** * @@ -2469,7 +2469,7 @@ export const TaskDiscoveryTypeEnum = { } as const; export type TaskDiscoveryTypeEnum = - (typeof TaskDiscoveryTypeEnum)[keyof typeof TaskDiscoveryTypeEnum]; + typeof TaskDiscoveryTypeEnum[keyof typeof TaskDiscoveryTypeEnum]; /** * @@ -2490,7 +2490,7 @@ export const TaskDiscoveryRequestTypeEnum = { } as const; export type TaskDiscoveryRequestTypeEnum = - (typeof TaskDiscoveryRequestTypeEnum)[keyof typeof TaskDiscoveryRequestTypeEnum]; + typeof TaskDiscoveryRequestTypeEnum[keyof typeof TaskDiscoveryRequestTypeEnum]; /** * Response to a task dispatch request @@ -2523,7 +2523,7 @@ export const TaskDispatchResponseSuccessEnum = { } as const; export type TaskDispatchResponseSuccessEnum = - (typeof TaskDispatchResponseSuccessEnum)[keyof typeof TaskDispatchResponseSuccessEnum]; + typeof TaskDispatchResponseSuccessEnum[keyof typeof TaskDispatchResponseSuccessEnum]; /** * @@ -2550,7 +2550,7 @@ export const TaskDispatchResponseItemSuccessEnum = { } as const; export type TaskDispatchResponseItemSuccessEnum = - (typeof TaskDispatchResponseItemSuccessEnum)[keyof typeof TaskDispatchResponseItemSuccessEnum]; + typeof TaskDispatchResponseItemSuccessEnum[keyof typeof TaskDispatchResponseItemSuccessEnum]; /** * @@ -2577,7 +2577,7 @@ export const TaskDispatchResponseItem1SuccessEnum = { } as const; export type TaskDispatchResponseItem1SuccessEnum = - (typeof TaskDispatchResponseItem1SuccessEnum)[keyof typeof TaskDispatchResponseItem1SuccessEnum]; + typeof TaskDispatchResponseItem1SuccessEnum[keyof typeof TaskDispatchResponseItem1SuccessEnum]; /** * @@ -2684,7 +2684,7 @@ export const TaskInterruptionRequestTypeEnum = { } as const; export type TaskInterruptionRequestTypeEnum = - (typeof TaskInterruptionRequestTypeEnum)[keyof typeof TaskInterruptionRequestTypeEnum]; + typeof TaskInterruptionRequestTypeEnum[keyof typeof TaskInterruptionRequestTypeEnum]; /** * Response to a request for a task to be interrupted @@ -2742,7 +2742,7 @@ export const TaskKillRequestTypeEnum = { } as const; export type TaskKillRequestTypeEnum = - (typeof TaskKillRequestTypeEnum)[keyof typeof TaskKillRequestTypeEnum]; + typeof TaskKillRequestTypeEnum[keyof typeof TaskKillRequestTypeEnum]; /** * Response to a request to kill a task @@ -2800,7 +2800,7 @@ export const TaskPhaseSkipRequestTypeEnum = { } as const; export type TaskPhaseSkipRequestTypeEnum = - (typeof TaskPhaseSkipRequestTypeEnum)[keyof typeof TaskPhaseSkipRequestTypeEnum]; + typeof TaskPhaseSkipRequestTypeEnum[keyof typeof TaskPhaseSkipRequestTypeEnum]; /** * @@ -2900,7 +2900,7 @@ export const TaskResumeRequestTypeEnum = { } as const; export type TaskResumeRequestTypeEnum = - (typeof TaskResumeRequestTypeEnum)[keyof typeof TaskResumeRequestTypeEnum]; + typeof TaskResumeRequestTypeEnum[keyof typeof TaskResumeRequestTypeEnum]; /** * Response to a request to resume a task @@ -2952,7 +2952,7 @@ export const TaskRewindRequestTypeEnum = { } as const; export type TaskRewindRequestTypeEnum = - (typeof TaskRewindRequestTypeEnum)[keyof typeof TaskRewindRequestTypeEnum]; + typeof TaskRewindRequestTypeEnum[keyof typeof TaskRewindRequestTypeEnum]; /** * Response to a request to rewind a task @@ -3264,7 +3264,7 @@ export const UndoPhaseSkipRequestTypeEnum = { } as const; export type UndoPhaseSkipRequestTypeEnum = - (typeof UndoPhaseSkipRequestTypeEnum)[keyof typeof UndoPhaseSkipRequestTypeEnum]; + typeof UndoPhaseSkipRequestTypeEnum[keyof typeof UndoPhaseSkipRequestTypeEnum]; /** * Response to an undo phase skip request @@ -5610,8 +5610,9 @@ export const BuildingApiFp = function (configuration?: Configuration) { async getBuildingMapBuildingMapGet( options?: AxiosRequestConfig, ): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise> { - const localVarAxiosArgs = - await localVarAxiosParamCreator.getBuildingMapBuildingMapGet(options); + const localVarAxiosArgs = await localVarAxiosParamCreator.getBuildingMapBuildingMapGet( + options, + ); return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); }, }; @@ -9565,8 +9566,9 @@ export const TasksApiFp = function (configuration?: Configuration) { ): Promise< (axios?: AxiosInstance, basePath?: string) => AxiosPromise> > { - const localVarAxiosArgs = - await localVarAxiosParamCreator.getFavoritesTasksFavoriteTasksGet(options); + const localVarAxiosArgs = await localVarAxiosParamCreator.getFavoritesTasksFavoriteTasksGet( + options, + ); return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); }, /** diff --git a/packages/api-client/lib/version.ts b/packages/api-client/lib/version.ts index cdbc061aa..a6fe711b6 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: '4febac0944ca42150e94e4b9366e1e6d792ab29e', + rmfServer: '55378951e4ae4161a348a1c106837076c4c56a72', openapiGenerator: '6.2.1', }; diff --git a/packages/api-server/api_server/routes/delivery_alerts.py b/packages/api-server/api_server/routes/delivery_alerts.py index 225b7ad8f..ae69cd906 100644 --- a/packages/api-server/api_server/routes/delivery_alerts.py +++ b/packages/api-server/api_server/routes/delivery_alerts.py @@ -1,13 +1,9 @@ -import logging - from fastapi import Depends from rx import operators as rxops -from api_server.authenticator import user_dep from api_server.fast_io import FastIORouter, SubscriptionRequest from api_server.gateway import rmf_gateway -from api_server.logging import get_logger -from api_server.models import User +from api_server.logging import LoggerAdapter, get_logger from api_server.models.delivery_alerts import ( DeliveryAlert, action_to_msg, @@ -32,8 +28,7 @@ async def respond_to_delivery_alert( task_id: str, action: DeliveryAlert.Action, message: str, - user: User = Depends(user_dep), - logger: logging.Logger = Depends(get_logger), + logger: LoggerAdapter = Depends(get_logger), ): delivery_alert = DeliveryAlert( id=delivery_alert_id, @@ -43,7 +38,6 @@ async def respond_to_delivery_alert( task_id=task_id, message=message, ) - logger.info(f"Delivery alert responded by {user.username}") logger.info(delivery_alert) rmf_gateway().respond_to_delivery_alert( alert_id=delivery_alert.id, diff --git a/packages/dashboard/src/components/delivery-alert-store.tsx b/packages/dashboard/src/components/delivery-alert-store.tsx index cfe0b5e35..c7ef0a984 100644 --- a/packages/dashboard/src/components/delivery-alert-store.tsx +++ b/packages/dashboard/src/components/delivery-alert-store.tsx @@ -219,6 +219,19 @@ const DeliveryWarningDialog = React.memo((props: DeliveryWarningDialogProps) => > Cancelled + ) : deliveryAlert.message && deliveryAlert.message.includes(' latch ') ? ( + ) : newTaskState ? ( Date: Mon, 6 May 2024 11:18:31 +0800 Subject: [PATCH 12/16] Hammer/save state race condition (#928) * Using a deque to ensure we don't spam alerts when the adapter stalls Signed-off-by: Aaron Chong * Adding a mutex for saving task state to prevent race condition for db saving operation Signed-off-by: Aaron Chong * Adding fixme Signed-off-by: Aaron Chong * Fix deprecated logger.warn Signed-off-by: Aaron Chong * Reverting deque usage Signed-off-by: Aaron Chong * Use asyncio.Lock, added more notes about the issue Signed-off-by: Aaron Chong --------- Signed-off-by: Aaron Chong --- .../api_server/repositories/tasks.py | 64 ++++++++++++------- .../api-server/api_server/routes/internal.py | 8 +-- 2 files changed, 44 insertions(+), 28 deletions(-) diff --git a/packages/api-server/api_server/repositories/tasks.py b/packages/api-server/api_server/repositories/tasks.py index a930352f2..c994ea0a4 100644 --- a/packages/api-server/api_server/repositories/tasks.py +++ b/packages/api-server/api_server/repositories/tasks.py @@ -1,3 +1,4 @@ +import asyncio import sys from datetime import datetime from typing import Dict, List, Optional, Sequence, Tuple, cast @@ -36,6 +37,7 @@ def __init__( ): self.user = user self.logger = logger + self.save_task_state_mutex = asyncio.Lock() def parse_pickup(self, task_request: TaskRequest) -> Optional[str]: # patrol @@ -163,32 +165,46 @@ async def query_task_requests(self, task_ids: List[str]) -> List[DbTaskRequest]: raise HTTPException(422, str(e)) from e async def save_task_state(self, task_state: TaskState) -> None: - task_state_dict = { - "data": task_state.json(), - "category": task_state.category.__root__ if task_state.category else None, - "assigned_to": task_state.assigned_to.name - if task_state.assigned_to - else None, - "unix_millis_start_time": task_state.unix_millis_start_time - and datetime.fromtimestamp(task_state.unix_millis_start_time / 1000), - "unix_millis_finish_time": task_state.unix_millis_finish_time - and datetime.fromtimestamp(task_state.unix_millis_finish_time / 1000), - "status": task_state.status if task_state.status else None, - "unix_millis_request_time": task_state.booking.unix_millis_request_time - and datetime.fromtimestamp( - task_state.booking.unix_millis_request_time / 1000 - ), - "requester": task_state.booking.requester - if task_state.booking.requester - else None, - } + # FIXME: If the task dispatcher is also provided websocket access to + # the API server, when a new task is dispatched via the API server, + # there may be a race condition where both the ROS 2 task response and + # task dispatcher websocket update may attempt to create a new task + # state model with the same task ID. This have unfortunately not been + # reproducible locally, only in the production environment, which uses + # Postgres instead of sqlite. This may be fixed upstream in DB or ORM, + # this mutex can be removed once these libraries have been updated and + # tested to be fixed. + async with self.save_task_state_mutex: + task_state_dict = { + "data": task_state.json(), + "category": task_state.category.__root__ + if task_state.category + else None, + "assigned_to": task_state.assigned_to.name + if task_state.assigned_to + else None, + "unix_millis_start_time": task_state.unix_millis_start_time + and datetime.fromtimestamp(task_state.unix_millis_start_time / 1000), + "unix_millis_finish_time": task_state.unix_millis_finish_time + and datetime.fromtimestamp(task_state.unix_millis_finish_time / 1000), + "status": task_state.status if task_state.status else None, + "unix_millis_request_time": task_state.booking.unix_millis_request_time + and datetime.fromtimestamp( + task_state.booking.unix_millis_request_time / 1000 + ), + "requester": task_state.booking.requester + if task_state.booking.requester + else None, + } - if task_state.unix_millis_warn_time is not None: - task_state_dict["unix_millis_warn_time"] = datetime.fromtimestamp( - task_state.unix_millis_warn_time / 1000 - ) + if task_state.unix_millis_warn_time is not None: + task_state_dict["unix_millis_warn_time"] = datetime.fromtimestamp( + task_state.unix_millis_warn_time / 1000 + ) - await ttm.TaskState.update_or_create(task_state_dict, id_=task_state.booking.id) + await ttm.TaskState.update_or_create( + task_state_dict, id_=task_state.booking.id + ) async def query_task_states( self, query: QuerySet[DbTaskState], pagination: Optional[Pagination] = None diff --git a/packages/api-server/api_server/routes/internal.py b/packages/api-server/api_server/routes/internal.py index 57fb808a0..0e6b94226 100644 --- a/packages/api-server/api_server/routes/internal.py +++ b/packages/api-server/api_server/routes/internal.py @@ -83,12 +83,12 @@ async def process_msg( logger: LoggerAdapter, ) -> None: if "type" not in msg: - logger.warn(msg) - logger.warn("Ignoring message, 'type' must include in msg field") + logger.warning(msg) + logger.warning("Ignoring message, 'type' must include in msg field") return payload_type: str = msg["type"] if not isinstance(payload_type, str): - logger.warn("error processing message, 'type' must be a string") + logger.warning("error processing message, 'type' must be a string") return logger.debug(msg) @@ -152,4 +152,4 @@ async def rmf_gateway( await process_msg(msg, fleet_repo, task_repo, alert_repo, logger) except (WebSocketDisconnect, ConnectionClosed): connection_manager.disconnect(websocket) - logger.warn("Client websocket disconnected") + logger.warning("Client websocket disconnected") From 35a9b0dc36b8a4081b23c1625c11877e2b9f97c2 Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Wed, 8 May 2024 13:37:04 +0800 Subject: [PATCH 13/16] Reverted use of asyncio.Lock, just catch exceptions instead (#944) Signed-off-by: Aaron Chong --- .../api_server/repositories/tasks.py | 75 ++++++++++--------- 1 file changed, 38 insertions(+), 37 deletions(-) diff --git a/packages/api-server/api_server/repositories/tasks.py b/packages/api-server/api_server/repositories/tasks.py index c994ea0a4..5b8794e28 100644 --- a/packages/api-server/api_server/repositories/tasks.py +++ b/packages/api-server/api_server/repositories/tasks.py @@ -1,4 +1,3 @@ -import asyncio import sys from datetime import datetime from typing import Dict, List, Optional, Sequence, Tuple, cast @@ -37,7 +36,6 @@ def __init__( ): self.user = user self.logger = logger - self.save_task_state_mutex = asyncio.Lock() def parse_pickup(self, task_request: TaskRequest) -> Optional[str]: # patrol @@ -165,46 +163,49 @@ async def query_task_requests(self, task_ids: List[str]) -> List[DbTaskRequest]: raise HTTPException(422, str(e)) from e async def save_task_state(self, task_state: TaskState) -> None: - # FIXME: If the task dispatcher is also provided websocket access to - # the API server, when a new task is dispatched via the API server, - # there may be a race condition where both the ROS 2 task response and - # task dispatcher websocket update may attempt to create a new task - # state model with the same task ID. This have unfortunately not been - # reproducible locally, only in the production environment, which uses - # Postgres instead of sqlite. This may be fixed upstream in DB or ORM, - # this mutex can be removed once these libraries have been updated and - # tested to be fixed. - async with self.save_task_state_mutex: - task_state_dict = { - "data": task_state.json(), - "category": task_state.category.__root__ - if task_state.category - else None, - "assigned_to": task_state.assigned_to.name - if task_state.assigned_to - else None, - "unix_millis_start_time": task_state.unix_millis_start_time - and datetime.fromtimestamp(task_state.unix_millis_start_time / 1000), - "unix_millis_finish_time": task_state.unix_millis_finish_time - and datetime.fromtimestamp(task_state.unix_millis_finish_time / 1000), - "status": task_state.status if task_state.status else None, - "unix_millis_request_time": task_state.booking.unix_millis_request_time - and datetime.fromtimestamp( - task_state.booking.unix_millis_request_time / 1000 - ), - "requester": task_state.booking.requester - if task_state.booking.requester - else None, - } + task_state_dict = { + "data": task_state.json(), + "category": task_state.category.__root__ if task_state.category else None, + "assigned_to": task_state.assigned_to.name + if task_state.assigned_to + else None, + "unix_millis_start_time": task_state.unix_millis_start_time + and datetime.fromtimestamp(task_state.unix_millis_start_time / 1000), + "unix_millis_finish_time": task_state.unix_millis_finish_time + and datetime.fromtimestamp(task_state.unix_millis_finish_time / 1000), + "status": task_state.status if task_state.status else None, + "unix_millis_request_time": task_state.booking.unix_millis_request_time + and datetime.fromtimestamp( + task_state.booking.unix_millis_request_time / 1000 + ), + "requester": task_state.booking.requester + if task_state.booking.requester + else None, + } - if task_state.unix_millis_warn_time is not None: - task_state_dict["unix_millis_warn_time"] = datetime.fromtimestamp( - task_state.unix_millis_warn_time / 1000 - ) + if task_state.unix_millis_warn_time is not None: + task_state_dict["unix_millis_warn_time"] = datetime.fromtimestamp( + task_state.unix_millis_warn_time / 1000 + ) + try: await ttm.TaskState.update_or_create( task_state_dict, id_=task_state.booking.id ) + except Exception as e: # pylint: disable=W0703 + # This is to catch a combination of exceptions from Tortoise ORM, + # especially in the case where a data race occurs when two instances + # of update_or_create attempts to create entries with the same task + # ID at the same time. The exceptions expected are DoesNotExist, + # IntegrityError and TransactionManagementError. + # This data race happens when the server attempts to record the RMF + # service call response and Task dispatcher's websocket push at + # almost the same time. + # FIXME: this has not been observed outside of production + # environment, and may be fixed upstream in updated libraries. + self.logger.error( + f"Failed to save task state of id [{task_state.booking.id}] [{e}]" + ) async def query_task_states( self, query: QuerySet[DbTaskState], pagination: Optional[Pagination] = None From 5635b1c7b9236b0a5d723d3e4db8d6002fccd2ba Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Thu, 9 May 2024 15:43:26 +0800 Subject: [PATCH 14/16] Hammer/fire alarm (#934) * Boiler plate for UI, backend ROS 2 topic and endpoints Signed-off-by: Aaron Chong * Simple dialog and reset working Signed-off-by: Aaron Chong * Basic UI Signed-off-by: Aaron Chong * Lint Signed-off-by: Aaron Chong * Tests and lint Signed-off-by: Aaron Chong * Updated note Signed-off-by: Aaron Chong * Use warning for dialog, and added todo to use authz Signed-off-by: Aaron Chong --------- Signed-off-by: Aaron Chong --- packages/api-client/lib/index.ts | 5 + packages/api-client/lib/openapi/api.ts | 179 +++++++++++++++++- packages/api-client/lib/version.ts | 2 +- packages/api-client/schema/index.ts | 45 ++++- packages/api-server/api_server/gateway.py | 43 +++++ .../api_server/models/building_map.py | 7 + .../api-server/api_server/rmf_io/events.py | 3 + .../api_server/routes/building_map.py | 32 +++- .../api_server/routes/test_building_map.py | 35 +++- .../api-server/api_server/test/test_data.py | 5 + packages/dashboard/src/components/appbar.tsx | 126 ++++++++++++ 11 files changed, 474 insertions(+), 8 deletions(-) diff --git a/packages/api-client/lib/index.ts b/packages/api-client/lib/index.ts index 46829742d..ae2c21d85 100644 --- a/packages/api-client/lib/index.ts +++ b/packages/api-client/lib/index.ts @@ -9,6 +9,7 @@ import { DispenserState, DoorHealth, DoorState, + FireAlarmTriggerState, FleetState, IngestorHealth, IngestorState, @@ -108,6 +109,10 @@ export class SioClient { subscribeDeliveryAlerts(listener: Listener): Subscription { return this.subscribe(`/delivery_alerts`, listener); } + + subscribeFireAlarmTrigger(listener: Listener): Subscription { + return this.subscribe('/fire_alarm_trigger', listener); + } } export * from './openapi'; diff --git a/packages/api-client/lib/openapi/api.ts b/packages/api-client/lib/openapi/api.ts index cda60e41f..00c3d5699 100644 --- a/packages/api-client/lib/openapi/api.ts +++ b/packages/api-client/lib/openapi/api.ts @@ -1108,6 +1108,25 @@ export interface EventState { */ deps?: Array; } +/** + * + * @export + * @interface FireAlarmTriggerState + */ +export interface FireAlarmTriggerState { + /** + * + * @type {number} + * @memberof FireAlarmTriggerState + */ + unix_millis_time: number; + /** + * + * @type {boolean} + * @memberof FireAlarmTriggerState + */ + trigger: boolean; +} /** * * @export @@ -5586,6 +5605,74 @@ export const BuildingApiAxiosParamCreator = function (configuration?: Configurat ...options.headers, }; + return { + url: toPathString(localVarUrlObj), + options: localVarRequestOptions, + }; + }, + /** + * + * @summary Get Previous Fire Alarm Trigger + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + getPreviousFireAlarmTriggerBuildingMapPreviousFireAlarmTriggerGet: async ( + options: AxiosRequestConfig = {}, + ): Promise => { + const localVarPath = `/building_map/previous_fire_alarm_trigger`; + // 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: 'GET', ...baseOptions, ...options }; + const localVarHeaderParameter = {} as any; + const localVarQueryParameter = {} as any; + + setSearchParams(localVarUrlObj, localVarQueryParameter); + let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {}; + localVarRequestOptions.headers = { + ...localVarHeaderParameter, + ...headersFromBaseOptions, + ...options.headers, + }; + + return { + url: toPathString(localVarUrlObj), + options: localVarRequestOptions, + }; + }, + /** + * + * @summary Reset Fire Alarm Trigger + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + resetFireAlarmTriggerBuildingMapResetFireAlarmTriggerPost: async ( + options: AxiosRequestConfig = {}, + ): Promise => { + const localVarPath = `/building_map/reset_fire_alarm_trigger`; + // 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; + + setSearchParams(localVarUrlObj, localVarQueryParameter); + let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {}; + localVarRequestOptions.headers = { + ...localVarHeaderParameter, + ...headersFromBaseOptions, + ...options.headers, + }; + return { url: toPathString(localVarUrlObj), options: localVarRequestOptions, @@ -5615,6 +5702,36 @@ export const BuildingApiFp = function (configuration?: Configuration) { ); return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); }, + /** + * + * @summary Get Previous Fire Alarm Trigger + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + async getPreviousFireAlarmTriggerBuildingMapPreviousFireAlarmTriggerGet( + options?: AxiosRequestConfig, + ): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise> { + const localVarAxiosArgs = + await localVarAxiosParamCreator.getPreviousFireAlarmTriggerBuildingMapPreviousFireAlarmTriggerGet( + options, + ); + return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); + }, + /** + * + * @summary Reset Fire Alarm Trigger + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + async resetFireAlarmTriggerBuildingMapResetFireAlarmTriggerPost( + options?: AxiosRequestConfig, + ): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise> { + const localVarAxiosArgs = + await localVarAxiosParamCreator.resetFireAlarmTriggerBuildingMapResetFireAlarmTriggerPost( + options, + ); + return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); + }, }; }; @@ -5640,6 +5757,32 @@ export const BuildingApiFactory = function ( .getBuildingMapBuildingMapGet(options) .then((request) => request(axios, basePath)); }, + /** + * + * @summary Get Previous Fire Alarm Trigger + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + getPreviousFireAlarmTriggerBuildingMapPreviousFireAlarmTriggerGet( + options?: any, + ): AxiosPromise { + return localVarFp + .getPreviousFireAlarmTriggerBuildingMapPreviousFireAlarmTriggerGet(options) + .then((request) => request(axios, basePath)); + }, + /** + * + * @summary Reset Fire Alarm Trigger + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + resetFireAlarmTriggerBuildingMapResetFireAlarmTriggerPost( + options?: any, + ): AxiosPromise { + return localVarFp + .resetFireAlarmTriggerBuildingMapResetFireAlarmTriggerPost(options) + .then((request) => request(axios, basePath)); + }, }; }; @@ -5662,6 +5805,34 @@ export class BuildingApi extends BaseAPI { .getBuildingMapBuildingMapGet(options) .then((request) => request(this.axios, this.basePath)); } + + /** + * + * @summary Get Previous Fire Alarm Trigger + * @param {*} [options] Override http request option. + * @throws {RequiredError} + * @memberof BuildingApi + */ + public getPreviousFireAlarmTriggerBuildingMapPreviousFireAlarmTriggerGet( + options?: AxiosRequestConfig, + ) { + return BuildingApiFp(this.configuration) + .getPreviousFireAlarmTriggerBuildingMapPreviousFireAlarmTriggerGet(options) + .then((request) => request(this.axios, this.basePath)); + } + + /** + * + * @summary Reset Fire Alarm Trigger + * @param {*} [options] Override http request option. + * @throws {RequiredError} + * @memberof BuildingApi + */ + public resetFireAlarmTriggerBuildingMapResetFireAlarmTriggerPost(options?: AxiosRequestConfig) { + return BuildingApiFp(this.configuration) + .resetFireAlarmTriggerBuildingMapResetFireAlarmTriggerPost(options) + .then((request) => request(this.axios, this.basePath)); + } } /** @@ -5769,7 +5940,7 @@ 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\": { \"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\" } } }, \"MutexGroups\": { \"title\": \"MutexGroups\", \"type\": \"object\", \"properties\": { \"locked\": { \"title\": \"Locked\", \"description\": \"A list of mutex groups that this robot has currently locked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requesting\": { \"title\": \"Requesting\", \"description\": \"A list of the mutex groups that this robot is currently requesting but has not lockd yet\", \"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\": [ { \"$ref\": \"#/definitions/Status\" } ] }, \"task_id\": { \"title\": \"Task Id\", \"description\": \"The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.\", \"type\": \"string\" }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"location\": { \"$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\" }, \"mutex_groups\": { \"title\": \"Mutex Groups\", \"description\": \"Information about the mutex groups that this robot is interacting with\", \"allOf\": [ { \"$ref\": \"#/definitions/MutexGroups\" } ] } } } } } ``` ### /fleets/{name}/log ``` { \"title\": \"FleetLog\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log for the overall fleet\", \"type\": \"array\", \"items\": { \"$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\" ] } } } ``` + * # 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\" ] } } } ``` ### /building_map/fire_alarm_trigger ``` { \"title\": \"FireAlarmTriggerState\", \"type\": \"object\", \"properties\": { \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"trigger\": { \"title\": \"Trigger\", \"type\": \"boolean\" } }, \"required\": [ \"unix_millis_time\", \"trigger\" ] } ``` ### /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\" } } }, \"MutexGroups\": { \"title\": \"MutexGroups\", \"type\": \"object\", \"properties\": { \"locked\": { \"title\": \"Locked\", \"description\": \"A list of mutex groups that this robot has currently locked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requesting\": { \"title\": \"Requesting\", \"description\": \"A list of the mutex groups that this robot is currently requesting but has not lockd yet\", \"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/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\": { \"$ref\": \"#/definitions/Commission\" }, \"mutex_groups\": { \"title\": \"Mutex Groups\", \"description\": \"Information about the mutex groups that this robot is interacting with\", \"allOf\": [ { \"$ref\": \"#/definitions/MutexGroups\" } ] } } } } } ``` ### /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} @@ -5848,7 +6019,7 @@ 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\": { \"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\" } } }, \"MutexGroups\": { \"title\": \"MutexGroups\", \"type\": \"object\", \"properties\": { \"locked\": { \"title\": \"Locked\", \"description\": \"A list of mutex groups that this robot has currently locked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requesting\": { \"title\": \"Requesting\", \"description\": \"A list of the mutex groups that this robot is currently requesting but has not lockd yet\", \"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\": [ { \"$ref\": \"#/definitions/Status\" } ] }, \"task_id\": { \"title\": \"Task Id\", \"description\": \"The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.\", \"type\": \"string\" }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"location\": { \"$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\" }, \"mutex_groups\": { \"title\": \"Mutex Groups\", \"description\": \"Information about the mutex groups that this robot is interacting with\", \"allOf\": [ { \"$ref\": \"#/definitions/MutexGroups\" } ] } } } } } ``` ### /fleets/{name}/log ``` { \"title\": \"FleetLog\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log for the overall fleet\", \"type\": \"array\", \"items\": { \"$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\" ] } } } ``` + * # 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\" ] } } } ``` ### /building_map/fire_alarm_trigger ``` { \"title\": \"FireAlarmTriggerState\", \"type\": \"object\", \"properties\": { \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"trigger\": { \"title\": \"Trigger\", \"type\": \"boolean\" } }, \"required\": [ \"unix_millis_time\", \"trigger\" ] } ``` ### /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\" } } }, \"MutexGroups\": { \"title\": \"MutexGroups\", \"type\": \"object\", \"properties\": { \"locked\": { \"title\": \"Locked\", \"description\": \"A list of mutex groups that this robot has currently locked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requesting\": { \"title\": \"Requesting\", \"description\": \"A list of the mutex groups that this robot is currently requesting but has not lockd yet\", \"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/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\": { \"$ref\": \"#/definitions/Commission\" }, \"mutex_groups\": { \"title\": \"Mutex Groups\", \"description\": \"Information about the mutex groups that this robot is interacting with\", \"allOf\": [ { \"$ref\": \"#/definitions/MutexGroups\" } ] } } } } } ``` ### /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} @@ -5903,7 +6074,7 @@ 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\": { \"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\" } } }, \"MutexGroups\": { \"title\": \"MutexGroups\", \"type\": \"object\", \"properties\": { \"locked\": { \"title\": \"Locked\", \"description\": \"A list of mutex groups that this robot has currently locked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requesting\": { \"title\": \"Requesting\", \"description\": \"A list of the mutex groups that this robot is currently requesting but has not lockd yet\", \"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\": [ { \"$ref\": \"#/definitions/Status\" } ] }, \"task_id\": { \"title\": \"Task Id\", \"description\": \"The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.\", \"type\": \"string\" }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"location\": { \"$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\" }, \"mutex_groups\": { \"title\": \"Mutex Groups\", \"description\": \"Information about the mutex groups that this robot is interacting with\", \"allOf\": [ { \"$ref\": \"#/definitions/MutexGroups\" } ] } } } } } ``` ### /fleets/{name}/log ``` { \"title\": \"FleetLog\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log for the overall fleet\", \"type\": \"array\", \"items\": { \"$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\" ] } } } ``` + * # 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\" ] } } } ``` ### /building_map/fire_alarm_trigger ``` { \"title\": \"FireAlarmTriggerState\", \"type\": \"object\", \"properties\": { \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"trigger\": { \"title\": \"Trigger\", \"type\": \"boolean\" } }, \"required\": [ \"unix_millis_time\", \"trigger\" ] } ``` ### /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\" } } }, \"MutexGroups\": { \"title\": \"MutexGroups\", \"type\": \"object\", \"properties\": { \"locked\": { \"title\": \"Locked\", \"description\": \"A list of mutex groups that this robot has currently locked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requesting\": { \"title\": \"Requesting\", \"description\": \"A list of the mutex groups that this robot is currently requesting but has not lockd yet\", \"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/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\": { \"$ref\": \"#/definitions/Commission\" }, \"mutex_groups\": { \"title\": \"Mutex Groups\", \"description\": \"Information about the mutex groups that this robot is interacting with\", \"allOf\": [ { \"$ref\": \"#/definitions/MutexGroups\" } ] } } } } } ``` ### /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} @@ -5961,7 +6132,7 @@ 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\": { \"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\" } } }, \"MutexGroups\": { \"title\": \"MutexGroups\", \"type\": \"object\", \"properties\": { \"locked\": { \"title\": \"Locked\", \"description\": \"A list of mutex groups that this robot has currently locked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requesting\": { \"title\": \"Requesting\", \"description\": \"A list of the mutex groups that this robot is currently requesting but has not lockd yet\", \"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\": [ { \"$ref\": \"#/definitions/Status\" } ] }, \"task_id\": { \"title\": \"Task Id\", \"description\": \"The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.\", \"type\": \"string\" }, \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"location\": { \"$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\" }, \"mutex_groups\": { \"title\": \"Mutex Groups\", \"description\": \"Information about the mutex groups that this robot is interacting with\", \"allOf\": [ { \"$ref\": \"#/definitions/MutexGroups\" } ] } } } } } ``` ### /fleets/{name}/log ``` { \"title\": \"FleetLog\", \"type\": \"object\", \"properties\": { \"name\": { \"title\": \"Name\", \"type\": \"string\" }, \"log\": { \"title\": \"Log\", \"description\": \"Log for the overall fleet\", \"type\": \"array\", \"items\": { \"$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\" ] } } } ``` + * # 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\" ] } } } ``` ### /building_map/fire_alarm_trigger ``` { \"title\": \"FireAlarmTriggerState\", \"type\": \"object\", \"properties\": { \"unix_millis_time\": { \"title\": \"Unix Millis Time\", \"type\": \"integer\" }, \"trigger\": { \"title\": \"Trigger\", \"type\": \"boolean\" } }, \"required\": [ \"unix_millis_time\", \"trigger\" ] } ``` ### /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\" } } }, \"MutexGroups\": { \"title\": \"MutexGroups\", \"type\": \"object\", \"properties\": { \"locked\": { \"title\": \"Locked\", \"description\": \"A list of mutex groups that this robot has currently locked\", \"type\": \"array\", \"items\": { \"type\": \"string\" } }, \"requesting\": { \"title\": \"Requesting\", \"description\": \"A list of the mutex groups that this robot is currently requesting but has not lockd yet\", \"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/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\": { \"$ref\": \"#/definitions/Commission\" }, \"mutex_groups\": { \"title\": \"Mutex Groups\", \"description\": \"Information about the mutex groups that this robot is interacting with\", \"allOf\": [ { \"$ref\": \"#/definitions/MutexGroups\" } ] } } } } } ``` ### /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} diff --git a/packages/api-client/lib/version.ts b/packages/api-client/lib/version.ts index a6fe711b6..59be35401 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: '55378951e4ae4161a348a1c106837076c4c56a72', + rmfServer: 'fd45675f94b75df6845303db4f45276d0998f3e6', openapiGenerator: '6.2.1', }; diff --git a/packages/api-client/schema/index.ts b/packages/api-client/schema/index.ts index a8cc01ab0..911a5de48 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 "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 "MutexGroups": {\n "title": "MutexGroups",\n "type": "object",\n "properties": {\n "locked": {\n "title": "Locked",\n "description": "A list of mutex groups that this robot has currently locked",\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "requesting": {\n "title": "Requesting",\n "description": "A list of the mutex groups that this robot is currently requesting but has not lockd yet",\n "type": "array",\n "items": {\n "type": "string"\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 "$ref": "#/definitions/Status"\n }\n ]\n },\n "task_id": {\n "title": "Task Id",\n "description": "The ID of the task this robot is currently working on. Empty string if the robot is not working on a task.",\n "type": "string"\n },\n "unix_millis_time": {\n "title": "Unix Millis Time",\n "type": "integer"\n },\n "location": {\n "$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 "mutex_groups": {\n "title": "Mutex Groups",\n "description": "Information about the mutex groups that this robot is interacting with",\n "allOf": [\n {\n "$ref": "#/definitions/MutexGroups"\n }\n ]\n }\n }\n }\n }\n}\n```\n\n\n### /fleets/{name}/log\n\n\n```\n{\n "title": "FleetLog",\n "type": "object",\n "properties": {\n "name": {\n "title": "Name",\n "type": "string"\n },\n "log": {\n "title": "Log",\n "description": "Log for the overall fleet",\n "type": "array",\n "items": {\n "$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', + '\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### /building_map/fire_alarm_trigger\n\n\n```\n{\n "title": "FireAlarmTriggerState",\n "type": "object",\n "properties": {\n "unix_millis_time": {\n "title": "Unix Millis Time",\n "type": "integer"\n },\n "trigger": {\n "title": "Trigger",\n "type": "boolean"\n }\n },\n "required": [\n "unix_millis_time",\n "trigger"\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 "MutexGroups": {\n "title": "MutexGroups",\n "type": "object",\n "properties": {\n "locked": {\n "title": "Locked",\n "description": "A list of mutex groups that this robot has currently locked",\n "type": "array",\n "items": {\n "type": "string"\n }\n },\n "requesting": {\n "title": "Requesting",\n "description": "A list of the mutex groups that this robot is currently requesting but has not lockd yet",\n "type": "array",\n "items": {\n "type": "string"\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/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 "$ref": "#/definitions/Commission"\n },\n "mutex_groups": {\n "title": "Mutex Groups",\n "description": "Information about the mutex groups that this robot is interacting with",\n "allOf": [\n {\n "$ref": "#/definitions/MutexGroups"\n }\n ]\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': { @@ -318,6 +318,40 @@ export default { }, }, }, + '/building_map/previous_fire_alarm_trigger': { + get: { + tags: ['Building'], + summary: 'Get Previous Fire Alarm Trigger', + operationId: 'get_previous_fire_alarm_trigger_building_map_previous_fire_alarm_trigger_get', + responses: { + '200': { + description: 'Successful Response', + content: { + 'application/json': { + schema: { $ref: '#/components/schemas/FireAlarmTriggerState' }, + }, + }, + }, + }, + }, + }, + '/building_map/reset_fire_alarm_trigger': { + post: { + tags: ['Building'], + summary: 'Reset Fire Alarm Trigger', + operationId: 'reset_fire_alarm_trigger_building_map_reset_fire_alarm_trigger_post', + responses: { + '200': { + description: 'Successful Response', + content: { + 'application/json': { + schema: { $ref: '#/components/schemas/FireAlarmTriggerState' }, + }, + }, + }, + }, + }, + }, '/delivery_alerts/{delivery_alert_id}/response': { post: { tags: ['DeliveryAlerts'], @@ -2824,6 +2858,15 @@ export default { }, }, }, + FireAlarmTriggerState: { + title: 'FireAlarmTriggerState', + required: ['unix_millis_time', 'trigger'], + type: 'object', + properties: { + unix_millis_time: { title: 'Unix Millis Time', type: 'integer' }, + trigger: { title: 'Trigger', type: 'boolean' }, + }, + }, FleetLog: { title: 'FleetLog', type: 'object', diff --git a/packages/api-server/api_server/gateway.py b/packages/api-server/api_server/gateway.py index 2b127a300..7070960f0 100644 --- a/packages/api-server/api_server/gateway.py +++ b/packages/api-server/api_server/gateway.py @@ -4,6 +4,7 @@ import base64 import hashlib import logging +from datetime import datetime from typing import Any, List, Optional import rclpy @@ -33,6 +34,7 @@ from rmf_task_msgs.srv import CancelTask as RmfCancelTask from rmf_task_msgs.srv import SubmitTask as RmfSubmitTask from rosidl_runtime_py.convert import message_to_ordereddict +from std_msgs.msg import Bool as BoolMsg from .models import ( BeaconState, @@ -40,6 +42,7 @@ DeliveryAlert, DispenserState, DoorState, + FireAlarmTriggerState, IngestorState, LiftState, ) @@ -115,6 +118,17 @@ def __init__(self, cached_files: CachedFilesRepository): ), ) + self._fire_alarm_trigger = ros_node().create_publisher( + BoolMsg, + "fire_alarm_trigger", + rclpy.qos.QoSProfile( + history=rclpy.qos.HistoryPolicy.KEEP_LAST, + depth=10, + reliability=rclpy.qos.ReliabilityPolicy.RELIABLE, + durability=rclpy.qos.DurabilityPolicy.TRANSIENT_LOCAL, + ), + ) + self.cached_files = cached_files self._subscriptions: List[Subscription] = [] @@ -234,6 +248,30 @@ def handle_delivery_alert(delivery_alert: DeliveryAlert): ) self._subscriptions.append(delivery_alert_request_sub) + def handle_fire_alarm_trigger(fire_alarm_trigger_msg: BoolMsg): + if fire_alarm_trigger_msg.data: + logging.info("Fire alarm triggered") + else: + logging.info("Fire alarm trigger reset") + fire_alarm_trigger_state = FireAlarmTriggerState( + unix_millis_time=round(datetime.now().timestamp() * 1000), + trigger=fire_alarm_trigger_msg.data, + ) + rmf_events.fire_alarm_trigger.on_next(fire_alarm_trigger_state) + + fire_alarm_trigger_sub = ros_node().create_subscription( + BoolMsg, + "fire_alarm_trigger", + handle_fire_alarm_trigger, + rclpy.qos.QoSProfile( + history=rclpy.qos.HistoryPolicy.KEEP_LAST, + depth=10, + reliability=rclpy.qos.ReliabilityPolicy.RELIABLE, + durability=rclpy.qos.DurabilityPolicy.TRANSIENT_LOCAL, + ), + ) + self._subscriptions.append(fire_alarm_trigger_sub) + @staticmethod def now() -> Optional[RosTime]: """ @@ -304,6 +342,11 @@ def manual_release_mutex_groups( msg.robot = robot self._mutex_group_release.publish(msg) + def reset_fire_alarm_trigger(self): + reset_msg = BoolMsg() + reset_msg.data = False + self._fire_alarm_trigger.publish(reset_msg) + _rmf_gateway: RmfGateway diff --git a/packages/api-server/api_server/models/building_map.py b/packages/api-server/api_server/models/building_map.py index 7525dcc28..ccf1ccca0 100644 --- a/packages/api-server/api_server/models/building_map.py +++ b/packages/api-server/api_server/models/building_map.py @@ -1,5 +1,7 @@ from typing import List +from pydantic import BaseModel + from . import tortoise_models as ttm from .ros_pydantic import rmf_building_map_msgs @@ -25,3 +27,8 @@ async def save(self) -> None: if m.id_ != self.name: await m.delete() await ttm.BuildingMap.update_or_create({"data": self.dict()}, id_=self.name) + + +class FireAlarmTriggerState(BaseModel): + unix_millis_time: int + trigger: bool diff --git a/packages/api-server/api_server/rmf_io/events.py b/packages/api-server/api_server/rmf_io/events.py index 51222323d..c86f71b40 100644 --- a/packages/api-server/api_server/rmf_io/events.py +++ b/packages/api-server/api_server/rmf_io/events.py @@ -18,6 +18,9 @@ def __init__(self): self.building_map = BehaviorSubject(None) # Optional[BuildingMap] self.beacons = Subject() # BeaconState self.delivery_alerts = Subject() # ttm.DeliveryAlertPydantic + self.fire_alarm_trigger = BehaviorSubject( + None + ) # Optional[FireAlarmTriggerState] rmf_events = RmfEvents() diff --git a/packages/api-server/api_server/routes/building_map.py b/packages/api-server/api_server/routes/building_map.py index fb5aa0d9e..ee36b50e9 100644 --- a/packages/api-server/api_server/routes/building_map.py +++ b/packages/api-server/api_server/routes/building_map.py @@ -1,8 +1,12 @@ +from datetime import datetime + from fastapi import Depends, HTTPException from rx import operators as rxops from api_server.fast_io import FastIORouter, SubscriptionRequest -from api_server.models import BuildingMap +from api_server.gateway import rmf_gateway +from api_server.logging import LoggerAdapter, get_logger +from api_server.models import BuildingMap, FireAlarmTriggerState from api_server.repositories import RmfRepository from api_server.rmf_io import rmf_events @@ -23,3 +27,29 @@ async def get_building_map(rmf_repo: RmfRepository = Depends(RmfRepository)): @router.sub("", response_model=BuildingMap) def sub_building_map(_req: SubscriptionRequest): return rmf_events.building_map.pipe(rxops.filter(lambda x: x is not None)) + + +@router.sub("/fire_alarm_trigger", response_model=FireAlarmTriggerState) +async def sub_fire_alarm_trigger(_req: SubscriptionRequest): + return rmf_events.fire_alarm_trigger.pipe(rxops.filter(lambda x: x is not None)) + + +@router.get("/previous_fire_alarm_trigger", response_model=FireAlarmTriggerState) +async def get_previous_fire_alarm_trigger(): + previous_trigger = rmf_events.fire_alarm_trigger.value + if previous_trigger is None: + raise HTTPException(404, "previous fire alarm trigger not available") + return previous_trigger + + +@router.post("/reset_fire_alarm_trigger", response_model=FireAlarmTriggerState) +async def reset_fire_alarm_trigger( + logger: LoggerAdapter = Depends(get_logger), +): + # TODO: enforce with authz + logger.info("Fire alarm trigger reset requested") + rmf_gateway().reset_fire_alarm_trigger() + fire_alarm_trigger_state = FireAlarmTriggerState( + unix_millis_time=round(datetime.now().timestamp() * 1000), trigger=False + ) + return fire_alarm_trigger_state diff --git a/packages/api-server/api_server/routes/test_building_map.py b/packages/api-server/api_server/routes/test_building_map.py index 44765b8b3..e73a65495 100644 --- a/packages/api-server/api_server/routes/test_building_map.py +++ b/packages/api-server/api_server/routes/test_building_map.py @@ -1,5 +1,10 @@ from api_server.rmf_io import rmf_events -from api_server.test import AppFixture, make_building_map, try_until +from api_server.test import ( + AppFixture, + make_building_map, + make_fire_alarm_trigger, + try_until, +) class TestBuildingMapRoute(AppFixture): @@ -13,3 +18,31 @@ def test_get_building_map(self): self.assertEqual(200, resp.status_code) result_map = resp.json() self.assertEqual(building_map.name, result_map["name"]) + + def test_get_previous_fire_alarm_trigger(self): + true_trigger = make_fire_alarm_trigger(True) + rmf_events.fire_alarm_trigger.on_next(true_trigger) + resp = self.client.get("/building_map/previous_fire_alarm_trigger") + self.assertEqual(200, resp.status_code) + result = resp.json() + self.assertTrue(result["trigger"]) + + false_trigger = make_fire_alarm_trigger(False) + rmf_events.fire_alarm_trigger.on_next(false_trigger) + resp = self.client.get("/building_map/previous_fire_alarm_trigger") + self.assertEqual(200, resp.status_code) + result = resp.json() + self.assertFalse(result["trigger"]) + + def test_reset_fire_alarm_trigger(self): + true_trigger = make_fire_alarm_trigger(True) + rmf_events.fire_alarm_trigger.on_next(true_trigger) + resp = self.client.get("/building_map/previous_fire_alarm_trigger") + self.assertEqual(200, resp.status_code) + result = resp.json() + self.assertTrue(result["trigger"]) + + resp = self.client.post("/building_map/reset_fire_alarm_trigger") + self.assertEqual(200, resp.status_code) + result = resp.json() + self.assertFalse(result["trigger"]) diff --git a/packages/api-server/api_server/test/test_data.py b/packages/api-server/api_server/test/test_data.py index 8224329a5..a287e73e2 100644 --- a/packages/api-server/api_server/test/test_data.py +++ b/packages/api-server/api_server/test/test_data.py @@ -15,6 +15,7 @@ Door, DoorMode, DoorState, + FireAlarmTriggerState, FleetLog, FleetState, IngestorState, @@ -67,6 +68,10 @@ def make_building_map(): ) +def make_fire_alarm_trigger(trigger: bool = True): + return FireAlarmTriggerState(unix_millis_time=1000, trigger=trigger) + + def make_door_state(name: str, mode: int = RmfDoorMode.MODE_CLOSED) -> DoorState: return DoorState( door_name=name, diff --git a/packages/dashboard/src/components/appbar.tsx b/packages/dashboard/src/components/appbar.tsx index df0a51218..f4e03e15c 100644 --- a/packages/dashboard/src/components/appbar.tsx +++ b/packages/dashboard/src/components/appbar.tsx @@ -1,7 +1,9 @@ import { AccountCircle, + AdminPanelSettings, AddOutlined, Help, + LocalFireDepartment, Logout, Notifications, Report, @@ -13,6 +15,9 @@ import { Button, CardContent, Chip, + Dialog, + DialogActions, + DialogTitle, Divider, FormControl, FormControlLabel, @@ -24,6 +29,7 @@ import { MenuItem, Radio, RadioGroup, + Stack, Toolbar, Tooltip, Typography, @@ -31,12 +37,14 @@ import { } from '@mui/material'; import { ApiServerModelsTortoiseModelsAlertsAlertLeaf as Alert, + FireAlarmTriggerState, TaskFavoritePydantic as TaskFavorite, TaskRequest, } from 'api-client'; import React from 'react'; import { AppBarTab, + ConfirmationDialog, CreateTaskForm, CreateTaskFormProps, HeaderBar, @@ -167,6 +175,12 @@ export const AppBar = React.memo(({ extraToolbarItems }: AppBarProps): React.Rea const [alertListAnchor, setAlertListAnchor] = React.useState(null); const [unacknowledgedAlertsNum, setUnacknowledgedAlertsNum] = React.useState(0); const [unacknowledgedAlertList, setUnacknowledgedAlertList] = React.useState([]); + const [openAdminActionsDialog, setOpenAdminActionsDialog] = React.useState(false); + const [openFireAlarmTriggerResetDialog, setOpenFireAlarmTriggerResetDialog] = + React.useState(false); + const [fireAlarmPreviousTrigger, setFireAlarmPreviousTrigger] = React.useState< + FireAlarmTriggerState | undefined + >(undefined); const curTheme = React.useContext(SettingsContext).themeMode; const { waypointNames, pickupPoints, dropoffPoints, cleaningZoneNames } = @@ -351,6 +365,42 @@ export const AppBar = React.memo(({ extraToolbarItems }: AppBarProps): React.Rea return formatDistance(new Date(), new Date(time)); }; + React.useEffect(() => { + if (!rmf) { + return; + } + (async () => { + try { + const resp = + await rmf.buildingApi.getPreviousFireAlarmTriggerBuildingMapPreviousFireAlarmTriggerGet(); + setFireAlarmPreviousTrigger(resp.data); + } catch (e) { + console.error(`Failed to get previous fire alarm trigger: ${(e as Error).message}`); + } + })(); + }, [rmf, openAdminActionsDialog]); + + const handleResetFireAlarmTrigger = React.useCallback(async () => { + try { + if (!rmf) { + throw new Error('building map api not available'); + } + + const resp = + await rmf.buildingApi.resetFireAlarmTriggerBuildingMapResetFireAlarmTriggerPost(); + if (!resp.data.trigger) { + showAlert('success', 'Requested to reset fire alarm trigger'); + } else { + showAlert('error', 'Failed to reset fire alarm trigger'); + } + } catch (e) { + showAlert('error', `Failed to reset fire alarm trigger: ${(e as Error).message}`); + } + + setOpenFireAlarmTriggerResetDialog(false); + setOpenAdminActionsDialog(false); + }, [rmf, showAlert]); + return ( <> @@ -524,6 +574,20 @@ export const AppBar = React.memo(({ extraToolbarItems }: AppBarProps): React.Rea + { + setOpenAdminActionsDialog(true); + setAnchorEl(null); + }} + > + + + + Admin actions + + @@ -589,6 +653,68 @@ export const AppBar = React.memo(({ extraToolbarItems }: AppBarProps): React.Rea }} /> )} + {openAdminActionsDialog && ( + setOpenAdminActionsDialog(false)} open={openAdminActionsDialog}> + Admin actions + + + + {fireAlarmPreviousTrigger && fireAlarmPreviousTrigger.trigger ? ( +
+ + Last fire alarm triggered on: + + + {new Date(fireAlarmPreviousTrigger.unix_millis_time).toLocaleString()} + +
+ ) : fireAlarmPreviousTrigger && !fireAlarmPreviousTrigger.trigger ? ( +
+ + Last fire alarm reset on: + + + {new Date(fireAlarmPreviousTrigger.unix_millis_time).toLocaleString()} + +
+ ) : ( +
+ + Last fire alarm triggered on: + + + n/a + +
+ )} + + + + + + )} + {openFireAlarmTriggerResetDialog && ( + setOpenFireAlarmTriggerResetDialog(false)} + onSubmit={handleResetFireAlarmTrigger} + > + + Warning: Please ensure that all other systems are back online and that it is safe to + resume robot operations. + + + )} ); }); From 9136efdffde6dc0156faf1caacf4aa05d5783519 Mon Sep 17 00:00:00 2001 From: Teo Koon Peng Date: Thu, 23 May 2024 17:12:53 +0800 Subject: [PATCH 15/16] catch InvalidTokenError (#946) Signed-off-by: Teo Koon Peng --- packages/api-server/api_server/authenticator.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/packages/api-server/api_server/authenticator.py b/packages/api-server/api_server/authenticator.py index 75240c997..2580e9607 100644 --- a/packages/api-server/api_server/authenticator.py +++ b/packages/api-server/api_server/authenticator.py @@ -70,7 +70,7 @@ async def verify_token(self, token: Optional[str]) -> User: user = await self._get_user(claims) return user - except jwt.DecodeError as e: + except jwt.InvalidTokenError as e: raise AuthenticationError(str(e)) from e def fastapi_dep(self) -> Callable[..., Union[Coroutine[Any, Any, User], User]]: From 38d5869338268e997cf62b7ed6fba4ead123f2f5 Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Fri, 24 May 2024 00:09:10 +0800 Subject: [PATCH 16/16] Use task request labels to encode information required by dashboard (#912) * Custom task type support, refactor tasks to be singular, cleaned up Signed-off-by: Aaron Chong * lint Signed-off-by: Aaron Chong * Make custom task always available Signed-off-by: Aaron Chong * Check exception for TypeError Signed-off-by: Aaron Chong * Unifying handleTaskDescriptionChange, added FIXME for allowing favoriting custom tasks Signed-off-by: Aaron Chong * Renaming custom to custom_compose, since the task category will always be compose, display description for short description Signed-off-by: Aaron Chong * Catch possible exception with JSON.stringify, add fixmes for task description assumptions Signed-off-by: Aaron Chong * Pickup and destination in task state labels Signed-off-by: Aaron Chong * Clean up past workaround where pickup and destination is saved when a request is saved Signed-off-by: Aaron Chong * Migration script Signed-off-by: Aaron Chong * Remove stale testing label, push label instead of setting Signed-off-by: Aaron Chong * Lint Signed-off-by: Aaron Chong * Hammer/use labels schedules (#921) * Getting ScheduledTask as well Signed-off-by: Aaron Chong * Handle schedules as well Signed-off-by: Aaron Chong * lint Signed-off-by: Aaron Chong --------- Signed-off-by: Aaron Chong * Using a new generated file to handle parsing between json and object Signed-off-by: Aaron Chong * Made fields all optional, nested in a description object, regenerated api-client Signed-off-by: Aaron Chong * Using Ajv properly, with basic json stringify and parse Signed-off-by: Aaron Chong * Renaming to task booking label, with the endpoint getting the label from the state, instead of the request Signed-off-by: Aaron Chong * Generated API client after rename Signed-off-by: Aaron Chong * Changes to dashboard and react components after rename Signed-off-by: Aaron Chong * Refactoring and moving ajx instance to react-components Signed-off-by: Aaron Chong * Updated migration scipt to use TaskBookingLabel and task_name Signed-off-by: Aaron Chong * Handles editing scheduled task Signed-off-by: Aaron Chong * clean up task favorite models Signed-off-by: Aaron Chong * Adding label to favorite task before saving, setting booking label state when fav task is clicked Signed-off-by: Aaron Chong * Lint Signed-off-by: Aaron Chong * Added notes about TaskFavorite in migration script Signed-off-by: Aaron Chong * Description of TaskBookingLabel Signed-off-by: Aaron Chong * Fix migration script Signed-off-by: Aaron Chong * task_definition_id for TaskFavorite Signed-off-by: Aaron Chong * Use mandatory task_definition_id instead of task_name Signed-off-by: Aaron Chong * Generate label only before dispatching Signed-off-by: Aaron Chong * Clean up of emergency lots usage in config Signed-off-by: Aaron Chong * Removed unused map Signed-off-by: Aaron Chong * Lint Signed-off-by: Aaron Chong * New generic TaskLabel tortoise model, to handle more custom label fields for sorting and filtering Signed-off-by: Aaron Chong * Fix migration script Signed-off-by: Aaron Chong * Added float field, and more comments on the steps of label creation and saving Signed-off-by: Aaron Chong --------- Signed-off-by: Aaron Chong --- packages/api-client/lib/openapi/api.ts | 261 ++++++++++------ packages/api-client/lib/version.ts | 2 +- packages/api-client/schema/index.ts | 98 ++++-- .../api-server/api_server/models/__init__.py | 2 + .../api_server/models/task_booking_label.py | 46 +++ .../api_server/models/task_favorite.py | 14 + .../models/tortoise_models/__init__.py | 2 +- .../models/tortoise_models/tasks.py | 16 +- .../api_server/repositories/tasks.py | 151 +++------ .../api_server/routes/tasks/favorite_tasks.py | 39 +-- .../api_server/routes/tasks/tasks.py | 49 ++- .../api_server/routes/tasks/test_tasks.py | 15 +- .../api-server/api_server/test/test_data.py | 30 +- .../api_server/test/test_fixtures.py | 1 + .../api-server/migrations/migrate_db_912.py | 291 ++++++++++++++++++ packages/dashboard/package.json | 1 - packages/dashboard/src/components/appbar.tsx | 3 +- .../src/components/tasks/task-summary.tsx | 34 +- .../src/components/tasks/tasks-app.tsx | 34 +- .../dashboard/src/components/tasks/utils.ts | 18 +- packages/dashboard/src/components/utils.ts | 8 - .../src/managers/resource-manager.ts | 3 - .../lib/tasks/create-task.tsx | 223 +++++++++----- packages/react-components/lib/tasks/index.ts | 1 + .../lib/tasks/task-booking-label-utils.tsx | 46 +++ .../lib/tasks/task-table-datagrid.tsx | 19 +- packages/react-components/lib/utils/index.ts | 1 + .../lib/utils/schema-utils.ts | 8 + packages/react-components/package.json | 1 + pnpm-lock.yaml | 6 +- 30 files changed, 995 insertions(+), 428 deletions(-) create mode 100644 packages/api-server/api_server/models/task_booking_label.py create mode 100644 packages/api-server/api_server/models/task_favorite.py create mode 100644 packages/api-server/migrations/migrate_db_912.py create mode 100644 packages/react-components/lib/tasks/task-booking-label-utils.tsx create mode 100644 packages/react-components/lib/utils/schema-utils.ts diff --git a/packages/api-client/lib/openapi/api.ts b/packages/api-client/lib/openapi/api.ts index 00c3d5699..6e9353747 100644 --- a/packages/api-client/lib/openapi/api.ts +++ b/packages/api-client/lib/openapi/api.ts @@ -431,55 +431,6 @@ export interface ApiServerModelsTortoiseModelsScheduledTaskScheduledTaskSchedule */ at?: string | null; } -/** - * - * @export - * @interface ApiServerModelsTortoiseModelsTasksTaskFavoriteLeaf - */ -export interface ApiServerModelsTortoiseModelsTasksTaskFavoriteLeaf { - /** - * - * @type {string} - * @memberof ApiServerModelsTortoiseModelsTasksTaskFavoriteLeaf - */ - id: string; - /** - * - * @type {string} - * @memberof ApiServerModelsTortoiseModelsTasksTaskFavoriteLeaf - */ - name: string; - /** - * - * @type {string} - * @memberof ApiServerModelsTortoiseModelsTasksTaskFavoriteLeaf - */ - unix_millis_earliest_start_time?: string | null; - /** - * - * @type {any} - * @memberof ApiServerModelsTortoiseModelsTasksTaskFavoriteLeaf - */ - priority?: any; - /** - * - * @type {string} - * @memberof ApiServerModelsTortoiseModelsTasksTaskFavoriteLeaf - */ - category: string; - /** - * - * @type {any} - * @memberof ApiServerModelsTortoiseModelsTasksTaskFavoriteLeaf - */ - description?: any; - /** - * - * @type {string} - * @memberof ApiServerModelsTortoiseModelsTasksTaskFavoriteLeaf - */ - user: string; -} /** * Which agent (robot) is the task assigned to * @export @@ -2444,6 +2395,56 @@ export interface Task { */ description_schema?: object; } +/** + * This label is to be populated by any frontend during a task dispatch, by being added to TaskRequest.labels, which in turn populates TaskState.booking.labels, and can be used to display relevant information needed for any frontends. + * @export + * @interface TaskBookingLabel + */ +export interface TaskBookingLabel { + /** + * + * @type {TaskBookingLabelDescription} + * @memberof TaskBookingLabel + */ + description: TaskBookingLabelDescription; +} +/** + * This description holds several fields that could be useful for frontend dashboards when dispatching a task, to then be identified or rendered accordingly back on the same frontend. + * @export + * @interface TaskBookingLabelDescription + */ +export interface TaskBookingLabelDescription { + /** + * + * @type {string} + * @memberof TaskBookingLabelDescription + */ + task_definition_id: string; + /** + * + * @type {number} + * @memberof TaskBookingLabelDescription + */ + unix_millis_warn_time?: number; + /** + * + * @type {string} + * @memberof TaskBookingLabelDescription + */ + pickup?: string; + /** + * + * @type {string} + * @memberof TaskBookingLabelDescription + */ + destination?: string; + /** + * + * @type {string} + * @memberof TaskBookingLabelDescription + */ + cart_id?: string; +} /** * Response to a request to cancel a task * @export @@ -2626,51 +2627,57 @@ export interface TaskEventLog { /** * * @export - * @interface TaskFavoritePydantic + * @interface TaskFavorite */ -export interface TaskFavoritePydantic { +export interface TaskFavorite { /** * * @type {string} - * @memberof TaskFavoritePydantic + * @memberof TaskFavorite */ id: string; /** * * @type {string} - * @memberof TaskFavoritePydantic + * @memberof TaskFavorite */ name: string; /** * * @type {number} - * @memberof TaskFavoritePydantic + * @memberof TaskFavorite */ unix_millis_earliest_start_time: number; /** * * @type {object} - * @memberof TaskFavoritePydantic + * @memberof TaskFavorite */ priority?: object; /** * * @type {string} - * @memberof TaskFavoritePydantic + * @memberof TaskFavorite */ category: string; /** * * @type {object} - * @memberof TaskFavoritePydantic + * @memberof TaskFavorite */ description?: object; /** * * @type {string} - * @memberof TaskFavoritePydantic + * @memberof TaskFavorite */ user: string; + /** + * + * @type {string} + * @memberof TaskFavorite + */ + task_definition_id: string; } /** * @@ -8686,6 +8693,47 @@ export const TasksApiAxiosParamCreator = function (configuration?: Configuration options: localVarRequestOptions, }; }, + /** + * + * @summary Get Task Booking Label + * @param {string} taskId task_id + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + getTaskBookingLabelTasksTaskIdBookingLabelGet: async ( + taskId: string, + options: AxiosRequestConfig = {}, + ): Promise => { + // verify required parameter 'taskId' is not null or undefined + assertParamExists('getTaskBookingLabelTasksTaskIdBookingLabelGet', 'taskId', taskId); + const localVarPath = `/tasks/{task_id}/booking_label`.replace( + `{${'task_id'}}`, + encodeURIComponent(String(taskId)), + ); + // 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: 'GET', ...baseOptions, ...options }; + const localVarHeaderParameter = {} as any; + const localVarQueryParameter = {} as any; + + 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 Task Log @@ -8965,20 +9013,16 @@ export const TasksApiAxiosParamCreator = function (configuration?: Configuration /** * * @summary Post Favorite Task - * @param {TaskFavoritePydantic} taskFavoritePydantic + * @param {TaskFavorite} taskFavorite * @param {*} [options] Override http request option. * @throws {RequiredError} */ postFavoriteTaskFavoriteTasksPost: async ( - taskFavoritePydantic: TaskFavoritePydantic, + taskFavorite: TaskFavorite, options: AxiosRequestConfig = {}, ): Promise => { - // verify required parameter 'taskFavoritePydantic' is not null or undefined - assertParamExists( - 'postFavoriteTaskFavoriteTasksPost', - 'taskFavoritePydantic', - taskFavoritePydantic, - ); + // verify required parameter 'taskFavorite' is not null or undefined + assertParamExists('postFavoriteTaskFavoriteTasksPost', 'taskFavorite', taskFavorite); const localVarPath = `/favorite_tasks`; // use dummy base URL string because the URL constructor only accepts absolute URLs. const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL); @@ -9001,7 +9045,7 @@ export const TasksApiAxiosParamCreator = function (configuration?: Configuration ...options.headers, }; localVarRequestOptions.data = serializeDataIfNeeded( - taskFavoritePydantic, + taskFavorite, localVarRequestOptions, configuration, ); @@ -9734,9 +9778,7 @@ export const TasksApiFp = function (configuration?: Configuration) { */ async getFavoritesTasksFavoriteTasksGet( options?: AxiosRequestConfig, - ): Promise< - (axios?: AxiosInstance, basePath?: string) => AxiosPromise> - > { + ): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise>> { const localVarAxiosArgs = await localVarAxiosParamCreator.getFavoritesTasksFavoriteTasksGet( options, ); @@ -9796,6 +9838,24 @@ export const TasksApiFp = function (configuration?: Configuration) { ); return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); }, + /** + * + * @summary Get Task Booking Label + * @param {string} taskId task_id + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + async getTaskBookingLabelTasksTaskIdBookingLabelGet( + taskId: string, + options?: AxiosRequestConfig, + ): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise> { + const localVarAxiosArgs = + await localVarAxiosParamCreator.getTaskBookingLabelTasksTaskIdBookingLabelGet( + taskId, + options, + ); + return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); + }, /** * Available in socket.io * @summary Get Task Log @@ -9908,21 +9968,16 @@ export const TasksApiFp = function (configuration?: Configuration) { /** * * @summary Post Favorite Task - * @param {TaskFavoritePydantic} taskFavoritePydantic + * @param {TaskFavorite} taskFavorite * @param {*} [options] Override http request option. * @throws {RequiredError} */ async postFavoriteTaskFavoriteTasksPost( - taskFavoritePydantic: TaskFavoritePydantic, + taskFavorite: TaskFavorite, options?: AxiosRequestConfig, - ): Promise< - ( - axios?: AxiosInstance, - basePath?: string, - ) => AxiosPromise - > { + ): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise> { const localVarAxiosArgs = await localVarAxiosParamCreator.postFavoriteTaskFavoriteTasksPost( - taskFavoritePydantic, + taskFavorite, options, ); return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration); @@ -10253,7 +10308,7 @@ export const TasksApiFactory = function ( * @param {*} [options] Override http request option. * @throws {RequiredError} */ - getFavoritesTasksFavoriteTasksGet(options?: any): AxiosPromise> { + getFavoritesTasksFavoriteTasksGet(options?: any): AxiosPromise> { return localVarFp .getFavoritesTasksFavoriteTasksGet(options) .then((request) => request(axios, basePath)); @@ -10303,6 +10358,21 @@ export const TasksApiFactory = function ( ) .then((request) => request(axios, basePath)); }, + /** + * + * @summary Get Task Booking Label + * @param {string} taskId task_id + * @param {*} [options] Override http request option. + * @throws {RequiredError} + */ + getTaskBookingLabelTasksTaskIdBookingLabelGet( + taskId: string, + options?: any, + ): AxiosPromise { + return localVarFp + .getTaskBookingLabelTasksTaskIdBookingLabelGet(taskId, options) + .then((request) => request(axios, basePath)); + }, /** * Available in socket.io * @summary Get Task Log @@ -10392,16 +10462,16 @@ export const TasksApiFactory = function ( /** * * @summary Post Favorite Task - * @param {TaskFavoritePydantic} taskFavoritePydantic + * @param {TaskFavorite} taskFavorite * @param {*} [options] Override http request option. * @throws {RequiredError} */ postFavoriteTaskFavoriteTasksPost( - taskFavoritePydantic: TaskFavoritePydantic, + taskFavorite: TaskFavorite, options?: any, - ): AxiosPromise { + ): AxiosPromise { return localVarFp - .postFavoriteTaskFavoriteTasksPost(taskFavoritePydantic, options) + .postFavoriteTaskFavoriteTasksPost(taskFavorite, options) .then((request) => request(axios, basePath)); }, /** @@ -10744,6 +10814,23 @@ export class TasksApi extends BaseAPI { .then((request) => request(this.axios, this.basePath)); } + /** + * + * @summary Get Task Booking Label + * @param {string} taskId task_id + * @param {*} [options] Override http request option. + * @throws {RequiredError} + * @memberof TasksApi + */ + public getTaskBookingLabelTasksTaskIdBookingLabelGet( + taskId: string, + options?: AxiosRequestConfig, + ) { + return TasksApiFp(this.configuration) + .getTaskBookingLabelTasksTaskIdBookingLabelGet(taskId, options) + .then((request) => request(this.axios, this.basePath)); + } + /** * Available in socket.io * @summary Get Task Log @@ -10845,17 +10932,17 @@ export class TasksApi extends BaseAPI { /** * * @summary Post Favorite Task - * @param {TaskFavoritePydantic} taskFavoritePydantic + * @param {TaskFavorite} taskFavorite * @param {*} [options] Override http request option. * @throws {RequiredError} * @memberof TasksApi */ public postFavoriteTaskFavoriteTasksPost( - taskFavoritePydantic: TaskFavoritePydantic, + taskFavorite: TaskFavorite, options?: AxiosRequestConfig, ) { return TasksApiFp(this.configuration) - .postFavoriteTaskFavoriteTasksPost(taskFavoritePydantic, options) + .postFavoriteTaskFavoriteTasksPost(taskFavorite, 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 59be35401..d44ff17a7 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: 'fd45675f94b75df6845303db4f45276d0998f3e6', + rmfServer: '98741b14ceca74208ca98e4bb0c3ca9e41ca1e3c', openapiGenerator: '6.2.1', }; diff --git a/packages/api-client/schema/index.ts b/packages/api-client/schema/index.ts index 911a5de48..37ea1f1b5 100644 --- a/packages/api-client/schema/index.ts +++ b/packages/api-client/schema/index.ts @@ -917,6 +917,36 @@ export default { }, }, }, + '/tasks/{task_id}/booking_label': { + get: { + tags: ['Tasks'], + summary: 'Get Task Booking Label', + operationId: 'get_task_booking_label_tasks__task_id__booking_label_get', + parameters: [ + { + description: 'task_id', + required: true, + schema: { title: 'Task Id', type: 'string', description: 'task_id' }, + name: 'task_id', + in: 'path', + }, + ], + responses: { + '200': { + description: 'Successful Response', + content: { + 'application/json': { schema: { $ref: '#/components/schemas/TaskBookingLabel' } }, + }, + }, + '422': { + description: 'Validation Error', + content: { + 'application/json': { schema: { $ref: '#/components/schemas/HTTPValidationError' } }, + }, + }, + }, + }, + }, '/tasks/{task_id}/log': { get: { tags: ['Tasks'], @@ -1556,7 +1586,7 @@ export default { schema: { title: 'Response Get Favorites Tasks Favorite Tasks Get', type: 'array', - items: { $ref: '#/components/schemas/TaskFavoritePydantic' }, + items: { $ref: '#/components/schemas/TaskFavorite' }, }, }, }, @@ -1569,20 +1599,14 @@ export default { operationId: 'post_favorite_task_favorite_tasks_post', requestBody: { content: { - 'application/json': { schema: { $ref: '#/components/schemas/TaskFavoritePydantic' } }, + 'application/json': { schema: { $ref: '#/components/schemas/TaskFavorite' } }, }, required: true, }, responses: { '200': { description: 'Successful Response', - content: { - 'application/json': { - schema: { - $ref: '#/components/schemas/api_server.models.tortoise_models.tasks.TaskFavorite.leaf', - }, - }, - }, + content: { 'application/json': { schema: {} } }, }, '422': { description: 'Validation Error', @@ -3647,6 +3671,28 @@ export default { }, }, }, + TaskBookingLabel: { + title: 'TaskBookingLabel', + required: ['description'], + type: 'object', + properties: { description: { $ref: '#/components/schemas/TaskBookingLabelDescription' } }, + description: + 'This label is to be populated by any frontend during a task dispatch, by\nbeing added to TaskRequest.labels, which in turn populates\nTaskState.booking.labels, and can be used to display relevant information\nneeded for any frontends.', + }, + TaskBookingLabelDescription: { + title: 'TaskBookingLabelDescription', + required: ['task_definition_id'], + type: 'object', + properties: { + task_definition_id: { title: 'Task Definition Id', type: 'string' }, + unix_millis_warn_time: { title: 'Unix Millis Warn Time', type: 'integer' }, + pickup: { title: 'Pickup', type: 'string' }, + destination: { title: 'Destination', type: 'string' }, + cart_id: { title: 'Cart Id', type: 'string' }, + }, + description: + 'This description holds several fields that could be useful for frontend\ndashboards when dispatching a task, to then be identified or rendered\naccordingly back on the same frontend.', + }, TaskCancelResponse: { title: 'TaskCancelResponse', allOf: [{ $ref: '#/components/schemas/SimpleResponse' }], @@ -3730,9 +3776,16 @@ export default { }, additionalProperties: false, }, - TaskFavoritePydantic: { - title: 'TaskFavoritePydantic', - required: ['id', 'name', 'unix_millis_earliest_start_time', 'category', 'user'], + TaskFavorite: { + title: 'TaskFavorite', + required: [ + 'id', + 'name', + 'unix_millis_earliest_start_time', + 'category', + 'user', + 'task_definition_id', + ], type: 'object', properties: { id: { title: 'Id', type: 'string' }, @@ -3745,6 +3798,7 @@ export default { category: { title: 'Category', type: 'string' }, description: { title: 'Description', type: 'object' }, user: { title: 'User', type: 'string' }, + task_definition_id: { title: 'Task Definition Id', type: 'string' }, }, }, TaskInterruptionRequest: { @@ -4259,26 +4313,6 @@ export default { $ref: '#/components/schemas/api_server.models.tortoise_models.scheduled_task.ScheduledTask', }, }, - 'api_server.models.tortoise_models.tasks.TaskFavorite.leaf': { - title: 'TaskFavorite', - required: ['id', 'name', 'category', 'user'], - type: 'object', - properties: { - id: { title: 'Id', maxLength: 255, type: 'string' }, - name: { title: 'Name', maxLength: 255, type: 'string' }, - unix_millis_earliest_start_time: { - title: 'Unix Millis Earliest Start Time', - type: 'string', - format: 'date-time', - nullable: true, - }, - priority: { title: 'Priority' }, - category: { title: 'Category', maxLength: 255, type: 'string' }, - description: { title: 'Description' }, - user: { title: 'User', maxLength: 255, type: 'string' }, - }, - additionalProperties: false, - }, api_server__models__delivery_alerts__DeliveryAlert__Category: { title: 'Category', enum: ['missing', 'wrong', 'obstructed', 'cancelled'], diff --git a/packages/api-server/api_server/models/__init__.py b/packages/api-server/api_server/models/__init__.py index 80c9dd92a..238fdf04b 100644 --- a/packages/api-server/api_server/models/__init__.py +++ b/packages/api-server/api_server/models/__init__.py @@ -50,4 +50,6 @@ from .rmf_api.task_state_update import TaskStateUpdate from .rmf_api.undo_skip_phase_request import UndoPhaseSkipRequest from .rmf_api.undo_skip_phase_response import UndoPhaseSkipResponse +from .task_booking_label import * +from .task_favorite import * from .user import * diff --git a/packages/api-server/api_server/models/task_booking_label.py b/packages/api-server/api_server/models/task_booking_label.py new file mode 100644 index 000000000..1e59d77ab --- /dev/null +++ b/packages/api-server/api_server/models/task_booking_label.py @@ -0,0 +1,46 @@ +from typing import Optional + +import pydantic +from pydantic import BaseModel + +# NOTE: This label model needs to exactly match the fields that are defined and +# populated by the dashboard. Any changes to either side will require syncing. + + +class TaskBookingLabelDescription(BaseModel): + """ + This description holds several fields that could be useful for frontend + dashboards when dispatching a task, to then be identified or rendered + accordingly back on the same frontend. + """ + + task_definition_id: str + unix_millis_warn_time: Optional[int] + pickup: Optional[str] + destination: Optional[str] + cart_id: Optional[str] + + @staticmethod + def from_json_string(json_str: str) -> Optional["TaskBookingLabelDescription"]: + try: + return TaskBookingLabelDescription.parse_raw(json_str) + except pydantic.error_wrappers.ValidationError: + return None + + +class TaskBookingLabel(BaseModel): + """ + This label is to be populated by any frontend during a task dispatch, by + being added to TaskRequest.labels, which in turn populates + TaskState.booking.labels, and can be used to display relevant information + needed for any frontends. + """ + + description: TaskBookingLabelDescription + + @staticmethod + def from_json_string(json_str: str) -> Optional["TaskBookingLabel"]: + try: + return TaskBookingLabel.parse_raw(json_str) + except pydantic.error_wrappers.ValidationError: + return None diff --git a/packages/api-server/api_server/models/task_favorite.py b/packages/api-server/api_server/models/task_favorite.py new file mode 100644 index 000000000..174dee4f9 --- /dev/null +++ b/packages/api-server/api_server/models/task_favorite.py @@ -0,0 +1,14 @@ +from typing import Dict + +from pydantic import BaseModel + + +class TaskFavorite(BaseModel): + id: str + name: str + unix_millis_earliest_start_time: int + priority: Dict | None + category: str + description: Dict | None + user: str + task_definition_id: str diff --git a/packages/api-server/api_server/models/tortoise_models/__init__.py b/packages/api-server/api_server/models/tortoise_models/__init__.py index 301bed861..384dd978d 100644 --- a/packages/api-server/api_server/models/tortoise_models/__init__.py +++ b/packages/api-server/api_server/models/tortoise_models/__init__.py @@ -26,7 +26,7 @@ TaskEventLogPhasesEventsLog, TaskEventLogPhasesLog, TaskFavorite, - TaskFavoritePydantic, + TaskLabel, TaskRequest, TaskState, ) diff --git a/packages/api-server/api_server/models/tortoise_models/tasks.py b/packages/api-server/api_server/models/tortoise_models/tasks.py index f36ac3fbc..6e3f3e665 100644 --- a/packages/api-server/api_server/models/tortoise_models/tasks.py +++ b/packages/api-server/api_server/models/tortoise_models/tasks.py @@ -1,7 +1,8 @@ -from tortoise.contrib.pydantic.creator import pydantic_model_creator from tortoise.fields import ( + BigIntField, CharField, DatetimeField, + FloatField, ForeignKeyField, ForeignKeyRelation, JSONField, @@ -30,6 +31,15 @@ class TaskState(Model): unix_millis_warn_time = DatetimeField(null=True, index=True) pickup = CharField(255, null=True, index=True) destination = CharField(255, null=True, index=True) + labels = ReverseRelation["TaskLabel"] + + +class TaskLabel(Model): + state = ForeignKeyField("models.TaskState", null=True, related_name="labels") + label_name = CharField(255, null=False, index=True) + label_value_str = CharField(255, null=True, index=True) + label_value_num = BigIntField(null=True, index=True) + label_value_float = FloatField(null=True, index=True) class TaskEventLog(Model): @@ -80,6 +90,4 @@ class TaskFavorite(Model): category = CharField(255, null=False, index=True) description = JSONField() user = CharField(255, null=False, index=True) - - -TaskFavoritePydantic = pydantic_model_creator(TaskFavorite) + task_definition_id = CharField(255, null=True, index=True) diff --git a/packages/api-server/api_server/repositories/tasks.py b/packages/api-server/api_server/repositories/tasks.py index 5b8794e28..c857abfea 100644 --- a/packages/api-server/api_server/repositories/tasks.py +++ b/packages/api-server/api_server/repositories/tasks.py @@ -14,6 +14,7 @@ LogEntry, Pagination, Phases, + TaskBookingLabel, TaskEventLog, TaskRequest, TaskState, @@ -37,98 +38,6 @@ def __init__( self.user = user self.logger = logger - def parse_pickup(self, task_request: TaskRequest) -> Optional[str]: - # patrol - if task_request.category.lower() == "patrol": - return None - - # custom deliveries - supportedDeliveries = [ - "delivery_pickup", - "delivery_sequential_lot_pickup", - "delivery_area_pickup", - ] - if ( - "category" not in task_request.description - or task_request.description["category"] not in supportedDeliveries - ): - return None - - category = task_request.description["category"] - try: - perform_action_description = task_request.description["phases"][0][ - "activity" - ]["description"]["activities"][1]["description"]["description"] - if category == "delivery_pickup": - return perform_action_description["pickup_lot"] - return perform_action_description["pickup_zone"] - except Exception as e: # pylint: disable=W0703 - self.logger.error( - f"Failed to parse pickup for task of category [{category}] [{e}]" - ) - return None - - def parse_destination( - self, task_state: TaskState, task_request: TaskRequest - ) -> Optional[str]: - # patrol - try: - if ( - task_request.category.lower() == "patrol" - and task_request.description["places"] is not None - and len(task_request.description["places"]) > 0 - ): - return task_request.description["places"][-1] - except Exception as e: # pylint: disable=W0703 - self.logger.error(f"Failed to parse destination for patrol [{e}]") - return None - - # custom deliveries - supportedDeliveries = [ - "delivery_pickup", - "delivery_sequential_lot_pickup", - "delivery_area_pickup", - ] - if ( - "category" not in task_request.description - or task_request.description["category"] not in supportedDeliveries - ): - return None - - category = task_request.description["category"] - try: - destination = task_request.description["phases"][1]["activity"][ - "description" - ]["activities"][0]["description"] - return destination - except Exception as e: # pylint: disable=W0703 - self.logger.error( - f"Failed to parse destination from task request of category [{category}] [{e}]" - ) - - # automated tasks that can only be parsed with state - if task_state.category is not None and task_state.category == "Charge Battery": - try: - if ( - task_state.phases is None - or "1" not in task_state.phases - or task_state.phases["1"].events is None - or "1" not in task_state.phases["1"].events - or task_state.phases["1"].events["1"].name is None - ): - raise ValueError - - charge_event_name = task_state.phases["1"].events["1"].name - charge_place_split = charge_event_name.split("[place:")[1] - charge_place = charge_place_split.split("]")[0] - return charge_place - except Exception as e: # pylint: disable=W0703 - self.logger.error( - f"Failed to parse charging point from task state of id [{task_state.booking.id}] [{e}]" - ) - return None - return None - async def save_task_request( self, task_state: TaskState, task_request: TaskRequest ) -> None: @@ -136,19 +45,6 @@ async def save_task_request( {"request": task_request.json()}, id_=task_state.booking.id ) - # Add pickup and destination to task state model for filter and sort - pickup = self.parse_pickup(task_request) - destination = self.parse_destination(task_state, task_request) - db_task_state = await DbTaskState.get_or_none(id_=task_state.booking.id) - if db_task_state is not None: - db_task_state.update_from_dict( - { - "pickup": pickup, - "destination": destination, - } - ) - await db_task_state.save() - async def get_task_request(self, task_id: str) -> Optional[TaskRequest]: result = await DbTaskRequest.get_or_none(id_=task_id) if result is None: @@ -183,13 +79,8 @@ async def save_task_state(self, task_state: TaskState) -> None: else None, } - if task_state.unix_millis_warn_time is not None: - task_state_dict["unix_millis_warn_time"] = datetime.fromtimestamp( - task_state.unix_millis_warn_time / 1000 - ) - try: - await ttm.TaskState.update_or_create( + state, created = await ttm.TaskState.update_or_create( task_state_dict, id_=task_state.booking.id ) except Exception as e: # pylint: disable=W0703 @@ -206,6 +97,44 @@ async def save_task_state(self, task_state: TaskState) -> None: self.logger.error( f"Failed to save task state of id [{task_state.booking.id}] [{e}]" ) + return + + # Since this is updating an existing task state, we are done + if not created: + return + + # Labels are created and saved when a new task state is first received + labels = task_state.booking.labels + booking_label = None + if labels is not None: + for l in labels: + validated_booking_label = TaskBookingLabel.from_json_string(l) + if validated_booking_label is not None: + booking_label = validated_booking_label + break + if booking_label is None: + return + + # Here we generate the labels required for server-side sorting and + # filtering. + if booking_label.description.pickup is not None: + await ttm.TaskLabel.create( + state=state, + label_name="pickup", + label_value_str=booking_label.description.pickup, + ) + if booking_label.description.destination is not None: + await ttm.TaskLabel.create( + state=state, + label_name="destination", + label_value_str=booking_label.description.destination, + ) + if booking_label.description.unix_millis_warn_time is not None: + await ttm.TaskLabel.create( + state=state, + label_name="unix_millis_warn_time", + label_value_num=booking_label.description.unix_millis_warn_time, + ) async def query_task_states( self, query: QuerySet[DbTaskState], pagination: Optional[Pagination] = None diff --git a/packages/api-server/api_server/routes/tasks/favorite_tasks.py b/packages/api-server/api_server/routes/tasks/favorite_tasks.py index d3dcabef5..66b069a18 100644 --- a/packages/api-server/api_server/routes/tasks/favorite_tasks.py +++ b/packages/api-server/api_server/routes/tasks/favorite_tasks.py @@ -1,59 +1,51 @@ import uuid from datetime import datetime -from typing import Dict, List +from typing import List from fastapi import Depends, HTTPException -from pydantic import BaseModel from tortoise.exceptions import IntegrityError from api_server.authenticator import user_dep from api_server.fast_io import FastIORouter -from api_server.models import User +from api_server.models import TaskFavorite, User from api_server.models import tortoise_models as ttm router = FastIORouter(tags=["Tasks"]) -class TaskFavoritePydantic(BaseModel): - id: str - name: str - unix_millis_earliest_start_time: int - priority: Dict | None - category: str - description: Dict | None - user: str - - -@router.post("", response_model=ttm.TaskFavoritePydantic) +@router.post("") async def post_favorite_task( - request: TaskFavoritePydantic, + favorite_task: TaskFavorite, user: User = Depends(user_dep), ): try: await ttm.TaskFavorite.update_or_create( { - "name": request.name, + "name": favorite_task.name, "unix_millis_earliest_start_time": datetime.fromtimestamp( - request.unix_millis_earliest_start_time / 1000 + favorite_task.unix_millis_earliest_start_time / 1000 ), - "priority": request.priority if request.priority else None, - "category": request.category, - "description": request.description if request.description else None, + "priority": favorite_task.priority if favorite_task.priority else None, + "category": favorite_task.category, + "description": favorite_task.description + if favorite_task.description + else None, "user": user.username, + "task_definition_id": favorite_task.task_definition_id, }, - id=request.id if request.id != "" else uuid.uuid4(), + id=favorite_task.id if favorite_task.id != "" else uuid.uuid4(), ) except IntegrityError as e: raise HTTPException(422, str(e)) from e -@router.get("", response_model=List[TaskFavoritePydantic]) +@router.get("", response_model=List[TaskFavorite]) async def get_favorites_tasks( user: User = Depends(user_dep), ): favorites_tasks = await ttm.TaskFavorite.filter(user=user.username) return [ - TaskFavoritePydantic( + TaskFavorite( id=favorite_task.id, name=favorite_task.name, unix_millis_earliest_start_time=int( @@ -65,6 +57,7 @@ async def get_favorites_tasks( if favorite_task.description else None, user=user.username, + task_definition_id=favorite_task.task_definition_id, ) for favorite_task in favorites_tasks ] diff --git a/packages/api-server/api_server/routes/tasks/tasks.py b/packages/api-server/api_server/routes/tasks/tasks.py index cffe00a14..2a8030c91 100644 --- a/packages/api-server/api_server/routes/tasks/tasks.py +++ b/packages/api-server/api_server/routes/tasks/tasks.py @@ -126,10 +126,6 @@ async def query_task_states( filters["unix_millis_request_time__lte"] = request_time_between[1] if requester is not None: filters["requester__in"] = requester.split(",") - if pickup is not None: - filters["pickup__in"] = pickup.split(",") - if destination is not None: - filters["destination__in"] = destination.split(",") if assigned_to is not None: filters["assigned_to__in"] = assigned_to.split(",") if start_time_between is not None: @@ -146,6 +142,31 @@ async def query_task_states( continue filters["status__in"].append(mdl.Status(status_string)) + # NOTE: in order to perform filtering based on the values in labels, a + # filter on the label_name will need to be applied as well as a filter on + # the label_value. + if pickup is not None: + filters["labels__label_name"] = "pickup" + filters["labels__label_value_str__in"] = pickup.split(",") + if destination is not None: + filters["labels__label_name"] = "destination" + filters["labels__label_value_str__in"] = destination.split(",") + + # NOTE: In order to perform sorting based on the values in labels, a filter + # on the label_name has to be performed first. A side-effect of this would + # be that states that do not contain this field will not be returned. + if pagination.order_by is not None: + labels_fields = ["pickup", "destination"] + new_order = pagination.order_by + for field in labels_fields: + if field in pagination.order_by: + filters["labels__label_name"] = field + new_order = pagination.order_by.replace( + field, "labels__label_value_str" + ) + break + pagination.order_by = new_order + return await task_repo.query_task_states(DbTaskState.filter(**filters), pagination) @@ -176,6 +197,26 @@ async def sub_task_state(req: SubscriptionRequest, task_id: str): return obs +@router.get("/{task_id}/booking_label", response_model=mdl.TaskBookingLabel) +async def get_task_booking_label( + task_repo: TaskRepository = Depends(TaskRepository), + task_id: str = Path(..., description="task_id"), +): + state = await task_repo.get_task_state(task_id) + if state is None: + raise HTTPException(status_code=404) + + if state.booking.labels is not None: + for label in state.booking.labels: + if len(label) == 0: + continue + + booking_label = mdl.TaskBookingLabel.from_json_string(label) + if booking_label is not None: + return booking_label + raise HTTPException(status_code=404) + + @router.get("/{task_id}/log", response_model=mdl.TaskEventLog) async def get_task_log( task_repo: TaskRepository = Depends(TaskRepository), diff --git a/packages/api-server/api_server/routes/tasks/test_tasks.py b/packages/api-server/api_server/routes/tasks/test_tasks.py index 5dee13e0a..ffa78e9db 100644 --- a/packages/api-server/api_server/routes/tasks/test_tasks.py +++ b/packages/api-server/api_server/routes/tasks/test_tasks.py @@ -3,7 +3,12 @@ from api_server import models as mdl from api_server.rmf_io import tasks_service -from api_server.test import AppFixture, make_task_log, make_task_state +from api_server.test import ( + AppFixture, + make_task_booking_label, + make_task_log, + make_task_state, +) class TestTasksRoute(AppFixture): @@ -51,6 +56,14 @@ def test_sub_task_state(self): state = next(gen) self.assertEqual(task_id, state.booking.id) # type: ignore + def test_get_task_booking_label(self): + resp = self.client.get(f"/tasks/{self.task_states[0].booking.id}/booking_label") + self.assertEqual(200, resp.status_code) + self.assertEqual( + make_task_booking_label(), + mdl.TaskBookingLabel(**resp.json()), + ) + def test_get_task_log(self): resp = self.client.get( f"/tasks/{self.task_logs[0].task_id}/log?between=0,1636388414500" diff --git a/packages/api-server/api_server/test/test_data.py b/packages/api-server/api_server/test/test_data.py index a287e73e2..cf0f693d2 100644 --- a/packages/api-server/api_server/test/test_data.py +++ b/packages/api-server/api_server/test/test_data.py @@ -23,10 +23,12 @@ Lift, LiftState, RobotState, + TaskBookingLabel, + TaskBookingLabelDescription, TaskEventLog, + TaskFavorite, TaskState, ) -from api_server.models import tortoise_models as ttm def make_door(name: str = "test_door") -> Door: @@ -130,6 +132,18 @@ def make_fleet_log() -> FleetLog: return FleetLog(name=str(uuid4()), log=[], robots={}) +def make_task_booking_label() -> TaskBookingLabel: + return TaskBookingLabel( + description=TaskBookingLabelDescription( + task_definition_id="multi-delivery", + unix_millis_warn_time=1636388400000, + pickup="Kitchen", + destination="room_203", + cart_id="soda", + ) + ) + + def make_task_state(task_id: str = "test_task") -> TaskState: # from https://raw.githubusercontent.com/open-rmf/rmf_api_msgs/960b286d9849fc716a3043b8e1f5fb341bdf5778/rmf_api_msgs/samples/task_state/multi_dropoff_delivery.json sample_task = json.loads( @@ -429,12 +443,19 @@ def make_task_state(task_id: str = "test_task") -> TaskState: """ ) sample_task["booking"]["id"] = task_id + + booking_labels = [ + "dummy_label_1", + "dummy_label_2", + make_task_booking_label().json(), + ] + sample_task["booking"]["labels"] = booking_labels return TaskState(**sample_task) def make_task_favorite( favorite_task_id: str = "default_id", -) -> ttm.TaskFavoritePydantic: +) -> TaskFavorite: sample_favorite_task = json.loads( """ { @@ -458,12 +479,13 @@ def make_task_favorite( "payload":"" } }, - "user":"stub" + "user":"stub", + "task_definition_id": "delivery" } """ ) sample_favorite_task["id"] = favorite_task_id - return ttm.TaskFavoritePydantic(**sample_favorite_task) + return TaskFavorite(**sample_favorite_task) def make_task_log(task_id: str) -> TaskEventLog: diff --git a/packages/api-server/api_server/test/test_fixtures.py b/packages/api-server/api_server/test/test_fixtures.py index 2280702de..32a2e6d2f 100644 --- a/packages/api-server/api_server/test/test_fixtures.py +++ b/packages/api-server/api_server/test/test_fixtures.py @@ -176,6 +176,7 @@ def post_favorite_task(self): "category": "clean", "description": {"type": "", "zone": ""}, "user": "", + "task_definition_id": "", } return self.client.post( "/favorite_tasks", diff --git a/packages/api-server/migrations/migrate_db_912.py b/packages/api-server/migrations/migrate_db_912.py new file mode 100644 index 000000000..c4923eaa3 --- /dev/null +++ b/packages/api-server/migrations/migrate_db_912.py @@ -0,0 +1,291 @@ +import asyncio +import os +from typing import Optional + +from tortoise import Tortoise + +import api_server.models.tortoise_models as ttm +from api_server.app_config import app_config, load_config +from api_server.models import ( + TaskBookingLabel, + TaskBookingLabelDescription, + TaskRequest, + TaskState, +) + +# NOTE: This script is for migrating TaskState and ScheduledTask in an existing +# database to work with https://github.com/open-rmf/rmf-web/pull/912. +# Before migration: +# - Pickup, destination, cart ID, task definition id information will be +# unavailable on the Task Queue Table on the dashboard, as we no longer gather +# those fields from the TaskRequest. +# - TaskState database model contains optional CharFields for pickup and +# destination, to facilitate server-side sorting and filtering. +# After migration: +# - Dashboard will behave the same as before #912, however it is no longer +# dependent on TaskRequest to fill out those fields. It gathers those fields +# from the json string in TaskState.booking.labels. +# - In the database, we create a new generic key-value pair model, that allow +# us to encode all this information and tie them to a task state, and be used +# for sorting and filtering, using reverse relations, as opposed to fully +# filled out columns for TaskState. +# This script performs the following: +# - Construct TaskBookingLabel from its TaskRequest if it is available. +# - Update the respective TaskState.data json TaskState.booking.labels field +# with the newly constructed TaskBookingLabel json string. +# - Update the requests in ScheduledTask to use labels too +# - TaskFavorite will not be migrated as the database model was not able to +# support it until rmf-web#912 + + +app_config = load_config( + os.environ.get( + "RMF_API_SERVER_CONFIG", + f"{os.path.dirname(__file__)}/../../default_config.py", + ) +) + + +def parse_task_definition_id(task_request: TaskRequest) -> Optional[str]: + """ + Although not IDs per-se, these names are used to identify which task + definition to use when rendering on the dashboard. While these IDs are + going to be static, in the next update, the underlying display name will be + configurable at build time. + """ + name = None + if task_request.category.lower() == "patrol": + name = "Patrol" + elif task_request.description and task_request.description["category"]: + name = task_request.description["category"] + return name + + +def parse_pickup(task_request: TaskRequest) -> Optional[str]: + # patrol + if task_request.category.lower() == "patrol": + return None + + # custom deliveries + supportedDeliveries = [ + "delivery_pickup", + "delivery_sequential_lot_pickup", + "delivery_area_pickup", + ] + if ( + "category" not in task_request.description + or task_request.description["category"] not in supportedDeliveries + ): + return None + + category = task_request.description["category"] + try: + perform_action_description = task_request.description["phases"][0]["activity"][ + "description" + ]["activities"][1]["description"]["description"] + if category == "delivery_pickup": + return perform_action_description["pickup_lot"] + return perform_action_description["pickup_zone"] + except Exception as e: # pylint: disable=W0703 + print(f"Failed to parse pickup for task of category {category}") + return None + + +def parse_destination(task_request: TaskRequest) -> Optional[str]: + # patrol + try: + if ( + task_request.category.lower() == "patrol" + and task_request.description["places"] is not None + and len(task_request.description["places"]) > 0 + ): + return task_request.description["places"][-1] + except Exception as e: # pylint: disable=W0703 + print("Failed to parse destination for patrol") + return None + + # custom deliveries + supportedDeliveries = [ + "delivery_pickup", + "delivery_sequential_lot_pickup", + "delivery_area_pickup", + ] + if ( + "category" not in task_request.description + or task_request.description["category"] not in supportedDeliveries + ): + return None + + category = task_request.description["category"] + try: + destination = task_request.description["phases"][1]["activity"]["description"][ + "activities" + ][0]["description"] + return destination + except Exception as e: # pylint: disable=W0703 + print(f"Failed to parse destination from task request of category {category}") + return None + + +def parse_cart_id(task_request: TaskRequest) -> Optional[str]: + # patrol + if task_request.category.lower() == "patrol": + return None + + # custom deliveries + supportedDeliveries = [ + "delivery_pickup", + "delivery_sequential_lot_pickup", + "delivery_area_pickup", + ] + if ( + "category" not in task_request.description + or task_request.description["category"] not in supportedDeliveries + ): + return None + + category = task_request.description["category"] + try: + perform_action_description = task_request.description["phases"][0]["activity"][ + "description" + ]["activities"][1]["description"]["description"] + return perform_action_description["cart_id"] + except Exception as e: # pylint: disable=W0703 + print(f"Failed to parse cart ID for task of category {category}") + return None + + +async def migrate(): + await Tortoise.init( + db_url=app_config.db_url, + modules={"models": ["api_server.models.tortoise_models"]}, + ) + await Tortoise.generate_schemas() + + # Acquire all existing TaskStates + states = await ttm.TaskState.all() + print(f"Migrating {len(states)} TaskState models") + + # Migrate each TaskState + skipped_task_states_count = 0 + failed_task_states_count = 0 + for state in states: + state_model = TaskState(**state.data) + task_id = state_model.booking.id + + # If the request is not available we skip migrating this TaskState + request = await ttm.TaskRequest.get_or_none(id_=task_id) + if request is None: + skipped_task_states_count += 1 + continue + request_model = TaskRequest(**request.request) + + # Construct TaskBookingLabel based on TaskRequest + pickup = parse_pickup(request_model) + destination = parse_destination(request_model) + + # If the task definition id could not be parsed, we skip migrating this + # TaskState + task_definition_id = parse_task_definition_id(request_model) + if task_definition_id is None: + failed_task_states_count += 1 + continue + + label_description = TaskBookingLabelDescription( + task_definition_id=task_definition_id, + unix_millis_warn_time=None, + pickup=pickup, + destination=destination, + cart_id=parse_cart_id(request_model), + ) + label = TaskBookingLabel(description=label_description) + # print(label) + + # Update data json + if state_model.booking.labels is None: + state_model.booking.labels = [ + label.json(exclude_none=True, separators=(",", ":")) + ] + else: + state_model.booking.labels.append( + label.json(exclude_none=True, separators=(",", ":")) + ) + # print(state_model) + + if pickup is not None: + await ttm.TaskLabel.create( + state=state, label_name="pickup", label_value_str=pickup + ) + if destination is not None: + await ttm.TaskLabel.create( + state=state, label_name="destination", label_value_str=destination + ) + + state.update_from_dict( + {"data": state_model.json(exclude_none=True, separators=(",", ":"))} + ) + await state.save() + + # Acquire all ScheduledTask + scheduled_tasks = await ttm.ScheduledTask.all() + print(f"Migrating {len(scheduled_tasks)} ScheduledTask models") + + # Migrate each ScheduledTask + failed_scheduled_task_count = 0 + for scheduled_task in scheduled_tasks: + scheduled_task_model = await ttm.ScheduledTaskPydantic.from_tortoise_orm( + scheduled_task + ) + task_request = TaskRequest( + **scheduled_task_model.task_request # pyright: ignore[reportGeneralTypeIssues] + ) + # print(task_request) + + task_definition_id = parse_task_definition_id(task_request) + if task_definition_id is None: + failed_scheduled_task_count += 1 + continue + + # Construct TaskBookingLabel based on TaskRequest + pickup = parse_pickup(task_request) + destination = parse_destination(task_request) + label_description = TaskBookingLabelDescription( + task_definition_id=task_definition_id, + unix_millis_warn_time=None, + pickup=pickup, + destination=destination, + cart_id=parse_cart_id(task_request), + ) + label = TaskBookingLabel(description=label_description) + # print(label) + + # Update TaskRequest + if task_request.labels is None: + task_request.labels = [label.json(exclude_none=True, separators=(",", ":"))] + else: + task_request.labels.append( + label.json(exclude_none=True, separators=(",", ":")) + ) + # print(task_request) + + # Update ScheduledTask + scheduled_task.update_from_dict( + { + "task_request": task_request.json( + exclude_none=True, separators=(",", ":") + ) + } + ) + await scheduled_task.save() + + await Tortoise.close_connections() + + +def main(): + print("Migration started") + asyncio.run(migrate()) + print("Migration done") + + +if __name__ == "__main__": + main() diff --git a/packages/dashboard/package.json b/packages/dashboard/package.json index f18b2cc6b..4464f6499 100644 --- a/packages/dashboard/package.json +++ b/packages/dashboard/package.json @@ -59,7 +59,6 @@ "@types/react-router": "^5.1.20", "@types/react-router-dom": "^5.3.3", "@types/three": "^0.156.0", - "ajv": "^8.10.0", "api-client": "workspace:*", "axios": "^0.21.1", "date-fns": "^2.21.3", diff --git a/packages/dashboard/src/components/appbar.tsx b/packages/dashboard/src/components/appbar.tsx index f4e03e15c..76a3f5224 100644 --- a/packages/dashboard/src/components/appbar.tsx +++ b/packages/dashboard/src/components/appbar.tsx @@ -38,7 +38,7 @@ import { import { ApiServerModelsTortoiseModelsAlertsAlertLeaf as Alert, FireAlarmTriggerState, - TaskFavoritePydantic as TaskFavorite, + TaskFavorite, TaskRequest, } from 'api-client'; import React from 'react'; @@ -615,7 +615,6 @@ export const AppBar = React.memo(({ extraToolbarItems }: AppBarProps): React.Rea cleaningZones={cleaningZoneNames} pickupZones={resourceManager?.pickupZones} cartIds={resourceManager?.cartIds} - emergencyLots={resourceManager?.emergencyLots} pickupPoints={pickupPoints} dropoffPoints={dropoffPoints} favoritesTasks={favoritesTasks} diff --git a/packages/dashboard/src/components/tasks/task-summary.tsx b/packages/dashboard/src/components/tasks/task-summary.tsx index 458bfa766..288ed81ed 100644 --- a/packages/dashboard/src/components/tasks/task-summary.tsx +++ b/packages/dashboard/src/components/tasks/task-summary.tsx @@ -14,8 +14,12 @@ 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 { ApiServerModelsRmfApiTaskStateStatus as Status, TaskRequest, TaskState } from 'api-client'; -import { base, parseCartId, parseCategory, parseDestination, parsePickup } from 'react-components'; +import { + ApiServerModelsRmfApiTaskStateStatus as Status, + TaskBookingLabel, + TaskState, +} from 'api-client'; +import { base, getTaskBookingLabelFromTaskState } from 'react-components'; import { TaskInspector } from './task-inspector'; import { RmfAppContext } from '../rmf-app'; import { TaskCancelButton } from './task-cancellation'; @@ -69,7 +73,6 @@ const setTaskDialogColor = (taskStatus: Status | undefined) => { export interface TaskSummaryProps { onClose: () => void; task?: TaskState; - request?: TaskRequest; } export const TaskSummary = React.memo((props: TaskSummaryProps) => { @@ -77,10 +80,11 @@ export const TaskSummary = React.memo((props: TaskSummaryProps) => { const classes = useStyles(); const rmf = React.useContext(RmfAppContext); - const { onClose, task, request } = props; + const { onClose, task } = props; const [openTaskDetailsLogs, setOpenTaskDetailsLogs] = React.useState(false); const [taskState, setTaskState] = React.useState(null); + const [label, setLabel] = React.useState(null); const [isOpen, setIsOpen] = React.useState(true); const taskProgress = React.useMemo(() => { @@ -106,9 +110,15 @@ export const TaskSummary = React.memo((props: TaskSummaryProps) => { if (!rmf || !task) { return; } - const sub = rmf - .getTaskStateObs(task.booking.id) - .subscribe((subscribedTask) => setTaskState(subscribedTask)); + const sub = rmf.getTaskStateObs(task.booking.id).subscribe((subscribedTask) => { + const requestLabel = getTaskBookingLabelFromTaskState(subscribedTask); + if (requestLabel) { + setLabel(requestLabel); + } else { + setLabel(null); + } + setTaskState(subscribedTask); + }); return () => sub.unsubscribe(); }, [rmf, task]); @@ -119,20 +129,20 @@ export const TaskSummary = React.memo((props: TaskSummaryProps) => { value: taskState ? taskState.booking.id : 'n/a.', }, { - title: 'Category', - value: parseCategory(task, request), + title: 'Task definition ID', + value: label?.description.task_definition_id ?? 'n/a', }, { title: 'Pickup', - value: parsePickup(request), + value: label?.description.pickup ?? 'n/a', }, { title: 'Cart ID', - value: parseCartId(request), + value: label?.description.cart_id ?? 'n/a', }, { title: 'Dropoff', - value: parseDestination(task, request), + value: label?.description.destination ?? 'n/a', }, { title: 'Est. end time', diff --git a/packages/dashboard/src/components/tasks/tasks-app.tsx b/packages/dashboard/src/components/tasks/tasks-app.tsx index 8cc49fc06..2716e99cc 100644 --- a/packages/dashboard/src/components/tasks/tasks-app.tsx +++ b/packages/dashboard/src/components/tasks/tasks-app.tsx @@ -95,7 +95,6 @@ export const TasksApp = React.memo( const [tasksState, setTasksState] = React.useState({ isLoading: true, data: [], - requests: {}, total: 0, page: 1, pageSize: 10, @@ -282,32 +281,6 @@ export const TasksApp = React.memo( return allTasks; }; - const getPastMonthTaskRequests = async (tasks: TaskState[]) => { - if (!rmf) { - return {}; - } - - const taskRequestMap: Record = {}; - const allTaskIds: string[] = tasks.map((task) => task.booking.id); - const queriesRequired = Math.ceil(allTaskIds.length / QueryLimit); - for (let i = 0; i < queriesRequired; i++) { - const endingIndex = Math.min(allTaskIds.length, (i + 1) * QueryLimit); - const taskIds = allTaskIds.slice(i * QueryLimit, endingIndex); - const taskIdsQuery = taskIds.join(','); - const taskRequests = (await rmf.tasksApi.queryTaskRequestsTasksRequestsGet(taskIdsQuery)) - .data; - - let requestIndex = 0; - for (const id of taskIds) { - if (requestIndex < taskRequests.length && taskRequests[requestIndex]) { - taskRequestMap[id] = taskRequests[requestIndex]; - } - ++requestIndex; - } - } - return taskRequestMap; - }; - const exportTasksToCsv = async (minimal: boolean) => { AppEvents.loadingBackdrop.next(true); const now = new Date(); @@ -319,11 +292,7 @@ export const TasksApp = React.memo( return; } if (minimal) { - // FIXME: Task requests are currently required for parsing pickup and - // destination information. Once we start using TaskState.Booking.Labels - // to encode these fields, we can skip querying for task requests. - const pastMonthTaskRequests = await getPastMonthTaskRequests(pastMonthTasks); - exportCsvMinimal(now, pastMonthTasks, pastMonthTaskRequests); + exportCsvMinimal(now, pastMonthTasks); } else { exportCsvFull(now, pastMonthTasks); } @@ -481,7 +450,6 @@ export const TasksApp = React.memo( setOpenTaskSummary(false)} task={selectedTask ?? undefined} - request={selectedTask ? tasksState.requests[selectedTask.booking.id] : undefined} /> )} {children} diff --git a/packages/dashboard/src/components/tasks/utils.ts b/packages/dashboard/src/components/tasks/utils.ts index 93d74a9f5..2b165ac2e 100644 --- a/packages/dashboard/src/components/tasks/utils.ts +++ b/packages/dashboard/src/components/tasks/utils.ts @@ -1,7 +1,6 @@ import { PostScheduledTaskRequest, TaskRequest, TaskState } from 'api-client'; -import { Schedule, parsePickup, parseDestination } from 'react-components'; +import { ajv, getTaskBookingLabelFromTaskState, Schedule } from 'react-components'; import schema from 'api-client/dist/schema'; -import { ajv } from '../utils'; export function parseTasksFile(contents: string): TaskRequest[] { const obj = JSON.parse(contents) as unknown[]; @@ -47,11 +46,7 @@ export function exportCsvFull(timestamp: Date, allTasks: TaskState[]) { }); } -export function exportCsvMinimal( - timestamp: Date, - allTasks: TaskState[], - taskRequestMap: Record, -) { +export function exportCsvMinimal(timestamp: Date, allTasks: TaskState[]) { const columnSeparator = ';'; const rowSeparator = '\n'; let csvContent = `sep=${columnSeparator}` + rowSeparator; @@ -67,7 +62,8 @@ export function exportCsvMinimal( ]; csvContent += keys.join(columnSeparator) + rowSeparator; allTasks.forEach((task) => { - const request: TaskRequest | undefined = taskRequestMap[task.booking.id]; + let requestLabel = getTaskBookingLabelFromTaskState(task); + const values = [ // Date task.booking.unix_millis_request_time @@ -76,9 +72,11 @@ export function exportCsvMinimal( // Requester task.booking.requester ? task.booking.requester : 'n/a', // Pickup - parsePickup(request), + requestLabel && requestLabel.description.pickup ? requestLabel.description.pickup : 'n/a', // Destination - parseDestination(task, request), + requestLabel && requestLabel.description.destination + ? requestLabel.description.destination + : 'n/a', // Robot task.assigned_to ? task.assigned_to.name : 'n/a', // Start Time diff --git a/packages/dashboard/src/components/utils.ts b/packages/dashboard/src/components/utils.ts index cdb1d6cb4..ac280c665 100644 --- a/packages/dashboard/src/components/utils.ts +++ b/packages/dashboard/src/components/utils.ts @@ -1,13 +1,5 @@ -import Ajv from 'ajv'; -import schema from 'api-client/schema'; import { AxiosError } from 'axios'; export function getApiErrorMessage(error: unknown): string { return (error as AxiosError).response?.data.detail || ''; } - -export const ajv = new Ajv(); - -Object.entries(schema.components.schemas).forEach(([k, v]) => { - ajv.addSchema(v, `#/components/schemas/${k}`); -}); diff --git a/packages/dashboard/src/managers/resource-manager.ts b/packages/dashboard/src/managers/resource-manager.ts index 2f872d855..4227326a4 100644 --- a/packages/dashboard/src/managers/resource-manager.ts +++ b/packages/dashboard/src/managers/resource-manager.ts @@ -18,7 +18,6 @@ export interface ResourceConfigurationsType { attributionPrefix?: string; cartIds?: string[]; loggedInDisplayLevel?: string; - emergencyLots?: string[]; } export default class ResourceManager { @@ -33,7 +32,6 @@ export default class ResourceManager { attributionPrefix?: string; cartIds?: string[]; loggedInDisplayLevel?: string; - emergencyLots?: string[]; /** * Gets the default resource manager using the embedded resource file (aka "assets/resources/main.json"). @@ -73,7 +71,6 @@ export default class ResourceManager { this.attributionPrefix = resources.attributionPrefix || 'OSRC-SG'; this.cartIds = resources.cartIds || []; this.loggedInDisplayLevel = resources.loggedInDisplayLevel; - this.emergencyLots = resources.emergencyLots || []; } } diff --git a/packages/react-components/lib/tasks/create-task.tsx b/packages/react-components/lib/tasks/create-task.tsx index 1aedab997..fc62722c0 100644 --- a/packages/react-components/lib/tasks/create-task.tsx +++ b/packages/react-components/lib/tasks/create-task.tsx @@ -38,11 +38,90 @@ import { useTheme, } from '@mui/material'; import { DatePicker, TimePicker, DateTimePicker } from '@mui/x-date-pickers'; -import type { TaskFavoritePydantic as TaskFavorite, TaskRequest } from 'api-client'; +import type { TaskBookingLabel, TaskFavorite, TaskRequest } from 'api-client'; import React from 'react'; import { Loading } from '..'; import { ConfirmationDialog, ConfirmationDialogProps } from '../confirmation-dialog'; import { PositiveIntField } from '../form-inputs'; +import { serializeTaskBookingLabel } from './task-booking-label-utils'; + +interface TaskDefinition { + task_definition_id: string; + task_display_name: string; +} + +// If no task definition id is found in a past task (scheduled or favorite) +const DefaultTaskDefinitionId = 'custom_compose'; + +// FIXME: This is the order of the task type dropdown, and will be migrated out +// as a build-time configuration in a subsequent patch. +const SupportedTaskDefinitions: TaskDefinition[] = [ + { + task_definition_id: 'delivery_pickup', + task_display_name: 'Delivery - 1:1', + }, + { + task_definition_id: 'delivery_sequential_lot_pickup', + task_display_name: 'Delivery - Sequential lot pick up', + }, + { + task_definition_id: 'delivery_area_pickup', + task_display_name: 'Delivery - Area pick up', + }, + { + task_definition_id: 'patrol', + task_display_name: 'Patrol', + }, + { + task_definition_id: 'custom_compose', + task_display_name: 'Custom Compose Task', + }, +]; + +function makeDeliveryTaskBookingLabel(task_description: DeliveryTaskDescription): TaskBookingLabel { + const pickupDescription = + task_description.phases[0].activity.description.activities[1].description.description; + return { + description: { + task_definition_id: task_description.category, + pickup: pickupDescription.pickup_lot, + destination: task_description.phases[1].activity.description.activities[0].description, + cart_id: pickupDescription.cart_id, + }, + }; +} + +function makeDeliveryCustomTaskBookingLabel( + task_description: DeliveryCustomTaskDescription, +): TaskBookingLabel { + const pickupDescription = + task_description.phases[0].activity.description.activities[1].description.description; + return { + description: { + task_definition_id: task_description.category, + pickup: pickupDescription.pickup_zone, + destination: task_description.phases[1].activity.description.activities[0].description, + cart_id: pickupDescription.cart_id, + }, + }; +} + +function makePatrolTaskBookingLabel(task_description: PatrolTaskDescription): TaskBookingLabel { + return { + description: { + task_definition_id: 'patrol', + destination: task_description.places[task_description.places.length - 1], + }, + }; +} + +function makeCustomComposeTaskBookingLabel(): TaskBookingLabel { + return { + description: { + task_definition_id: 'custom_compose', + }, + }; +} // A bunch of manually defined descriptions to avoid using `any`. export interface PatrolTaskDescription { @@ -1208,6 +1287,7 @@ const defaultFavoriteTask = (): TaskFavorite => { unix_millis_earliest_start_time: 0, priority: { type: 'binary', value: 0 }, user: '', + task_definition_id: DefaultTaskDefinitionId, }; }; @@ -1222,7 +1302,6 @@ export interface CreateTaskFormProps patrolWaypoints?: string[]; pickupZones?: string[]; cartIds?: string[]; - emergencyLots?: string[]; pickupPoints?: Record; dropoffPoints?: Record; favoritesTasks?: TaskFavorite[]; @@ -1249,7 +1328,6 @@ export function CreateTaskForm({ patrolWaypoints = [], pickupZones = [], cartIds = [], - emergencyLots = [], pickupPoints = {}, dropoffPoints = {}, favoritesTasks = [], @@ -1283,7 +1361,9 @@ export function CreateTaskForm({ const [favoriteTaskTitleError, setFavoriteTaskTitleError] = React.useState(false); const [savingFavoriteTask, setSavingFavoriteTask] = React.useState(false); - const [taskType, setTaskType] = React.useState(undefined); + const [taskDefinitionId, setTaskDefinitionId] = React.useState( + SupportedTaskDefinitions[0].task_definition_id, + ); const [taskRequest, setTaskRequest] = React.useState( () => requestTask ?? defaultTask(), ); @@ -1366,9 +1446,7 @@ export function CreateTaskForm({ return ( { - handleCustomComposeTaskDescriptionChange(desc); - }} + onChange={(desc) => handleCustomComposeTaskDescriptionChange(desc)} allowSubmit={allowSubmit} /> ); @@ -1387,6 +1465,8 @@ export function CreateTaskForm({ desc.phases[0].activity.description.activities[1].description.category = taskRequest.description.category; handleTaskDescriptionChange('compose', desc); + const pickupPerformAction = + desc.phases[0].activity.description.activities[1].description.description; }} allowSubmit={allowSubmit} /> @@ -1404,6 +1484,8 @@ export function CreateTaskForm({ desc.phases[0].activity.description.activities[1].description.category = taskRequest.description.category; handleTaskDescriptionChange('compose', desc); + const pickupPerformAction = + desc.phases[0].activity.description.activities[1].description.description; }} allowSubmit={allowSubmit} /> @@ -1414,7 +1496,7 @@ export function CreateTaskForm({ }; const handleTaskTypeChange = (ev: React.ChangeEvent) => { const newType = ev.target.value; - setTaskType(newType); + setTaskDefinitionId(newType); if (newType === 'custom_compose') { taskRequest.category = 'custom_compose'; @@ -1449,44 +1531,7 @@ export function CreateTaskForm({ request.requester = requester; request.unix_millis_request_time = Date.now(); - if ( - taskType === 'delivery_pickup' || - taskType === 'delivery_sequential_lot_pickup' || - taskType === 'delivery_area_pickup' - ) { - const goToOneOfThePlaces: GoToOneOfThePlacesActivity = { - category: 'go_to_place', - description: { - one_of: emergencyLots.map((placeName) => { - return { - waypoint: placeName, - }; - }), - constraints: [ - { - category: 'prefer_same_map', - description: '', - }, - ], - }, - }; - - // FIXME: there should not be any statically defined duration estimates as - // it makes assumptions of the deployments. - const deliveryDropoff: DropoffActivity = { - category: 'perform_action', - description: { - unix_millis_action_duration_estimate: 60000, - category: 'delivery_dropoff', - description: {}, - }, - }; - const onCancelDropoff: OnCancelDropoff = { - category: 'sequence', - description: [goToOneOfThePlaces, deliveryDropoff], - }; - request.description.phases[1].on_cancel = [onCancelDropoff]; - } else if (taskType === 'custom_compose') { + if (taskDefinitionId === 'custom_compose') { try { const obj = JSON.parse(request.description); request.category = 'compose'; @@ -1498,6 +1543,42 @@ export function CreateTaskForm({ } } + // Generate booking label for each task + try { + let requestBookingLabel: TaskBookingLabel | null = null; + switch (taskDefinitionId) { + case 'delivery_pickup': + requestBookingLabel = makeDeliveryTaskBookingLabel(request.description); + break; + case 'delivery_sequential_lot_pickup': + case 'delivery_area_pickup': + requestBookingLabel = makeDeliveryCustomTaskBookingLabel(request.description); + break; + case 'patrol': + requestBookingLabel = makePatrolTaskBookingLabel(request.description); + break; + case 'custom_compose': + requestBookingLabel = makeCustomComposeTaskBookingLabel(); + break; + } + + if (!requestBookingLabel) { + const error = Error( + `Failed to generate booking label for task request of definition ID: ${taskDefinitionId}`, + ); + onFail && onFail(error, [request]); + return; + } + + const labelString = serializeTaskBookingLabel(requestBookingLabel); + if (labelString) { + request.labels = [labelString]; + } + console.log(`labels: ${request.labels}`); + } catch (e) { + console.error('Failed to generate string for task request label'); + } + try { setSubmitting(true); await submitTasks([request], scheduling ? schedule : null); @@ -1543,7 +1624,11 @@ export function CreateTaskForm({ } try { setSavingFavoriteTask(true); - await submitFavoriteTask(favoriteTaskBuffer); + + const favoriteTask = favoriteTaskBuffer; + favoriteTask.task_definition_id = taskDefinitionId ?? DefaultTaskDefinitionId; + + await submitFavoriteTask(favoriteTask); setSavingFavoriteTask(false); onSuccessFavoriteTask && onSuccessFavoriteTask( @@ -1623,6 +1708,7 @@ export function CreateTaskForm({ unix_millis_earliest_start_time: 0, priority: favoriteTask.priority, }); + setTaskDefinitionId(favoriteTask.task_definition_id); }} /> ); @@ -1659,39 +1745,14 @@ export function CreateTaskForm({ }} InputLabelProps={{ style: { fontSize: isScreenHeightLessThan800 ? 16 : 20 } }} > - - Delivery - 1:1 - - - Delivery - Sequential lot pick up - - - Delivery - Area pick up - - - Patrol - - Custom Compose Task + {SupportedTaskDefinitions.map((taskDefinition) => ( + + {taskDefinition.task_display_name} + + ))} @@ -1782,7 +1843,7 @@ export function CreateTaskForm({ setOpenFavoriteDialog(true); }} style={{ marginTop: theme.spacing(2), marginBottom: theme.spacing(2) }} - disabled={taskType === 'custom_compose'} + disabled={taskDefinitionId === 'custom_compose'} > {callToUpdateFavoriteTask ? `Confirm edits` : 'Save as a favorite task'} diff --git a/packages/react-components/lib/tasks/index.ts b/packages/react-components/lib/tasks/index.ts index 6cc17baaf..2214ea0ea 100644 --- a/packages/react-components/lib/tasks/index.ts +++ b/packages/react-components/lib/tasks/index.ts @@ -1,6 +1,7 @@ export * from './create-task'; export * from './task-info'; export * from './task-logs'; +export * from './task-booking-label-utils'; export * from './task-table'; export * from './task-timeline'; export * from './task-table-datagrid'; diff --git a/packages/react-components/lib/tasks/task-booking-label-utils.tsx b/packages/react-components/lib/tasks/task-booking-label-utils.tsx new file mode 100644 index 000000000..bfd4b0150 --- /dev/null +++ b/packages/react-components/lib/tasks/task-booking-label-utils.tsx @@ -0,0 +1,46 @@ +import { ajv } from '../utils/schema-utils'; +import schema from 'api-client/dist/schema'; +import type { TaskBookingLabel, TaskState } from 'api-client'; + +const validateTaskBookingLabel = ajv.compile(schema.components.schemas.TaskBookingLabel); + +export function serializeTaskBookingLabel(label: TaskBookingLabel): string { + return JSON.stringify(label); +} + +export function getTaskBookingLabelFromJsonString( + jsonString: string, +): TaskBookingLabel | undefined { + try { + // Validate first before parsing again into the interface + const validated = validateTaskBookingLabel(JSON.parse(jsonString)); + if (validated) { + const parsedLabel: TaskBookingLabel = JSON.parse(jsonString); + return parsedLabel; + } + } catch (e) { + console.error(`Failed to parse TaskBookingLabel: ${(e as Error).message}`); + return undefined; + } + + console.error(`Failed to validate TaskBookingLabel`); + return undefined; +} + +export function getTaskBookingLabelFromTaskState(taskState: TaskState): TaskBookingLabel | null { + let requestLabel: TaskBookingLabel | null = null; + if (taskState.booking.labels) { + for (const label of taskState.booking.labels) { + try { + const parsedLabel = getTaskBookingLabelFromJsonString(label); + if (parsedLabel) { + requestLabel = parsedLabel; + break; + } + } catch (e) { + continue; + } + } + } + return requestLabel; +} diff --git a/packages/react-components/lib/tasks/task-table-datagrid.tsx b/packages/react-components/lib/tasks/task-table-datagrid.tsx index a5fde005f..d63c3cc12 100644 --- a/packages/react-components/lib/tasks/task-table-datagrid.tsx +++ b/packages/react-components/lib/tasks/task-table-datagrid.tsx @@ -13,9 +13,9 @@ 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, ApiServerModelsRmfApiTaskStateStatus as Status } from 'api-client'; +import { TaskState, ApiServerModelsRmfApiTaskStateStatus as Status } from 'api-client'; import { InsertInvitation as ScheduleIcon, Person as UserIcon } from '@mui/icons-material/'; -import { parsePickup, parseDestination } from './utils'; +import { getTaskBookingLabelFromTaskState } from './task-booking-label-utils'; const classes = { taskActiveCell: 'MuiDataGrid-cell-active-cell', @@ -57,7 +57,6 @@ const StyledDataGrid = styled(DataGrid)(({ theme }) => ({ export interface Tasks { isLoading: boolean; data: TaskState[]; - requests: Record; total: number; page: number; pageSize: number; @@ -185,8 +184,11 @@ export function TaskDataGridTable({ width: 150, editable: false, valueGetter: (params: GridValueGetterParams) => { - const request: TaskRequest | undefined = tasks.requests[params.row.booking.id]; - return parsePickup(request); + const requestLabel = getTaskBookingLabelFromTaskState(params.row); + if (requestLabel && requestLabel.description.pickup) { + return requestLabel.description.pickup; + } + return 'n/a'; }, flex: 1, filterOperators: getMinimalStringFilterOperators, @@ -198,8 +200,11 @@ export function TaskDataGridTable({ width: 150, editable: false, valueGetter: (params: GridValueGetterParams) => { - const request: TaskRequest | undefined = tasks.requests[params.row.booking.id]; - return parseDestination(params.row, request); + const requestLabel = getTaskBookingLabelFromTaskState(params.row); + if (requestLabel && requestLabel.description.destination) { + return requestLabel.description.destination; + } + return 'n/a'; }, flex: 1, filterOperators: getMinimalStringFilterOperators, diff --git a/packages/react-components/lib/utils/index.ts b/packages/react-components/lib/utils/index.ts index 237b1f493..754cf481a 100644 --- a/packages/react-components/lib/utils/index.ts +++ b/packages/react-components/lib/utils/index.ts @@ -2,3 +2,4 @@ export * from './geometry'; export * from './health'; export * from './item-table'; export * from './misc'; +export * from './schema-utils'; diff --git a/packages/react-components/lib/utils/schema-utils.ts b/packages/react-components/lib/utils/schema-utils.ts new file mode 100644 index 000000000..e91d91097 --- /dev/null +++ b/packages/react-components/lib/utils/schema-utils.ts @@ -0,0 +1,8 @@ +import Ajv from 'ajv'; +import schema from 'api-client/schema'; + +export const ajv = new Ajv(); + +Object.entries(schema.components.schemas).forEach(([k, v]) => { + ajv.addSchema(v, `#/components/schemas/${k}`); +}); diff --git a/packages/react-components/package.json b/packages/react-components/package.json index 7b0787731..5707be2b3 100644 --- a/packages/react-components/package.json +++ b/packages/react-components/package.json @@ -35,6 +35,7 @@ "@types/react-leaflet": "^2.5.2", "@types/shallowequal": "^1.1.1", "@types/three": "^0.156.0", + "ajv": "^8.10.0", "api-client": "workspace:*", "clsx": "^1.1.1", "crc": "^3.8.0", diff --git a/pnpm-lock.yaml b/pnpm-lock.yaml index 8f179d8f8..f9942c907 100644 --- a/pnpm-lock.yaml +++ b/pnpm-lock.yaml @@ -150,9 +150,6 @@ importers: '@types/three': specifier: ^0.156.0 version: 0.156.0 - ajv: - specifier: ^8.10.0 - version: 8.11.0 api-client: specifier: workspace:* version: link:../api-client @@ -388,6 +385,9 @@ importers: '@types/three': specifier: ^0.156.0 version: 0.156.0 + ajv: + specifier: ^8.10.0 + version: 8.11.0 api-client: specifier: workspace:* version: link:../api-client