RESTFUL_API.md

TR HMI Restful API

Settings

1) maxSpeed

1. get the max speed

• route: /settings/maxSpeed
• method: GET
• params:
• response body:

{
    "message":"success",
    "data":{
        "maxVx":2,
        "maxVt":2
    }
}

2. set the max speed

• route: /settings/maxSpeed
• method: POST
• request Body:

{
    "maxVx":2,
    "maxVt":1
}

• response body:

{
    "message":"success"
}

2) defalut map

1. get default map

• route: /settings/defaultMap
• method: GET
• params:
• response body：

{
    "data":{
        "map":"2015.yaml"
    }
}

2. set default map

• route: /settings/defaultMap
• method：POST
• request body:

{
    "mapName":"2015.yaml"
}

• reponse body:

{
    "message":"success"
}

System info

1) get system status info

• route: /status/systemInfo
• method: GET
• request:
• response body:

{
    "message":"success",
    "data":{
        "mem": {
            "total": "7865.54MB",//total memory（MB）
            "free": "305.91MB", //free memory
            "freeMemPercentage": "3.89%" //free mem percentage
        },
        "cpu": {
            "count": 4, //number of cpu core
            "usage": "14.36%" //CPU usage in percentage
        },
        "disk": {
            "total": "50G", // total disk space in GB
            "free": "39G", // free disk space
            "used": "8.2G", //used disk space
            "usedDiskPercentage": "83%" //used disk space in percentage
        },
        "system": {
            "uptime": 326, //system uptime
            "loadavg": 1.32568359375 //load average
        }
    }
}

2) get ros status info

• route: /status/ros
• method: GET
• request:
• response body:

{
    "message": "success",
    "data": {
        "rosNodes": [ //rosnode list
            "/rosout",
            "/tr_hmi_node"
        ],
        "rosServices": [ //rosservice list
            "/tr_hmi_node/get_loggers",
        ]
    }
}

Map

1) get maps list

• route: /map/list
• method: GET
• request:
• response body:

{
    "message":"success",
    "data":{
        "maps":[
            "Default",
            "mymap2"
        ]
    }
}

2) load/toggle current map

• route: /map/load
• method:GET
• query:
  • mapName: your map name ,e.g. mymap
• response:

{
    "message":"success"
}

3. save map (in mapping mode)

• route: /map/save
• method: POST
• request body :

{
    "mapName":"mymap"
}

• response:

{
    "message":"success"
}

4. delete map

• route: /map/delete
• method: POST
• request body:

{
    "mapName":"mymap"
}

• response body:

{
    "message":"success"
}

ROS launch

1) run preset launch file

• route: /roslaunch/start
• method: GET
• query:
  • preset: preset launch file, usage:/roslaunch/start?preset=, avaliable value:
    • tr_hmi: start basic nodes
    • tr_hmi_with_cam: start basic nodes and other nodes which used for usb camera.
• response:

{
    "message":"success",
    "data":{
        "pid":1234 //pid for roslaunch subprocess.
    }
}

3) stop launch process

• route: /roslaunch/stop
• method: GET
• query:
  • pid: pid of the subprocess which excuting roslaunch by /roslaunch/start
• response:

{
    "message":"success"
}