Autoxing REST API Book

# Device Information API

# Device Information

curl http://192.168.25.25:8090/device/info

{
  "rosversion": "1.15.11",
  "rosdistro": "noetic",
  "axbot_version": "1.9.x", // The version of main package
  "device": {
    "model": "hygeia", // device model. hygeia/waiter/hotel/tray/longtray etc.
    "sn": "71822043000350z", // SN. Unique for all devices.
    "name": "71822043000350z" // Some prototype devices has a name.
    // But for most devices, it's the same as SN.
  },
  "baseboard": {
    "firmware_version": "22a32218"
  },
  "wheel_control": {
    "firmware_version": "amps_20211103" // wheel firmware version
  },
  "bottom_sensor_pack": {
    "firmware_version": "1.1.1"
  },
  "depth_camera": {
    "firmware_version": "[/dev/camera:1.2.5-s2-ax-D1]"
  },
  "robot": {
    "footprint": [],
    "inscribed_radius": 0.248,
    "height": 1.2,
    "thickness": 0.546,
    "wheel_distance": 0.36,
    "width": 0.496,
    "charge_contact_position": "back" // Position of the charge contact. "back" or "front"
  },
  "caps": {
    "supportsImuRecalibrateService": true, // supports /services/imu/recalibrate
    "supportsShutdownService": true, // supports /services/baseboard/shutdown
    "supportsRestartService": true, // supports /services/restart_service
    "supportsResetOccupancyGridService": true, // supports /services/occupancy_grid_server/reset
    "supportsImuRecalibrationFeedback": true, // supports /imu_state WebSocket topic
    "supportsSetControlModeService": true, // supports /services/wheel_control/set_control_mode
    "supportsSetEmergencyStopService": true, // supports /services/wheel_control/set_emergency_stop
    "supportsWheelStateTopic": true, // supports /wheel_state WebSocket topic
    "supportsWsV2": true, // supports ws://HOST/ws/v2/topics
    "supportsRgbCamera": true, // supports RGB related topics
    "combineImuBiasAndPoseCalibration": true // Since 2.4.0. Combine bias and pose calibration.
  }
}

# Short Device Information

curl http://192.168.25.25:8090/device/info/brief # for less information

# Wifi List

curl http://192.168.25.25:8090/device/available_wifis

[
  {
    "ssid": "AutoXing",
    "bss": "a4:fa:76:33:d3:62",
    "rssi": -45,
    "open": false // since 2.3.0
  },
  {
    "ssid": "AutoXing-guest",
    "bss": "a4:fa:76:33:d3:72",
    "rssi": -33,
    "open": false // since 2.3.0
  }
]

# Network Information

curl http://192.168.25.25:8090/device/wifi_info

Station mode response:

{
  "wifi_mode": "station",
  "wpa_state": "completed",
  "route_mode": "eth0_first",
  "wifi_ip": "10.10.41.43",
  "wifi_mac": "e4:5f:01:6d:bd:6a",
  "ssid": "AutoXing",
  "debug_message":"info: Switching to station mode.",
  "routes":[
    "default via 192.168.25.2 dev eth0 src 192.168.25.25 metric 202 ",
    "default via 10.10.40.1 dev wlan0 proto dhcp metric 600 ",
    "10.10.40.0/23 dev wlan0 proto kernel scope link src 10.10.41.43 metric 600 ",
    "192.168.25.0/24 dev eth0 proto dhcp scope link src 192.168.25.25 metric 202 "
  ],
  "active_access_point":{
    "ssid":"AutoXing",
    "hw_address":"a4:fa:76:33:d3:70",
    "strength":100
  },
  "last_wifi_connect_result":{}
}

AP mode response:

{ "mode": "ap" }

# List Usb Devices

Usb devices are organized as a tree.

008/001 1d6b:0001 8 [fe3a0000.usb] USB 1.1 root hub
004/001 1d6b:0001 4 [fe3e0000.usb] USB 1.1 root hub
007/001 1d6b:0002 7 [fe380000.usb] USB 2.0 root hub
    007/002 1a40:0101 7-1 [] USB 2.0 hub
        007/033 0603:000a 7-1.3 [HK100QB2A26D1143] iHawk_100Q
        007/035 0603:000a 7-1.4 [HK100QB2A26D1346] iHawk_100Q

curl http://192.168.25.25:8090/device/usb_devices

This request list all usb devices on a robot:

[
    {
        "vendor_product": "1d6b:0001",
        "sn": "fe3a0000.usb",
        "alias": "USB 1.1 root hub",
        "description": "Linux Foundation 1.1 root hub",
        "bind": "",
        "bus_id": 8,
        "dev_id": 1,
        "port": 1,
        "full_port": "8",
        "level": 0,
        "devices": [],
    },
    {
        "vendor_product": "1d6b:0002",
        "sn": "fe380000.usb",
        "alias": "USB 2.0 root hub",
        "description": "Linux Foundation 2.0 root hub",
        "bind": "",
        "bus_id": 7,
        "dev_id": 1,
        "port": 1,
        "full_port": "7",
        "level": 0,
        "devices": [
            {
                "vendor_product": "1a40:0101",
                "sn": "",
                "alias": "USB 2.0 hub",
                "description": "Terminus Technology Inc. Hub",
                "bind": "",
                "bus_id": 7,
                "dev_id": 2,
                "port": 1,
                "full_port": "7-1",
                "level": 4,
                "devices": [
                    {
                        "vendor_product": "0603:000a",
                        "sn": "HK100QB2A26D1143",
                        "alias": "iHawk_100Q",
                        "description": "Novatek Microelectronics Corp. ",
                        "bind": "",
                        "bus_id": 7,
                        "dev_id": 33,
                        "port": 3,
                        "full_port": "7-1.3",
                        "level": 8,
                        "devices": [],
                    },
                    {
                        "vendor_product": "0603:000a",
                        "sn": "HK100QB2A26D1346",
                        "alias": "iHawk_100Q",
                        "description": "Novatek Microelectronics Corp. ",
                        "bind": "",
                        "bus_id": 7,
                        "dev_id": 35,
                        "port": 4,
                        "full_port": "7-1.4",
                        "level": 8,
                        "devices": [],
                    },
                ],
            }
        ],
    },
]

# Saved USB Devices

Because USB devices may disconnect after shipping, this API allows to make a backup of the USB device list. It can be used to identify lost devices later.

Save devices:

curl -X PUT \
  -H "Content-Type: application/json" \
  -d '[...]' \
  http://192.168.25.25:8090/device/usb_devices/saved

Get saved devices:

curl http://192.168.25.25:8090/device/usb_devices/saved

Clear saved devices:

curl -X DELETE http://192.168.25.25:8090/device/usb_devices/saved

# Boot Progress

During boot process, accessing any API will result in 503(Service Unavailable). When booting is done, the APIs will back to normal.

But, GET /device/boot_progress will always return 200, even when booting is done.

For example:

curl http://192.168.25.25:8090/device/info # will return 503 during boot process
curl http://192.168.25.25:8090/device/boot_progress # always return 200

{
  "start_time": 1697777324.597,
  "progress": 0.21,
  "logs": [
    {
      "stamp": 1697777324.597,
      "progress": 0.0,
      "msg": "=== AutoXing Axbot Starting Up ==="
    },
    {
      "stamp": 1697777328.597,
      "progress": 0.2,
      "msg": "Loading remote params ..."
    },
    {
      "stamp": 1697777330.601,
      "progress": 0.21,
      "msg": "Starting lidar_node ..."
    }
  ]
}

# Time Configuration

Chrony (opens new window) is used to manage time of the robot.

Since 2.7.1, one can control some configurations with the following APIs.

The configuration of Chrony can be seen from:

curl http://192.168.25.25:8090/device/chrony/chrony.conf

# Time Sources

Chrony can make use of a list of time sources.

$ curl http://192.168.25.25:8090/device/chrony/sources

[
  "pool 2.debian.pool.ntp.org iburst",
  "pool 1.cn.pool.ntp.org iburst",
  "pool 2.cn.pool.ntp.org iburst",
  "pool 3.cn.pool.ntp.org iburst",
  "pool 0.cn.pool.ntp.org iburst",
  "server ntp1.autoxing.com iburst",
  "server ntp2.autoxing.com iburst"
]

The syntax is a subset of Chrony Time Source (opens new window).

  • server [HOSTNAME] [PORT port] [iburst] [trust]
  • pool [NAME] [PORT port] [iburst] [trust]

It recommended to have at least 4 time sources to prevent one incorrect time source(falseticker). See https://access.redhat.com/solutions/58025

Set sources:

curl -X PUT \
  -H "Content-Type: application/json" \
  --data '["pool 2.debian.pool.ntp.org iburst", "pool 0.cn.pool.ntp.org iburst"]' \
  http://192.168.25.25:8090/device/chrony/sources

Restore default time sources:

curl -X DELETE http://192.168.25.25:8090/device/chrony/sources

# NTP Server

Chrony can also be configured as a NTP server.

To enable NTP for 192.168.2.*, use the following API:

curl -X PUT \
  -H "Content-Type: application/json" \
  --data '["allow 192.168.2.0/24"]' \
  http://192.168.25.25:8090/device/chrony/allows

The syntax follows Chrony Time Server (opens new window).

allow [all] [SUBNET]

Get current allow rules:

curl http://192.168.25.25:8090/device/chrony/allows

Disable NTP Server

curl -X DELETE http://192.168.25.25:8090/device/chrony/allows
Last Updated: 10/30/2024, 8:40:52 PM

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