任务应用场景示例

提供下以下场景的task示例：

到B开舱门：

  const task1 = {
    "name": "<taskName>",
    "robotId": "<robotId>",
    "runNum": runNum,
    "taskType": taskType,
    "runType": runType,
    "routeMode": 1,
    "runMode": 1,
    "ignorePublicSite": false,
    "speed": -1,
    "curPt": { // current point info (unnecessary)
      "x": 2.13,
      "y": 19.3725,
      "yaw": 1.67,
      "areaId": "<areaId>",
      "type": -1,
      "stopRadius": 1
    },
    "pts": [{ // point B info
      "x": 2.583684539558817,
      "y": 16.177015024538832,
      "yaw": 0,
      "stopRadius": 1,
      "areaId": "<areaId>",
      "type": -1,
      "ext": {
        "id": "<poiId>",
        "name": "<poiName>"
      },
      "stepActs": [{
        "type": 6,
        "data": {
          "mode": 1,
          "doorIds": [1, 2, 3, 4]
        }
      }]
    }]
  }
  const success = axRobot.startTask(task1)

(中间等待可放入物品) 关舱门 (等待10s)

    const task2 = {
        "name": "<taskName>",
        "robotId": "<robotId>",
        "runNum": 1,
        "taskType": 6,
        "runType": 21,
        "routeMode": 1,
        "runMode": 1,
        "ignorePublicSite": false,
        "speed": -1,
        "curPt": {
            "x": 2.58,
            "y": 16.19,
            "yaw": 0,
            "areaId": "<areaId>",
            "type": -1,
            "stopRadius": 1
        },
        "pts": [{ // point B info
            "x": 2.583684539558817,
            "y": 16.177015024538832,
            "yaw": 0,
            "stopRadius": 1,
            "areaId": "<areaId>",
            "type": -1,
            "ext": {
                "id": "<poiId>",
                "name": "<poiName>"
            },
            "stepActs": [{
                "type": 28,
                "data": {
                    "mode": 1,
                    "doorIds": [1, 2, 3, 4]
                }
            }, {
                "type": 18,
                "data": {
                    "pauseTime": 10
                }
            }]
        }]
    }
    const success = axRobot.startTask(task2)

到点C ：

    const task3 = {
        "name": "<taskName>",
        "robotId": "<robotId>",
        "runNum": 1,
        "taskType": 6,
        "runType": 21,
        "routeMode": 1,
        "runMode": 1,
        "ignorePublicSite": false,
        "speed": -1,
        "curPt": {
            "x": 2.58,
            "y": 16.1875,
            "yaw": 0,
            "areaId": "<areaId>",
            "type": -1,
            "stopRadius": 1
        },
        "pts": [{ // point C info
            "x": 2.3959287090816908,
            "y": 23.672481677407802,
            "yaw": 0,
            "stopRadius": 1,
            "areaId": "<areaId>",
            "type": -1,
            "ext": {
                "id": "<poiId>",
                "name": "<poiName>"
            }
        }]
    }
    const success = axRobot.startTask(task3)

操作顶升： 到点A举起顶升（要求点A类型必须是货架点）：

    const task3 = {
        "name": "<taskName>",
        "robotId": "<robotId>",
        "runNum": <runNum>,
        "taskType": <taskType>,
        "runType": <runType>,
        "routeMode": 1,
        "runMode": 1,
        "ignorePublicSite": false,
        "speed": -1,
        "curPt": {
        },
        "pts": [{ // point A info
            "x": 2.3959287090816908,
            "y": 23.672481677407802,
            "yaw": 0,
            "stopRadius": 1,
            "areaId": "<areaId>",
            "type": -1,
            "ext": {
                "id": "<poiId>",
                "name": "<poiName>"
            },
            stepActs: [{
                type: 47 // 举起顶升
            }]
        }]
    }
    const success = axRobot.startTask(task3)

到点A放下顶升（要求点A类型必须是货架点）：

    const task3 = {
        "name": "<taskName>",
        "robotId": "<robotId>",
        "runNum": <runNum>,
        "taskType": <taskType>,
        "runType": <runType>,
        "routeMode": 1,
        "runMode": 1,
        "ignorePublicSite": false,
        "speed": -1,
        "curPt": {
        },
        "pts": [{ // point A info
            "x": 2.3959287090816908,
            "y": 23.672481677407802,
            "yaw": 0,
            "stopRadius": 1,
            "areaId": "<areaId>",
            "type": -1,
            "ext": {
                "id": "<poiId>",
                "name": "<poiName>"
            },
            stepActs: [{
                type: 48 // 放下顶升
            }]
        }]
    }
    const success = axRobot.startTask(task3)

多点任务到达后暂停等待交互：

const task4 = {
    "name": "多点任务",
    "runMode": <runMode>,
    "runNum": <runNum>,
    "taskType": <taskType>,
    "runType": <runType>,
    "curPt": {},
    "pts": [
        {
            "x": 6.7925255925160855,
            "y": 1.2596787664165277,
            "yaw": 268,
            "areaId": "66879695c207ce62f87991c7",
            "dockingRadius": "1",
            "ext": {
                "name": "点位一",
                "id": "668796861f783f4b11c89ddc"
            },
            "stepActs": [
                {
                    "type": 40
                },
            ]
        },
        {
            "x": 9.005738806990848,
            "y": 1.2387888340015252,
            "yaw": 268,
            "areaId": "66879695c207ce62f87991c7",
            "dockingRadius": "1",
            "ext": {
                "name": "点位二",
                "id": "668796861f783f4b11c89dde"
            },
            "stepActs": [
                {
                    "type": 40
                },
            ]
        }
    ],
    "backPt": {},
    "ignorePublicSite": true,
    "ext": {
        "checkItems": [
            "elevator"
        ]
    },
    "soureceType": 1,
    "detourRadius": 1
}
const success = axRobot.startTask(task4)