查看“Medulla-API”的源代码


== Medulla ==

=== '''获取底盘所有传感器以及车体定义字段值''' ===
<blockquote>'''Path：{ip}:8007/getIOs'''

'''Method：''' '''GET'''

'''接口描述：'''

'''请求（案例）：<code>无</code>'''

'''返回（案例）：'''<code><nowiki>{"io":{"fields":{"listenPort":"-1","connections":"0","cachedLen":"4551","logCnt":"4095","postCnt":"0","postTotal":"0","recordSharedObjectSecond":"120"},"webRedirects":[],"webUtilities":[]},"loader":{"fields":{},"webRedirects":[],"webUtilities":[]},"frontlidar3d":{"fields":{"CachedTick":"0","ScanInterval":"100","RealInterval":"99.958","frame":"471332","tick":"0","scanC":"471332","ptlen":"32000","interval":"0","maxReflex":"0","maxIntensity":"0","typicalLen":"32000","outputTime":"1.9944","capturing":"False"},"webRedirects":[],"webUtilities":["cap_to_mem","discard_cap","dump_mem"]},"backlidar":{"fields":{"frame":"1316476","tick":"638323623359323736","scanC":"14865","maxReflex":"0","maxIntensity":"3794","pointsN":"811","capturing":"False","interval":"39.177","outputTime":"2.9922"},"webRedirects":["viewPC"],"webUtilities":["cap_to_mem","discard_cap","dump_mem"]},"cart":{"fields":{"permissionNub(权限编号)":"-1","allowPermissionLevel(权限等级)":"0","LeftWheelVelocity(左驱动下发速度)":"-89.14976","RightWheelVelocity(右驱动下发速度)":"89.14976","LeftWheelVelocityManual(左驱动下发速度-手动)":"0","RightWheelVelocityManual(右驱动下发速度-手动)":"0","ActualLeftWheelVelocity(左驱动实际速度)":"-79.5",,"currentPriorityDesc":"clumsy","timeOut":"1000","lastIssue":"11:45:35.934"},"webRedirects":["webRemote"],"webUtilities":[]},"me":{"fields":{},"webRedirects":[],"webUtilities":[]},"mv":{"fields":{},"webRedirects":[],"webUtilities":[]},"maincam":{"fields":{"capturing":"False","frame":"342464","periodMaxTime":"278.996","m_nBufSizeForDriver":"18874368"},"webRedirects":[],"webUtilities":[]},"tof":{"fields":{},"webRedirects":[],"webUtilities":[]},"SunnyMars":{"fields":{"intThresh":"5","Zmin":"-300","Zmax":"1500","status":"OK","capturing":"False","width":"224","height":"109","frame":"857319","scanC":"857319","seconds":"0","periodMaxTime":"0","maxDepth":"3000"},"webRedirects":[],"webUtilities":[]},"ui":{"fields":{},"webRedirects":[],"webUtilities":[]}}</nowiki></code></blockquote>