Node

note

This resource demonstrates the interaction with algo node configurations in SENSR. A node configuration has configs related to algo node setup. (e.g. username, bin ...)

GET

/[SENSR version]/settings/node/list

• Get the list of available config-ids and config data types of an algo node.

• Parameters
• Return code
  • 200 OK

• List of the types that SENSR API supports natively

• Example

$ curl -X GET 'http://localhost:9080/[SENSR version]/settings/node/list'
** Respond **
[
    {
        "uid": "String",
        "ip": "String",
        "master_ip": "String",
        "port": "String",
        "name": "String",
        "bin": "String",
        "rosbag_path": "String",
        "username": "String",
        "preset": "String",
        "enable_gpu": "Bool"
    }
]

/[SENSR version]/settings/node

• Get an actual config of the desired algo node.

• Parameters
  • node-uri : ID of algo node.
• Return code
  • 200 OK
  • 400 BAD REQ

• Example

$ curl -X GET 'http://localhost:9080/[SENSR version]/settings/node?node-uri=algo_0000'
** Respond **
{
    "uid": "algo_0000",
    "ip": "127.0.0.1",
    "master_ip" : "127.0.0.1",
    "port": "5055",
    "name": "algo",
    "bin": "",
    "rosbag_path": "/home/seoulrobotics/Downloads/data_out.bag",
    "username": "",
    "preset": "outdoor",
    "enable_gpu": false
}

/[SENSR version]/settings/node-transform

Get the transform (position and rotation) of the algo node

• Parameters
  • node-uri : ID of algo node.
• Return code
  • 200 OK
  • 400 BAD REQ

• Example

$ curl -X GET 'http://localhost:9080/[SENSR version]/settings/node-transform?node-uri=algo_0000'
** Respond **
{
    "base_to_origin": {
        "tx": 0.0,
        "ty": 0.0
    },
    "sensor_to_base": {
        "tz": 0.0,
        "qw": 1.0,
        "qx": 0.0,
        "qy": 0.0,
        "qz": 0.0
    }
}

/[SENSR version]/settings/node-detection-range

Get the detection range of the algo node

• Parameters
  • node-uri : ID of algo node.
• Return code
  • 200 OK
  • 400 BAD REQ

• Example

$ curl -X GET 'http://localhost:9080/[SENSR version]/settings/node-detection-range?node-uri=algo_0000'
** Respond **
{
    "x_range": [
        -50.0,
        50.0
    ],
    "y_range": [
        -10.0,
        50.0
    ],
    "z_range": [
        -1.5,
        3.5
    ]
}

PUT

/[SENSR version]/settings/node

• This command adds a new algo node to the project.

• The command takes in the algo node data as can be seen in the example below. Please refer to the POST command section for details about the format of the data as it is almost identical. The only difference is that you can skip the "uid" here, since it will be ignored.

• If this command was successful, the uid of the new algo node is returned.

• You should also call /commands/apply-change to save your changes.

• Parameters
• Return code
  • 200 OK
  • 400 BAD REQ

• Example

$ curl -X PUT 'http://localhost:9080/[SENSR version]/settings/node'
--data '{
    "ip": "192.168.0.100",
    "master_ip": "127.0.0.1",
    "port": "5055",
    "name": "localhost",
    "bin": "",
    "rosbag_path": "",
    "username": "",
    "preset": "outdoor",
    "enable_gpu": false
}'
** Respond **
"algo_0001"

POST

/settings/node

• Update the config of the algo node specified by the "uid"-field in the request body. Note that the IP address should be unique.

• If you update rosbag_path through this API, rosbag_path in each sensor config will be updated too. To avoid unsynced configuration, Please read the new rosbag_path again through /settings/sensor.

• You should also call /commands/apply-change to save your changes.

• Parameters
• Return code
  • 200 OK
  • 400 BAD REQ

• Example

$ curl -X POST 'http://localhost:9080/[SENSR version]/settings/node' 
--data '{
    "uid": "algo_0000",
    "ip": "127.0.0.1",
    "master_ip": "127.0.0.1",
    "name": "localhost",
    "bin": "",
    "rosbag_path": "",
    "username": "",
    "preset": "outdoor",
    "enable_gpu": false
}'
** Respond **
200 OK

/[SENSR version]/settings/node-transform

Update the transform (position and rotation) of the algo node specified by the "uid"-parameter. 
Note that for the algo node the height should always be ground-level, so keep "tz" as zero. 
The fields "qw", "qx", "qy", and "qz" are the components of the quaternion rotation. 
The rotation of the algo node is also limited to the z-axis, so "qx" and "qy" should be kept as zero. 
Additionally the norm of the quaternion should be 1.0 for it to be considered valid.

• You should also call /commands/apply-change to save your changes.

• Parameters
  • node-uri : ID of algo node.
• Return code
  • 200 OK
  • 400 BAD REQ

• Example

$ curl -X POST 'http://localhost:9080/[SENSR version]/settings/node-transform?node-uri=algo_0000'' 
--data '{
    "base_to_origin": {
        "tx": 1.0,
        "ty": 2.0
    },
    "sensor_to_base": {
        "tz": 0.0,
        "qw": 1.0,
        "qx": 0.0,
        "qy": 0.0,
        "qz": 0.0
    }
}'
** Respond **
200 OK

/[SENSR version]/settings/node-detection-range

Update the detection range of the algo node specified by the "uid"-parameter.

• You should also call /commands/apply-change to save your changes.

• Parameters
  • node-uri : ID of algo node.
• Return code
  • 200 OK
  • 400 BAD REQ

• Example

$ curl -X POST 'http://localhost:9080/[SENSR version]/settings/node-detection-range?node-uri=algo_0000'' 
--data '{
    "x_range": [
        -20.0,
        10.0
    ],
    "y_range": [
        -10.0,
        50.0
    ],
    "z_range": [
        -1.5,
        3.5
    ]
}'
** Respond **
200 OK

DELETE

/[SENSR version]/settings/node

• Delete an algo node.

• Parameters
  • node-uri : ID of algo node.
• Return code
  • 200 OK
  • 400 BAD REQ

• Example

$ curl -X DELETE 'http://localhost:9080/[SENSR version]/settings/node?node-uri=algo_0001'        
** Respond **
200 OK