Sensor

note

This resource allows direct access to the sensor configuration in SENSR. The public interface settings/sensor-ext provides a safer interface for the sensor configuration so prefer that over using this if possible.

GET

/internal/settings/sensor/list

• Get the list of supported config-ids and config data types in /settings/sensor resource

• Parameters
  • node-uri : ID of algo node which the desired sensor config is located.
  • config-id : ID of config (optional)
• Return code
  • 200 OK
  • 400 BAD REQ

• Example

$ curl -X GET 'http://localhost:9080/internal/settings/sensor/list?node-uri=algo_0000&config-id=algo_node'
** Respond **
{
    "base_to_origin": {
        "tx": "Float",
        "ty": "Float"
    },
    "sensor_to_base": {
        "tz": "Float",
        "qw": "Float",
        "qx": "Float",
        "qy": "Float",
        "qz": "Float"
    }
}

/internal/settings/sensor/meta

• Get a meta information of the desired config

• Parameters
  • node-uri : same as node-uri in /settings/sensor/list
  • config-id : ID of config
• Return code
  • 200 OK
  • 400 BAD REQ

• Explanation of each fields in meta

  • show : Decide to show the config in Preference menu or not.
  • display_name : Displayed name in Preference menu.
  • use_tooltip : Decide to show tooltip in Preference menu or not.
  • tooltip_msg : Message of tooltip
  • tooltip_args : Arguments which will be shown in tooltip.
  • step_size : Step size of the config
  • min : Min. range of the config
  • max : Max. range of the config

• Example

$ curl -X GET 'http://localhost:9080/internal/settings/sensor/meta?node-uri=algo_0000&config-id=algo_node'
** Respond **
{
    "show": true,
    "display_name": "Algo-Node Info",
    "base_to_origin": {
        "datatype": "Table",
        "show": true,
        "display_name": "Position of Algo node",
        "tx": {
            "datatype": "Float",
            "show": true,
            "display_name": "X Position of Algo node"
        },
        "ty": {
            "datatype": "Float",
            "show": true,
            "display_name": "Y Position of Algo node"
        }
    },
    "sensor_to_base": {
        "datatype": "Table",
        "show": true,
        "display_name": "Quaternion of Algo node",
        "tz": {
            "datatype": "Float",
            "show": true,
            "display_name": "Z Position of Algo node"
        },
        "qw": {
            "datatype": "Float",
            "show": true,
            "display_name": "Qw of Algo node"
        },
        "qx": {
            "datatype": "Float",
            "show": true,
            "display_name": "Qx of Algo node"
        },
        "qy": {
            "datatype": "Float",
            "show": true,
            "display_name": "Qy of Algo node"
        },
        "qz": {
            "datatype": "Float",
            "show": true,
            "display_name": "Qz of Algo node"
        }
    }
}

/internal/settings/sensor

• Get an actual value of the desired config

• Parameters
  • node-uri : same as node-uri in /settings/sensor/list
  • config-id : ID of config (optional)
• Return code
  • 200 OK
  • 400 BAD REQ

• Example

$ curl -X GET 'http://localhost:9080/internal/settings/sensor?node-uri=algo_0000&config-id=algo_node'
** 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
    }
}