Initial commit

2026-07-13 09:25:40 +07:00
parent c08ff54676
commit bccfb156d7
1938 changed files with 641646 additions and 0 deletions
--- a/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Navigation/c.MD
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Navigation/c.MD
@@ -0,0 +1,104 @@
+curl -k -X POST https://localhost:7002/api/navigation/move_to_order_data \
+  -H "Content-Type: application/json" \
+  -d '{
+    "x": 5.0,
+    "y": 0.05,
+    "yaw": 0.0,
+    "frame_id": "map",
+    "xy_tolerance": 0.1,
+    "yaw_tolerance": 0.1,
+    "order": 
+    {
+        "headerId": 6,
+        "timestamp": "2026-03-12T10:34:35.292Z",
+        "version": "2.1.0",
+        "manufacturer": "PhenikaaX",
+        "serialNumber": "I150",
+        "orderId": "777f6600-580e-40c5-ad27-d69703e3f980",
+        "orderUpdateId": 0,
+        "zoneSetId": null,
+        "nodes": [
+            {
+            "nodeId": "fc9fbda7-8c1b-4457-6112-08de79d9211c",
+            "sequenceId": 0,
+            "nodeDescription": "",
+            "released": true,
+            "nodePosition": {
+                "x": 0.05,
+                "y": 0.05,
+                "theta": 0,
+                "allowedDeviationXY": null,
+                "allowedDeviationTheta": null,
+                "mapId": "3e0c7bc7-d561-4409-5c99-08de79d846ff",
+                "mapDescription": null
+            },
+            "actions": []
+            },
+            {
+            "nodeId": "6233663f-c64f-43fd-6113-08de79d9211c",
+            "sequenceId": 2,
+            "nodeDescription": "",
+            "released": true,
+            "nodePosition": {
+                "x": 5.03,
+                "y": 0.05,
+                "theta": 0,
+                "allowedDeviationXY": 0.3,
+                "allowedDeviationTheta": 0.5,
+                "mapId": "3e0c7bc7-d561-4409-5c99-08de79d846ff",
+                "mapDescription": null
+            },
+            "actions": []
+            }
+        ],
+        "edges": [
+            {
+            "edgeId": "504a8c38-ea15-425a-4ba8-08de79d92122",
+            "sequenceId": 1,
+            "edgeDescription": null,
+            "released": true,
+            "startNodeId": "fc9fbda7-8c1b-4457-6112-08de79d9211c",
+            "endNodeId": "6233663f-c64f-43fd-6113-08de79d9211c",
+            "maxSpeed": null,
+            "maxHeight": null,
+            "minHeight": null,
+            "orientation": 0,
+            "orientationType": 1,
+            "direction": "",
+            "rotationAllowed": null,
+            "maxRotationSpeed": null,
+            "trajectory": {
+                "degree": 2,
+                "knotVector": [
+                0,
+                0,
+                0,
+                1,
+                1,
+                1
+                ],
+                "controlPoints": [
+                {
+                    "x": 0.05,
+                    "y": 0.05,
+                    "weight": 1
+                },
+                {
+                    "x": 2.43,
+                    "y": 0.917,
+                    "weight": 0.9
+                },
+                {
+                    "x": 5.0,
+                    "y": 0.05,
+                    "weight": 1
+                }
+                ]
+            },
+            "length": 4.978658199310303,
+            "corridor": null,
+            "actions": []
+            }
+        ]
+    }
+  }'