AMR_Interop_Standard.json

{
  "definitions": {
    "quaternion": {
      "description": "Quaternion representation of an angle",
      "type": "object",
      "required": ["x", "y", "z", "w"],
      "properties": {
        "x": { "type": "number" },
        "y": { "type": "number" },
        "z": { "type": "number" },
        "w": { "type": "number" }
      },
      "additionalProperties": false
    },
    "location": {
      "description": "Location of an object or AMR",
      "type": "object",
      "required": ["x", "y", "angle", "planarDatum"],
      "properties": {
        "x": { "type": "number" },
        "y": { "type": "number" },
        "z": { 
          "type": "number", 
          "default" : 0
        },
        "angle" : { "$ref": "#/definitions/quaternion" },
        "planarDatum": { 
          "description": "Id of planarDatum AMR is referencing",
          "type": "string",
          "format": "uuid",
          "pattern": "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$"
        }
      },
      "additionalProperties": false
    },
    "predictedLocation": {
      "description": "Predicted future location of an object or AMR",
      "type": "object",
      "required": ["timestamp", "x", "y", "angle"],
      "properties": {
        "timestamp": { 
          "description": "Predicted UTC time AMR will reach this location",
          "type": "string", 
          "format": "date-time" 
        },
        "x": { "type": "number" },
        "y": { "type": "number" },
        "z": { 
          "type": "number", 
          "default" : 0
        },
        "angle" : { "$ref": "#/definitions/quaternion" },
        "planarDatumUUID": { 
          "description": "Only necessary if different from AMRs current planarDatum",
          "type": "string",
          "format": "uuid",
          "pattern": "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$"
        }
      }, 
      "additionalProperties": false
    }
  },

  "identityReport": {
    "type": "object",
    "required": ["uuid", "timestamp", "manufacturerName", "robotModel", "robotSerialNumber", "baseRobotEnvelope"],
    "properties": {
      "uuid": {
        "description": "UUID specified by RFC4122 that all subsequent messages should reference",
        "type": "string",
        "format": "uuid",
        "pattern": "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$"
      },
      "timestamp": { "type": "string", "format": "date-time" },
      "manufacturerName": { "type": "string" },
      "robotModel": { "type": "string" },
      "robotSerialNumber": { 
        "description": "Unique robot identifier that ideally can be physically linked to the AMR",
        "type": "string" },
      "baseRobotEnvelope": { 
        "description": "Footprint of robot based on orientation - centered on current location.",
        "type": "object",
        "required": ["x", "y"],
        "properties": {
          "x": { "type": "number" },
          "y": { "type": "number" },
          "z": { 
            "type": "number", 
            "default" : 0
          }
        },
        "additionalProperties": false
      },
      "maxSpeed": { 
        "description": "Max robot speed in m/s",
        "type": "number" 
      },
      "maxRunTime": { 
        "description": "Estimated Runtime in hours",
        "type": "number"
      },
      "emergencyContactInformation": { 
        "description": "Emergency Contact - preferrably phone number",
        "type": "string"
      },
      "chargerType": { 
        "description": "Type of charger",
        "type": "string"
      },
      "supportVendorName": { 
        "description": "Vendor that supplied robot",
        "type": "string"
      },
      "supportVendorContactInformation": { 
        "description": "Contect information for vendor",
        "type": "string"
      },
      "productDocumentation": { 
        "description": "Link to product documenation",
        "type": "string",
        "format": "uri"
      },
      "thumbnailImage": { 
        "description": "Link to thumbnail graphic stored as PNG",
        "type": "string",
        "format": "uri"
      },      
      "cargoType": { 
        "description": "Discription of cargo",
        "type": "string"
      },      
      "cargoMaxVolume": { 
        "description": "Max volume of cargo in meters",
        "type": "object",
        "required": ["x", "y"],
        "properties": {
          "x": { "type": "number" },
          "y": { "type": "number" },
          "z": { 
            "type": "number", 
            "default" : 0
          }
        },
        "additionalProperties": false
      },
      "cargoMaxWeight": { 
        "description": "Max weight of cargo in kg",
        "type": "string"
      }
    },
    "additionalProperties": false
  },

  "statusReport": {
    "type": "object",
    "required": ["uuid", "timestamp", "operationalState", "location" ],
    "properties": {
      "uuid": {
        "description": "UUID specified in the identityAndCapability message",
        "type": "string",
        "format": "uuid",
        "pattern": "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$"
      },
      "timestamp": { "type": "string", "format": "date-time" },
      "operationalState": { 
        "description": "Current action the robot is performing",
        "type": "string",
        "enum": ["navigating", "idle", "disabled", "offline", "charging", "waitingHumanEvent", "waitingExternalEvent", "waitingInternalEvent", "manualOverride"] 
      },
      "location": { 
        "description": "Current Location of AMR",
        "$ref": "#/definitions/location" 
      },
      "velocity": { 
        "description": "Current velocity of AMR",
        "type": "object",
        "required": ["linear"],
        "properties": {
          "linear": { 
            "description": "Linear velocity in m/s in heading direction, forward is postive",
            "type": "number" 
          },
          "angular" : { 
            "description": "Angular velocity in quaternions per second",
            "$ref": "#/definitions/quaternion" 
          }
        },
        "additionalProperties": false
      },
      "batteryPercentage" : {
        "description": "Percentage of battery remaining",
        "type": "number",
        "minimum": 0,
        "maximum": 100
      },
      "remainingRunTime" : {
        "description": "Estimated remaining runtime in hours",
        "type": "number",
        "minimum": 0
      },
      "loadPercentageStillAvailable" : {
        "description": "Percentage of capacity still available",
        "type": "number",
        "minimum": 0,
        "maximum": 100
      },
      "errorCodes" : {
        "description": "List of current error states - should be omitted for normal operation",
        "type": "array",
        "items": {             
          "type": "string"
        },
        "uniqueItems": true
      },       
      "destinations" : {
        "description": "Target destination(s) of AGV",
        "type": "array",
        "items": {             
          "$ref": "#/definitions/predictedLocation"
        },
        "maxItems": 10,
        "uniqueItems": true
      },
      "path" : {
        "description": "Short term path of AGV ~10 sec",
        "type": "array",
        "items": {             
          "$ref": "#/definitions/predictedLocation"
        },
        "maxItems": 10,
        "uniqueItems": true
      }
    },
    "additionalProperties": false
  },

  "oneOf": [
    { "$ref": "#/identityReport" },
    { "$ref": "#/statusReport" }
  ]
}