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MQTT Communication Specs.md

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MQTT Communication Specification Doc

Table of contents

[demo-name] Links to simulation section
factory AMR Simulations
access_control Building Access Control

General Info

MQTT topic template: [UUID]/[topic]

When... [UUID] is...
Subscribing [sandboxUUID]
Publishing to a Gaia app [appUUID]
Publishing to the Sandbox Coordinator sandbox_coordinator/[sandboxUUID]

AMR Simulations

Sandbox subscribes to

Topic name Example Payload Description
bot/[bot_id]/move_location buffer Instruct [bot_id] to move to given nav_node
bot/[bot_id]/pickup_payload inbound Pickup next payload (could be widget or pallet) from given area index
bot/[bot_id]/drop_payload buffer Drop payload at given area index
bot/[bot_id]/status_request [status_item] Request for bot status
bot/[bot_id]/charge NA Instruct [bot_id] to move into the charging station. Only works when at the charging station waypoint. Payload doesn't matter

Sandbox publishes

Topic name Example Payload Description
ping "running" Updated Gaia that a simulation is running
factory_data JSON Description of factory layout for Gaia to read
station/inbound/pallet JSON pallet data Telling Gaia a new order has arrived
station/outbound/pallet JSON pallet data Telling Gaia a new pallet is in outbound (for Gaia to create a record for it)
order_arrived true When a new pallet arrives in Inbound
unpacked_pallet true When a pallet is unpacked into the buffer area
processed_widget true When a widget makes it to PL End
bot/[bot_id]/arrived "buffer" Response from bot when it arrives at a location
bot/[bot_id]/crashed "buffer" Reports a bot with ID crashed while going to goal location payload
bot/[bot_id]/out_of_battery "buffer" Reports a bot with ID has ran out of battery while going to goal location payload
bot/[bot_id]/cant_navigate "buffer" Response from bot when it can't complete a navigation because either the path couldn't be generated or if the end location was blocked
bot/[bot_id]/payload_picked_up [payload_id] Report back if payload [payload_id] was picked up, false if not
bot/[bot_id]/payload_dropped "buffer" ^ same but for dropping payload
bot/[bot_id]/charging true Response from bot when it moves into the charging station
bot/[bot_id]/moving_to "buffer" Response when bot start traveling to a new location (payload)
bot/is_charged [bot_id] Response when [bot_id] finished charging
production_start_ready [widget.payload_id] Response when a widget sent to PL_start is ready for production
production_finished [widget.payload_id] Response when a widget finishes production
pallet_shipped [pallet data] Response when a pallet ships

Gaia signals to automate manual interaction inside factory

Topic name Description
receive_order Clicks "Receive Order"
unpack_pallet Clicks "UNPACK" in buffer
start_production Clicks "PROCESS" in PL Start
unload_pl Clicks "UNLOAD" in production line
ship Clicks "SHIP" in outbound
  • [robot-id]/info/[status_item] (Robot status)
[status_item] Example Payload Notes
id "b-123"
type 1 See enums
goal_location 1 ^
world_location (523,456) Will simply use in-game pixel location data, but IRL should use grid coordinates
charge_level 0.76
is_charching false
speed_squared 0.64 Computationally less intensive to return the square magnitude of the velocity vector
  • info/[factory_status_item] (Factory status)
[factory_status_item] Example Payload Notes

Enumerations

Enum name Enum values Notes
type 0 = bumblebee
1 = stacker		 The two types of AMRs defined
goal_location Dependent on factory layout Each location in a factory is assigned a number which corresponds to an in-game coordinate

Access Control (access_control)

Sandbox subscriptions

Topic name Expected Payload Description
init too much to output here (subject to change) Verbose output of everything. Used to create initial state
alert [error_message] Error message
[person_id]/move_to_building [building_id] or "" When a person moves in/out a building. Use empty string to leave building
[person_id]/move_to_room [building_id],[room_id] When a person moves in/out a room. Payload is comma separated
[person_id]/scan [scan_type] When a person's scan status changes. N/A for "face" and "leaving". See enum

Sandbox publishes

  • time
    • Simulated world time in minutes
    • Payload: [time-in-minutes]
  • scan
    • Payload:
{
    "scan_type": [scan_type],
    "person_id": [person_id],
    "building_id": [building_id],
    "room_id": [room_id]
}

Enumerations

Enum name Enum values Notes
scan_type "badge"
"face"
"leaving"
"vehicle_departing"
"vehicle_entering"
"leaving_wifi"
"joining_wifi"