Order 完整示例
以下是 VDA 5050 中 order 消息的完整示例，包含所有可用字段：
json
{
"headerId": 1234,
"timestamp": "2024-01-15T14:30:00.123Z",
"version": "3.0.0",
"manufacturer": "RobotCorp",
"serialNumber": "AGV-001",
"orderId": "transport-2024-001",
"orderUpdateId": 0,
"nodes": [
{
"nodeId": "station-pick-01",
"sequenceId": 0,
"released": true,
"nodeDescriptor": "Pickup Station A",
"nodePosition": {
"x": 10.0,
"y": 5.0,
"theta": 0.0
},
"actions": [
{
"actionType": "pick",
"actionId": "pick-001",
"blockingType": "HARD",
"actionParameters": [
{ "key": "lhd", "value": "LHD1" },
{ "key": "stationType", "value": "rack" },
{ "key": "stationName", "value": "Rack-A-01" },
{ "key": "loadType", "value": "EPAL" },
{ "key": "loadId", "value": "pallet-12345" }
]
}
]
},
{
"nodeId": "node-001",
"sequenceId": 2,
"released": true,
"nodeDescriptor": "Waypoint 1"
},
{
"nodeId": "node-002",
"sequenceId": 4,
"released": true,
"nodeDescriptor": "Waypoint 2"
},
{
"nodeId": "station-drop-01",
"sequenceId": 6,
"released": true,
"nodeDescriptor": "Drop-off Station B",
"nodePosition": {
"x": 50.0,
"y": 20.0,
"theta": 1.57
},
"actions": [
{
"actionType": "drop",
"actionId": "drop-001",
"blockingType": "HARD",
"actionParameters": [
{ "key": "lhd", "value": "LHD1" },
{ "key": "stationType", "value": "conveyor" },
{ "key": "stationName", "value": "Conveyor-B-01" },
{ "key": "loadId", "value": "pallet-12345" }
]
}
]
},
{
"nodeId": "node-003",
"sequenceId": 8,
"released": false,
"nodeDescriptor": "Future waypoint"
},
{
"nodeId": "node-004",
"sequenceId": 10,
"released": false,
"nodeDescriptor": "Future waypoint 2"
}
],
"edges": [
{
"edgeId": "edge-001",
"sequenceId": 1,
"released": true,
"edgeDescriptor": "Path to waypoint 1",
"fromNodeId": "station-pick-01",
"toNodeId": "node-001",
"trajectory": {
"type": "LINEAR",
"points": [
{ "x": 10.0, "y": 5.0 },
{ "x": 20.0, "y": 8.0 },
{ "x": 30.0, "y": 10.0 }
]
}
},
{
"edgeId": "edge-002",
"sequenceId": 3,
"released": true,
"edgeDescriptor": "Path to waypoint 2",
"fromNodeId": "node-001",
"toNodeId": "node-002"
},
{
"edgeId": "edge-003",
"sequenceId": 5,
"released": true,
"edgeDescriptor": "Path to drop-off",
"fromNodeId": "node-002",
"toNodeId": "station-drop-01",
"trajectory": {
"type": "LINEAR",
"points": [
{ "x": 30.0, "y": 10.0 },
{ "x": 40.0, "y": 15.0 },
{ "x": 50.0, "y": 20.0 }
]
}
},
{
"edgeId": "edge-004",
"sequenceId": 7,
"released": true,
"edgeDescriptor": "Return path segment",
"fromNodeId": "station-drop-01",
"toNodeId": "node-003"
},
{
"edgeId": "edge-005",
"sequenceId": 9,
"released": false,
"edgeDescriptor": "Future path",
"fromNodeId": "node-003",
"toNodeId": "node-004"
}
]
}