JSON API | Luos

Version: 3.1.0

The JSON formatted data is common and widely used by many programming languages. Gate services allow you to convert Luos engine information into JSON objects, enabling conventional programming languages to interact with your device easily.

To do that, you must add a specific app service called a gate on your device.

How to start using the JSON API

Before using your device through JSON, you have to be connected to the communication flow depending on the node type hosting your gate service.

Then you can start the gate by sending:

{"detection": {}}\n

This command asks the gate to start a topological detection, create a routing table, convert it into JSON and send it back to you.

Routing table messages

caution

Make sure to read and understand how the routing table works before reading this part.

After the gate starts, the first message you receive is a routing table.

This first message is essential because it contains all the information allowing you to create a code object for your device, including all its features.

Routing table structure

A routing table in JSON consists of a list of the nodes present in the Luos network:

{
  "routing_table": [
    {
      // node 1
    },
    {
      // node 2
    },
    {
      // node 3
    }
    // ...
  ]
}

Nodes information

Each listed node of the network has basic node information and a list of hosted services:

{
  // node 1
  "node_id": 1,
  "certified": true,
  "port_table": [1, 2],
  "services": [
    {
      // service 1
    },
    {
      // service 2
    }
    // ...
  ]
}

tip

To understand the meanings of uuid and port_table, please refer to the routing table page.

Services

Each listed service of a node has basic services information:

{
  // service 1
  "type": "Type",
  "id": 1,
  "alias": "Alias"
}

tip

To understand the meanings of type, id and alias, please refer to the service page.

Full routing table example

{
  "routing_table": [
    {
      "node_id": 1,
      "certified": true,
      "port_table": [2, 65535],
      "services": [
        {
          "type": "Gate",
          "id": 1,
          "alias": "r_right_arm"
        }
      ]
    },
    {
      "node_id": 2,
      "certified": true,
      "port_table": [4, 1],
      "services": [
        {
          "type": "State",
          "id": 2,
          "alias": "lock"
        },
        {
          "type": "Unknown",
          "id": 3,
          "alias": "start_control"
        }
      ]
    },
    {
      "node_id": 3,
      "certified": true,
      "port_table": [5, 3],
      "services": [
        {
          "type": "Imu",
          "id": 4,
          "alias": "gps"
        }
      ]
    },
    {
      "node_id": 4,
      "certified": true,
      "port_table": [65535, 4],
      "services": [
        {
          "type": "Color",
          "id": 5,
          "alias": "alarm"
        },
        {
          "type": "Unknown",
          "id": 6,
          "alias": "alarm_control"
        }
      ]
    }
  ]
}

Below is a visual representation of this routing table:

Service's information messages

When the JSON routing table is transmitted, the gate updates and streams your network data with services information.

This JSON is a "service" object listing all the services by their alias and the values they send:

{
  "services": {
    "service_alias1": {
      "value1": 12.5
    },
    "service_alias2": {
      "value1": 13.6,
      "value2": [1, 2, 3, 4]
    }
  }
}

You can use the same JSON object structure to send data to services.

Here is the list of all values that services can use:

Value name	Definition
power_ratio	Percentage of power of an actuator (-100% to 100%)
target_rot_position	Actuator's target angular position (can be a number or an array)
limit_rot_position	Actuator's limit angular position
limit_trans_position	Actuator's limit angular position
limit_power	Limit ratio of an actuator's reduction
limit_current	Limit current value
target_rot_speed	Actuator's target rotation speed
target_trans_position	Actuator's target linear position (can be a number or an array)
target_trans_speed	Actuator's target linear speed
time	Time value
compliant	Actuator's compliance status
pid	Set of PID values (proportional, integral, derivative)
resolution	Sensor's resolution value
offset	Offset value
reduction	Ratio of an actuator's reduction
dimension	Dimension value
volt	Voltage value
current	Electric current value
reinit	Reinitialisation command
control	Control command (play, pause, stop, rec)
color	Color value
io_state	IO state
uuid	Service's uuid
rename	Renaming an alias
revision	Firmware revision
trans_position	Translation position value
trans_speed	Translation speed value
rot_position	Rotation position value
rot_speed	Rotation speed value
lux	Lux (light intensity) value
temperature	Temperature value
force	Force value
moment	Torque value
power	Power value
linear_accel	Linear acceleration value
gravity_vector	Gravity vector value
compass	Compass value
gyro	Gyroscope value
accel	Acceleration value
euler	Euler angle value
quaternion	Quaternion values
rotational_matrix	Rotational matrix values
heading	Heading
pedometer	Steps number value
walk_time	Walk time value
luos_revision	Luos engine's version
luos_statistics	Luos engine's memory usage statistics [Rx stack, Luos engine stack, Tx stack, Dropped messages, Loop delay, Send retry max number]

Here is an example of a message sent by a potentiometer service containing the rotation angle of the associated potentiometer:

{
  "services": {
    "potentiometer_m": {
      "rot_position": 12.5
    }
  }
}

Here is an example of a message sent by a gate service about Luos engine's statistics:

{
  "services": {
    "gate": {
      "luos_statistics": {
        "msg_stack": 60,
        "luos_stack": 53,
        "msg_drop": 0,
        "loop_ms": 16,
        "fail_ratio": 0,
        "nak_max": 1,
        "collision_max": 5
      }
    }
  }
}

Custom parameters and specific messages

Some messages are specifically handled:

Custom parameters can be defined and sent to services through the JSON API, either with Python (Pyluos) or any other programming language on a computer side. Here is an example of a C function that can be implemented in order to send commands to services in a Luos Network, through a gate:

def sendCmd(s, cmd, sleep_time=0.5):
    cmd = cmd + '\network'
    print(cmd)
    s.write(cmd.encode())
    time.sleep(sleep_time)
s = serial.Serial(sys.argv[1], 1000000)
# detect Luos network
sendCmd(s, '{"detection": {}}')
# set speed mode and compliant mode
sendCmd(s, '{"services": {"controller_moto": {"parameters": 2441}}}')
# set pid parameters
sendCmd(s, '{"services": {"controller_moto": { "pid": [20, 0.02, 90]}}}')
# set speed mode and non compliant mode
sendCmd(s, '{"services": {"controller_moto": {"parameters": 2440}}}')

Parameters are defined by a 16-bit bitfield.

Object	Definition	Structure	Service(s)
parameters	enabling or disabling some measurement	Link to structure (GitHub)	Stepper, Controller-motor, Servo
parameters	enabling or disabling some measurement	Link to structure (GitHub)	Imu

Other specific messages:

Object	Definition	Service(s)
register	Motor memory register filed with [register_number, value]	Dynamixel, void
set_id	A set id command	Dynamixel, void
wheel_mode	The wheel mode parameter for Dynamixel servomotors True or False	Dynamixel, void
delay	reduce services refresh rate	Gate

Services exclusion messages

Services can be excluded from the network if a problem occurs (see self-healing for more information). In this case, the gate sends an exclusion message indicating that this service is no longer available:

{ "dead_service": "service_alias" }

Node assert messages

Nodes can assert if a critical issue occurs (see self-healing for more information). In this case, the gate sends an assertion message indicating that this node is no longer available and some details about the crash:

{
  "assert": {
    "node_id": 3,
    "file": "/Users/foo/luos/Examples/Drivers/Button/button.c",
    "line": 75
  }
}

Sending large binary data

Binary data such as, for example, a motor trajectory can't be included in a JSON file if it is too large. In order to allow this type of transmission, the size of the binary data is sent through the JSON, followed by the actual data in binary format.

If the data is short, it can be displayed inside the JSON as a regular value (see the different values in service's information messages section), or as a table of several values (for example a motor trajectory).
If the data is large, the defined value must be a table of one element, containing only the size of the binary data to be transfered in bytes.

The following example shows a transfer of binary data of 1024 bytes.

{
   "services":{
      "service_alias1":{
         "rot_position":[1024]
      }
   }
}
###BINARY_DATA###

How to start using the JSON API​

Routing table messages​

Routing table structure​

Nodes information​

Services​

Full routing table example​

Service's information messages​

Custom parameters and specific messages​

Services exclusion messages​

Node assert messages​

Sending large binary data​