Overview

This document describes the gRPC-based ACS (Autonomous Control System) API for Bear ACS users. The ACS API provides methods for controlling Carti600 and enables users to:

1. Dispatch and manage tasks — Create task chains, reassign, cancel, and query task status
2. Monitor and control robots — Retrieve online robot states, pause and resume robot operations
3. Retrieve map information — Query map vertex/point data including docking configurations

The ACS API is deployed on-premises and communicates via gRPC with HTTP/JSON transcoding support.

Available RPCs

Category	RPC	HTTP Method	Description
Task	AddTaskChain	POST /task/add	Dispatch a sequence of tasks to AMRs
Task	ReassignTaskByAmrId	PUT /taskChain/reassignByAmrId/{amr_id}	Reassign tasks for a specific robot
Task	ReassignTaskByTaskChainId	PUT /taskChain/reassignByTaskChainId/{task_chain_id}	Reassign tasks under a specific task chain
Task	FinishTaskChain	GET /taskChain/endFinishPauseIsFalseTask/{task_chain_id}	Mark a dispatch confirmation task as completed
Task	QueryTaskChain	GET /task/getTaskChainByIds	Retrieve task chain info with status and timing
Task	CancelTaskChain	POST /task/cancel/{task_chain_id}	Cancel a task chain
Robot	GetOnlineRobots	GET /amr/onlineAmr	Get all online robots with their states
Robot	PauseRobot	POST /amr/taskCommand/pause/{amr_id}	Pause a robot's task execution
Robot	ResumeRobot	POST /amr/taskCommand/resume/{amr_id}	Resume a paused robot
Map	GetMap	GET /map/getMapVertexes/{map_id}	Get map vertex/point information

Communication Pattern

All RPCs are unary (request/response). The following sequence diagram illustrates how a request flows from a client to the ACS system:

sequenceDiagram
    box Client Network
    participant Client
    end
    box On-Prem Network
    participant ACS as ACS API Service
    participant CS as Control System
    end

    Client->>ACS: gRPC / HTTP Request
    ACS->>CS: Forward to Control System
    CS->>ACS: Return result
    ACS->>Client: Forward response