Message Types

Reference for all message types used in the ACS API.

Task

Represents a single task in a task chain.

Field	Message Type	Description
task_type	TaskType	Type of action (e.g., TASK_TYPE_LOAD, TASK_TYPE_UNLOAD).
map_id	int32	Map ID where the task takes place.
end_point_code	string	Target location code on the map (e.g., "PICKUP_01", "DROPOFF_02").

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TaskChain

Represents the core metadata of a task chain in the dispatch system.

Field	Message Type	Description
area_id	int32	Area ID. Unique identifier in the system.
amr_id	int32	Vehicle ID. Specify the AGV to execute. If 0, the system auto-selects.
group_id	int32	Group ID. Specify AGV group. If 0, selects from all available.
priority	int32	Execution priority. Default 0; higher value = higher priority (range: 0–99).
is_return	int32	Callback flag. 1 = server pushes completion status. (0 or 1)
task_seq	string	Upstream task number for identification.
name	string	Task name.
from_detail	string	Request source description.

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TaskState

Represents a subtask with execution metadata. Returned in QueryTaskChain responses.

Field	Message Type	Description
task_type	TaskType	Type of action.
map_id	int32	Map ID where the task takes place.
end_point_code	string	Target location code on the map.
task_chain_id	int32	Task chain ID this task belongs to.
status	TaskStatus	Task execution status.
create_time	string	Task creation time (RFC 3339 format).
start_time	string	Task start time (RFC 3339 format).
finish_time	string	Task finish time (RFC 3339 format). Empty if not finished.
loading	int32	0 = load, 1 = unload.
id	int32	Database ID.
amr_id	int32	Assigned AMR ID.

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TaskChainState

Represents a task chain with execution metadata. Returned in QueryTaskChain responses.

Field	Message Type	Description
area_id	int32	Area ID.
amr_id	int32	Vehicle ID.
group_id	int32	Group ID.
priority	int32	Execution priority (0–99).
is_return	int32	Callback flag (0 or 1).
task_seq	string	Upstream task number.
name	string	Task chain name.
create_time	string	Task creation time (RFC 3339 format).
finish_time	string	Task completion time (RFC 3339 format). Empty if not finished.
id	int32	Database ID.
come_from	int32	Origin of the task chain.
from_detail	string	Detail about the origin.
status	TaskChainStatus	Task chain status.
start_time	string	Task chain start time (RFC 3339 format).

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QueryTaskChainInfo

Represents a task chain and its subtasks. Returned in QueryTaskChain responses.

Field	Message Type	Description
task_chain_state	TaskChainState	Task chain metadata and execution state.
task_states	repeated TaskState	Ordered list of subtasks in the task chain.

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OnlineAMRInfo

Represents a single online robot's state. Returned in GetOnlineRobots responses.

Field	Message Type	Description
amr_exception	AMRException	Robot exception info.
load_status	string	Current load status (e.g., "FULL", "EMPTY").
task_state	int32	Vendor-specific task state ID.
area_id	int32	Area ID the robot is operating in.
battery_percentile	double	Battery percentage.
coordinate	Coordinate	Current position and orientation.
materials	repeated Material	Materials currently carried.
id	string	Unique identifier of the AMR.
ip	string	IP address of the AMR.
map_id	int32	Map ID the AMR is on.
name	string	Display name of the AMR.
map_name	string	Name of the current map.
state	string	Current state description string.
state_id	RobotState	Numeric state ID.
un_finish_route	UnFinishRoute	Unfinished route of the AMR.
task_chain_id	int32	Current task chain ID. 0 if no active task chain.
task_id	int32	Current task ID. 0 if no active task.
pos	string	Current vertex code.

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Coordinate

Represents a robot's position and orientation on the map.

Field	Message Type	Description
x	double	X-coordinate.
y	double	Y-coordinate.
theta	double	Orientation angle in radians.

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Material

Represents material information carried by a robot.

Field	Message Type	Description
code	repeated string	List of material codes (e.g., barcodes, SKUs).
position	string	Material position description on the shelf/rack.
info	string	Shelf or rack identifier.

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AMRException

Represents the exception info for a robot.

Field	Message Type	Description
exception	repeated string	List of human-readable exception messages.
exception_codes	repeated uint64	List of numeric exception codes.
level	int32	Exception severity level.

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UnFinishedVertex

Represents an unvisited waypoint in the robot's route.

Field	Message Type	Description
id	int32	Vertex ID.
map_id	int32	Map ID.
code	string	Vertex code.
x	double	X-coordinate.
y	double	Y-coordinate.
enter_angle	double	Entry angle in radians.
out_angle	double	Exit angle in radians.

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UnFinishRoute

Represents the remaining route of a robot.

Field	Message Type	Description
un_finished_vertexes	repeated UnFinishedVertex	Remaining waypoints.
process_rate	double	Route completion rate (0.0–1.0).

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VertexInfo

Represents a point on the map with position, docking, and operational metadata. Returned in GetMap responses.

Field	Message Type	Description
id	int32	Unique identifier of the point.
code	string	Logical code of the point (e.g., "B5QY_01").
alias	string	Optional alias name for display purposes.
description	string	Optional textual description.
x	double	X-coordinate on the map.
y	double	Y-coordinate on the map.
theta	double	Orientation angle in radians.
type	int32	Vertex type: 0=Waypoint, 1=Workstation, 2=Charging, 3=Rest, 4=Docking, 5=Roller, 6=Buffer.
loading	int32	Loading direction: 0=load, 1=unload.
docking_direction	int32	Docking direction: 0=Left, 1=Right, 2=Front, 3=Back, 4–6=Fine-tune, 7=Unspecified.
docking_x	double	Docking offset X.
docking_y	double	Docking offset Y.
docking_theta	double	Docking orientation offset in radians.
outbound_x	double	Outbound offset X.
outbound_y	double	Outbound offset Y.
outbound_theta	double	Outbound orientation in radians.
force_load	bool	Whether the AMR must forcibly load material at this point.
reloc_threshold	int32	Relocation threshold distance.
forbidden_back	int32	Whether reversing is forbidden: 0=allowed, 1=forbidden.
allow_park	int32	Whether parking is allowed: 0=no, 1=yes.
extend	string	Extended attributes in JSON string format.
map_id	int32	Map ID this point belongs to.