Task Management

APIs for dispatching, querying, reassigning, and cancelling task chains on AMRs.

AddTaskChain

Dispatches a sequence of tasks to AMRs. The system creates a task chain and assigns it to a robot based on the provided parameters.

POST /task/add

Request

task_chain TaskChain required

Metadata for the task chain, including target area, robot assignment, and priority.

tasks repeated Task required

Ordered sequence of tasks to be executed by the assigned AMR.

JSON Request Example

JSON

  {
    "taskChain": {
      "areaId": 1,
      "amrId": 0,
      "groupId": 0,
      "priority": 10,
      "isReturn": 1,
      "taskSeq": "ORDER-2025-001",
      "name": "Pickup and Deliver",
      "fromDetail": "WMS"
    },
    "tasks": [
      {
        "taskType": "TASK_TYPE_LOAD",
        "mapId": 1,
        "endPointCode": "PICKUP_01"
      },
      {
        "taskType": "TASK_TYPE_UNLOAD",
        "mapId": 1,
        "endPointCode": "DROPOFF_02"
      }
    ]
  }

Response

Field	Message Type	Description
task_chain_id	int32	ID of the newly created task chain.

JSON Response Example

JSON

  {
    "taskChainId": 12345
  }

---

ReassignTaskByAmrId

Reassigns tasks for a specific robot. Allows modifying the remaining tasks in a robot's current task chain.

PUT /taskChain/reassignByAmrId/{amr_id}

Request

Field	Message Type	Description
amr_id	int32	Robot ID to reassign tasks for. Passed as a path parameter.
sequence	int32	Position of the reassignment point in the task chain.
is_retained	bool	Whether to retain subsequent sub-tasks after the reassignment point.
reassign_tasks	repeated Task	New tasks to be assigned.

JSON Request Example

JSON

  {
    "amrId": 5,
    "sequence": 2,
    "isRetained": false,
    "reassignTasks": [
      {
        "taskType": "TASK_TYPE_MOVE",
        "mapId": 1,
        "endPointCode": "BUFFER_01"
      }
    ]
  }

Response

(Empty response on success)

JSON Response Example

JSON

  {}

---

ReassignTaskByTaskChainId

Reassigns tasks under a specific task chain. Similar to ReassignTaskByAmrId but targets a task chain directly.

PUT /taskChain/reassignByTaskChainId/{task_chain_id}

Request

Field	Message Type	Description
task_chain_id	int32	Task chain ID to reassign. Passed as a path parameter.
sequence	int32	Position of the reassignment point in the task chain.
is_retained	bool	Whether to retain subsequent sub-tasks after the reassignment point.
reassign_tasks	repeated Task	New tasks to be assigned.

JSON Request Example

JSON

  {
    "taskChainId": 12345,
    "sequence": 3,
    "isRetained": true,
    "reassignTasks": [
      {
        "taskType": "TASK_TYPE_UNLOAD",
        "mapId": 1,
        "endPointCode": "DROPOFF_03"
      }
    ]
  }

Response

(Empty response on success)

JSON Response Example

JSON

  {}

---

FinishTaskChain

Marks a dispatch confirmation (E2 / TASK_TYPE_SYSTEM_CONFIRM) task as completed. Call this to unblock a task chain that is waiting for upper system confirmation.

GET /taskChain/endFinishPauseIsFalseTask/{task_chain_id}

Request

Field	Message Type	Description
task_chain_id	int32	Task chain ID to finish. Passed as a path parameter.

JSON Request Example

JSON

  {}

Note

The task_chain_id is passed as a URL path parameter.

Response

(Empty response on success)

JSON Response Example

JSON

  {}

---

QueryTaskChain

Retrieves task chain information including status, timing, and assigned robot details. Supports querying multiple task chains at once.

GET /task/getTaskChainByIds

Request

Field	Message Type	Description
task_chain_ids	repeated int32	List of task chain IDs to query.

JSON Request Example

JSON

  {
    "taskChainIds": [12345, 12346]
  }

Response

Field	Message Type	Description
task_chains	repeated QueryTaskChainInfo	List of task chain info with their subtasks.

Each QueryTaskChainInfo contains:

• task_chain_state — Chain-level metadata and status
• task_states — Ordered list of subtask execution states

JSON Response Example

JSON

  {
    "taskChains": [
      {
        "taskChainState": {
          "areaId": 1,
          "amrId": 5,
          "groupId": 0,
          "priority": 10,
          "isReturn": 1,
          "taskSeq": "ORDER-2025-001",
          "name": "Pickup and Deliver",
          "createTime": "2025-01-15T10:00:00Z",
          "startTime": "2025-01-15T10:01:00Z",
          "finishTime": "",
          "id": 12345,
          "comeFrom": 0,
          "fromDetail": "WMS",
          "status": "TASK_CHAIN_STATUS_IN_PROGRESS"
        },
        "taskStates": [
          {
            "taskType": "TASK_TYPE_LOAD",
            "mapId": 1,
            "endPointCode": "PICKUP_01",
            "taskChainId": 12345,
            "status": "TASK_STATUS_COMPLETED",
            "createTime": "2025-01-15T10:00:00Z",
            "startTime": "2025-01-15T10:01:00Z",
            "finishTime": "2025-01-15T10:05:00Z",
            "loading": 0,
            "id": 100001,
            "amrId": 5
          },
          {
            "taskType": "TASK_TYPE_UNLOAD",
            "mapId": 1,
            "endPointCode": "DROPOFF_02",
            "taskChainId": 12345,
            "status": "TASK_STATUS_EXECUTING",
            "createTime": "2025-01-15T10:00:00Z",
            "startTime": "2025-01-15T10:05:30Z",
            "finishTime": "",
            "loading": 1,
            "id": 100002,
            "amrId": 5
          }
        ]
      }
    ]
  }

---

CancelTaskChain

Cancels a task chain. Only available for task chains that have not been fully completed.

POST /task/cancel/{task_chain_id}

Request

Field	Message Type	Description
task_chain_id	int32	Task chain ID to cancel. Passed as a path parameter.
force	bool	If true, force cancel even if a task is currently in progress.

JSON Request Example

JSON

  {
    "taskChainId": 12345,
    "force": true
  }

Response

(Empty response on success)

JSON Response Example

JSON

  {}