openrpc.json

{
  "$schema": "https://github.com/open-rpc/meta-schema/releases/latest/download/open-rpc-meta-schema.json",
  "openrpc": "1.3.2",
  "info": {
    "version": "1.0.0",
    "title": "OpenMower"
  },
  "methods": [
    {
      "name": "rpc.ping",
      "summary": "Ping the server.",
      "params": [],
      "result": {
        "name": "result",
        "description": "Returns \"pong\" if successful.",
        "schema": {
          "type": "string",
          "enum": [
            "pong"
          ]
        }
      }
    },
    {
      "name": "rpc.methods",
      "summary": "List all available methods.",
      "params": [],
      "result": {
        "name": "methods",
        "description": "An array of method names (e.g. \"rpc.ping\").",
        "schema": {
          "type": "array",
          "items": {
            "type": "string"
          }
        }
      }
    },
    {
      "name": "map.replace",
      "summary": "Replace the current map with a new one.",
      "params": [
        {
          "name": "map",
          "description": "The new map in JSON format",
          "required": true,
          "schema": {
            "type": "object"
          }
        }
      ],
      "result": {
        "name": "result",
        "description": "No result is returned if successful.",
        "schema": {
          "type": "null"
        }
      }
    },
    {
      "name": "meta.rpc.ping",
      "summary": "Ping the meta server.",
      "params": [],
      "result": {
        "name": "result",
        "description": "Returns \"pong\" if successful.",
        "schema": {
          "type": "string",
          "enum": [
            "pong"
          ]
        }
      }
    },
    {
      "name": "meta.config.schema",
      "summary": "Get the configuration schema.",
      "params": [],
      "result": {
        "name": "result",
        "description": "Returns the JSON schema for the configuration.",
        "schema": {
          "type": "string"
        }
      }
    },
    {
      "name": "position.history",
      "summary": "Returns compacted segments and the raw pending buffer for client seeding.",
      "paramStructure": "by-name",
      "params": [
        {
          "name": "job_id",
          "description": "Job ID to fetch history for. Omit to get the current/live job.",
          "required": false,
          "schema": {
            "type": "string"
          }
        }
      ],
      "result": {
        "name": "result",
        "schema": {
          "type": "object",
          "properties": {
            "segments": {
              "type": "array",
              "items": {
                "type": "object",
                "properties": {
                  "attributes": {
                    "type": "object",
                    "properties": {
                      "job_id": {
                        "type": "string"
                      },
                      "session_id": {
                        "type": "string"
                      },
                      "blades": {
                        "type": "boolean"
                      }
                    }
                  },
                  "points": {
                    "type": "array",
                    "items": {
                      "type": "array",
                      "items": {
                        "type": "number"
                      }
                    }
                  }
                }
              }
            },
            "buffer": {
              "type": "array",
              "items": {
                "type": "array",
                "items": {
                  "type": "number"
                }
              }
            }
          }
        }
      }
    },
    {
      "name": "position.history.list",
      "summary": "List available job history entries.",
      "params": [],
      "result": {
        "name": "jobs",
        "description": "Array of job history entries, each with a job_id and epoch timestamp. Sorted newest first.",
        "schema": {
          "type": "array",
          "items": {
            "type": "object",
            "properties": {
              "job_id": {
                "type": "string"
              },
              "timestamp": {
                "type": "number"
              }
            },
            "required": [
              "job_id",
              "timestamp"
            ]
          }
        }
      }
    },
    {
      "name": "events.history",
      "summary": "Returns events for today when called without params, or events for a specific date.",
      "paramStructure": "by-name",
      "params": [
        {
          "name": "date",
          "description": "Date string (YYYYMMDD). Omit to get today's events.",
          "required": false,
          "schema": {
            "type": "string"
          }
        }
      ],
      "result": {
        "name": "events",
        "schema": {
          "type": "array",
          "items": {
            "type": "object",
            "properties": {
              "id": {
                "type": "string"
              },
              "t": {
                "type": "number"
              },
              "type": {
                "type": "string"
              },
              "x": {
                "type": "number"
              },
              "y": {
                "type": "number"
              },
              "job_id": {
                "type": "string"
              },
              "session_id": {
                "type": "string"
              },
              "active": {
                "type": "boolean"
              }
            },
            "required": [
              "id",
              "t",
              "type"
            ],
            "additionalProperties": true
          }
        }
      }
    },
    {
      "name": "events.history.list",
      "summary": "List available event history dates.",
      "params": [],
      "result": {
        "name": "dates",
        "description": "Array of date strings in YYYYMMDD format.",
        "schema": {
          "type": "array",
          "items": {
            "type": "string"
          }
        }
      }
    },
    {
      "name": "meta.config.defaults",
      "summary": "Get the default configuration values.",
      "params": [],
      "result": {
        "name": "result",
        "description": "Returns an object where each key is a relative path and the value is the content of a YAML file as a string.",
        "schema": {
          "type": "object",
          "additionalProperties": {
            "type": "string",
            "description": "Content of a YAML file as a string"
          },
          "description": "Keys are relative file paths, values are YAML file contents as strings"
        }
      }
    },
    {
      "name": "sim.emergency.set",
      "summary": "Trigger or clear a latched emergency in the simulator.",
      "paramStructure": "by-name",
      "params": [
        {
          "name": "active",
          "description": "true triggers a latched emergency, false clears it.",
          "required": true,
          "schema": {
            "type": "boolean"
          }
        }
      ],
      "result": {
        "name": "result",
        "description": "No result is returned if successful.",
        "schema": {
          "type": "null"
        }
      }
    },
    {
      "name": "sim.movement.set",
      "summary": "Allow or block physical movement to simulate a stuck robot.",
      "paramStructure": "by-name",
      "params": [
        {
          "name": "allowed",
          "description": "true = robot moves normally, false = robot is stuck.",
          "required": true,
          "schema": {
            "type": "boolean"
          }
        }
      ],
      "result": {
        "name": "result",
        "description": "No result is returned if successful.",
        "schema": {
          "type": "null"
        }
      }
    },
    {
      "name": "sim.battery.set",
      "summary": "Set the simulated battery pack voltage.",
      "paramStructure": "by-name",
      "params": [
        {
          "name": "voltage",
          "description": "Exact pack voltage to set (V).",
          "required": true,
          "schema": {
            "type": "number"
          }
        }
      ],
      "result": {
        "name": "result",
        "description": "No result is returned if successful.",
        "schema": {
          "type": "null"
        }
      }
    },
    {
      "name": "sim.gps.set",
      "summary": "Set the simulated GPS quality.",
      "paramStructure": "by-name",
      "params": [
        {
          "name": "good",
          "description": "true = RTK fix (~2 cm), false = no RTK fix (~1 m).",
          "required": true,
          "schema": {
            "type": "boolean"
          }
        }
      ],
      "result": {
        "name": "result",
        "description": "No result is returned if successful.",
        "schema": {
          "type": "null"
        }
      }
    },
    {
      "name": "sim.joy_override.set",
      "summary": "Enable or disable joystick (manual drive) override in the simulator.",
      "paramStructure": "by-name",
      "params": [
        {
          "name": "enabled",
          "description": "true = joystick override active (manual drive), false = normal autonomous operation.",
          "required": true,
          "schema": {
            "type": "boolean"
          }
        }
      ],
      "result": {
        "name": "result",
        "description": "No result is returned if successful.",
        "schema": {
          "type": "null"
        }
      }
    },
    {
      "name": "sim.dock.move",
      "summary": "Drive the simulated robot onto the dock and start charging.",
      "params": [],
      "result": {
        "name": "result",
        "description": "No result is returned if successful.",
        "schema": {
          "type": "null"
        }
      }
    },
    {
      "name": "sim.displace",
      "summary": "Teleport the robot by (dx, dy) meters and dheading radians to simulate a GPS jump.",
      "paramStructure": "by-name",
      "params": [
        {
          "name": "dx",
          "description": "X offset in meters (default 0).",
          "required": false,
          "schema": {
            "type": "number"
          }
        },
        {
          "name": "dy",
          "description": "Y offset in meters (default 0).",
          "required": false,
          "schema": {
            "type": "number"
          }
        },
        {
          "name": "dheading",
          "description": "Heading offset in radians (default 0).",
          "required": false,
          "schema": {
            "type": "number"
          }
        }
      ],
      "result": {
        "name": "result",
        "description": "No result is returned if successful.",
        "schema": {
          "type": "null"
        }
      }
    }
  ]
}