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ROOT DB API 使用文档

版本：1.0.0

目录

Bags

1. 获取全部 Bags（按项目分组）

GET /api/bags/all

请求示例

curl https://<host>/api/bags/all

成功响应 200

{
  "Project A": ["Bag 1", "Bag 2"],
  "Uncategorized": ["Bag 3"]
}

错误响应 500

{"error": "An error occurred"}

2. 批量查询 FST 节点

POST /api/bags/fst/nodes

请求体

["a.bag", "b.bag"]

请求示例

curl -X POST https://<host>/api/bags/fst/nodes \
     -H "Content-Type: application/json" \
     -d '["a.bag", "b.bag"]'

成功响应 200

{
  "a.bag": [
    {"name": "node1", "start": 0, "end": 10},
    {"name": "node2", "start": 11, "end": 20}
  ],
  "b.bag": [
    {"name": "node3", "start": 21, "end": 30}
  ]
}

错误响应

  • 400：Body must be a list of bag names
  • 500：An error occurred

3. 获取生命周期信息

POST /api/bags/life_cycle

请求体

{"bag_names": ["a.bag", "b.bag"]}

请求示例

curl -X POST https://<host>/api/bags/life_cycle \
     -H "Content-Type: application/json" \
     -d '{"bag_names": ["a.bag", "b.bag"]}'

成功响应 200

{
  "a.bag": {
    "collect_time": "2025-07-16T00:00:00Z",
    "decode_time": "2025-07-16T01:00:00Z",
    "fst_index_time": "2025-07-16T02:00:00Z",
    "mining_time": "2025-07-16T03:00:00Z",
    "auto_annotate_time": "2025-07-16T04:00:00Z",
    "manual_annotate_time": "2025-07-16T05:00:00Z",
    "clone2dev_time": "2025-07-16T06:00:00Z"
  },
  "b.bag": { }
}

4. 批量查询 Minerva 主记录（按 session_id）

POST /api/bags/minerva

请求体

{"session_ids": ["p1.bag", "p2.bag"]}

请求示例

curl -X POST https://<host>/api/bags/minerva \
     -H "Content-Type: application/json" \
     -d '{"session_ids": ["p1.bag", "p2.bag"]}'

成功响应 200

{
  "p1.bag": [{
    "session_id": "p1.bag",
    "vin": "L123456789",
    "platform": "Platform A",
    "start_ts": 1626307200,
    "end_ts": 1626314400,
    "length": 7200,
    "datetime": "2025-07-16T00:00:00Z",
    "path": "/path/to/bag",
    "converted_path": "/path/to/converted",
    "gt_path": "/path/to/gt",
    "reserved_json": {}
  }],
  "p2.bag": []
}

5. 批量查询 Minerva 详情（按 bag name）

POST /api/bags/minerva/detail

请求体

["p1.bag", "p2.bag"]

请求示例

curl -X POST https://<host>/api/bags/minerva/detail \
     -H "Content-Type: application/json" \
     -d '["p1.bag", "p2.bag"]'

响应格式同 /api/bags/minerva

6. 批量查询 Pangu 主记录

POST /api/bags/pangu

请求体

{"names": ["name1", "name2"]}

请求示例

curl -X POST https://<host>/api/bags/pangu \
     -H "Content-Type: application/json" \
     -d '{"names": ["name1", "name2"]}'

成功响应 200

{
  "name1": [{
    "name": "Pangu 1",
    "datetime": "2025-07-16T00:00:00Z",
    "vehicle": "Vehicle A",
    "raw_bag_path": "/path/to/bag",
    "decoded_path": "/path/to/decoded",
    "reserved_str": "Some reserved string",
    "reserved_json": {}
  }],
  "name2": []
}

7. 批量查询 Pangu 详情（按 bag name）

POST /api/bags/pangu/detail

请求体

["bag1.bag", "bag2.bag"]

请求示例

curl -X POST https://<host>/api/bags/pangu/detail \
     -H "Content-Type: application/json" \
     -d '["bag1.bag", "bag2.bag"]'

成功响应 200

{
  "bag1.bag": {"detail": "...", "other_property": "..."},
  "bag2.bag": {"detail": "...", "other_property": "..."}
}

8. 搜索 Main Pangu

POST /api/bags/search/pangu

请求体

{
  "name": "Pangu 1",
  "vehicle": "Vehicle A",
  "datetime_from": "2025-07-16 00:00:00",
  "datetime_to": "2025-07-16 23:59:59"
}

字段均可选。

请求示例

curl -X POST https://<host>/api/bags/search/pangu \
     -H "Content-Type: application/json" \
     -d '{"name": "Pangu 1"}'

成功响应 200

[
  {
    "name": "Pangu 1",
    "datetime": "2025-07-16T00:00:00Z",
    "vehicle": "Vehicle A"
  }
]

9. 聚合查询列表

POST /api/bags/search/aggregate?page=1&per_page=20

请求参数

参数来源说明：

  • collect_start / collect_end：前端日期选择
  • vehicles：GET /api/bags/vehicles
  • sw_version / hw_version：GET /api/bags/versions
  • topics：GET /api/topics/all
  • tags：GET /api/tags/all
  • gt_names：GET /api/gt/types
  • fst_level1：GET /api/fst/print_tree（取 level=1 的节点名；或用 /api/fst/all_nodes 过滤根节点子节点）

Query 参数：

  • page: 页码，默认 1
  • per_page: 每页数量，默认 20，最大 100
  • debug_sql: 是否打印 SQL（仅日志输出），默认 false

Body 字段（均可选）：

  • collect_start: 起始日期，基于 MainPangu.datetime，格式 YYYYMMDD，例如 "20250101"
  • collect_end: 结束日期，基于 MainPangu.datetime，格式 YYYYMMDD，例如 "20250131"
  • bag_name: bag 名称模糊匹配（支持 * 通配），例如 "xxx2025"
  • gt_names: GT 名称列表（OR 语义）
  • fst_level1: FST 一级节点名称（包含其子孙节点）
  • vehicles: 车号列表（OR 语义，精确匹配）
  • sw_version: 软件版本，支持 * 通配，例如 "v1.*" 或 "2024"
  • hw_version: 硬件版本，支持 * 通配
  • topics: Topic 名称列表（OR 语义）
  • tags: Tag 名称列表（OR 语义）

请求体示例

{
  "collect_start": "20250101",
  "collect_end": "20250131",
  "bag_name": "xxx*2025*",
  "gt_names": ["gt_a", "gt_b"],
  "fst_level1": "root_fst",
  "vehicles": ["PL061763"],
  "sw_version": "v1.*",
  "hw_version": "h1.*",
  "topics": ["topic_a", "topic_b"],
  "tags": ["tag_a", "tag_b"]
}

请求示例

curl -X POST "https://<host>/api/bags/search/aggregate?page=1&per_page=20&debug_sql=true" \
     -H "Content-Type: application/json" \
     -d '{"collect_start":"20250101","collect_end":"20250131","bag_name":"xxx*2025*","gt_names":["gt_a"],"fst_level1":"root_fst","vehicles":["PL061763"],"sw_version":"v1.*","hw_version":"h1.*","topics":["topic_a"],"tags":["tag_a"]}'

响应字段

  • items: 列表
    • bag_id: bag_list.id
    • bag_name: bag 名称
    • bag_path: 原始 bag 路径（空则返回 ""）
    • data_path: 解析后数据路径（空则返回 ""）
    • datetime: MainPangu.datetime（YYYY-MM-DD HH:MM:SS，空则返回 ""）
    • collect_time: BagLifecycle.collect_time（YYYY-MM-DD HH:MM:SS，空则返回 ""）
    • vehicle: 车号（空则返回 ""）
    • sw_version: 软件版本（空则返回 ""）
    • hw_version: 硬件版本（空则返回 ""）
    • mviz_link: 可视化链接（预留，当前为空字符串）
    • mbviz_link: 可视化链接（预留，当前为空字符串）
    • fst: FST 路径数组（可能多条，level1 对应业务一级节点，level0(root) 不返回）
      • level1/level2/level3/level4: 对应层级节点对象，缺失则为 {}
    • gt: 关联 GT 列表（包含 id/name/type/path/comment）
    • topics: 关联 Topic 列表（包含 id/name/type）
    • tags: 关联 Tag 列表（包含 id/name/type/creator）
  • page: 当前页
  • per_page: 每页数量
  • total: 总数

成功响应 200

{
  "items": [
    {
      "bag_id": 123,
      "bag_name": "xxx.bag",
      "bag_path": "/path/to/bag",
      "data_path": "/path/to/data",
      "datetime": "2025-07-16 00:00:00",
      "collect_time": "2025-07-16 00:00:00",
      "vehicle": "PL061763",
      "sw_version": "v1.2.3",
      "hw_version": "h1.0",
      "mviz_link": "",
      "mbviz_link": "",
      "fst": [
        {
          "level1": {"id": 1, "name": "L1"},
          "level2": {"id": 2, "name": "L2"},
          "level3": {"id": 3, "name": "L3"},
          "level4": {"id": 4, "name": "L4"}
        }
      ],
      "gt": [
        {"id": 10, "name": "gt_a", "type": "3DBox", "path": "/path/to/gt", "comment": "备注"}
      ],
      "topics": [
        {"id": 20, "name": "topic_a", "type": "sensor_msgs/PointCloud2"}
      ],
      "tags": [
        {"id": 30, "name": "tag_a", "type": "user", "creator": "alice"}
      ]
    }
  ],
  "page": 1,
  "per_page": 20,
  "total": 123
}

10. 获取可用版本列表

GET /api/bags/versions

请求示例

curl https://<host>/api/bags/versions

成功响应 200

{
  "sw_versions": ["v1.0", "v1.1", "v2.0"],
  "hw_versions": ["h1.0", "h2.0"]
}

11. 获取可用车号列表

GET /api/bags/vehicles

请求示例

curl https://<host>/api/bags/vehicles

成功响应 200

{
  "vehicles": ["PL061763", "PL061764"]
}

12. 批量查询 Tags

POST /api/bags/tags

请求体

["a.bag", "b.bag"]

成功响应 200

{
  "a.bag": [
    {"name": "tag1", "type": "type1"},
    {"name": "tag2", "type": "type2"}
  ],
  "b.bag": [
    {"name": "tag3", "type": "type3"}
  ]
}

13. 批量查询 Topics

POST /api/bags/topics

请求体

["a.bag", "b.bag"]

成功响应 200

{
  "a.bag": [
    {"name": "topic1", "type": "type1"},
    {"name": "topic2", "type": "type2"}
  ],
  "b.bag": [
    {"name": "topic3", "type": "type3"}
  ]
}

FST

1. 批量获取 FST → Bags 映射

POST /api/fst/bags/nodes

请求体

["fst1", "fst2"]

成功响应 200

{
  "fst1": ["Bag1", "Bag2"],
  "fst2": ["Bag3"]
}

2. 获取指定 FST 及其子节点的 Bags

GET /api/fst/bags/path/{name}

请求示例

curl https://<host>/api/fst/bags/path/fst1

成功响应 200

{
  "fst1": {"bags": ["Bag1", "Bag2"]},
  "fst1_child": {"bags": ["Bag3"]}
}

错误响应 404：Specified FST not found

3. 获取 FST 树形结构（纯文本）

GET /api/fst/print_tree

成功响应 200

<pre>
Your FST tree output here
</pre>

4. 获取单个 FST 详情

GET /api/fst/{name}

请求示例

curl https://<host>/api/fst/fst1

成功响应 200

{
  "name": "fst1",
  "parent_node": "Parent FST Name",
  "linked_bags_sum": 5
}

错误响应 404：Specified FST not found

Geometry

批量获取 Rosbag 的 Geometry 信息

POST /api/geometry/

请求体

{"rosbag_names": ["rosbag1", "rosbag2"]}

成功响应 200

{
  "rosbag1": [[12.345678, 12.345678, 0.0]],
  "rosbag2": [[98.765432, 98.765432, 0.0]]
}

Projects

获取所有项目

GET /api/projects/all

成功响应 200

[
  {"id": 1, "name": "Project Name"}
]

Tags

1. 获取全部 Tags

GET /api/tags/all

成功响应 200

[
  {
    "name": "Data Quality",
    "type": "quality",
    "creator": "alice@example.com"
  }
]

2. 根据 Tag 名称获取关联 Bags

GET /api/tags/bags/{tag_name}

请求示例

curl https://<host>/api/tags/bags/Data%20Quality

成功响应 200

{"bags": ["bag_2024_07"]}

3. 根据 Creator 获取 Tags

GET /api/tags/creators/{creator}

请求示例

curl https://<host>/api/tags/creators/alice@example.com

成功响应 200

{"tags": ["Sales", "Data Quality"]}

Topics

1. 获取全部 Topics

GET /api/topics/all

成功响应 200

[
  {"name": "Topic Name", "type": "Topic Type"}
]

2. 根据 Topic 名称获取关联 Bags

GET /api/topics/bags/{topic_name}

请求示例

curl https://<host>/api/topics/bags/topic1

成功响应 200

{"name": ["Bag Name"]}