virtual_PanTilt1.json

{
  "@context": [
    "https://www.w3.org/2019/wot/td/v1",
    {
      "@language": "en"
    }
  ],
  "@type": "Thing",
  "title": "PanTilt1",
  "id": "urn:dev:ops:32473-virtualPantilt-1",
  "description": "virtual PanTilt 1 in coppeliasim",
  "security": "nosec_sc",
  "securityDefinitions": {
    "nosec_sc": {
      "scheme": "nosec"
    }
  },
  "properties": {
    "panPosition": {
      "description": "The current position of the pan platform in degrees",
      "forms": [
        {
          "contentType": "application/json",
          "href": "https://localhost:9000/PanTilt1/properties/panPosition",
          "htv:methodName": "GET",
          "op": ["readproperty"]
        }
      ],
      "maximum": 90,
      "minimum": -90,
      "observable": false,
      "readOnly": true,
      "title": "Pan Position",
      "type": "number",
      "unit": "degrees",
      "writeOnly": false
    },
    "tiltPosition": {
      "description": "The current position of the tilt platform in degrees",
      "forms": [
        {
          "contentType": "application/json",
          "href": "https://localhost:9000/PanTilt1/properties/tiltPosition",
          "htv:methodName": "GET",
          "op": ["readproperty"]
        }
      ],
      "maximum": 80,
      "minimum": -80,
      "observable": false,
      "readOnly": true,
      "title": "Tilt Position",
      "type": "number",
      "unit": "degrees",
      "writeOnly": false
    }
  },

  "actions": {
    "goHome": {
      "description": "Returns the pan and tilt to their home position which is at 0 and 0 degrees",
      "forms": [
        {
          "contentType": "application/json",
          "href": "https://localhost:9000/PanTilt1/actions/goHome",
          "htv:methodName": "POST",
          "op": ["invokeaction"]
        }
      ],
      "idempotent": false,
      "safe": false,
      "title": "Go Home"
    },
    "moveTo": {
      "description": "Moves the tilt and pan platform to the angles given in input",
      "forms": [
        {
          "contentType": "application/json",
          "href": "https://localhost:9000/PanTilt1/actions/moveTo",
          "htv:methodName": "POST",
          "op": ["invokeaction"]
        }
      ],
      "idempotent": false,
      "input": {
        "properties": {
          "panAngle": {
            "maximum": 90,
            "minimum": -90,
            "title": "Pan To",
            "type": "number",
            "unit": "degrees"
          },
          "tiltAngle": {
            "maximum": 80,
            "minimum": -80,
            "title": "Tilt To",
            "type": "number",
            "unit": "degrees"
          }
        },
        "required": ["panAngle", "tiltAngle"],
        "type": "object"
      },
      "safe": false,
      "title": "Move To"
    },
    "panContinuously": {
      "description": "Moves the pan platform with speed given in input until a stop action is invoked or limits are reached",
      "forms": [
        {
          "contentType": "application/json",
          "href": "https://localhost:9000/PanTilt1/actions/panContinuously",
          "htv:methodName": "POST",
          "op": ["invokeaction"]
        }
      ],
      "idempotent": false,
      "input": {
        "description": "The speed at which the platform moves. Negative values for right and positive values for left",
        "maximum": 15,
        "minimum": -15,
        "type": "number",
        "unit": "angle per sec"
      },
      "safe": false,
      "title": "Pan Continuously"
    },
    "panTo": {
      "description": "Moves the pan platform to the angle specific in the input",
      "forms": [
        {
          "contentType": "application/json",
          "href": "https://localhost:9000/PanTilt1/actions/panTo",
          "htv:methodName": "POST",
          "op": ["invokeaction"]
        }
      ],
      "idempotent": false,
      "input": {
        "maximum": 90,
        "minimum": -90,
        "type": "number",
        "unit": "degrees"
      },
      "safe": false,
      "title": "Pan To"
    },

    "stopMovement": {
      "description": "Stops any movement that was created with continuous movement calls",
      "forms": [
        {
          "contentType": "application/json",
          "href": "https://localhost:9000/PanTilt1/actions/stopMovement",
          "htv:methodName": "POST",
          "op": ["invokeaction"]
        }
      ],
      "idempotent": false,
      "safe": false,
      "title": "Stop Movement"
    },

    "tiltTo": {
      "description": "Moves the tilt platform to the angle specific in the input",
      "forms": [
        {
          "contentType": "application/json",
          "href": "https://localhost:9000/PanTilt1/actions/tiltTo",
          "htv:methodName": "POST",
          "op": ["invokeaction"]
        }
      ],
      "idempotent": false,
      "input": {
        "maximum": 80,
        "minimum": -80,
        "type": "number",
        "unit": "degrees"
      },
      "safe": false,
      "title": "Tilt To"
    }
  }
}