APEX

I’m working on Oracle APEX (v 23.1) with Friendly URL mode enabled. I want to generate a page URL where the value of a page item appears in the path, not in the query string.

For example, this is the standard output of apex_page.get_url:

SELECT apex_page.get_url(
    p_application => 500,
    p_page        => 640,
    p_items       => 'P640_ID',
    p_values      => '34491622'
)
FROM dual;

Result:

f?p=500:640:::::P640_ID:34491622

With Friendly URLs enabled, this turns into something like:

https://server/ords/r/app/page?P640_ID=34491622

But what I want is something like:

https://server/ords/r/app/page/34491622

Basically, I want the item value to become part of the path parameters, not the query string. Is there a supported way in Oracle APEX to generate a Friendly URL where page item values automatically become path parameters?