4568 lines
142 KiB
C
4568 lines
142 KiB
C
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/** @file io_control.h
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* @brief IO控制接口
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*/
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#ifndef AUBO_SDK_IO_CONTROL_INTERFACE_H
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#define AUBO_SDK_IO_CONTROL_INTERFACE_H
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#include <vector>
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#include <thread>
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#include <aubo/global_config.h>
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#include <aubo/type_def.h>
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namespace arcs {
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namespace common_interface {
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/**
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* \chinese
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* IoControl类提供了一系列的接口对机器人标配的一些数字、模拟IO进行配置，输出状态设置、读取
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*
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* 1. 获取各种IO的数量 \n
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* 2. 配置IO的输入输出功能 \n
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* 3. 可配置IO的配置 \n
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* 4. 模拟IO的输入输出范围设置、读取
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*
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* 标准数字输入输出：控制柜IO面板上的标准IO \n
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* 工具端数字输入输出：通过工具末端航插暴露的数字IO \n
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* 可配置输入输出：可以配置为安全IO或者普通数字IO \n
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* \endchinese
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* \english
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* The IoControl class provides a series of interfaces for configuring and reading the robot's standard digital and analog IO, as well as setting output states.
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*
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* 1. Get the number of various IOs \n
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* 2. Configure IO input/output functions \n
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* 3. Configuration of configurable IOs \n
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* 4. Set and read the input/output range of analog IOs
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*
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* Standard digital input/output: Standard IOs on the control cabinet IO panel \n
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* Tool digital input/output: Digital IOs exposed via the tool-end connector \n
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* Configurable input/output: Can be configured as safety IO or general digital IO \n
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* \endenglish
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*/
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class ARCS_ABI_EXPORT IoControl
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{
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public:
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IoControl();
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virtual ~IoControl();
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/**
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* \chinese
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* 获取标准数字输入数量
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*
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* @return 标准数字输入数量
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python函数原型
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* getStandardDigitalInputNum(self: pyaubo_sdk.IoControl) -> int
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*
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* @par Lua函数原型
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* getStandardDigitalInputNum() -> number
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*
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* @par Lua示例
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* num = getStandardDigitalInputNum()
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalInputNum","params":[],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":16}
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*
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* \endchinese
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* \english
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* Get the number of standard digital inputs.
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*
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* @return Number of standard digital inputs.
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python function prototype
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* getStandardDigitalInputNum(self: pyaubo_sdk.IoControl) -> int
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*
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* @par Lua function prototype
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* getStandardDigitalInputNum() -> number
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*
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* @par Lua example
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* num = getStandardDigitalInputNum()
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalInputNum","params":[],"id":1}
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*
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* @par JSON-RPC response example
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* {"id":1,"jsonrpc":"2.0","result":16}
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*
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* \endenglish
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*/
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int getStandardDigitalInputNum();
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/**
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* \chinese
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* 获取工具端数字IO数量(包括数字输入和数字输出)
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*
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* @return 工具端数字IO数量(包括数字输入和数字输出)
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python函数原型
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* getToolDigitalInputNum(self: pyaubo_sdk.IoControl) -> int
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*
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* @par Lua函数原型
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* getToolDigitalInputNum() -> number
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*
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* @par Lua示例
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* num = getStandardDigitalInputNum()
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalInputNum","params":[],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":4}
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*
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* \endchinese
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* \english
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* Get the number of tool digital IOs (including digital inputs and outputs).
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*
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* @return Number of tool digital IOs (including digital inputs and outputs).
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python function prototype
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* getToolDigitalInputNum(self: pyaubo_sdk.IoControl) -> int
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*
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* @par Lua function prototype
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* getToolDigitalInputNum() -> number
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*
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* @par Lua example
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* num = getStandardDigitalInputNum()
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalInputNum","params":[],"id":1}
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*
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* @par JSON-RPC response example
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* {"id":1,"jsonrpc":"2.0","result":4}
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*
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* \endenglish
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*/
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int getToolDigitalInputNum();
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/**
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* \chinese
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* 获取可配置数字输入数量
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*
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* @return 可配置数字输入数量
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python函数原型
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* getConfigurableDigitalInputNum(self: pyaubo_sdk.IoControl) -> int
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*
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* @par Lua函数原型
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* getConfigurableDigitalInputNum() -> number
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*
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* @par Lua示例
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* num = getConfigurableDigitalInputNum()
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalInputNum","params":[],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":16}
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*
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* \endchinese
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* \english
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* Get the number of configurable digital inputs.
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*
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* @return Number of configurable digital inputs.
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python function prototype
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* getConfigurableDigitalInputNum(self: pyaubo_sdk.IoControl) -> int
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*
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* @par Lua function prototype
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* getConfigurableDigitalInputNum() -> number
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*
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* @par Lua example
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* num = getConfigurableDigitalInputNum()
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalInputNum","params":[],"id":1}
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*
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* @par JSON-RPC response example
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* {"id":1,"jsonrpc":"2.0","result":16}
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*
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* \endenglish
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*/
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int getConfigurableDigitalInputNum();
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/**
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* \chinese
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* 获取标准数字输出数量
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*
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* @return 标准数字输出数量
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python函数原型
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* getStandardDigitalOutputNum(self: pyaubo_sdk.IoControl) -> int
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*
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* @par Lua函数原型
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* getStandardDigitalOutputNum() -> number
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*
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* @par Lua示例
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* num = getStandardDigitalOutputNum()
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalOutputNum","params":[],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":8}
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*
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* \endchinese
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* \english
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* Get the number of standard digital outputs.
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*
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* @return Number of standard digital outputs.
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python function prototype
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* getStandardDigitalOutputNum(self: pyaubo_sdk.IoControl) -> int
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*
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* @par Lua function prototype
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* getStandardDigitalOutputNum() -> number
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*
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* @par Lua example
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* num = getStandardDigitalOutputNum()
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalOutputNum","params":[],"id":1}
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*
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* @par JSON-RPC response example
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* {"id":1,"jsonrpc":"2.0","result":8}
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*
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* \endenglish
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*/
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int getStandardDigitalOutputNum();
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/**
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* \chinese
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* 获取工具端数字IO数量(包括数字输入和数字输出)
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*
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* @return 工具端数字IO数量(包括数字输入和数字输出)
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*
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* @throws arcs::common_interface::AuboException
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*
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* @par Python函数原型
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|||
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* getToolDigitalOutputNum(self: pyaubo_sdk.IoControl) -> int
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*
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* @par Lua函数原型
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* getToolDigitalOutputNum() -> number
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*
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* @par Lua示例
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* num = getToolDigitalOutputNum()
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*
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* @par JSON-RPC请求示例
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|||
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* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalOutputNum","params":[],"id":1}
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*
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* @par JSON-RPC响应示例
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|||
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* {"id":1,"jsonrpc":"2.0","result":4}
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*
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* \endchinese
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* \english
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* Get the number of tool digital IOs (including digital inputs and outputs).
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*
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* @return Number of tool digital IOs (including digital inputs and outputs).
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*
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|||
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* @throws arcs::common_interface::AuboException
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|||
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*
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|||
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* @par Python function prototype
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|||
|
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* getToolDigitalOutputNum(self: pyaubo_sdk.IoControl) -> int
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|||
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*
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|||
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* @par Lua function prototype
|
|||
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* getToolDigitalOutputNum() -> number
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*
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|||
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* @par Lua example
|
|||
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* num = getToolDigitalOutputNum()
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|||
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*
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|||
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* @par JSON-RPC request example
|
|||
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* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalOutputNum","params":[],"id":1}
|
|||
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|
*
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|||
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* @par JSON-RPC response example
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|||
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* {"id":1,"jsonrpc":"2.0","result":4}
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*
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* \endenglish
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*/
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int getToolDigitalOutputNum();
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|
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/**
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* \chinese
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|||
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* 设置指定的工具端数字IO为输入或输出
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*
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|||
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* 工具端数字IO比较特殊，IO可以配置为输入或者输出
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*
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|||
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* @param index: 表示IO口的管脚，管脚编号从0开始。
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* 例如，0表示第一个管脚。
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* @param input: 表示指定IO是否为输入。
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* input 为true时，设置指定IO为输入，否则为输出
|
|||
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* @return 成功返回0；失败返回错误码
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|||
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* AUBO_BUSY
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* AUBO_BAD_STATE
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|||
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* -AUBO_INVL_ARGUMENT
|
|||
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* -AUBO_BAD_STATE
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|||
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*
|
|||
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* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
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|
* @par Python函数原型
|
|||
|
|
* setToolIoInput(self: pyaubo_sdk.IoControl, arg0: int, arg1: bool) -> int
|
|||
|
|
*
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|||
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|
* @par Lua函数原型
|
|||
|
|
* setToolIoInput(index: number, input: boolean) -> nil
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|||
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*
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|||
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* @par Lua示例
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|||
|
|
* setToolIoInput(0,true)
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|||
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|
*
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|||
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|
* @par JSON-RPC请求示例
|
|||
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|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolIoInput","params":[0,true],"id":1}
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|||
|
|
*
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|||
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* @par JSON-RPC响应示例
|
|||
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|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
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|||
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* \endchinese
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|||
|
|
* \english
|
|||
|
|
* Set the specified tool digital IO as input or output.
|
|||
|
|
*
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|||
|
|
* Tool digital IOs are special and can be configured as input or output.
|
|||
|
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*
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|||
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* @param index: Indicates the IO pin, starting from 0.
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|||
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* For example, 0 means the first pin.
|
|||
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* @param input: Indicates whether the specified IO is input.
|
|||
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|
* If input is true, set the IO as input; otherwise, set as output.
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|||
|
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* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setToolIoInput(self: pyaubo_sdk.IoControl, arg0: int, arg1: bool) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setToolIoInput(index: number, input: boolean) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setToolIoInput(0,true)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolIoInput","params":[0,true],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setToolIoInput(int index, bool input);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 判断指定的工具端数字IO类型是否为输入
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @return 当指定的IO为输入时返回 true, 否则为 false
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* isToolIoInput(self: pyaubo_sdk.IoControl, arg0: int) -> bool
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* isToolIoInput(index: number) -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* status = isToolIoInput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.isToolIoInput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":true}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Determine whether the specified tool digital IO is configured as input.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @return Returns true if the specified IO is input, otherwise false.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* isToolIoInput(self: pyaubo_sdk.IoControl, arg0: int) -> bool
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* isToolIoInput(index: number) -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* status = isToolIoInput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.isToolIoInput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":true}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
bool isToolIoInput(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取可配置数字输出数量
|
|||
|
|
*
|
|||
|
|
* @return 可配置数字输出数量
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getConfigurableDigitalOutputNum(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getConfigurableDigitalOutputNum() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getConfigurableDigitalOutputNum()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalOutputNum","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":16}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the number of configurable digital outputs.
|
|||
|
|
*
|
|||
|
|
* @return Number of configurable digital outputs.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getConfigurableDigitalOutputNum(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getConfigurableDigitalOutputNum() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getConfigurableDigitalOutputNum()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalOutputNum","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":16}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getConfigurableDigitalOutputNum();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取标准模拟输入数量
|
|||
|
|
*
|
|||
|
|
* @return 标准模拟输入数量
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStandardAnalogInputNum(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStandardAnalogInputNum() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getStandardAnalogInputNum()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogInputNum","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":2}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the number of standard analog inputs.
|
|||
|
|
*
|
|||
|
|
* @return Number of standard analog inputs.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStandardAnalogInputNum(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStandardAnalogInputNum() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getStandardAnalogInputNum()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogInputNum","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":2}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getStandardAnalogInputNum();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取工具端模拟输入数量
|
|||
|
|
*
|
|||
|
|
* @return 工具端模拟输入数量
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolAnalogInputNum(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolAnalogInputNum() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getToolAnalogInputNum()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogInputNum","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":2}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the number of tool analog inputs.
|
|||
|
|
*
|
|||
|
|
* @return Number of tool analog inputs.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolAnalogInputNum(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolAnalogInputNum() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getToolAnalogInputNum()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogInputNum","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":2}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getToolAnalogInputNum();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取标准模拟输出数量
|
|||
|
|
*
|
|||
|
|
* @return 标准模拟输出数量
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStandardAnalogOutputNum(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStandardAnalogOutputNum() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getStandardAnalogOutputNum()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogOutputNum","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":2}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the number of standard analog outputs.
|
|||
|
|
*
|
|||
|
|
* @return Number of standard analog outputs.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStandardAnalogOutputNum(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStandardAnalogOutputNum() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getStandardAnalogOutputNum()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogOutputNum","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":2}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getStandardAnalogOutputNum();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取工具端模拟输出数量
|
|||
|
|
*
|
|||
|
|
* @return 工具端模拟输出数量
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolAnalogOutputNum(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolAnalogOutputNum() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getToolAnalogOutputNum()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogOutputNum","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the number of tool analog outputs.
|
|||
|
|
*
|
|||
|
|
* @return Number of tool analog outputs.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolAnalogOutputNum(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolAnalogOutputNum() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getToolAnalogOutputNum()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogOutputNum","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getToolAnalogOutputNum();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置所有数字输入动作为无触发
|
|||
|
|
*
|
|||
|
|
* @note
|
|||
|
|
* 当输入动作为无触发时，用户设置数字输入值为高电平，不会触发机器人发生动作
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setDigitalInputActionDefault(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setDigitalInputActionDefault() -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setDigitalInputActionDefault()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setDigitalInputActionDefault","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set all digital input actions to no trigger.
|
|||
|
|
*
|
|||
|
|
* @note
|
|||
|
|
* When the input action is set to no trigger, setting the digital input value to high will not trigger any robot action.
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setDigitalInputActionDefault(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setDigitalInputActionDefault() -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setDigitalInputActionDefault()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setDigitalInputActionDefault","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setDigitalInputActionDefault();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置标准数字输入触发动作
|
|||
|
|
*
|
|||
|
|
* @note
|
|||
|
|
* 当给输入设置为无触发动作(StandardInputAction::Default)时，
|
|||
|
|
* 用户设置数字输入值为高电平，不会触发机器人发生动作。\n
|
|||
|
|
* 当给输入设置触发动作时，用户设置数字输入值为高电平，会触发机器人执行相应的动作。\n
|
|||
|
|
* 例如，当设置DI0的触发动作为拖动示教(StandardInputAction::Handguide)时，
|
|||
|
|
* 用户设置DI0为高电平，机器人会进入拖动示教。
|
|||
|
|
* 设置DI0为低电平，机器人会退出拖动示教。
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param action: 触发动作
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setStandardDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int,
|
|||
|
|
* arg1: arcs::common_interface::StandardInputAction) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setStandardDigitalInputAction(index: number, action: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setStandardDigitalInputAction(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalInputAction","params":[0,"Handguide"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the trigger action for standard digital input.
|
|||
|
|
*
|
|||
|
|
* @note
|
|||
|
|
* When the input is set to no trigger action (StandardInputAction::Default),
|
|||
|
|
* setting the digital input value to high will not trigger any robot action.\n
|
|||
|
|
* When a trigger action is set, setting the digital input value to high will trigger the corresponding robot action.\n
|
|||
|
|
* For example, if DI0 is set to trigger Handguide (StandardInputAction::Handguide),
|
|||
|
|
* setting DI0 to high will enable hand-guiding mode.
|
|||
|
|
* Setting DI0 to low will exit hand-guiding mode.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param action: Trigger action
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setStandardDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int,
|
|||
|
|
* arg1: arcs::common_interface::StandardInputAction) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setStandardDigitalInputAction(index: number, action: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setStandardDigitalInputAction(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalInputAction","params":[0,"Handguide"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setStandardDigitalInputAction(int index, StandardInputAction action);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置工具数字输入触发动作
|
|||
|
|
*
|
|||
|
|
* @note
|
|||
|
|
* 当给输入设置为无触发动作(StandardInputAction::Default)时，
|
|||
|
|
* 用户设置工具数字输入值为高电平，不会触发机器人发生动作。\n
|
|||
|
|
* 当给输入设置触发动作时，用户设置工具数字输入值为高电平，会触发机器人执行相应的动作。\n
|
|||
|
|
* 例如，当设置TOOL_IO[0]的类型为输入而且触发动作为拖动示教(StandardInputAction::Handguide)时，
|
|||
|
|
* 用户设置TOOL_IO[0]为高电平，机器人会进入拖动示教。
|
|||
|
|
* 设置TOOL_IO[0]为低电平，机器人会退出拖动示教。
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param action: 触发动作
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setToolDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* arcs::common_interface::StandardInputAction) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setToolDigitalInputAction(index: number, action: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setToolDigitalInputAction(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolDigitalInputAction","params":[0,"Handguide"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the trigger action for tool digital input.
|
|||
|
|
*
|
|||
|
|
* @note
|
|||
|
|
* When the input is set to no trigger action (StandardInputAction::Default),
|
|||
|
|
* setting the tool digital input value to high will not trigger any robot action.\n
|
|||
|
|
* When a trigger action is set, setting the tool digital input value to high will trigger the corresponding robot action.\n
|
|||
|
|
* For example, if TOOL_IO[0] is set as input and its trigger action is Handguide (StandardInputAction::Handguide),
|
|||
|
|
* setting TOOL_IO[0] to high will enable hand-guiding mode.
|
|||
|
|
* Setting TOOL_IO[0] to low will exit hand-guiding mode.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param action: Trigger action
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setToolDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* arcs::common_interface::StandardInputAction) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setToolDigitalInputAction(index: number, action: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setToolDigitalInputAction(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolDigitalInputAction","params":[0,"Handguide"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setToolDigitalInputAction(int index, StandardInputAction action);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置可配置数字输入触发动作
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param action: 触发动作
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @note 需要将可配置输入的安全输入动作设置为
|
|||
|
|
* SafetyInputAction::Unassigned时这个函数的配置才会生效
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setConfigurableDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int,
|
|||
|
|
* arg1: arcs::common_interface::StandardInputAction) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setConfigurableDigitalInputAction(index: number, action: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setConfigurableDigitalInputAction(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalInputAction","params":[0,"Handguide"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the trigger action for configurable digital input.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param action: Trigger action
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @note This function takes effect only when the safety input action of the configurable input is set to SafetyInputAction::Unassigned.
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setConfigurableDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int,
|
|||
|
|
* arg1: arcs::common_interface::StandardInputAction) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setConfigurableDigitalInputAction(index: number, action: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setConfigurableDigitalInputAction(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalInputAction","params":[0,"Handguide"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setConfigurableDigitalInputAction(int index,
|
|||
|
|
StandardInputAction action);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取标准数字输入触发动作
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @return 标准数字输入触发动作
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStandardDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int) ->
|
|||
|
|
* arcs::common_interface::StandardInputAction
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStandardDigitalInputAction(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getStandardDigitalInputAction(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalInputAction","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"Default"}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the trigger action for standard digital input.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @return Standard digital input trigger action
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStandardDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int) ->
|
|||
|
|
* arcs::common_interface::StandardInputAction
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStandardDigitalInputAction(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getStandardDigitalInputAction(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalInputAction","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"Default"}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
StandardInputAction getStandardDigitalInputAction(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取工具端数字输入触发动作
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @return 工具端数字输入触发动作
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int) ->
|
|||
|
|
* arcs::common_interface::StandardInputAction
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolDigitalInputAction(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* getToolDigitalInputAction(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalInputAction","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"Default"}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the trigger action for tool digital input.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @return Tool digital input trigger action
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int) ->
|
|||
|
|
* arcs::common_interface::StandardInputAction
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolDigitalInputAction(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* getToolDigitalInputAction(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalInputAction","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"Default"}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
StandardInputAction getToolDigitalInputAction(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取可配置数字输入的输入触发动作
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @return 返回输入触发动作
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getConfigurableDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int)
|
|||
|
|
* -> arcs::common_interface::StandardInputAction
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getConfigurableDigitalInputAction(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getConfigurableDigitalInputAction(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalInputAction","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"Default"}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the trigger action for configurable digital input.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @return Returns the input trigger action.
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getConfigurableDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int)
|
|||
|
|
* -> arcs::common_interface::StandardInputAction
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getConfigurableDigitalInputAction(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getConfigurableDigitalInputAction(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalInputAction","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"Default"}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
StandardInputAction getConfigurableDigitalInputAction(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置所有数字输出状态选择为无
|
|||
|
|
*
|
|||
|
|
* @note
|
|||
|
|
* 当给输出状态设置为无(StandardOutputRunState::None)时，
|
|||
|
|
* 用户可以设置数字输出值。\n
|
|||
|
|
* 当给输出设置状态时，用户不可设置数字输出值，控制器会自动设置数字输出值。\n
|
|||
|
|
* 例如，当设置DO0的输出状态为高电平指示正在拖动示教(StandardOutputRunState::Handguiding)时，
|
|||
|
|
* 机器人进入拖动示教，DO0会自动变为高电平。
|
|||
|
|
* 机器人退出拖动示教，DO0会自动变为低电平。
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setDigitalOutputRunstateDefault(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setDigitalOutputRunstateDefault() -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setDigitalOutputRunstateDefault()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setDigitalOutputRunstateDefault","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set all digital output runstates to None.
|
|||
|
|
*
|
|||
|
|
* @note
|
|||
|
|
* When the output runstate is set to None (StandardOutputRunState::None),
|
|||
|
|
* users can set the digital output value.\n
|
|||
|
|
* When the output runstate is set, users cannot set the digital output value, and the controller will set it automatically.\n
|
|||
|
|
* For example, when DO0's output runstate is set to indicate hand-guiding (StandardOutputRunState::Handguiding),
|
|||
|
|
* the robot enters hand-guiding mode and DO0 will automatically become high.
|
|||
|
|
* When the robot exits hand-guiding, DO0 will automatically become low.
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setDigitalOutputRunstateDefault(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setDigitalOutputRunstateDefault() -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setDigitalOutputRunstateDefault()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setDigitalOutputRunstateDefault","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setDigitalOutputRunstateDefault();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置标准数字输出状态选择
|
|||
|
|
*
|
|||
|
|
* @note
|
|||
|
|
* 当给输出状态设置为无(StandardOutputRunState::None)时，
|
|||
|
|
* 用户可以设置数字输出值。\n
|
|||
|
|
* 当给输出设置状态时，用户不可设置数字输出值，控制器会自动设置数字输出值。\n
|
|||
|
|
* 例如，当设置DO0的输出状态为高电平指示正在拖动示教(StandardOutputRunState::Handguiding)时，
|
|||
|
|
* 机器人进入拖动示教，DO0会自动变为高电平。
|
|||
|
|
* 机器人退出拖动示教，DO0会自动变为低电平。
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param runstate: 输出状态选择
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setStandardDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int,
|
|||
|
|
* arg1: arcs::common_interface::StandardOutputRunState) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setStandardDigitalOutputRunstate(index: number, runstate: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setStandardDigitalOutputRunstate(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalOutputRunstate","params":[0,"PowerOn"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the runstate for standard digital output.
|
|||
|
|
*
|
|||
|
|
* @note
|
|||
|
|
* When the output runstate is set to None (StandardOutputRunState::None),
|
|||
|
|
* users can set the digital output value.\n
|
|||
|
|
* When the output runstate is set, users cannot set the digital output value, and the controller will set it automatically.\n
|
|||
|
|
* For example, when DO0's output runstate is set to indicate hand-guiding (StandardOutputRunState::Handguiding),
|
|||
|
|
* the robot enters hand-guiding mode and DO0 will automatically become high.
|
|||
|
|
* When the robot exits hand-guiding, DO0 will automatically become low.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param runstate: Output runstate selection
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setStandardDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int,
|
|||
|
|
* arg1: arcs::common_interface::StandardOutputRunState) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setStandardDigitalOutputRunstate(index: number, runstate: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setStandardDigitalOutputRunstate(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalOutputRunstate","params":[0,"PowerOn"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setStandardDigitalOutputRunstate(int index,
|
|||
|
|
StandardOutputRunState runstate);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置工具端数字输出状态选择
|
|||
|
|
*
|
|||
|
|
* @note
|
|||
|
|
* 当给输出状态设置为无(StandardOutputRunState::None)时，
|
|||
|
|
* 用户可以设置数字输出值。\n
|
|||
|
|
* 当给输出设置状态时，用户不可设置数字输出值，控制器会自动设置数字输出值。\n
|
|||
|
|
* 例如，当设置TOOL_IO[0]类型为输出且输出状态为高电平指示正在拖动示教(StandardOutputRunState::Handguiding)时，
|
|||
|
|
* 机器人进入拖动示教，TOOL_IO[0]会自动变为高电平。
|
|||
|
|
* 机器人退出拖动示教，TOOL_IO[0]会自动变为低电平。
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param runstate: 输出状态选择
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setToolDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* arcs::common_interface::StandardOutputRunState) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setToolDigitalOutputRunstate(index: number, runstate: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setToolDigitalOutputRunstate(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolDigitalOutputRunstate","params":[0,"None"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the runstate for tool digital output.
|
|||
|
|
*
|
|||
|
|
* @note
|
|||
|
|
* When the output runstate is set to None (StandardOutputRunState::None),
|
|||
|
|
* users can set the digital output value.\n
|
|||
|
|
* When the output runstate is set, users cannot set the digital output value, and the controller will set it automatically.\n
|
|||
|
|
* For example, when TOOL_IO[0] is set as output and its runstate is set to indicate hand-guiding (StandardOutputRunState::Handguiding),
|
|||
|
|
* the robot enters hand-guiding mode and TOOL_IO[0] will automatically become high.
|
|||
|
|
* When the robot exits hand-guiding, TOOL_IO[0] will automatically become low.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param runstate: Output runstate selection
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setToolDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* arcs::common_interface::StandardOutputRunState) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setToolDigitalOutputRunstate(index: number, runstate: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setToolDigitalOutputRunstate(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolDigitalOutputRunstate","params":[0,"None"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setToolDigitalOutputRunstate(int index,
|
|||
|
|
StandardOutputRunState runstate);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置可配置数字输出状态选择
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param runstate: 输出状态选择
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setConfigurableDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0:
|
|||
|
|
* int, arg1: arcs::common_interface::StandardOutputRunState) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setConfigurableDigitalOutputRunstate(index: number, runstate: number) ->
|
|||
|
|
* nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setConfigurableDigitalOutputRunstate(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalOutputRunstate","params":[0,"None"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the runstate for configurable digital output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param runstate: Output runstate selection
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setConfigurableDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0:
|
|||
|
|
* int, arg1: arcs::common_interface::StandardOutputRunState) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setConfigurableDigitalOutputRunstate(index: number, runstate: number) ->
|
|||
|
|
* nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setConfigurableDigitalOutputRunstate(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalOutputRunstate","params":[0,"None"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setConfigurableDigitalOutputRunstate(int index,
|
|||
|
|
StandardOutputRunState runstate);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取标准数字输出状态选择
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @return 输出状态选择
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStandardDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int)
|
|||
|
|
* -> arcs::common_interface::StandardOutputRunState
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStandardDigitalOutputRunstate(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getStandardDigitalOutputRunstate(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalOutputRunstate","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"None"}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the runstate for standard digital output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @return Output runstate selection
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStandardDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int)
|
|||
|
|
* -> arcs::common_interface::StandardOutputRunState
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStandardDigitalOutputRunstate(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getStandardDigitalOutputRunstate(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalOutputRunstate","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"None"}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
StandardOutputRunState getStandardDigitalOutputRunstate(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取工具端数字输出状态选择
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @return 输出状态选择
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int) ->
|
|||
|
|
* arcs::common_interface::StandardOutputRunState
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolDigitalOutputRunstate(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getToolDigitalOutputRunstate(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalOutputRunstate","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"None"}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the runstate for tool digital output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @return Output runstate selection
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int) ->
|
|||
|
|
* arcs::common_interface::StandardOutputRunState
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolDigitalOutputRunstate(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getToolDigitalOutputRunstate(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalOutputRunstate","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"None"}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
StandardOutputRunState getToolDigitalOutputRunstate(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取可配置数字输出状态选择
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @return 输出状态选择
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getConfigurableDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0:
|
|||
|
|
* int)
|
|||
|
|
* -> arcs::common_interface::StandardOutputRunState
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getConfigurableDigitalOutputRunstate(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getConfigurableDigitalOutputRunstate(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalOutputRunstate","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"None"}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the runstate for configurable digital output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @return Output runstate selection
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getConfigurableDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0:
|
|||
|
|
* int)
|
|||
|
|
* -> arcs::common_interface::StandardOutputRunState
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getConfigurableDigitalOutputRunstate(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getConfigurableDigitalOutputRunstate(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalOutputRunstate","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"None"}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
StandardOutputRunState getConfigurableDigitalOutputRunstate(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置标准模拟输出状态选择
|
|||
|
|
*
|
|||
|
|
* @note
|
|||
|
|
* 当给输出状态设置为无(StandardOutputRunState::None)时，
|
|||
|
|
* 用户可以设置模拟输出值。\n
|
|||
|
|
* 当给输出设置状态时，用户不可设置模拟输出值，控制器会自动设置模拟输出值。\n
|
|||
|
|
* 例如，当设置AO0的输出状态为高电平指示正在拖动示教(StandardOutputRunState::Handguiding)时，
|
|||
|
|
* 机器人进入拖动示教，AO0的值会自动变为最大值。
|
|||
|
|
* 机器人退出拖动示教，AO0的值会自动变为0。
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param runstate: 输出状态选择
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setStandardAnalogOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int,
|
|||
|
|
* arg1: arcs::common_interface::StandardOutputRunState) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setStandardAnalogOutputRunstate(index: number, runstate: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setStandardAnalogOutputRunstate(0,6)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardAnalogOutputRunstate","params":[0,"None"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the runstate for standard analog output.
|
|||
|
|
*
|
|||
|
|
* @note
|
|||
|
|
* When the output runstate is set to None (StandardOutputRunState::None),
|
|||
|
|
* users can set the analog output value.\n
|
|||
|
|
* When the output runstate is set, users cannot set the analog output value, and the controller will set it automatically.\n
|
|||
|
|
* For example, when AO0's output runstate is set to indicate hand-guiding (StandardOutputRunState::Handguiding),
|
|||
|
|
* the robot enters hand-guiding mode and AO0 will automatically become the maximum value.
|
|||
|
|
* When the robot exits hand-guiding, AO0 will automatically become 0.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param runstate: Output runstate selection
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setStandardAnalogOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int,
|
|||
|
|
* arg1: arcs::common_interface::StandardOutputRunState) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setStandardAnalogOutputRunstate(index: number, runstate: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setStandardAnalogOutputRunstate(0,6)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardAnalogOutputRunstate","params":[0,"None"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setStandardAnalogOutputRunstate(int index,
|
|||
|
|
StandardOutputRunState runstate);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置工具端模拟输出状态选择
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param runstate: 输出状态选择
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setToolAnalogOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* arcs::common_interface::StandardOutputRunState) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setToolAnalogOutputRunstate(index: number, runstate: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setToolAnalogOutputRunstate(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolAnalogOutputRunstate","params":[0,"None"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the runstate for tool analog output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param runstate: Output runstate selection
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setToolAnalogOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* arcs::common_interface::StandardOutputRunState) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setToolAnalogOutputRunstate(index: number, runstate: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setToolAnalogOutputRunstate(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolAnalogOutputRunstate","params":[0,"None"],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setToolAnalogOutputRunstate(int index, StandardOutputRunState runstate);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取标准模拟输出状态选择
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @return 标准模拟输出状态选择
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStandardAnalogOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int) ->
|
|||
|
|
* arcs::common_interface::StandardOutputRunState
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStandardAnalogOutputRunstate(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getStandardAnalogOutputRunstate(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogOutputRunstate","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"None"}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the runstate for standard analog output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @return Standard analog output runstate selection
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStandardAnalogOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int) ->
|
|||
|
|
* arcs::common_interface::StandardOutputRunState
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStandardAnalogOutputRunstate(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getStandardAnalogOutputRunstate(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogOutputRunstate","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"None"}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
StandardOutputRunState getStandardAnalogOutputRunstate(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取工具端模拟输出状态选择
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @return 工具端模拟输出状态选择
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolAnalogOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int) ->
|
|||
|
|
* arcs::common_interface::StandardOutputRunState
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolAnalogOutputRunstate(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getToolAnalogOutputRunstate(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogOutputRunstate","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"None"}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the runstate for tool analog output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @return Tool analog output runstate selection
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolAnalogOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int) ->
|
|||
|
|
* arcs::common_interface::StandardOutputRunState
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolAnalogOutputRunstate(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getToolAnalogOutputRunstate(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogOutputRunstate","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":"None"}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
StandardOutputRunState getToolAnalogOutputRunstate(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置标准模拟输入的范围
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param domain: 输入的范围
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setStandardAnalogInputDomain(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setStandardAnalogInputDomain(index: number, domain: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setStandardAnalogInputDomain(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardAnalogInputDomain","params":[0,8],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the range of standard analog input.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param domain: Input range
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setStandardAnalogInputDomain(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setStandardAnalogInputDomain(index: number, domain: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setStandardAnalogInputDomain(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardAnalogInputDomain","params":[0,8],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setStandardAnalogInputDomain(int index, int domain);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置工具端模拟输入的范围
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param domain: 输入的范围
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setToolAnalogInputDomain(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setToolAnalogInputDomain(index: number, domain: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setToolAnalogInputDomain(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolAnalogInputDomain","params":[0,8],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the range of tool analog input.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param domain: Input range
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setToolAnalogInputDomain(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setToolAnalogInputDomain(index: number, domain: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setToolAnalogInputDomain(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolAnalogInputDomain","params":[0,8],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setToolAnalogInputDomain(int index, int domain);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取标准模式输入范围
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @return 标准模式输入范围
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStandardAnalogInputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStandardAnalogInputDomain(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getStandardAnalogInputDomain(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogInputDomain","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the domain of standard analog input.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @return Standard analog input domain
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStandardAnalogInputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStandardAnalogInputDomain(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getStandardAnalogInputDomain(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogInputDomain","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getStandardAnalogInputDomain(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取工具端模式输入范围
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @return 工具端模式输入范围
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolAnalogInputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolAnalogInputDomain(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getToolAnalogInputDomain(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogInputDomain","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":10}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the domain of tool analog input.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @return Tool analog input domain
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolAnalogInputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolAnalogInputDomain(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getToolAnalogInputDomain(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogInputDomain","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":10}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getToolAnalogInputDomain(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置标准模拟输出的范围
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param domain: 输出的范围
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setStandardAnalogOutputDomain(self: pyaubo_sdk.IoControl, arg0: int,
|
|||
|
|
* arg1: int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setStandardAnalogOutputDomain(index: number, domain: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setStandardAnalogOutputDomain(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardAnalogOutputDomain","params":[0,8],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the range of standard analog output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param domain: Output range
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setStandardAnalogOutputDomain(self: pyaubo_sdk.IoControl, arg0: int,
|
|||
|
|
* arg1: int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setStandardAnalogOutputDomain(index: number, domain: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setStandardAnalogOutputDomain(0,1)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardAnalogOutputDomain","params":[0,8],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setStandardAnalogOutputDomain(int index, int domain);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置工具端模拟输出范围
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param domain: 输出的范围
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setToolAnalogOutputDomain(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setToolAnalogOutputDomain(index: number, domain: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setToolAnalogOutputDomain(0,1)
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the range of tool analog output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param domain: Output range
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setToolAnalogOutputDomain(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setToolAnalogOutputDomain(index: number, domain: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setToolAnalogOutputDomain(0,1)
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setToolAnalogOutputDomain(int index, int domain);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取标准模拟输出范围
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @return 标准模拟输出范围
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStandardAnalogOutputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStandardAnalogOutputDomain(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getStandardAnalogOutputDomain(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogOutputDomain","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the domain of standard analog output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @return Standard analog output domain
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStandardAnalogOutputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStandardAnalogOutputDomain(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getStandardAnalogOutputDomain(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogOutputDomain","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getStandardAnalogOutputDomain(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取工具端模拟输出范围
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @return 工具端模拟输出范围
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolAnalogOutputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolAnalogOutputDomain(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getToolAnalogOutputDomain(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogOutputDomain","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the domain of tool analog output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @return Tool analog output domain
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolAnalogOutputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolAnalogOutputDomain(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getToolAnalogOutputDomain(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogOutputDomain","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getToolAnalogOutputDomain(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置工具端电源电压值(单位V)
|
|||
|
|
*
|
|||
|
|
* @param domain: 工具端电源电压值，可选三个档位，分别为0、12和24。\n
|
|||
|
|
* 0表示0V, 12表示12V, 24表示24V。
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0; 失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setToolVoltageOutputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setToolVoltageOutputDomain(domain: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setToolVoltageOutputDomain(24)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolVoltageOutputDomain","params":[24],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the tool voltage output value (unit: V)
|
|||
|
|
*
|
|||
|
|
* @param domain: Tool voltage output value, can be 0, 12, or 24.\n
|
|||
|
|
* 0 means 0V, 12 means 12V, 24 means 24V.
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setToolVoltageOutputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setToolVoltageOutputDomain(domain: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setToolVoltageOutputDomain(24)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolVoltageOutputDomain","params":[24],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setToolVoltageOutputDomain(int domain);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取工具端电源电压值(单位V)
|
|||
|
|
*
|
|||
|
|
* @return 工具端电源电压值(单位V)
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolVoltageOutputDomain(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolVoltageOutputDomain() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getToolVoltageOutputDomain()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolVoltageOutputDomain","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the tool voltage output value (unit: V)
|
|||
|
|
*
|
|||
|
|
* @return Tool voltage output value (unit: V)
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolVoltageOutputDomain(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolVoltageOutputDomain() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getToolVoltageOutputDomain()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolVoltageOutputDomain","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getToolVoltageOutputDomain();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置标准数字输出值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，
|
|||
|
|
* @param value: 输出值
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setStandardDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* bool) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setStandardDigitalOutput(index: number, value: boolean) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setStandardDigitalOutput(0,true)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalOutput","params":[0,true],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the value of a standard digital output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin.
|
|||
|
|
* @param value: Output value.
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setStandardDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* bool) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setStandardDigitalOutput(index: number, value: boolean) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setStandardDigitalOutput(0,true)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalOutput","params":[0,true],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setStandardDigitalOutput(int index, bool value);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置数字输出脉冲
|
|||
|
|
*
|
|||
|
|
* @param index
|
|||
|
|
* @param value
|
|||
|
|
* @param duration
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setStandardDigitalOutputPulse(self: pyaubo_sdk.IoControl, arg0: int,
|
|||
|
|
* arg1: bool, arg2: float) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setStandardDigitalOutputPulse(index: number, value: boolean, duration:
|
|||
|
|
* number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setStandardDigitalOutputPulse(0,true,2.5)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalOutputPulse","params":[0,true,0.5],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set digital output pulse.
|
|||
|
|
*
|
|||
|
|
* @param index
|
|||
|
|
* @param value
|
|||
|
|
* @param duration
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setStandardDigitalOutputPulse(self: pyaubo_sdk.IoControl, arg0: int,
|
|||
|
|
* arg1: bool, arg2: float) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setStandardDigitalOutputPulse(index: number, value: boolean, duration:
|
|||
|
|
* number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setStandardDigitalOutputPulse(0,true,2.5)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalOutputPulse","params":[0,true,0.5],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setStandardDigitalOutputPulse(int index, bool value, double duration);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置工具端数字输出值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param value: 数字输出值
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setToolDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1: bool)
|
|||
|
|
* -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setToolDigitalOutput(index: number, value: boolean) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setToolDigitalOutput(0,true)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolDigitalOutput","params":[0,true],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the value of tool digital output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param value: Output value.
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setToolDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1: bool)
|
|||
|
|
* -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setToolDigitalOutput(index: number, value: boolean) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setToolDigitalOutput(0,true)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolDigitalOutput","params":[0,true],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setToolDigitalOutput(int index, bool value);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置工具端数字输出脉冲
|
|||
|
|
*
|
|||
|
|
* @param index
|
|||
|
|
* @param value
|
|||
|
|
* @param duration
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setToolDigitalOutputPulse(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* bool, arg2: float) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setToolDigitalOutputPulse(index: number, value: boolean, duration:
|
|||
|
|
* number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setToolDigitalOutputPulse(0,true,2)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolDigitalOutputPulse","params":[0,true,0.5],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set tool digital output pulse.
|
|||
|
|
*
|
|||
|
|
* @param index
|
|||
|
|
* @param value
|
|||
|
|
* @param duration
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setToolDigitalOutputPulse(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* bool, arg2: float) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setToolDigitalOutputPulse(index: number, value: boolean, duration:
|
|||
|
|
* number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setToolDigitalOutputPulse(0,true,2)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolDigitalOutputPulse","params":[0,true,0.5],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setToolDigitalOutputPulse(int index, bool value, double duration);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置可配置数字输出值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param value: 数字输出值
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setConfigurableDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* bool) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setConfigurableDigitalOutput(index: number, value: boolean) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setConfigurableDigitalOutput(0,true)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalOutput","params":[0,true],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the value of configurable digital output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param value: Output value.
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setConfigurableDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* bool) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setConfigurableDigitalOutput(index: number, value: boolean) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setConfigurableDigitalOutput(0,true)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalOutput","params":[0,true],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setConfigurableDigitalOutput(int index, bool value);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置可配置数字输出脉冲
|
|||
|
|
*
|
|||
|
|
* @param index
|
|||
|
|
* @param value
|
|||
|
|
* @param duration
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setConfigurableDigitalOutputPulse(self: pyaubo_sdk.IoControl, arg0: int,
|
|||
|
|
* arg1: bool, arg2: float) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setConfigurableDigitalOutputPulse(index: number, value: boolean,
|
|||
|
|
* duration: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setConfigurableDigitalOutputPulse(0,true,2.3)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalOutputPulse","params":[0,true,0.5],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set configurable digital output pulse.
|
|||
|
|
*
|
|||
|
|
* @param index
|
|||
|
|
* @param value
|
|||
|
|
* @param duration
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setConfigurableDigitalOutputPulse(self: pyaubo_sdk.IoControl, arg0: int,
|
|||
|
|
* arg1: bool, arg2: float) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setConfigurableDigitalOutputPulse(index: number, value: boolean,
|
|||
|
|
* duration: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setConfigurableDigitalOutputPulse(0,true,2.3)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalOutputPulse","params":[0,true,0.5],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setConfigurableDigitalOutputPulse(int index, bool value,
|
|||
|
|
double duration);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置标准模拟输出值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param value: 模拟输出值
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setStandardAnalogOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* float) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setStandardAnalogOutput(index: number, value: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setStandardAnalogOutput(0,5.4)
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the value of standard analog output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param value: Output value.
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setStandardAnalogOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1:
|
|||
|
|
* float) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setStandardAnalogOutput(index: number, value: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setStandardAnalogOutput(0,5.4)
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setStandardAnalogOutput(int index, double value);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置工具端模拟输出值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
* @param value: 模拟输出
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* setToolAnalogOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1: float)
|
|||
|
|
* -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* setToolAnalogOutput(index: number, value: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* setToolAnalogOutput(0,1.2)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolAnalogOutput","params":[0,0.5],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":13}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the value of tool analog output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
* @param value: Output value.
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_REQUEST_IGNORE
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* setToolAnalogOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1: float)
|
|||
|
|
* -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* setToolAnalogOutput(index: number, value: number) -> nil
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* setToolAnalogOutput(0,1.2)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.setToolAnalogOutput","params":[0,0.5],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":13}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setToolAnalogOutput(int index, double value);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取标准数字输入值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
*
|
|||
|
|
* @return 高电平返回true; 低电平返回false
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStandardDigitalInput(self: pyaubo_sdk.IoControl, arg0: int) -> bool
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStandardDigitalInput(index: number) -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* status = getStandardDigitalInput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalInput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":false}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the value of a standard digital input.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
*
|
|||
|
|
* @return Returns true for high level; false for low level.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStandardDigitalInput(self: pyaubo_sdk.IoControl, arg0: int) -> bool
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStandardDigitalInput(index: number) -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* status = getStandardDigitalInput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalInput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":false}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
bool getStandardDigitalInput(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取所有的标准数字输入值
|
|||
|
|
*
|
|||
|
|
* @return 所有的标准数字输入值 \n
|
|||
|
|
* 例如，当返回值是2863267846时,换成2进制后是10101010101010100000000000000110。
|
|||
|
|
* 后16位就是所有的标准数字输入状态值，
|
|||
|
|
* 最后一位表示DI00的输入状态值,倒数第二位表示DI01的输入状态值，以此类推。\n
|
|||
|
|
* 1表示高电平状态，0表示低电平状态
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStandardDigitalInputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStandardDigitalInputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getStandardDigitalInputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalInputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get all standard digital input values.
|
|||
|
|
*
|
|||
|
|
* @return All standard digital input values.\n
|
|||
|
|
* For example, if the return value is 2863267846, its binary representation is 10101010101010100000000000000110.
|
|||
|
|
* The lower 16 bits represent the status of all standard digital inputs,
|
|||
|
|
* the least significant bit indicates the input status of DI00, the second least significant bit indicates DI01, and so on.\n
|
|||
|
|
* 1 means high level, 0 means low level.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStandardDigitalInputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStandardDigitalInputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getStandardDigitalInputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalInputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
uint32_t getStandardDigitalInputs();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取工具端数字输入值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
*
|
|||
|
|
* @return 高电平返回true; 低电平返回false
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolDigitalInput(self: pyaubo_sdk.IoControl, arg0: int) -> bool
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolDigitalInput(index: number) -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* status = getToolDigitalInput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalInput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":false}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the value of tool digital input.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
*
|
|||
|
|
* @return Returns true for high level; false for low level.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolDigitalInput(self: pyaubo_sdk.IoControl, arg0: int) -> bool
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolDigitalInput(index: number) -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* status = getToolDigitalInput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalInput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":false}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
bool getToolDigitalInput(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取所有的工具端数字输入值
|
|||
|
|
*
|
|||
|
|
* @return 返回所有的工具端数字输入值
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolDigitalInputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolDigitalInputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getToolDigitalInputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalInputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get all tool digital input values.
|
|||
|
|
*
|
|||
|
|
* @return Returns all tool digital input values.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolDigitalInputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolDigitalInputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getToolDigitalInputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalInputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
uint32_t getToolDigitalInputs();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取可配置数字输入值
|
|||
|
|
*
|
|||
|
|
* @note 可用于获取安全IO的输入值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
*
|
|||
|
|
* @return 高电平返回true; 低电平返回false
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getConfigurableDigitalInput(self: pyaubo_sdk.IoControl, arg0: int) -> bool
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getConfigurableDigitalInput(index: number) -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* status = getConfigurableDigitalInput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalInput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":false}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the value of configurable digital input.
|
|||
|
|
*
|
|||
|
|
* @note Can be used to get the value of safety IO.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
*
|
|||
|
|
* @return Returns true for high level; false for low level.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getConfigurableDigitalInput(self: pyaubo_sdk.IoControl, arg0: int) -> bool
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getConfigurableDigitalInput(index: number) -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* status = getConfigurableDigitalInput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalInput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":false}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
bool getConfigurableDigitalInput(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取所有的可配置数字输入值
|
|||
|
|
*
|
|||
|
|
* @note 可用于获取安全IO的输入值
|
|||
|
|
*
|
|||
|
|
* @return 所有的可配置数字输入值\n
|
|||
|
|
* 例如，当返回值是2863267846时,换成2进制后是10101010101010100000000000000110。
|
|||
|
|
* 后16位就是所有的输入状态值，
|
|||
|
|
* 最后一位表示管脚0的输入状态值,倒数第二位表示管脚1的输入状态值，以此类推。\n
|
|||
|
|
* 1表示高电平状态，0表示低电平状态
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getConfigurableDigitalInputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getConfigurableDigitalInputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getConfigurableDigitalInputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalInputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get all configurable digital input values.
|
|||
|
|
*
|
|||
|
|
* @note Can be used to get the value of safety IO.
|
|||
|
|
*
|
|||
|
|
* @return All configurable digital input values.\n
|
|||
|
|
* For example, if the return value is 2863267846, its binary representation is 10101010101010100000000000000110.
|
|||
|
|
* The lower 16 bits represent the status of all input pins,
|
|||
|
|
* the least significant bit indicates the input status of pin 0, the second least significant bit indicates pin 1, and so on.\n
|
|||
|
|
* 1 means high level, 0 means low level.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getConfigurableDigitalInputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getConfigurableDigitalInputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getConfigurableDigitalInputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalInputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
uint32_t getConfigurableDigitalInputs();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取标准数字输出值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
*
|
|||
|
|
* @return 高电平返回true; 低电平返回false
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStandardDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int) -> bool
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStandardDigitalOutput(index: number) -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* status = getStandardDigitalOutput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalOutput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":true}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the value of a standard digital output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
*
|
|||
|
|
* @return Returns true for high level; false for low level.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStandardDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int) -> bool
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStandardDigitalOutput(index: number) -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* status = getStandardDigitalOutput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalOutput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":true}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
bool getStandardDigitalOutput(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取所有的标准数字输出值
|
|||
|
|
*
|
|||
|
|
* @return 所有的标准数字输出值 \n
|
|||
|
|
* 例如，当返回值是2863267846时,换成2进制后是10101010101010100000000000000110。
|
|||
|
|
* 后16位就是所有的标准数字输出状态值，
|
|||
|
|
* 最后一位表示DI00的输出状态值,倒数第二位表示DI01的输出状态值，以此类推。\n
|
|||
|
|
* 1表示高电平状态，0表示低电平状态.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStandardDigitalOutputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStandardDigitalOutputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getStandardDigitalOutputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalOutputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":69}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get all standard digital output values.
|
|||
|
|
*
|
|||
|
|
* @return All standard digital output values.\n
|
|||
|
|
* For example, if the return value is 2863267846, its binary representation is 10101010101010100000000000000110.
|
|||
|
|
* The lower 16 bits represent the status of all standard digital outputs,
|
|||
|
|
* the least significant bit indicates the output status of DO00, the second least significant bit indicates DO01, and so on.\n
|
|||
|
|
* 1 means high level, 0 means low level.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStandardDigitalOutputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStandardDigitalOutputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getStandardDigitalOutputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalOutputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":69}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
uint32_t getStandardDigitalOutputs();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取工具端数字输出值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
*
|
|||
|
|
* @return 高电平返回true; 低电平返回false
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int) -> bool
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolDigitalOutput(index: number) -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* status = getToolDigitalOutput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalOutput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":false}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the value of tool digital output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
*
|
|||
|
|
* @return Returns true for high level; false for low level.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int) -> bool
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolDigitalOutput(index: number) -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* status = getToolDigitalOutput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalOutput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":false}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
bool getToolDigitalOutput(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取所有的工具端数字输出值
|
|||
|
|
*
|
|||
|
|
* @return 所有的工具端数字输出值
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolDigitalOutputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolDigitalOutputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getToolDigitalOutputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalOutputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":9}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get all tool digital output values.
|
|||
|
|
*
|
|||
|
|
* @return All tool digital output values.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolDigitalOutputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolDigitalOutputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getToolDigitalOutputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalOutputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":9}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
uint32_t getToolDigitalOutputs();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取可配值数字输出值
|
|||
|
|
*
|
|||
|
|
* @note 可用于获取安全IO的输出值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
*
|
|||
|
|
* @return 高电平返回true; 低电平返回false
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getConfigurableDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int) ->
|
|||
|
|
* bool
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getConfigurableDigitalOutput(index: number) -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* status = getConfigurableDigitalOutput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalOutput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":true}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the value of configurable digital output.
|
|||
|
|
*
|
|||
|
|
* @note Can be used to get the value of safety IO.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
*
|
|||
|
|
* @return Returns true for high level; false for low level.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getConfigurableDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int) ->
|
|||
|
|
* bool
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getConfigurableDigitalOutput(index: number) -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* status = getConfigurableDigitalOutput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalOutput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":true}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
bool getConfigurableDigitalOutput(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取所有的可配值数字输出值
|
|||
|
|
*
|
|||
|
|
* @note 可用于获取安全IO的输出值
|
|||
|
|
*
|
|||
|
|
* @return 所有的可配值数字输出\n
|
|||
|
|
* 例如，当返回值是2863267846时,换成2进制后是10101010101010100000000000000110。
|
|||
|
|
* 后16位就是所有的输出值，
|
|||
|
|
* 最后一位表示管脚0的输出状态值,倒数第二位表示管脚1的输出状态值，以此类推。\n
|
|||
|
|
* 1表示高电平状态，0表示低电平状态.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getConfigurableDigitalOutputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getConfigurableDigitalOutputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getConfigurableDigitalOutputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalOutputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":1}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get all configurable digital output values.
|
|||
|
|
*
|
|||
|
|
* @note Can be used to get the value of safety IO.
|
|||
|
|
*
|
|||
|
|
* @return All configurable digital output values.\n
|
|||
|
|
* For example, if the return value is 2863267846, its binary representation is 10101010101010100000000000000110.
|
|||
|
|
* The lower 16 bits represent the status of all output pins,
|
|||
|
|
* the least significant bit indicates the output status of pin 0, the second least significant bit indicates pin 1, and so on.\n
|
|||
|
|
* 1 means high level, 0 means low level.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getConfigurableDigitalOutputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getConfigurableDigitalOutputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getConfigurableDigitalOutputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalOutputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":1}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
uint32_t getConfigurableDigitalOutputs();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取标准模拟输入值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
*
|
|||
|
|
* @return 标准模拟输入值
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStandardAnalogInput(self: pyaubo_sdk.IoControl, arg0: int) -> float
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStandardAnalogInput(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* getStandardAnalogInput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogInput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0.0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the value of standard analog input.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
*
|
|||
|
|
* @return Standard analog input value.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStandardAnalogInput(self: pyaubo_sdk.IoControl, arg0: int) -> float
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStandardAnalogInput(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* getStandardAnalogInput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogInput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0.0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
double getStandardAnalogInput(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取工具端模拟输入值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
*
|
|||
|
|
* @return 工具端模拟输入值
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolAnalogInput(self: pyaubo_sdk.IoControl, arg0: int) -> float
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolAnalogInput(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getToolAnalogInput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogInput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0.0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the value of tool analog input.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
*
|
|||
|
|
* @return Tool analog input value.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolAnalogInput(self: pyaubo_sdk.IoControl, arg0: int) -> float
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolAnalogInput(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getToolAnalogInput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogInput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0.0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
double getToolAnalogInput(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取标准模拟输出值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
*
|
|||
|
|
* @return 标准模拟输出值
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStandardAnalogOutput(self: pyaubo_sdk.IoControl, arg0: int) -> float
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStandardAnalogOutput(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getStandardAnalogOutput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogOutput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0.0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the value of standard analog output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
*
|
|||
|
|
* @return Standard analog output value.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStandardAnalogOutput(self: pyaubo_sdk.IoControl, arg0: int) -> float
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStandardAnalogOutput(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getStandardAnalogOutput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogOutput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0.0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
double getStandardAnalogOutput(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取工具端模拟输出值
|
|||
|
|
*
|
|||
|
|
* @param index: 表示IO口的管脚，管脚编号从0开始。
|
|||
|
|
* 例如，0表示第一个管脚。
|
|||
|
|
*
|
|||
|
|
* @return 工具端模拟输出值
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolAnalogOutput(self: pyaubo_sdk.IoControl, arg0: int) -> float
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolAnalogOutput(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getToolAnalogOutput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogOutput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0.0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the value of tool analog output.
|
|||
|
|
*
|
|||
|
|
* @param index: Indicates the IO pin, starting from 0.
|
|||
|
|
* For example, 0 means the first pin.
|
|||
|
|
*
|
|||
|
|
* @return Tool analog output value.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolAnalogOutput(self: pyaubo_sdk.IoControl, arg0: int) -> float
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolAnalogOutput(index: number) -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getToolAnalogOutput(0)
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogOutput","params":[0],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0.0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
double getToolAnalogOutput(int index);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取联动输入数量
|
|||
|
|
*
|
|||
|
|
* @return 联动输入数量
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStaticLinkInputNum(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStaticLinkInputNum() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getStaticLinkInputNum()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStaticLinkInputNum","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":8}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the number of static link inputs.
|
|||
|
|
*
|
|||
|
|
* @return Number of static link inputs.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStaticLinkInputNum(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStaticLinkInputNum() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getStaticLinkInputNum()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStaticLinkInputNum","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":8}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getStaticLinkInputNum();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取联动输出数量
|
|||
|
|
*
|
|||
|
|
* @return 联动输出数量
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStaticLinkOutputNum(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStaticLinkOutputNum() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getStaticLinkOutputNum()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStaticLinkOutputNum","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the number of static link outputs.
|
|||
|
|
*
|
|||
|
|
* @return Number of static link outputs.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStaticLinkOutputNum(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStaticLinkOutputNum() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getStaticLinkOutputNum()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStaticLinkOutputNum","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getStaticLinkOutputNum();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取所有的联动输入值
|
|||
|
|
*
|
|||
|
|
* @return 所有的联动输入值\n
|
|||
|
|
* 例如，当返回值是2863267846时,换成2进制后是10101010101010100000000000000110。
|
|||
|
|
* 后16位就是所有的联动输入状态值，
|
|||
|
|
* 最后一位表示管脚0的输入状态值,倒数第二位表示管脚1的输入状态值，以此类推。\n
|
|||
|
|
* 1表示高电平状态，0表示低电平状态.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStaticLinkInputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStaticLinkInputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getStaticLinkInputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStaticLinkInputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get all static link input values.
|
|||
|
|
*
|
|||
|
|
* @return All static link input values.\n
|
|||
|
|
* For example, if the return value is 2863267846, its binary representation is 10101010101010100000000000000110.
|
|||
|
|
* The lower 16 bits represent the status of all static link inputs,
|
|||
|
|
* the least significant bit indicates the input status of pin 0, the second least significant bit indicates pin 1, and so on.\n
|
|||
|
|
* 1 means high level, 0 means low level.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStaticLinkInputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStaticLinkInputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getStaticLinkInputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStaticLinkInputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
uint32_t getStaticLinkInputs();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取所有的联动输出值
|
|||
|
|
*
|
|||
|
|
* @return 返回所有的联动输出值 \n
|
|||
|
|
* 例如，当返回值是2863267846时,换成2进制后是10101010101010100000000000000110。
|
|||
|
|
* 后16位就是所有的联动输出状态值，
|
|||
|
|
* 最后一位表示管脚0的输出状态值,倒数第二位表示管脚1的输出状态值，以此类推。\n
|
|||
|
|
* 1表示高电平状态，0表示低电平状态.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getStaticLinkOutputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getStaticLinkOutputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getStaticLinkOutputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStaticLinkOutputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get all static link output values.
|
|||
|
|
*
|
|||
|
|
* @return Returns all static link output values.\n
|
|||
|
|
* For example, if the return value is 2863267846, its binary representation is 10101010101010100000000000000110.
|
|||
|
|
* The lower 16 bits represent the status of all static link outputs,
|
|||
|
|
* the least significant bit indicates the output status of pin 0, the second least significant bit indicates pin 1, and so on.\n
|
|||
|
|
* 1 means high level, 0 means low level.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getStaticLinkOutputs(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getStaticLinkOutputs() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getStaticLinkOutputs()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getStaticLinkOutputs","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
uint32_t getStaticLinkOutputs();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 机器人是否配置了编码器
|
|||
|
|
* 集成编码器的编号为 0
|
|||
|
|
*
|
|||
|
|
* @return 机器人配置编码器返回 true, 反之返回 false
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.hasEncoderSensor","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":true}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Whether the robot is equipped with an encoder.
|
|||
|
|
* The integrated encoder number is 0.
|
|||
|
|
*
|
|||
|
|
* @return Returns true if the robot is equipped with an encoder, otherwise false.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.hasEncoderSensor","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":true}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
bool hasEncoderSensor();
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置集成编码器的解码方式
|
|||
|
|
*
|
|||
|
|
* @param type
|
|||
|
|
* 0-禁用编码器
|
|||
|
|
* 1-AB正交
|
|||
|
|
* 2-AB正交+Z
|
|||
|
|
* 3-AB差分正交
|
|||
|
|
* 4-AB差分正交+Z差分
|
|||
|
|
*
|
|||
|
|
* @param range_id
|
|||
|
|
* 0 表示32位有符号编码器，范围为 [-2147483648, 2147483647]
|
|||
|
|
* 1 表示8位无符号编码器，范围为 [0, 255]
|
|||
|
|
* 2 表示16位无符号编码器，范围为 [0, 65535]
|
|||
|
|
* 3 表示24位无符号编码器，范围为 [0, 16777215]
|
|||
|
|
* 4 表示32位无符号编码器，范围为 [0, 4294967295]
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_NO_ACCESS
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the decoding method of the integrated encoder.
|
|||
|
|
*
|
|||
|
|
* @param type
|
|||
|
|
* 0 - Disable encoder
|
|||
|
|
* 1 - AB quadrature
|
|||
|
|
* 2 - AB quadrature + Z
|
|||
|
|
* 3 - AB differential quadrature
|
|||
|
|
* 4 - AB differential quadrature + Z differential
|
|||
|
|
*
|
|||
|
|
* @param range_id
|
|||
|
|
* 0 is a 32-bit signed encoder, range [-2147483648, 2147483647]
|
|||
|
|
* 1 is an 8-bit unsigned encoder, range [0, 255]
|
|||
|
|
* 2 is a 16-bit unsigned encoder, range [0, 65535]
|
|||
|
|
* 3 is a 24-bit unsigned encoder, range [0, 16777215]
|
|||
|
|
* 4 is a 32-bit unsigned encoder, range [0, 4294967295]
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_NO_ACCESS
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setEncDecoderType(int type, int range_id);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 设置集成编码器脉冲数
|
|||
|
|
*
|
|||
|
|
* @param tick 脉冲数
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_NO_ACCESS
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Set the tick count of the integrated encoder.
|
|||
|
|
*
|
|||
|
|
* @param tick Tick count
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_NO_ACCESS
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_INVL_ARGUMENT
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int setEncTickCount(int tick);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取编码器的解码方式
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_NO_ACCESS
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getEncDecoderType","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the decoder type of the encoder.
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_NO_ACCESS
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getEncDecoderType","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getEncDecoderType();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取脉冲数
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_NO_ACCESS
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getEncTickCount","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the tick count
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_NO_ACCESS
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getEncTickCount","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getEncTickCount();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 防止在计数超出范围时计数错误
|
|||
|
|
*
|
|||
|
|
* @param delta_count
|
|||
|
|
*
|
|||
|
|
* @return 成功返回0；失败返回错误码
|
|||
|
|
* AUBO_NO_ACCESS
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Prevent counting errors when the count exceeds the range
|
|||
|
|
*
|
|||
|
|
* @param delta_count
|
|||
|
|
*
|
|||
|
|
* @return Returns 0 on success; error code on failure.
|
|||
|
|
* AUBO_NO_ACCESS
|
|||
|
|
* AUBO_BUSY
|
|||
|
|
* AUBO_BAD_STATE
|
|||
|
|
* -AUBO_BAD_STATE
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int unwindEncDeltaTickCount(int delta_count);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取末端按钮状态
|
|||
|
|
*
|
|||
|
|
* @return 按下返回true; 否则返回false
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getToolButtonStatus() -> bool
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getToolButtonStatus() -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* status = getToolButtonStatus()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolButtonStatus","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":false}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the status of the tool button.
|
|||
|
|
*
|
|||
|
|
* @return Returns true if pressed; otherwise false.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getToolButtonStatus() -> bool
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getToolButtonStatus() -> boolean
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* status = getToolButtonStatus()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getToolButtonStatus","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":false}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
bool getToolButtonStatus();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取手柄按键状态
|
|||
|
|
*
|
|||
|
|
* @note 获取手柄按键状态
|
|||
|
|
*
|
|||
|
|
* @return 所有的手柄按键输入值\n
|
|||
|
|
* 例如，当返回值是2863267846时,换成2进制后是10101010101010100000000000000110。
|
|||
|
|
* 后16位就是所有的输入状态值，
|
|||
|
|
* 最后一位表示管脚0的输入状态值,倒数第二位表示管脚1的输入状态值，以此类推。\n
|
|||
|
|
* 1表示高电平状态，0表示低电平状态
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getHandleIoStatus(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getHandleIoStatus() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* num = getHandleIoStatus()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getHandleIoStatus","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the status of handle buttons.
|
|||
|
|
*
|
|||
|
|
* @note Get the status of handle buttons.
|
|||
|
|
*
|
|||
|
|
* @return All handle button input values.\n
|
|||
|
|
* For example, if the return value is 2863267846, its binary representation is 10101010101010100000000000000110.
|
|||
|
|
* The lower 16 bits represent the status of all input pins,
|
|||
|
|
* the least significant bit indicates the input status of pin 0, the second least significant bit indicates pin 1, and so on.\n
|
|||
|
|
* 1 means high level, 0 means low level.
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getHandleIoStatus(self: pyaubo_sdk.IoControl) -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getHandleIoStatus() -> number
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* num = getHandleIoStatus()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getHandleIoStatus","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
uint32_t getHandleIoStatus();
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \chinese
|
|||
|
|
* 获取手柄类型
|
|||
|
|
*
|
|||
|
|
* @return type
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python函数原型
|
|||
|
|
* getHandleType() -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua函数原型
|
|||
|
|
* getHandleType() -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua示例
|
|||
|
|
* int_num = getHandleType()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC请求示例
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getHandleType","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC响应示例
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endchinese
|
|||
|
|
* \english
|
|||
|
|
* Get the handle type.
|
|||
|
|
*
|
|||
|
|
* @return type
|
|||
|
|
*
|
|||
|
|
* @throws arcs::common_interface::AuboException
|
|||
|
|
*
|
|||
|
|
* @par Python function prototype
|
|||
|
|
* getHandleType() -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua function prototype
|
|||
|
|
* getHandleType() -> int
|
|||
|
|
*
|
|||
|
|
* @par Lua example
|
|||
|
|
* int_num = getHandleType()
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC request example
|
|||
|
|
* {"jsonrpc":"2.0","method":"rob1.IoControl.getHandleType","params":[],"id":1}
|
|||
|
|
*
|
|||
|
|
* @par JSON-RPC response example
|
|||
|
|
* {"id":1,"jsonrpc":"2.0","result":0}
|
|||
|
|
*
|
|||
|
|
* \endenglish
|
|||
|
|
*/
|
|||
|
|
int getHandleType();
|
|||
|
|
|
|||
|
|
protected:
|
|||
|
|
void *d_;
|
|||
|
|
};
|
|||
|
|
using IoControlPtr = std::shared_ptr<IoControl>;
|
|||
|
|
} // namespace common_interface
|
|||
|
|
} // namespace arcs
|
|||
|
|
|
|||
|
|
#endif // AUBO_SDK_IO_CONTROL_INTERFACE_H
|