374 lines
10 KiB
C
374 lines
10 KiB
C
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/** @file robot_interface.h
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* @brief 机器人API 接口
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*/
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#ifndef AUBO_SDK_ROBOT_INTERFACE_H
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#define AUBO_SDK_ROBOT_INTERFACE_H
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#include <aubo/sync_move.h>
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#include <aubo/trace.h>
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#include <aubo/robot/motion_control.h>
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#include <aubo/robot/force_control.h>
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#include <aubo/robot/io_control.h>
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#include <aubo/robot/robot_algorithm.h>
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#include <aubo/robot/robot_state.h>
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#include <aubo/robot/robot_manage.h>
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#include <aubo/robot/robot_config.h>
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#include <aubo/global_config.h>
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namespace arcs {
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namespace common_interface {
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class ARCS_ABI_EXPORT RobotInterface
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{
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public:
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RobotInterface();
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virtual ~RobotInterface();
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/**
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* \chinese
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* 获取RobotConfig接口
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*
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* @return RobotConfigPtr对象的指针
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*
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* @par Python函数原型
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* getRobotConfig(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::RobotConfig
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* RobotConfigPtr ptr =
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* rpc_cli->getRobotInterface(robot_name)->getRobotConfig();
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* @endcode
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* \endchinese
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* \english
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* Get RobotConfig interface
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*
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* @return Pointer to RobotConfig object
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*
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* @par Python function prototype
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* getRobotConfig(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::RobotConfig
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* RobotConfigPtr ptr =
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* rpc_cli->getRobotInterface(robot_name)->getRobotConfig();
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* @endcode
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* \endenglish
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*/
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RobotConfigPtr getRobotConfig();
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/**
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* \chinese
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* 获取运动规划接口
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*
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* @return MotionControlPtr对象的指针
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*
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* @par Python函数原型
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* getMotionControl(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::MotionControl
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* MotionControlPtr ptr =
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* rpc_cli->getRobotInterface(robot_name)->getMotionControl();
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* @endcode
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* \endchinese
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* \english
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* Get motion planning interface
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*
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* @return Pointer to MotionControl object
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*
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* @par Python function prototype
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* getMotionControl(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::MotionControl
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* MotionControlPtr ptr =
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* rpc_cli->getRobotInterface(robot_name)->getMotionControl();
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* @endcode
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* \endenglish
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*/
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MotionControlPtr getMotionControl();
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/**
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* \chinese
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* 获取力控接口
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*
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* @return ForceControlPtr对象的指针
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*
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* @par Python函数原型
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* getForceControl(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::ForceControl
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* ForceControlPtr ptr =
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* rpc_cli->getRobotInterface(robot_name)->getForceControl();
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* @endcode
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* \endchinese
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* \english
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* Get force control interface
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*
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* @return Pointer to ForceControl object
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*
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* @par Python function prototype
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* getForceControl(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::ForceControl
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* ForceControlPtr ptr =
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* rpc_cli->getRobotInterface(robot_name)->getForceControl();
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* @endcode
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* \endenglish
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*/
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ForceControlPtr getForceControl();
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/**
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* \chinese
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* 获取IO控制的接口
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*
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* @return IoControlPtr对象的指针
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*
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* @par Python函数原型
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* getIoControl(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::IoControl
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* IoControlPtr ptr =
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* rpc_cli->getRobotInterface(robot_name)->getIoControl();
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* @endcode
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* \endchinese
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* \english
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* Get IO control interface
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*
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* @return Pointer to IoControl object
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*
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* @par Python function prototype
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* getIoControl(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::IoControl
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* IoControlPtr ptr =
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* rpc_cli->getRobotInterface(robot_name)->getIoControl();
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* @endcode
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* \endenglish
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*/
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IoControlPtr getIoControl();
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/**
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* \chinese
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* 获取同步运动接口
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*
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* @return SyncMovePtr对象的指针
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*
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* @par Python函数原型
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* getSyncMove(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::SyncMove
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* SyncMovePtr ptr = rpc_cli->getRobotInterface(robot_name)->getSyncMove();
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* @endcode
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* \endchinese
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* \english
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* Get synchronized motion interface
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*
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* @return Pointer to SyncMove object
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*
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* @par Python function prototype
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* getSyncMove(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::SyncMove
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* SyncMovePtr ptr = rpc_cli->getRobotInterface(robot_name)->getSyncMove();
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* @endcode
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* \endenglish
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*/
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SyncMovePtr getSyncMove();
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/**
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* \chinese
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* 获取机器人实用算法接口
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*
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* @return RobotAlgorithmPtr对象的指针
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*
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* @par Python函数原型
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* getRobotAlgorithm(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::RobotAlgorithm
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* RobotAlgorithmPtr ptr =
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* rpc_cli->getRobotInterface(robot_name)->getRobotAlgorithm();
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* @endcode
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* \endchinese
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* \english
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* Get robot utility algorithm interface
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*
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* @return Pointer to RobotAlgorithm object
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*
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* @par Python function prototype
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* getRobotAlgorithm(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::RobotAlgorithm
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* RobotAlgorithmPtr ptr =
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* rpc_cli->getRobotInterface(robot_name)->getRobotAlgorithm();
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* @endcode
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* \endenglish
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*/
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RobotAlgorithmPtr getRobotAlgorithm();
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/**
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* \chinese
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* 获取机器人管理接口(上电、启动、停止等)
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*
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* @return RobotManagePtr对象的指针
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*
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* @par Python函数原型
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* getRobotManage(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::RobotManage
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* RobotManagePtr ptr =
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* rpc_cli->getRobotInterface(robot_name)->getRobotManage();
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* @endcode
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* \endchinese
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* \english
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* Get robot management interface (power on, start, stop, etc.)
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*
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* @return Pointer to RobotManage object
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*
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* @par Python function prototype
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* getRobotManage(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::RobotManage
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* RobotManagePtr ptr =
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* rpc_cli->getRobotInterface(robot_name)->getRobotManage();
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* @endcode
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* \endenglish
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*/
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RobotManagePtr getRobotManage();
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/**
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* \chinese
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* 获取机器人状态接口
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*
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* @return RobotStatePtr对象的指针
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*
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* @par Python函数原型
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* getRobotState(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::RobotState
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* RobotStatePtr ptr =
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* rpc_cli->getRobotInterface(robot_name)->getRobotState();
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* @endcode
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* \endchinese
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* \english
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* Get robot state interface
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*
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* @return Pointer to RobotState object
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*
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* @par Python function prototype
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* getRobotState(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::RobotState
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* RobotStatePtr ptr =
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* rpc_cli->getRobotInterface(robot_name)->getRobotState();
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* @endcode
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* \endenglish
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*/
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RobotStatePtr getRobotState();
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/**
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* \chinese
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* 获取告警信息接口
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*
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* @return TracePtr对象的指针
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*
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* @par Python函数原型
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* getTrace(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::Trace
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* TracePtr ptr = rpc_cli->getRobotInterface(robot_name)->getTrace();
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* @endcode
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* \endchinese
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* \english
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* Get alarm information interface
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*
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* @return Pointer to Trace object
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*
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* @par Python function prototype
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* getTrace(self: pyaubo_sdk.RobotInterface) ->
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* arcs::common_interface::Trace
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* TracePtr ptr = rpc_cli->getRobotInterface(robot_name)->getTrace();
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* @endcode
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* \endenglish
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*/
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TracePtr getTrace();
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protected:
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void *d_;
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};
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using RobotInterfacePtr = std::shared_ptr<RobotInterface>;
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} // namespace common_interface
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} // namespace arcs
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#endif // AUBO_SDK_ROBOT_INTERFACE_H
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