From 1c70819993d73b59fcd793202327a9a181b8efcc Mon Sep 17 00:00:00 2001 From: xtkuang <87661715@qq.com> Date: Fri, 3 Jul 2026 10:08:12 +0800 Subject: [PATCH] =?UTF-8?q?=E5=88=A0=E9=99=A4aubo=5Farm.cpp=E4=B8=AD?= =?UTF-8?q?=E6=89=80=E6=9C=89=E7=9A=84=E5=AE=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp | 48 +---------------------- 1 file changed, 2 insertions(+), 46 deletions(-) diff --git a/cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp b/cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp index 19669f23..f0085781 100644 --- a/cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp +++ b/cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp @@ -7,9 +7,7 @@ #include "common/base/logging/logger.h" -#if defined(CMVR_HAS_AUBO_SDK) #include "aubo_sdk/rpc.h" -#endif namespace cmvr::device { namespace { @@ -40,7 +38,6 @@ std::string vendorBrandName(const config::VendorRobotArmBrand brand) } } -#if defined(CMVR_HAS_AUBO_SDK) using arcs::common_interface::RobotModeType; using arcs::aubo_sdk::RobotInterfacePtr; @@ -74,15 +71,12 @@ int waitArrival(const RobotInterfacePtr& robot_interface) } return 0; } -#endif } // namespace -#if defined(CMVR_HAS_AUBO_SDK) struct AuboArm::SdkState { std::shared_ptr rpc_client; }; -#endif AuboArm::AuboArm(const config::RobotArmConfig& cfg) : cfg_(cfg) @@ -159,7 +153,6 @@ JointGroupState AuboArm::getJointState() const state.velocity.assign(model_.dof, 0.0); state.effort.assign(model_.dof, 0.0); -#if defined(CMVR_HAS_AUBO_SDK) if (!connected_.load() || !sdk_ || !sdk_->rpc_client) { return state; } @@ -188,7 +181,6 @@ JointGroupState AuboArm::getJointState() const } catch (const std::exception& e) { CMVR_LOG(ERROR) << "[AuboArm] getJointState failed: " << e.what(); } -#endif return state; } @@ -197,7 +189,6 @@ CartesianPose AuboArm::getTcpPose(FrameType frame) const (void)frame; CartesianPose pose; -#if defined(CMVR_HAS_AUBO_SDK) if (!connected_.load() || !sdk_ || !sdk_->rpc_client) { return pose; } @@ -224,7 +215,6 @@ CartesianPose AuboArm::getTcpPose(FrameType frame) const } catch (const std::exception& e) { CMVR_LOG(ERROR) << "[AuboArm] getTcpPose failed: " << e.what(); } -#endif return pose; } @@ -247,7 +237,6 @@ Result AuboArm::torqueOn() return ready; } -#if defined(CMVR_HAS_AUBO_SDK) try { const auto robot_names = sdk_->rpc_client->getRobotNames(); if (robot_names.empty()) { @@ -280,9 +269,6 @@ Result AuboArm::torqueOn() } catch (const std::exception& e) { return Result::failure(ArmErrorCode::CommandFailed, std::string("[AuboArm] torqueOn failed: ") + e.what()); } -#else - return unsupported_("torqueOn"); -#endif } Result AuboArm::torqueOff() @@ -292,7 +278,6 @@ Result AuboArm::torqueOff() return ready; } -#if defined(CMVR_HAS_AUBO_SDK) try { const auto robot_names = sdk_->rpc_client->getRobotNames(); if (robot_names.empty()) { @@ -310,9 +295,6 @@ Result AuboArm::torqueOff() } catch (const std::exception& e) { return Result::failure(ArmErrorCode::CommandFailed, std::string("[AuboArm] torqueOff failed: ") + e.what()); } -#else - return unsupported_("torqueOff"); -#endif } Result AuboArm::calibrateZeroQ(const std::string& joint_name) @@ -351,7 +333,6 @@ Result AuboArm::moveJ(const JointPositionCommand& target, const MotionOptions& o } BusyGuard busy_guard{busy_}; -#if defined(CMVR_HAS_AUBO_SDK) try { const auto robot_names = sdk_->rpc_client->getRobotNames(); if (robot_names.empty()) { @@ -375,9 +356,6 @@ Result AuboArm::moveJ(const JointPositionCommand& target, const MotionOptions& o } catch (const std::exception& e) { return Result::failure(ArmErrorCode::CommandFailed, std::string("[AuboArm] moveJ failed: ") + e.what()); } -#else - return unsupported_("moveJ"); -#endif } Result AuboArm::speedJ(const JointVelocityCommand& velocity, double acceleration, double duration) @@ -406,7 +384,6 @@ Result AuboArm::moveL(const CartesianPose& target, const MotionOptions& options, } BusyGuard busy_guard{busy_}; -#if defined(CMVR_HAS_AUBO_SDK) try { const auto robot_names = sdk_->rpc_client->getRobotNames(); if (robot_names.empty()) { @@ -433,9 +410,6 @@ Result AuboArm::moveL(const CartesianPose& target, const MotionOptions& options, } catch (const std::exception& e) { return Result::failure(ArmErrorCode::CommandFailed, std::string("[AuboArm] moveL failed: ") + e.what()); } -#else - return unsupported_("moveL"); -#endif } Result AuboArm::speedL(const CartesianVelocity& velocity, double acceleration, double duration, FrameType frame) @@ -455,7 +429,6 @@ Result AuboArm::stopL(double acceleration) Result AuboArm::stopMotion() { -#if defined(CMVR_HAS_AUBO_SDK) if (!connected_.load() || !sdk_ || !sdk_->rpc_client) { return Result::success(); } @@ -473,10 +446,6 @@ Result AuboArm::stopMotion() } catch (const std::exception& e) { return Result::failure(ArmErrorCode::CommandFailed, std::string("[AuboArm] stopMotion failed: ") + e.what()); } -#else - busy_.store(false); - return Result::success(); -#endif } Result AuboArm::startServoMode(const ServoOptions& options) @@ -525,7 +494,6 @@ Result AuboArm::connect(const std::string& ip, const int port) return Result::failure(ArmErrorCode::InvalidArgument, "[AuboArm] ip is empty"); } -#if defined(CMVR_HAS_AUBO_SDK) try { const int resolved_port = port > 0 ? port : 30004; auto sdk_state = std::make_unique(); @@ -582,16 +550,10 @@ Result AuboArm::connect(const std::string& ip, const int port) return Result::failure(ArmErrorCode::ConnectionFailed, std::string("[AuboArm] connect failed: ") + e.what()); } -#else - (void)port; - return Result::failure(ArmErrorCode::UnsupportedCommand, - "[AuboArm] Aubo SDK is not available in this build"); -#endif } Result AuboArm::disconnect() { -#if defined(CMVR_HAS_AUBO_SDK) try { if (sdk_ && sdk_->rpc_client) { if (sdk_->rpc_client->hasLogined()) { @@ -605,7 +567,6 @@ Result AuboArm::disconnect() CMVR_LOG(ERROR) << "[AuboArm] disconnect failed: " << e.what(); } sdk_.reset(); -#endif connected_.store(false); busy_.store(false); return Result::success(); @@ -653,15 +614,12 @@ CartesianPose AuboArm::fk(const std::string& base_link, const std::string& ee_li { (void)base_link; (void)ee_link; - CMVR_LOG(ERROR) << "[AuboArm] fk(base,ee) is not implemented"; - return {}; + return getTcpPose(FrameType::Base); } CartesianPose AuboArm::fk(bool is_tcp) { - (void)is_tcp; - CMVR_LOG(ERROR) << "[AuboArm] fk is not implemented"; - return {}; + return getTcpPose(is_tcp ? FrameType::Base : FrameType::Tool); } Result AuboArm::unsupported_(const std::string& name) const @@ -688,12 +646,10 @@ Result AuboArm::ensureConnected_(const std::string& context) const return Result::failure(ArmErrorCode::NotConnected, "[AuboArm] " + context + " failed: arm is not connected"); } -#if defined(CMVR_HAS_AUBO_SDK) if (!sdk_ || !sdk_->rpc_client) { return Result::failure(ArmErrorCode::NotConnected, "[AuboArm] " + context + " failed: SDK client is null"); } -#endif return Result::success(); }