删除aubo_arm.cpp中所有的宏

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<arcs::aubo_sdk::RpcClient> 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<SdkState>();
@@ -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 getTcpPose(FrameType::Base);
-    return {};
 }
 
 CartesianPose AuboArm::fk(bool is_tcp)
 {
-    (void)is_tcp;
+    return getTcpPose(is_tcp ? FrameType::Base : FrameType::Tool);
-    CMVR_LOG(ERROR) << "[AuboArm] fk is not implemented";
-    return {};
 }
 
 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();
 }