diff --git a/.vscode/extensions.json b/.vscode/extensions.json deleted file mode 100644 index c03d5b9f..00000000 --- a/.vscode/extensions.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "recommendations": [ - "ms-vscode.cpptools", - "ms-vscode.cmake-tools" - ] -} diff --git a/.vscode/launch.json b/.vscode/launch.json index 4c435193..5fc0f4d2 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -1,32 +1,30 @@ { + "version": "0.2.0", "configurations": [ - { - "name": "C/C++: g++ 构建和调试活动文件", + "name": "Debug cmvr_es (installed output)", "type": "cppdbg", "request": "launch", - "program": "${fileDirname}/${fileBasenameNoExtension}", + "program": "${workspaceFolder}/output/bin/cmvr_es", "args": [], "stopAtEntry": false, - "cwd": "${fileDirname}", - "environment": [], - "externalConsole": false, - "MIMode": "gdb", - "setupCommands": [ + "cwd": "${workspaceFolder}/output/bin", + "environment": [ { - "description": "为 gdb 启用整齐打印", - "text": "-enable-pretty-printing", - "ignoreFailures": true - }, - { - "description": "将反汇编风格设置为 Intel", - "text": "-gdb-set disassembly-flavor intel", - "ignoreFailures": true + "name": "LD_LIBRARY_PATH", + "value": "${workspaceFolder}/output/lib:${env:LD_LIBRARY_PATH}" } ], - "preLaunchTask": "C/C++: g++ 生成活动文件", - "miDebuggerPath": "/usr/bin/gdb" + "externalConsole": false, + "MIMode": "gdb", + "preLaunchTask": "cmake: install", + "setupCommands": [ + { + "description": "Enable pretty-printing for gdb", + "text": "-enable-pretty-printing", + "ignoreFailures": true + } + ] } - ], - "version": "2.0.0" -} \ No newline at end of file + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json index f2daafe2..7c1b456d 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,12 +1,11 @@ { - "cmake.configureOnOpen": true, - "cmake.buildDirectory": "${workspaceFolder}/cmake-build-debug", - "cmake.copyCompileCommands": "${workspaceFolder}/compile_commands.json", - "cmake.configureSettings": { - "CMAKE_EXPORT_COMPILE_COMMANDS": "ON" - }, - "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools", - "C_Cpp.default.compileCommands": "${workspaceFolder}/compile_commands.json", - "C_Cpp.default.cppStandard": "c++17", - "C_Cpp.default.intelliSenseMode": "linux-gcc-x64" + "cmake.sourceDirectory": "${workspaceFolder}", + "cmake.buildDirectory": "${workspaceFolder}/build/vscode-debug", + "cmake.configureSettings": { + "CMAKE_BUILD_TYPE": "Debug", + "CMAKE_EXPORT_COMPILE_COMMANDS": "ON" + }, + "C_Cpp.default.compileCommands": "${workspaceFolder}/build/vscode-debug/compile_commands.json", + "C_Cpp.default.cppStandard": "c++17", + "C_Cpp.default.intelliSenseMode": "linux-gcc-x64" } diff --git a/.vscode/tasks.json b/.vscode/tasks.json index e9fb5f49..9e6206d4 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -1,25 +1,71 @@ { + "version": "2.0.0", "tasks": [ { - "type": "cppbuild", - "label": "C/C++: g++ 生成活动文件", - "command": "/usr/bin/g++", + "label": "cmake: configure", + "type": "shell", + "command": "cmake", "args": [ - "-fdiagnostics-color=always", - "-g", - "${file}", - "-o", - "${fileDirname}/${fileBasenameNoExtension}" + "-S", + "${workspaceFolder}", + "-B", + "${workspaceFolder}/build/vscode-debug", + "-DCMAKE_BUILD_TYPE=Debug", + "-DCMAKE_EXPORT_COMPILE_COMMANDS=ON" ], - "options": { - "cwd": "${fileDirname}" + "group": "build", + "problemMatcher": [] + }, + { + "label": "cmake: build", + "type": "shell", + "command": "cmake", + "args": [ + "--build", + "${workspaceFolder}/build/vscode-debug", + "-j", + "8" + ], + "dependsOn": [ + "cmake: configure" + ], + "group": { + "kind": "build", + "isDefault": true }, "problemMatcher": [ "$gcc" + ] + }, + { + "label": "cmake: install", + "type": "shell", + "command": "cmake", + "args": [ + "--install", + "${workspaceFolder}/build/vscode-debug", + "--verbose" + ], + "dependsOn": [ + "cmake: build" ], "group": "build", - "detail": "调试器生成的任务。" + "problemMatcher": [] + }, + { + "label": "cmvr_es: run installed", + "type": "shell", + "command": "${workspaceFolder}/output/bin/cmvr_es", + "options": { + "cwd": "${workspaceFolder}/output/bin", + "env": { + "LD_LIBRARY_PATH": "${workspaceFolder}/output/lib:${env:LD_LIBRARY_PATH}" + } + }, + "dependsOn": [ + "cmake: install" + ], + "problemMatcher": [] } - ], - "version": "2.0.0" -} \ No newline at end of file + ] +} diff --git a/cmake/FindExternalLib.cmake b/cmake/FindExternalLib.cmake index b426441e..31ee4f6c 100644 --- a/cmake/FindExternalLib.cmake +++ b/cmake/FindExternalLib.cmake @@ -63,6 +63,7 @@ function(setup_external_libs ARCH) "${FULL_PATH}/lib/*.so" "${FULL_PATH}/lib/*.so.*" ) + list(FILTER _SO_FILES EXCLUDE REGEX "/libstdc\\+\\+\\.so(\\..*)?$") if(_SO_FILES) list(APPEND INSTALL_SO_FILES ${_SO_FILES}) endif() @@ -85,6 +86,7 @@ function(setup_external_libs ARCH) "${FULL_PATH}/*.so" "${FULL_PATH}/*.so.*" ) + list(FILTER _SO_FILES2 EXCLUDE REGEX "/libstdc\\+\\+\\.so(\\..*)?$") if(_SO_FILES2) list(APPEND INSTALL_SO_FILES ${_SO_FILES2}) endif() @@ -138,6 +140,14 @@ function(setup_external_libs ARCH) ) install(FILES ${INSTALL_SO_FILES} DESTINATION lib) + install(CODE [[ + file(GLOB _bundled_stdlib_files + "${CMAKE_INSTALL_PREFIX}/lib/libstdc++.so" + "${CMAKE_INSTALL_PREFIX}/lib/libstdc++.so.*") + if(_bundled_stdlib_files) + file(REMOVE ${_bundled_stdlib_files}) + endif() + ]]) # After installing, patch RPATH of installed shared libs to $ORIGIN install(CODE [[ diff --git a/cmvr-es/devices/arm/aubo_arm/CMakeLists.txt b/cmvr-es/devices/arm/aubo_arm/CMakeLists.txt index 0a98cfe5..b8947772 100644 --- a/cmvr-es/devices/arm/aubo_arm/CMakeLists.txt +++ b/cmvr-es/devices/arm/aubo_arm/CMakeLists.txt @@ -1,13 +1,36 @@ add_library(aubo_arm SHARED - src/aubo_arm.cpp + aubo_arm.cpp ) target_include_directories(aubo_arm PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) -set(AUBO_SDK_INCLUDE_DIR ${CMAKE_SOURCE_DIR}/third_party/AuboSdk/linux/include) -set(AUBO_SDK_LIB_DIR ${CMAKE_SOURCE_DIR}/third_party/AuboSdk/linux/lib) +set(AUBO_SDK_ROOT ${CMAKE_SOURCE_DIR}/dependency/${ARCH}/third_party/aubo_sdk/v0.27.1) +set(AUBO_SDK_INCLUDE_DIR ${AUBO_SDK_ROOT}/include) +set(AUBO_SDK_LIB_DIR ${AUBO_SDK_ROOT}/lib) -if (EXISTS "${AUBO_SDK_INCLUDE_DIR}/aubo_sdk/rpc.h") +if (EXISTS "${AUBO_SDK_LIB_DIR}/cmake/aubo_sdk/aubo_sdkConfig.cmake") + list(APPEND CMAKE_PREFIX_PATH "${AUBO_SDK_LIB_DIR}/cmake") + find_package(Qt5Core QUIET) + if (NOT Qt5Core_FOUND AND NOT TARGET Qt5::Core) + find_library(QT5_CORE_LIBRARY + NAMES Qt5Core libQt5Core.so.5 + PATHS /lib /usr/lib /usr/local/lib /lib/x86_64-linux-gnu /usr/lib/x86_64-linux-gnu + ) + if (QT5_CORE_LIBRARY) + add_library(Qt5::Core UNKNOWN IMPORTED) + set_target_properties(Qt5::Core PROPERTIES + IMPORTED_LOCATION "${QT5_CORE_LIBRARY}" + ) + endif() + endif() + find_package(aubo_sdk REQUIRED CONFIG PATHS "${AUBO_SDK_LIB_DIR}/cmake/aubo_sdk" NO_DEFAULT_PATH) + set_target_properties(aubo_sdk::aubo_sdk aubo_sdk::robot_proxy PROPERTIES + MAP_IMPORTED_CONFIG_DEBUG Release + ) + target_compile_definitions(aubo_arm PRIVATE CMVR_HAS_AUBO_SDK) + target_include_directories(aubo_arm PRIVATE ${AUBO_SDK_INCLUDE_DIR}) + target_link_libraries(aubo_arm PRIVATE aubo_sdk::aubo_sdk) +elseif (EXISTS "${AUBO_SDK_INCLUDE_DIR}/aubo_sdk/rpc.h") target_compile_definitions(aubo_arm PRIVATE CMVR_HAS_AUBO_SDK) target_include_directories(aubo_arm PRIVATE ${AUBO_SDK_INCLUDE_DIR}) if (EXISTS "${AUBO_SDK_LIB_DIR}") diff --git a/cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp b/cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp similarity index 82% rename from cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp rename to cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp index e1cf5a55..c0e73039 100644 --- a/cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp +++ b/cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp @@ -1,4 +1,4 @@ -#include "devices/arm/aubo_arm/include/aubo_arm.h" +#include "devices/arm/aubo_arm/aubo_arm.h" #include #include @@ -40,6 +40,42 @@ std::string vendorBrandName(const config::VendorRobotArmBrand brand) } } +#if defined(CMVR_HAS_AUBO_SDK) +using arcs::common_interface::RobotModeType; +using arcs::aubo_sdk::RobotInterfacePtr; + +bool waitForRobotMode(const RobotInterfacePtr& robot_interface, + const RobotModeType& target_mode) +{ + const auto start_time = std::chrono::steady_clock::now(); + while (std::chrono::steady_clock::now() - start_time < std::chrono::seconds(20)) { + const auto current_mode = robot_interface->getRobotState()->getRobotModeType(); + if (current_mode == target_mode) { + return true; + } + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + } + return false; +} + +int waitArrival(const RobotInterfacePtr& robot_interface) +{ + int retry_count = 0; + int exec_id = robot_interface->getMotionControl()->getExecId(); + while (exec_id == -1 && retry_count++ < 5) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = robot_interface->getMotionControl()->getExecId(); + } + if (exec_id == -1) { + return -1; + } + while (robot_interface->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + return 0; +} +#endif + } // namespace #if defined(CMVR_HAS_AUBO_SDK) @@ -159,7 +195,38 @@ JointGroupState AuboArm::getJointState() const CartesianPose AuboArm::getTcpPose(FrameType frame) const { (void)frame; - return {}; + CartesianPose pose; + +#if defined(CMVR_HAS_AUBO_SDK) + if (!connected_.load() || !sdk_ || !sdk_->rpc_client) { + return pose; + } + try { + const auto robot_names = sdk_->rpc_client->getRobotNames(); + if (robot_names.empty()) { + CMVR_LOG(ERROR) << "[AuboArm] getTcpPose failed: robot name list is empty"; + return pose; + } + auto robot_interface = sdk_->rpc_client->getRobotInterface(robot_names.front()); + if (!robot_interface) { + CMVR_LOG(ERROR) << "[AuboArm] getTcpPose failed: robot interface is null"; + return pose; + } + const auto pose_values = robot_interface->getRobotState()->getTcpPose(); + if (pose_values.size() >= 6) { + pose.x = pose_values[0]; + pose.y = pose_values[1]; + pose.z = pose_values[2]; + pose.rx = pose_values[3]; + pose.ry = pose_values[4]; + pose.rz = pose_values[5]; + } + } catch (const std::exception& e) { + CMVR_LOG(ERROR) << "[AuboArm] getTcpPose failed: " << e.what(); + } +#endif + + return pose; } RobotMode AuboArm::getRobotMode() const @@ -197,11 +264,16 @@ Result AuboArm::torqueOn() std::vector inertia(6, 0.0); robot_interface->getRobotConfig()->setPayload(mass, cog, aom, inertia); - if (robot_interface->getRobotState()->getRobotModeType() != - arcs::common_interface::RobotModeType::Running) { + const auto current_mode = robot_interface->getRobotState()->getRobotModeType(); + if (current_mode != arcs::common_interface::RobotModeType::Running) { robot_interface->getRobotManage()->poweron(); - std::this_thread::sleep_for(std::chrono::milliseconds(200)); + if (!waitForRobotMode(robot_interface, arcs::common_interface::RobotModeType::Idle)) { + return Result::failure(ArmErrorCode::CommandFailed, "[AuboArm] torqueOn failed: timeout waiting for Idle"); + } robot_interface->getRobotManage()->startup(); + if (!waitForRobotMode(robot_interface, arcs::common_interface::RobotModeType::Running)) { + return Result::failure(ArmErrorCode::CommandFailed, "[AuboArm] torqueOn failed: timeout waiting for Running"); + } } emergency_stopped_ = false; return Result::success(); @@ -231,6 +303,9 @@ Result AuboArm::torqueOff() return Result::failure(ArmErrorCode::RobotNotReady, "[AuboArm] robot interface is null"); } robot_interface->getRobotManage()->poweroff(); + if (!waitForRobotMode(robot_interface, arcs::common_interface::RobotModeType::PowerOff)) { + return Result::failure(ArmErrorCode::CommandFailed, "[AuboArm] torqueOff failed: timeout waiting for PowerOff"); + } return Result::success(); } catch (const std::exception& e) { return Result::failure(ArmErrorCode::CommandFailed, std::string("[AuboArm] torqueOff failed: ") + e.what()); @@ -293,6 +368,9 @@ Result AuboArm::moveJ(const JointPositionCommand& target, const MotionOptions& o options.velocity > 0.0 ? options.velocity : 0.5, options.blend_radius, 0); + if (waitArrival(robot_interface) != 0) { + return Result::failure(ArmErrorCode::CommandFailed, "[AuboArm] moveJ did not complete"); + } return Result::success(); } catch (const std::exception& e) { return Result::failure(ArmErrorCode::CommandFailed, std::string("[AuboArm] moveJ failed: ") + e.what()); @@ -348,6 +426,9 @@ Result AuboArm::moveL(const CartesianPose& target, const MotionOptions& options, options.velocity > 0.0 ? options.velocity : 0.25, options.blend_radius, 0); + if (waitArrival(robot_interface) != 0) { + return Result::failure(ArmErrorCode::CommandFailed, "[AuboArm] moveL did not complete"); + } return Result::success(); } catch (const std::exception& e) { return Result::failure(ArmErrorCode::CommandFailed, std::string("[AuboArm] moveL failed: ") + e.what()); @@ -385,7 +466,7 @@ Result AuboArm::stopMotion() } auto robot_interface = sdk_->rpc_client->getRobotInterface(robot_names.front()); if (robot_interface) { - robot_interface->getMotionControl()->stopMove(); + robot_interface->getMotionControl()->stopMove(true, true); } busy_.store(false); return Result::success(); diff --git a/cmvr-es/devices/arm/aubo_arm/include/aubo_arm.h b/cmvr-es/devices/arm/aubo_arm/aubo_arm.h similarity index 100% rename from cmvr-es/devices/arm/aubo_arm/include/aubo_arm.h rename to cmvr-es/devices/arm/aubo_arm/aubo_arm.h diff --git a/cmvr-es/devices/arm/robot_arm_factory.h b/cmvr-es/devices/arm/robot_arm_factory.h index 5f504392..0a23742c 100644 --- a/cmvr-es/devices/arm/robot_arm_factory.h +++ b/cmvr-es/devices/arm/robot_arm_factory.h @@ -6,7 +6,7 @@ #include "cmvr/config/arm_config/arm_config.pb.h" #include "common/base/logging/logger.h" -#include "devices/arm/aubo_arm/include/aubo_arm.h" +#include "devices/arm/aubo_arm/aubo_arm.h" #include "devices/arm/huayan_arm/huayan_arm.h" #include "devices/arm/motor_robot_arm/include/motor_robot_arm.h" diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/AuboRobotMetaType.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/AuboRobotMetaType.h new file mode 100644 index 00000000..d99b7ebc --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/AuboRobotMetaType.h @@ -0,0 +1,1670 @@ +#ifndef AUBOROBOTMETATYPE_H +#define AUBOROBOTMETATYPE_H + +#include +#include +#include "robotiomatetype.h" + +#if defined(SERVICE_INTERFACE_BUILD_STAGE) // 编译阶段 +#if defined __GNUC__ +#define SERVICE_INTERFACE_ABI_EXPORT __attribute__((visibility("default"))) +#define SERVICE_INTERFACE_ABI_LOCAL __attribute__((visibility("hidden"))) +#else +#define SERVICE_INTERFACE_ABI_EXPORT __declspec(dllexport) +#define SERVICE_INTERFACE_ABI_LOCAL __attribute__((visibility("hidden"))) +#endif +#else // 链接阶段 +#if defined __GNUC__ +#define SERVICE_INTERFACE_ABI_EXPORT +#define SERVICE_INTERFACE_ABI_LOCAL +#else +#define SERVICE_INTERFACE_ABI_EXPORT __declspec(dllimport) +#define SERVICE_INTERFACE_ABI_LOCAL +#endif +#endif + +/** + * General types + */ +typedef uint8_t boolean; +typedef int8_t int8; +typedef int16_t int16; +typedef int32_t int32; +typedef uint8_t uint8; +typedef uint16_t uint16; +typedef uint32_t uint32; +typedef int64_t int64; +typedef uint64_t uint64; +typedef float float32; +typedef double float64; + +#ifdef __GNUC__ +#define PACK(__Declaration__) __Declaration__ __attribute__((__packed__)) +#endif + +#ifdef _MSC_VER +#define PACK(__Declaration__) \ + __pragma(pack(push, 1)) __Declaration__ __pragma(pack(pop)) +#endif +#ifdef __cplusplus +extern "C" { +#endif + +/** + * 命名空间 aubo_robot_namespace + **/ +namespace aubo_robot_namespace { +enum CollisionMode +{ + CollisionMode_Free, + CollisionMode_Stuck, + // CollisionMode_Adamittance, +}; + +enum +{ + ARM_DOF = 6, //机械臂关节数 +}; + +/** + * 机械臂类型 + **/ +typedef enum +{ + ROBOT_I5 = 0, + ROBOT_I7 = 1, + ROBOT_I10_12 = 2, + ROBOT_I3S = 3, + ROBOT_I3 = 4, + ROBOT_I5S = 5, + ROBOT_I5RX = 501, + ROBOT_I5A_02 = 502, + ROBOT_I5A_03 = 503, + ROBOT_I5L = 6, + ROBOT_I10S = 7, + ROBOT_I16 = 8, + ROBOT_I20 = 9, + ROBOT_I20_1500 = 901, + ROBOT_I20_1650_A = 902, + ROBOT_I20TD = 10, + ROBOT_G3 = 11, + ROBOT_G6 = 12, + ROBOT_F12B = 20, + ROBOT_I12 = 21, + ROBOT_I18 = 22, + ROBOT_T6 = 23, + ROBOT_I5_NET = 24, + ROBOT_I20L_1900 = 25, + ROBOT_I10_CM01 = 26, + ROBOT_I20_BZL = 27, + ROBOT_IS10 = 50, + ROBOT_IS20 = 51, + ROBOT_IS7 = 52, + ROBOT_I25 = 53, + ROBOT_I27 = 54, + ROBOT_I35 = 55, + ROBOT_I10_JY = 56, + ROBOT_IS25_1500 = 57, + ROBOT_I10L = 58, + ROBOT_IS20L = 59, + ROBOT_IS20L_T0 = 60, + ROBOT_IS25_1700 = 61, + ROBOT_I3_F = 62, + ROBOT_I5_F = 63, + ROBOT_I7_F = 64, + ROBOT_I10_F = 65, + ROBOT_I12_F = 66, + ROBOT_I16_F = 67, + ROBOT_IS7_F = 68, +} RobotType; + +/** + * DH参数 + **/ +typedef struct +{ + double A3; + double A4; + double D1; + double D2; + double D5; + double D6; + + // general dh model + double alpha[ARM_DOF]; + double a[ARM_DOF]; + double d[ARM_DOF]; + double theta[ARM_DOF]; +} RobotDhPara; + +typedef enum +{ + RobotControllerErr_MotionCfgErr, // only this is recoverable. + RobotControllerErr_OverspeedProtect, + RobotControllerErr_IkFailure, + RobotControllerErr_OnlineTrajErr, + RobotControllerErr_OfflineTrajErr, + RobotControllerErr_StatusException, +} RobotControllerErrorCode; + +typedef enum +{ + RUN_TO_READY_POSITION, + RUN_PROJECT, + PAUSE_PROJECT, + CONTINUE_PROJECT, + SLOWLY_STOP_PROJECT, + LOAD_PROJECT, + ENTER_SAFEGUARD_MODE_BY_DI_EXTERNAL_SAFEGUARD_STOP, + RELEASE_SAFEGUARD_MODE_IN_AUTOMATIC_MODE, + RELEASE_SAFEGUARD_MODE_IN_MANUAL_MODE, + MANUALLY_RELEASE_SAFEGUARD_MODE_PROMPT, + ENTER_SAFEGUARD_MODE_BY_TRI_STATE_SWITCH, + RELEASE_SAFEGUARD_MODE_BY_TRI_STATE_SWITCH, + ENTER_REDUCE_MODE, + RELEASE_REDUCE_MODE, + REMOTE_CLEAR_ALARM_SIGNAL, + PROJECT_STARTUP_IS_SAFETY, + START_RUN_TO_READY_POSITION, + STOP_RUN_TO_READY_POSITION +} InterfaceBoardSafeIoEventCode; + +/** + * 机械臂诊断信息 + **/ +PACK(struct RobotDiagnosis { + uint8 + armCanbusStatus; // CAN通信状态:0x01~0x80：关节CAN通信错误（每个关节占用1bit） + // 0x00：无错误 + float armPowerCurrent; // 机械臂48V电源当前电流 + float armPowerVoltage; // 机械臂48V电源当前电压 + bool armPowerStatus; // 机械臂48V电源状态（开、关） + char contorllerTemp; // 控制箱温度 + uint8 contorllerHumidity; // 控制箱湿度 + bool remoteHalt; // 远程关机信号 + bool softEmergency; // 机械臂软急停 + bool remoteEmergency; // 远程急停信号 + bool robotCollision; // 碰撞检测位 + bool forceControlMode; // 机械臂进入力控模式标志位 + bool brakeStuats; // 刹车状态 + float robotEndSpeed; // 末端速度 + int robotMaxAcc; // 最大加速度 + bool orpeStatus; // 上位机软件状态位 + bool enableReadPose; // 位姿读取使能位 + bool robotMountingPoseChanged; // 安装位置状态 + bool encoderErrorStatus; // 磁编码器错误状态 + bool staticCollisionDetect; // 静止碰撞检测开关 + uint8 jointCollisionDetect; // 关节碰撞检测 每个关节占用1bit 0-无碰撞 + // 1-存在碰撞 + bool encoderLinesError; // 光电编码器不一致错误 0-无错误 1-有错误 + bool jointErrorStatus; // joint error status + bool singularityOverSpeedAlarm; // 机械臂奇异点过速警告 + bool robotCurrentAlarm; // 机械臂电流错误警告 + uint8 toolIoError; // tool error + bool robotMountingPoseWarning; // 机械臂安装位置错位（只在力控模式下起作用） + uint16 macTargetPosBufferSize; // mac缓冲器长度 预留 + uint16 macTargetPosDataSize; // mac缓冲器有效数据长度 预留 + uint8 macDataInterruptWarning; // mac数据中断 预留 + uint8 controlBoardAbnormalStateFlag; //主控板(接口板)异常状态标志 +}); + +PACK(struct OrpeSafetyStatus { + uint8 orpePause; // 上位机暂停状态 + uint8 orpeStop; // 上位机停止状态 + uint8 orpeError[16]; // 上位机错误 + uint8 systemEmergencyStop; // 解除系统紧急停止输出信号 + uint8 reducedModeError; // 解除缩减错误 + uint8 safetyguardResetSucc; // 防护重置成功 +}); + +PACK(struct RobotSafetyConfig { + uint16 robotReducedConfigJointSpeed[6]; //缩减配置 关节速度限制 + uint32 robotReducedConfigTcpSpeed; //缩减配置 TCP速度限制 + uint32 robotReducedConfigTcpForce; //缩减配置 TCP力（暂定为碰撞等级） + uint32 robotReducedConfigMomentum; //缩减配置 动量 + uint32 robotReducedConfigPower; //缩减配置 功率 + uint8 robotSafeguradResetConfig; //防护重 置设置 + uint8 robotOperationalModeConfig; //操作模式设置 +}); + +PACK(struct RegulateSpeedModeParamConfig_t { + double maxTcpVelocity; //末端速度 + double maxTcpAcceleration; //末端加速度 + double maxJointVelocity[ARM_DOF]; //关节速度 + double maxJointAcceleration[ARM_DOF]; //关节加速度 +}); + +PACK(struct AdmittancePatam_t { + double inertia[ARM_DOF]; //导纳系数之 惯量inertia + double damping[ARM_DOF]; //导纳系数之 阻尼(b)damping + double stiffness[ARM_DOF]; //导纳系数之 刚度(k)stiffness +}); + +/** + * @brief IO的类型枚举 + * + **/ +typedef enum +{ + RobotBoardControllerDI, // 接口板控制器DI(数字量输入)　　　只读(一般系统内部使用) + RobotBoardControllerDO, // 接口板控制器DO(数字量输出) 只读(一般系统内部使用) + RobotBoardControllerAI, // 接口板控制器AI(模拟量输入) + // 只读(一般系统内部使用) + RobotBoardControllerAO, // 接口板控制器AO(模拟量输出)　　　只读(一般系统内部使用) + + RobotBoardUserDI, // 接口板用户DI(数字量输入)　　 可读可写 + RobotBoardUserDO, // 接口板用户DO(数字量输出) 可读可写 + RobotBoardUserAI, // 接口板用户AI(模拟量输入) 可读可写 + RobotBoardUserAO, // 接口板用户AO(模拟量输出) 可读可写 + + RobotToolDI, // 工具端DI + RobotToolDO, // 工具端DO + RobotToolAI, // 工具端AI + RobotToolAO, // 工具端AO + +} RobotIoType; + +/** + * IO类型 + **/ +typedef enum +{ + IO_IN = 0, //输入 + IO_OUT //输出 +} ToolIOType; + +/** + * 工具的电源类型 + **/ +typedef enum +{ + OUT_0V = 0, + OUT_12V = 1, + OUT_24V = 2 +} ToolPowerType; + +typedef enum +{ + RobotToolIoTypeDI = RobotToolDI, //工具端DI + RobotToolIoTypeDO = RobotToolDO //工具端DO +} RobotToolIoType; + +typedef enum //ＩＯ状态 +{ + IO_STATUS_INVALID = 0, //有效 + IO_STATUS_VALID //无效 +} IO_STATUS; + +typedef enum +{ + TOOL_DIGITAL_IO_0 = 0, + TOOL_DIGITAL_IO_1 = 1, + TOOL_DIGITAL_IO_2 = 2, + TOOL_DIGITAL_IO_3 = 3 + +} ToolDigitalIOAddr; + +/** + * 综合描述一个IO + **/ +PACK(struct RobotIoDesc { + char ioId[32]; // IO-ID 目前未使用 + RobotIoType ioType; // IO类型 + char ioName[32]; // IO名称 + int ioAddr; // IO地址 + double ioValue; // IO状态 +}); + +//接口板数字量数据 +typedef struct +{ + uint8 addr; + uint8 value; + uint8 type; +} RobotDiagnosisIODesc; + +//接口板模拟量数据 +typedef struct +{ + uint8 addr; + float value; + uint8 type; +} RobotAnalogIODesc; + +PACK(struct ToolDigitalStatus { + ToolIOType ioType; + uint8 ioData; +}); + +typedef enum +{ + RobotToolNoError = 0, //无错误 + RobotToolOverVoltage = 1, //过压 + RobotToolUnderVoltage = 2, //欠压 + RobotToolOVerTemp = 3, //过温 + RobotToolCanBusError = 4 // CAN总线错误 +} RobotToolErrorCode; + +/** + * @brief 机械臂启动完成状态 + */ +enum ROBOT_SERVICE_STATE +{ + ROBOT_SERVICE_READY = 0, + ROBOT_SERVICE_STARTING, + ROBOT_SERVICE_WORKING, + ROBOT_SERVICE_CLOSING, + ROBOT_SERVICE_CLOSED, + ROBOT_SETVICE_FAULT_POWER, + ROBOT_SETVICE_FAULT_BRAKE, + ROBOT_SETVICE_FAULT_NO_ROBOT, + ROBOT_SETVICE_FAULT_SAFEGUARD_STOP +}; + +enum ROBOT_INIT_PHASE +{ + ROBOT_INIT_PHASE_READY = 0, + ROBOT_INIT_PHASE_HANDSHAKE, + ROBOT_INIT_PHASE_SET_POWER, + ROBOT_INIT_PHASE_SET_BRAKE, + ROBOT_INIT_PHASE_SET_COLLSION_CLASS, + ROBOT_INIT_PHASE_SET_OTHER_CMD, + ROBOT_INIT_PHASE_WORKING +}; + +typedef enum +{ + RobotModeSimulator, // 机械臂仿真模式 + RobotModeReal // 机械臂真实模式 +} RobotWorkMode; + +/** + * @brief 机械臂运动控制命令 + */ +typedef enum +{ + RobotMoveStop = 0, // 停止 + RobotMovePause = 1, // 暂停 + RobotMoveContinue = 2, // 继续 +} RobotMoveControlCommand; + +/** + * @brief 机械臂控制命令 + */ +enum RobotControlCommand +{ + RobotRelease = 0, // 释放刹车 + RobotBrake = 1, // 刹车 + OverspeedWarning = 2, // 拖动示教速度过快报警 + OverspeedRecover = 3, // 解除拖动过速报警 + DisableForceControl = 4, // 失能力控 + EnableForceControl = 5, // 使能力控 + OrpeOpen = 6, // 打开上位机软件 + OrpeClose = 7, // 关闭上位机软件 + EnableReadPose = 8, // 打开读取位姿 + DisableReadPose = 9, // 关闭读取位姿 + MountingPoseChanged = 10, // 安装位置已改变 + MountingPoseUnChanged = 11, // 安装位置未改变 + EnableStaticCollisionDetect = 12, // 打开静止碰撞检测 + DisableStaticCollisionDetect = 13, // 关闭静止碰撞检测 + ClearSingularityOverSpeedAlarm = 14, // 解除机械臂奇异点过速警告 + ClearRobotCurrentAlarm = 15, // 解除机械臂电流错误警告 + + // 适配新 aubope sdk 部分枚举，用于实现加油机器人需求 + EnterDragAndTeachMode = 0x15, //进入拖动示教模式 + ExitDragAndTeachMode = 0x16, //退出拖动示教模式 + RobotShutdown = 0x24, //上位机指令控制机械臂一类停机，并上传错误 + ClearRobotShutdown = 0x25, //清除上位机一类停机标志 + EnableCollisionStuckBrake = 0x28, //使能碰撞stuck模式锁刹车 + DisableCollisionStuckBrake = 0x29, //失能能碰撞stuck模式锁刹车 +}; + +/** + * @brief 位置信息 + **/ +struct Pos +{ + double x; + double y; + double z; +}; + +/** + * @brief 位置信息的共用体描述 + **/ +union cartesianPos_U +{ + Pos position; + double positionVector[3]; +}; + +/** + * @brief 姿态的四元素表示方法 + **/ +struct Ori +{ + double w; + double x; + double y; + double z; +}; + +/** + * @brief 姿态的欧拉角表示方法 + **/ +struct Rpy +{ + double rx; + double ry; + double rz; +}; + +typedef struct +{ + double jointPos[ARM_DOF]; +} JointParam; + +/** + * @brief 描述关节的速度和加速度 + */ +typedef struct +{ + double jointPara[ARM_DOF]; +} JointVelcAccParam; + +/** + * 关节碰撞补偿（范围0.00~0.51度） + **/ +typedef struct +{ + double jointOffset[ARM_DOF]; +} RobotJointOffset; + +/** + * @brief 机械臂的路点信息 + **/ +typedef struct +{ + cartesianPos_U cartPos; // 机械臂的位置信息(x,y,z) + Ori orientation; // 机械臂姿态信息,四元素(w,x,y,z) + double jointpos[ARM_DOF]; // 机械臂关节角信息 + int id; // 路点ID +} wayPoint_S; + +typedef struct +{ + cartesianPos_U cartPos; + Ori orientation; + double jointpos[ARM_DOF]; +} RoadPoint; + +typedef struct +{ + double data[6]; +} ForceSensorData; + +typedef struct +{ + Pos position; + Ori quaternion; +} PositionAndQuaternion; + +/** + * @brief 描述运动属性中的偏移属性 + */ +typedef struct +{ + bool ena; // 是否使能偏移 + float relativePosition[3]; // 偏移量 x,y,z + Ori relativeOri; // 姿态偏移 +} MoveRelative; + +typedef struct +{ + double minValue; + double maxValue; +} RangeOfMotion; + +/** + * 关节运动范围 + */ + +typedef struct +{ + bool enable; // 是否使能偏移 + RangeOfMotion rangeValues[ARM_DOF]; //运动范围 +} JointRangeOfMotion; + +/** + * @brief 示教模式枚举 + **/ +enum teach_mode +{ + NO_TEACH = 0, + JOINT1, + JOINT2, + JOINT3, + JOINT4, + JOINT5, + JOINT6, + MOV_X, + MOV_Y, + MOV_Z, + ROT_X, + ROT_Y, + ROT_Z +}; + +/** + * @brief 运动轨迹枚举 + **/ +enum move_track +{ + NO_TRACK = 0, + + // for moveJ and moveL + TRACKING, + + // cartesian motion for moveP + ARC_CIR, + CARTESIAN_MOVEP, + CARTESIAN_CUBICSPLINE, + CARTESIAN_UBSPLINEINTP, + CARTESIAN_GNUBSPLINEINTP, + CARTESIAN_LOOKAHEAD, + + // joint motion for moveP + JIONT_CUBICSPLINE, + JOINT_UBSPLINEINTP, + JOINT_GNUBSPLINEINTP, + + ARC, + CIRCLE, + ARC_ORI_ROTATED, + CIRCLE_ORI_ROTATED, + + ORI_POSITION_ROTATE_CIRCUMFERENCE = 101, +}; + +/** + * @brief 工具姿态标定的方法枚举 + * + */ + +enum ToolKinematicsOriCalibrateMathod +{ + ToolKinematicsOriCalibrateMathod_Invalid = -1, + ToolKinematicsOriCalibrateMathod_xOxy, // 原点、x轴正半轴、x、y轴平面的第一象限上任意一点 + ToolKinematicsOriCalibrateMathod_yOyz, // 原点、y轴正半轴、y、z轴平面的第一象限上任意一点 + ToolKinematicsOriCalibrateMathod_zOzx, // 原点、z轴正半轴、z、x轴平面的第一象限上任意一点 + ToolKinematicsOriCalibrateMathod_TxRBz_TxyPBzAndTyABnz, // 工具x轴平行反向于基坐标系z轴; + // 工具xOy平面平行于基坐标系z轴、工具y轴与基坐标系负z轴夹角为锐角 + ToolKinematicsOriCalibrateMathod_TyRBz_TyzPBzAndTzABnz, // 工具y轴平行反向于基坐标系z轴; + // 工具yOz平面平行于基坐标系z轴、工具z轴与基坐标系负z轴夹角为锐角 + ToolKinematicsOriCalibrateMathod_TzRBz_TzxPBzAndTxABnz, // 工具z轴平行反向于基坐标系z轴; + // 工具zOx平面平行于基坐标系z轴、工具x轴与基坐标系负z轴夹角为锐角 + ToolKinematicsOriCalibrateMathodCount +}; + +/** + * 该结构体描述工具惯量 + * + * 注：该结构体属于冗余数据类型，使用时把所有参数都设置为{0,0,0,0,0,0}． + **/ +typedef struct +{ + double xx; + double xy; + double xz; + double yy; + double yz; + double zz; +} ToolInertia; + +/** + * 工具动力学参数描述 + * + * 注意： + * 　　　机械臂上电之前，安装在机器人末端的工具发生改变时都需要重新设置工具的动力学参数． + * 　　　一般情况下，工具的动力学参数和运动学参数是需要一起设置的； + * 切记： + * 　　　该参数如果不能正确设置会影响机械臂的安全等级和运动轨迹． + **/ +typedef struct +{ + double positionX; // 工具重心的X坐标 + double positionY; // 工具重心的Y坐标 + double positionZ; // 工具重心的Z坐标 + double payload; // 工具重量 + ToolInertia toolInertia; // 工具惯量　预留　使用是全部设置为0 +} ToolDynamicsParam; + +/** 工具描述　工具的运动学参数 + * + * 该工具用于描述一个工具或者工具的运动学参数． + */ +typedef struct +{ + Pos toolInEndPosition; // 工具相对法兰盘的位置 + Ori toolInEndOrientation; // 工具相对法兰盘的姿态 +} ToolInEndDesc; + +typedef ToolInEndDesc ToolKinematicsParam; +typedef ToolInEndDesc RobotCameraCalib; + +/** + * 焊接摇摆结构体 + */ +typedef struct +{ + bool weaveEnable; + int weaveType; + double weaveStep; + double weaveAmplitude; + double weaveHoldDistance; + double weaveAngle; +} WeaveMove; + +PACK(struct RobotRecongnitionParam { + uint8 type; //机械臂辨识参数类型 + uint8 length; //参数数据长度 + uint8 data[256]; //参数实际数据 +}); + +/** + * 坐标系类型枚举 + **/ +enum coordinate_refer +{ + BaseCoordinate = 0, // 基座坐标系 + EndCoordinate, // 末端坐标系或工具坐标系 + WorldCoordinate, // 用户坐标系 +}; + +/** + * 用户坐标系标定方法枚举 + * + * 描述:3点标定坐标系　３个示教点的含义． + **/ +enum CoordCalibrateMathod +{ + Origin_AnyPointOnPositiveXAxis_AnyPointOnPositiveYAxis, // 原点、x轴正半轴、y轴正半轴 + Origin_AnyPointOnPositiveYAxis_AnyPointOnPositiveZAxis, // 原点、y轴正半轴、z轴正半轴 + Origin_AnyPointOnPositiveZAxis_AnyPointOnPositiveXAxis, // 原点、z轴正半轴、x轴正半轴 + Origin_AnyPointOnPositiveXAxis_AnyPointOnFirstQuadrantOfXOYPlane, // 原点、x轴正半轴、x、y轴平面的第一象限上任意一点 + Origin_AnyPointOnPositiveXAxis_AnyPointOnFirstQuadrantOfXOZPlane, // 原点、x轴正半轴、x、z轴平面的第一象限上任意一点 + Origin_AnyPointOnPositiveYAxis_AnyPointOnFirstQuadrantOfYOZPlane, // 原点、y轴正半轴、y、z轴平面的第一象限上任意一点 + Origin_AnyPointOnPositiveYAxis_AnyPointOnFirstQuadrantOfYOXPlane, // 原点、y轴正半轴、y、x轴平面的第一象限上任意一点 + Origin_AnyPointOnPositiveZAxis_AnyPointOnFirstQuadrantOfZOXPlane, // 原点、z轴正半轴、z、x轴平面的第一象限上任意一点 + Origin_AnyPointOnPositiveZAxis_AnyPointOnFirstQuadrantOfZOYPlane, // 原点、z轴正半轴、z、y轴平面的第一象限上任意一点 + + CoordTypeCount, +}; + +/** + * 坐标系描述 + * + * 该结构体描述一个坐标系。系统通过该结构体描述一个坐标系(基座坐标系, + *用户坐标系, 末端坐标系或工具坐标系)。 + * + * 坐标系分３种类型: 基座坐标系(BaseCoordinate); + * 用户坐标系(WorldCoordinate); + * 末端坐标系或工具坐标系(EndCoordinate); + * + * 定义: + * 基座坐标系 是　根据机械臂基座建立的坐标系; + * 用户坐标系 是 + *用户坐标系定义在工件上，在机器人动作允许范围内的任意位置，设定任意角度的X、Y、Z轴，原点位于机器人抓取的工件上，坐标系的方向根据客户需要任意定义。 + * 末端坐标系 + *是　安装在机器人末端的工具坐标系，原点及方向都是随着末端位置与角度不断变化的，该座标系实际是将基础座标系通过旋转及位移变化而来的；法兰盘是一个特殊的末端坐标系. + * + * 结构体参数描述： + * coordType 　　　　坐标系类型,描述坐标系属于那种类型 + * 　　　methods + *　　　　用户坐标系的标定方法　　　　　仅在coordType为用户坐标系(WorldCoordinate)时有效； + * 　　　wayPointArray[3]　　标定用户坐标系的３个路点信息　仅在coordType为用户坐标系(WorldCoordinate)时有效； + * 　　　toolDesc　　　　　　　末端工具描述　　　当coordType＝WorldCoordinate　表示标定用户坐标系时，安装在机器人末端的工具; + * 当coordType＝EndCoordinate + *描述是哪个工具的坐标系 + * + * 使用说明: + * 基座坐标系 + * coordType=BaseCoordinate + * 　　　　　　　　其他参数默认 + * 用户坐标系 + * coordType=WorldCoordinate + * 　　　　　　　　methods　　　　　　　　为标定方法 + * 　　　　　　　　wayPointArray[3]　　　标定坐标系的３个路点 + * 　　　　　　　　toolDesc　　　　　　　　标定用户坐标系时，安装在机器人末端的工具 + * 　　　末端坐标系或工具坐标系 + * coordType=EndCoordinate + * 　　　　　　　　methods　　　　　　　　缺省，不需要设置 + * 　　　　　　　　wayPointArray[3]　　　缺省，不需要设置 + * 　　　　　　　　toolDesc　　　　　　　　机器人末端的工具 + * + *　备注： + * 　 法兰盘为特殊的工具,工具描述中的位置设置为(0,0,0)，姿态信息设置为(1,0,0,0) + * 　　　其结构体定义为 + * ｛ + * pos{0,0,0}, + * Ori{1,0,0,0} + * ｝ //伪代码 + * + * 该结构同时用于用户坐标系的标定．一般通过示教3个示教点实现，第一个示教点是用户坐标系的原点；第二个和第三个示教点的选择根据标定方法来确定,遵循右手手法． + */ +typedef struct +{ + coordinate_refer coordType; // 坐标系类型 + CoordCalibrateMathod methods; // 用户坐标系的标定方法 + JointParam wayPointArray[3]; //　用于标定用户坐标系的３个点(关节角) + ToolInEndDesc toolDesc; //　工具描述 +} CoordCalibrateByJointAngleAndTool; + +typedef struct +{ + //用于位置标定点的数量 + int posCalibrateNum; + //位置标定点 + wayPoint_S posCalibrateWaypoint[4]; + //用于姿态标定点的数量 + int oriCalibrateNum; + //姿态标定点 + wayPoint_S oriCalibrateWaypoint[3]; + //姿态标定方法 + ToolKinematicsOriCalibrateMathod CalibrateMathod; +} ToolCalibrate; + +PACK(struct MoveProfile_t { + double jointMaxAcc[ARM_DOF]; //关节型运动的最大加速度 + double jointMaxVelc[ARM_DOF]; //关节型运动的最大速度 + double endMaxLineAcc; //末端型运动的最大加速度 + double endMaxLineVelc; //末端型运动的最大速度 + + MoveRelative relative; //偏移参数 + CoordCalibrateByJointAngleAndTool relativeOnCoord; //偏移量基于那个坐标系 + + double blendRadius; //交融半径 + ToolInEndDesc toolInEndDesc; //工具属性 +}); + +/** + * @brief 机械臂状态枚举 + **/ +enum RobotState +{ + RobotStopped = 0, //停止 + RobotRunning, //运行 + RobotPaused, //暂停 + RobotResumed //恢复 +}; + +/** + * 机械臂重力分量x y z + **/ +typedef struct +{ + float x; + float y; + float z; +} RobotGravityComponent; + +/** + * 机械臂关节版本信息 + **/ +PACK(struct JointVersion { + char hw_version[8]; //硬件版本信息 + char sw_version[16]; //固件版本信息 +}); + +/** + * 关节ID信息 + **/ +PACK(struct JointProductID { char productID[16]; }); + +/** + *　该结构体描述设备信息 + **/ +PACK(struct RobotDevInfo { + uint8 type; // 设备型号、芯片型号：上位机主站：0x01 接口板0x02 + char revision[16]; // 设备版本号，eg:V1.0 + char manu_id[16]; // 厂家ID，"OUR "的ASCII码0x4F 55 52 00 + char joint_type[16]; // 机械臂类型 + JointVersion joint_ver[8]; // 机械臂关节及工具端信息 + char desc[64]; // 设备描述字符串以0x00结束 + JointProductID jointProductID[8]; // 关节ID信息 + char slave_version[16]; // 从设备版本号 - 字符串表示，如“V1.0.0 + char extio_version[16]; // IO扩展板版本号 -字符串标志，如“V1.0.0 +}); + +typedef struct PACKED +{ + uint8 io_modes; // PNP:0; NPN:1 + + uint64_t di_num; + + uint64_t do_num; + + uint64_t ai_num; + + uint64_t ao_num; + +} IoConfig; + +/** + * 描述机械臂的关节状态 + */ +PACK(struct JointStatus { + int jointCurrentI; // 关节电流 Current of driver + int jointSpeedMoto; // 关节速度 Speed of driver + float jointPosJ; // 关节角 Current position in radian + float jointCurVol; // 关节电压 Rated voltage of motor. Unit: mV + float jointCurTemp; // 当前温度 Current temprature of joint + int jointTagCurrentI; // 电机目标电流 Target current of motor + float jointTagSpeedMoto; // 电机目标速度 Target speed of motor + float jointTagPosJ; // 目标关节角　 Target position of joint in radian + uint16 jointErrorNum; // 关节错误码 Joint error of joint num +}); + +PACK(struct JointCommonData { + uint16 JointCurVol; /*!< 关节当前电压 */ + uint16 JointCurTemp; /*!< 关节当前温度*/ + uint16 JointWorkMode; /*!< 关节工作模式 */ + uint16 JointDriEnable; /*!< 关节驱动器使能标志 */ + uint16 JointOpenPwm; /*!< 关节开环占空比 */ + int32_t JointTagCurrent; /*!< 关节当前的目标电流 */ + int32_t JointTagSpeed; /*!< 关节当前的目标速度 */ + int32_t JointTagPos; /*!< 关节当前的目标位置 */ + + uint16 JointMaxCur; /*!< 关节当前的最大电流 */ + uint16 JointMaxSpeed; /*!< 关节当前的最大速度 */ + uint16 JointMaxAcc; /*!< 关节当前的最大加速度 */ + int32_t JointMINPos; /*!< 关节最小位置 */ + int32_t JointMAXPos; /*!< 关节最大位置 */ + + uint16 JointSEVLock; /*!< 关节三环参数锁定标志 */ + uint16 JointCurP; /*!< 关节电流P参数 */ + uint16 JointCurI; /*!< 关节电流I参数 */ + uint16 JointCurD; /*!< 关节电流D参数 */ + uint16 JointSpeedP; /*!< 关节速度P参数 */ + uint16 JointSpeedI; /*!< 关节速度I参数 */ + uint16 JointSpeedD; /*!< 关节速度D参数 */ + uint16 JointSpeedDS; /*!< 关节速度死区 */ + uint16 JointPosP; /*!< 关节位置P参数 */ + uint16 JointPosI; /*!< 关节位置I参数 */ + uint16 JointPosD; /*!< 关节位置D参数 */ + uint16 JointPosDS; /*!< 关节位置DS参数 */ +}); + +/** + * @brief 离线轨迹相关枚举 + */ +enum Robot_Dyn_identify_traj +{ + Dyn_identify_traj_none = 0, + Dyn_identify_traj_robot, // submode: 0/1 <-> internal/hybrid + Dyn_identify_traj_tool, // submode: 0/1 <-> tool only/tool+friction + Dyn_identify_traj_tool_abort +}; + +/** + * @brief 接口板固件升级枚举 + */ +typedef enum +{ + update_master_board_firmware_trans_start = 1, + update_master_board_firmware_trans_data = 2, + update_master_board_firmware_trans_end = 3, + update_slave_board_firmware_trans_start = 4, + update_slave_board_firmware_trans_data = 5, + update_slave_board_firmware_trans_end = 6 +} update_board_firmware_cmd; + +typedef struct +{ + bool trackEnable; // T + wayPoint_S currentRoadPoint; // R + wayPoint_S nextRoadPoint; // R + int timeInterval; // T + double currentPosError[3]; // T + double maxVel; // T + double maxAcc; // T + bool paraChanged; // RT +} SeamTracking; + +PACK(struct RobotArmParamHeader { + uint16 cmd; //请求指令 0x01-读 0x02-写 + uint16 baseDataLen; //基座信息长度 + uint16 jointDataLen; //关节信息长度 +}); + +//位置姿态类型枚举 +typedef enum +{ + POSITION_MM_AND_RPY_ANGLE_SPACE_SPLIT = + 1, //位置(单位:毫米)+ 姿态(欧拉角 单位：角度制) 空格分割 + POSITION_M_AND_QUATERNION_COMMA_SPLIT = + 10, //位置(单位:米) + 姿态(四元素) 逗号分割 +} POSITION_ORIENTATION_TYPE; + +PACK(struct RobotArmParam { + RobotArmParamHeader header; + uint8 base[382]; //底座参数数据 //RobotBaseParameters + uint8 joints[512]; //关键参数数据 //RobotJointsParameter +}); + +PACK(struct RobotInfo { + uint16 robot_type; // robot type + uint16 auth_type; // auth type + uint32 robot_expire; // robot expire + uint8 reserve[12]; // reserve + uint32 robot_duration; // robot duration + uint32 joint_duration[6]; // joint duration +}); + +PACK(struct RobotDynamicsParameters { + double K[6]; // motor torque constant + double IA[4]; // rotor inertia + double M[1]; // link mass + double MXYZ[13]; // center of mass + double IXYZ[28]; // Inertia parameter + double CB[6]; // current bias +}); + +PACK(struct RobotHandguidingParameters { + double FP[6]; // friction compensation percent + double FD[6]; // damp coefficient + double FK[6]; // stiffness coefficient + double FM[6]; // mass coefficient + double pos_limit[6]; // position limit + double velocity_limit[6]; // velocity limit + double acceleration_limit[6]; // acceleration limit +}); + +PACK(struct RobotKinematicsParameters { + double da[6]; // compensation a + double dd[6]; // compensation d + double dalpha[6]; // compensation alpha + double dbeta[6]; // compensation beta + double dratio[6]; // compensation ratio + double dtheta[6]; // compensation theta +}); + +PACK(struct RobotFrictionParameters { + uint16 FL[6]; // load friction compensation + uint16 FR[6]; // reserved friction compensation + int16 tmp_a[6]; // tmp_coefficient_a + uint16 tmp_b[6]; // tmp_coefficient_b + int16 posvel_a1[6]; // positive_vel_a1 + uint16 posvel_b1[6]; // positive_vel_b1 + int16 posvel_a2[6]; // positive_vel_a2 + uint16 posvel_b2[6]; // positive_vel_b2 + uint16 posvel_c2[6]; // positive_vel_c2 + int16 negvel_a1[6]; // negative_vel_a1 + int16 negvel_b1[6]; // negative_vel_b1 + uint16 negvel_a2[6]; // negative_vel_a2 + uint16 negvel_b2[6]; // negative_vel_b2 + int16 negvel_c2[6]; // negative_vel_c2 +}); + +PACK(struct RobotBaseParameters { + RobotInfo info; + RobotDynamicsParameters dynamicParam; + RobotHandguidingParameters handguidingParam; + RobotKinematicsParameters kinematicsParam; +}); + +PACK(struct RobotJointsParameter { RobotFrictionParameters frictionParam; }); + +typedef enum +{ + LL_INFO = 0, + LL_DEBUG, + LL_WARN, + LL_ERROR, + LL_FATAL +} LOG_LEVEL; + +/** + * 描述机械臂事件类型　　　event define + * + * 机械臂的很多信息（故障，通知）是通过事件通知到客户的，所有在使用SDK时， + * 务必注册接收事件的回调函数。 + */ +typedef enum +{ + RobotEvent_armCanbusError, //机械臂CAN总线错误 已过时，不建议使用 + RobotEvent_remoteHalt, //远程关机 + RobotEvent_remoteEmergencyStop, //机械臂远程急停 + RobotEvent_jointError, //关节错误 PS:已过时，不建议使用 + + RobotEvent_forceControl, //力控制 + RobotEvent_exitForceControl, //退出力控制 + + RobotEvent_softEmergency, //软急停 + RobotEvent_exitSoftEmergency, //退出软急停 + + RobotEvent_collision, //碰撞 + //已过时，不建议使用　已用RobotEventJointCollision(2123) + //替代 + RobotEvent_collisionStatusChanged, //碰撞状态改变 + //已过时，不建议使用　已用RobotEventJointCollision(2123) + //替代 + RobotEvent_tcpParametersSucc, //工具动力学参数设置成功 + //系统事件，用户可以忽略 + RobotEvent_powerChanged, //机械臂电源开关状态改变 + RobotEvent_ArmPowerOff, //机械臂电源关闭 + //不建议使用　　已用RobotEventArmPowerOff(2600) 替代 + RobotEvent_mountingPoseChanged, //安装位置发生改变 + RobotEvent_encoderError, //编码器错误 不建议使用 + + RobotEvent_encoderLinesError, //编码器线数不一致 + //不建议使用　　已用RobotEventEncoderLineError（2203）替代 + RobotEvent_singularityOverspeed, //奇异点超速 + RobotEvent_currentAlarm, //机械臂电流异常 + RobotEvent_toolioError, //机械臂工具端错误 + RobotEvent_robotStartupPhase, //机械臂启动阶段 系统事件，用户可以忽略 + RobotEvent_robotStartupDoneResult, //机械臂启动完成结果 + //系统事件，用户可以忽略 + RobotEvent_robotShutdownDone, //机械臂关机结果 系统事件，用户可以忽略 + RobotEvent_atTrackTargetPos, //机械臂轨迹运动到位信号通知 + //系统事件，用户可以忽略 + + RobotSetPowerOnDone, //设置电源状态完成 + RobotReleaseBrakeDone, //机械臂刹车释放完成 系统事件，用户可以忽略 + RobotEvent_robotControllerStateChaned, //机械臂控制状态改变 + //系统事件，用户可以忽略 + RobotEvent_robotControllerError, //机械臂控制错误----一般是算法规划出现问题时返回 + RobotEvent_socketDisconnected, // socket断开连接 + + RobotEvent_robotControlException, + RobotEvent_trackPlayInterrupte, + + RobotEvent_staticCollisionStatusChanged, //不建议使用 已过时 + RobotEvent_MountingPoseWarning, + + RobotEvent_MacDataInterruptWarning, + RobotEvent_ToolIoError, // + RobotEvent_InterfacBoardSafeIoEvent, //安全IO通知型事件 + + RobotEvent_RobotHandShakeSucc, //系统事件，用户可以忽略 + RobotEvent_RobotHandShakeFailed, //系统事件，用户可以忽略 + + RobotEvent_RobotErrorInfoNotify, //不建议使用 已过时 + + RobotEvent_InterfacBoardDIChanged, //通知型事件 DI状态改变 + RobotEvent_InterfacBoardDOChanged, //通知型事件 DO状态改变 + RobotEvent_InterfacBoardAIChanged, //通知型事件 AI状态改变 + RobotEvent_InterfacBoardAOChanged, //通知型事件 AO状态改变 + + RobotEvent_UpdateJoint6Rot360Flag, //系统事件，用户可以忽略 + + RobotEvent_RobotMoveControlDone, //系统事件，用户可以忽略 + RobotEvent_RobotMoveControlStopDone, //系统事件，用户可以忽略 + RobotEvent_RobotMoveControlPauseDone, //系统事件，用户可以忽略 + RobotEvent_RobotMoveControlContinueDone, //系统事件，用户可以忽略 + + //主从模式切换 + RobotEvent_RobotSwitchToOnlineMaster, //通知型事件 进入联动主模式 + RobotEvent_RobotSwitchToOnlineSlave, //通知型事件 进入联动从模式 + + RobotEvent_ConveyorTrackRobotStartup, //系统事件，用户可以忽略 + RobotEvent_ConveyorTrackRobotCatchup, //系统事件，用户可以忽略 + + RobotEvent_TeachButtonStatusChanged = 80, //四五六关节示教按钮状态改变 + + RobotEvent_exceptEvent = 100, + + RobotEventInvalid = 1000, // 无效的事件 + + /** + * RobotControllerErrorEvent 控制器异常事件 1001~1499 + * + * 事件处理建议 + * 建议采取措施:停止当前运动 + * + * PS: 这些事件会引起机械臂运动的错误返回 + * 使用时尽量用枚举变量　　枚举变量值只是为了查看日志方便 + * + **/ + RobotEventMoveJConfigError = + 1001, // moveJ configuration error 关节运动属性配置错误 + RobotEventMoveLConfigError = + 1002, // moveL configuration error 直线运动属性配置错误 + RobotEventMovePConfigError = + 1003, // moveP configuration error 轨迹运动属性配置错误 + RobotEventInvailConfigError = + 1004, // invail configuration 无效的运动属性配置 + RobotEventWaitRobotStopped = + 1005, // please wait robot stopped 等待机器人停止 + RobotEventJointOutRange = 1006, // joint out of range 超出关节运动范围 + RobotEventFirstWaypointSetError = + 1007, // please set first waypoint correctly in modep + // 请正确设置MODEP第一个路点 + RobotEventConveyorTrackConfigError = + 1008, // configuration error for conveyor tracking 传送带跟踪配置错误 + RobotEventConveyorTrackTrajectoryTypeError = + 1009, // unsupported conveyor tracking trajectory type + // 传送带轨迹类型错误 + RobotEventRelativeTransformIKFailed = + 1010, // inverse kinematics failure due to invalid relative transform + // 相对坐标变换逆解失败 + RobotEventTeachModeCollision = + 1011, // collision in teach-mode 示教模式发生碰撞 + RobotEventextErnalToolConfigError = + 1012, // configuration error for external tool and hand workobject + // 运动属性配置错误,外部工具或手持工件配置错误 + + RobotEventTrajectoryAbnormal = 1101, // Trajectory is abnormal 轨迹异常 + RobotEventOnlineTrajectoryPlanError = + 1102, // Trajectory is abnormal,online planning failed 轨迹规划错误 + RobotEventOnlineTrajectoryTypeIIError = + 1103, // Trajectory is abnormal,type II online planning failed + // 二型在线轨迹规划失败 + RobotEventIKFailed = + 1104, // Trajectory is abnormal,inverse kinematics failed 逆解失败 + RobotEventAbnormalLimitProtect = + 1105, // Trajectory is abnormal,abnormal limit protection 动力学限制保护 + RobotEventConveyorTrackingFailed = + 1106, // Trajectory is abnormal,conveyor tracking failed 传送带跟踪失败 + RobotEventConveyorOutWorkingRange = + 1107, // Trajectory is abnormal,exceeding the conveyor working range + // 超出传送带工作范围 + RobotEventTrajectoryJointOutOfRange = + 1108, // Trajectory is abnormal,joint out of range 关节超出范围 + RobotEventTrajectoryJointOverspeed = + 1109, // Trajectory is abnormal,joint overspeed 关节超速 + RobotEventOfflineTrajectoryPlanFailed = + 1110, // Trajectory is abnormal,Offline track planning failed + // 离线轨迹规划失败 + RobotEventTrajectoryJointAccOutOfRange = + 1111, // Trajectory is abnormal,joint acc out of range + // 轨迹异常,关节加速度超限 + RobotEventTrajectoryBeyondSafetyPlane = 1112, //超过安全平面 + + RobotEventForceModeException = 1120, // 力控模式异常 + RobotEventForceModeIKFailed = + 1121, // Trajectory is abnormal,force control mode ik failed + // 轨迹异常，力控模式下失败 + RobotEventForceModeTrackJointverspeed = + 1122, // Trajectory is abnormal,joint overspeed 关节超速 + + RobotEventControllerIKFailed = + 1200, // The controller has an exception and the inverse kinematics + // failed 控制器异常，逆解失败 + RobotEventControllerStatusException = + 1201, // The controller has an exception and the status is abnormal + // 控制器异常，状态异常 + RobotEventControllerTrackingLost = + 1202, // Exception that joint tracking is lost, 关节跟踪误差过大. + RobotEventMonitorErrTrackingLost = + 1203, // Exception that joint tracking is lost, 关节跟踪误差过大. + RobotEventMonitorErrNoArrivalInTime = 1204, // not used 预留 + RobotEventMonitorErrCurrentOverload = 1205, // not used 预留 + RobotEventMonitorErrJointOutOfRange = + 1206, // Exception that joint out of range 　机械臂关节超出限制范围 + RobotEventMonitorErrFifoDataTimeNotRead = + 1207, // controller fifo data timeout was not read + // 队列中数据超时未被读取 + RobotEventThreePositionSwitchNoPress = 1208, //操作模式，三态开关未按下 + + RobotEventMoveEnterStopState = + 1300, // Movement enters the stop state 运动进入到stop阶段 + + /** + * RobotHardwareErrorEvent 来自硬件反馈的异常事件 2001~2999 + * + * 事件处理建议 + * RobotEventJointEncoderPollustion 建议采取措施:警告性通知 + * RobotEventDriveVersionError 建议采取措施:警告性通知 + * RobotEventJointCollision 建议采取措施: + 如需回复当前运动，调用暂停函数 + 恢复的时候先调用碰撞回复函数，在调用continue函数 + 如不需回复当前运动，调用停止函数 + 恢复的时候调用碰撞回复函数可以 + * 其余的事件　　 建议采取措施:停止当前运动 + **/ + + RobotEventHardwareErrorNotify = 2001, // Robot hardware error 机械臂硬件错误 + + RobotEventJointError = 2101, // Robot joint error 机械臂关节错误 + RobotEventJointOverCurrent = + 2102, // Robot joint over current. 机械臂关节过流 + RobotEventJointOverVoltage = + 2103, // Robot joint over voltage.　 机械臂关节过压 + RobotEventJointLowVoltage = + 2104, // Robot joint low voltage.　 机械臂关节欠压 + RobotEventJointOverTemperature = + 2105, // Robot joint over temperature. 机械臂关节过温 + RobotEventJointHallError = + 2106, // Robot joint hall error. 机械臂关节霍尔错误 + RobotEventJointEncoderError = + 2107, // Robot joint encoder error. 机械臂关节编码器错误 + RobotEventJointAbsoluteEncoderError = + 2108, // Robot joint absolute encoder error. 机械臂关节绝对编码器错误 + RobotEventJointCurrentDetectError = + 2109, // Robot joint current position error. 机械臂关节当前位置错误 + RobotEventJointEncoderPollustion = + 2110, // Robot joint encoder pollustion. 机械臂关节编码器污染 + // 建议采取措施:警告性通知 + RobotEventJointEncoderZSignalError = + 2111, // Robot joint encoder Z signal error. 机械臂关节编码器Z信号错误 + RobotEventJointEncoderCalibrateInvalid = + 2112, // Robot joint encoder calibrate　invalid. + // 机械臂关节编码器校准失效 + RobotEventJoint_IMU_SensorInvalid = + 2113, // Robot joint IMU sensor invalid. 机械臂关节IMU传感器失效 + RobotEventJointTemperatureSensorError = + 2114, // Robot joint temperature sensor error. 机械臂关节温度传感器出错 + RobotEventJointCanBusError = + 2115, // Robot joint CAN BUS error. 机械臂关节CAN总线出错 + RobotEventJointCurrentError = + 2116, // Robot joint current error. 机械臂关节当前电流错误 + RobotEventJointCurrentPositionError = + 2117, // Robot joint current position error. 机械臂关节当前位置错误 + RobotEventJointOverSpeed = 2118, // Robot joint over speed. 机械臂关节超速 + RobotEventJointOverAccelerate = + 2119, // Robot joint over accelerate. 机械臂关节加速度过大错误 + RobotEventJointTraceAccuracy = + 2120, // Robot joint trace accuracy. 机械臂关节跟踪精度错误 + RobotEventJointTargetPositionOutOfRange = + 2121, // Robot joint target position out of range. + // 机械臂关节目标位置超范围 + RobotEventJointTargetSpeedOutOfRange = + 2122, // Robot joint target speed out of range. 机械臂关节目标速度超范围 + RobotEventJointCollision = 2123, // Robot joint collision. 机械臂碰撞 + // 　　　建议采取措施:暂停当前运动 + RobotEventJointSlaveOverCurrent = + 2124, // Robot joint slave over current! 从机过流 + RobotEventJointSlaveOverVoltage = + 2125, // Robot joint slave over voltage! 从机过压 + RobotEventJointSlaveLowVoltage = + 2126, // Robot joint slave low voltage! 从机欠压 + RobotEventJointSlavePositionDiffOver = + 2127, // Robot joint position deviation between master and slave is too + // big! 主从机位置偏差过大 + RobotEventJointSlaveSpeedDiffOver = + 2128, // Robot joint speed deviation between master and slave is too + // big! 主从机速度偏差过大 + RobotEventJointSlaveAbsoluteEncoderError = + 2129, // Robot joint slave abs encoder! 从机绝对编码器错误 + RobotEventJointSlaveCurrentDetectError = + 2130, // Robot joint slave detect current! 从机电流检测错误 + RobotEventJointSlaveEncoderPollustion = + 2131, // Robot joint slave encoder pollustion! 从机编码器污染 + RobotEventJointSlaveEncoderZSignalError = + 2132, // Robot joint slave enocder z signal! 从机编码器Z信号错误 + RobotEventJointSlaveCommunication = + 2133, // Robot joint communication between master and slave error! + // 主从机之间通信错误 + RobotEventJointOpticalEncoderError = + 2134, // Robot joint optical encoder error! 光电编码器错误 + + RobotEventDataAbnormal = 2200, // Robot data abnormal 机械臂信息异常 + RobotEventRobotTypeError = 2201, // Robot type error 机械臂类型错误 + RobotEventAccelerationSensorError = + 2202, // Robot acceleration sensor error 机械臂加速度计芯片错误 + RobotEventEncoderLineError = + 2203, // Robot encoder line error 机械臂编码器线数错误 + RobotEventEnterDragAndTeachModeError = + 2204, // Robot enter drag and teach mode error + // 机械臂进入拖动示教模式错误 + RobotEventExitDragAndTeachModeError = + 2205, // Robot exit drag and teach mode error 机械臂退出拖动示教模式错误 + RobotEventMACDataInterruptionError = + 2206, // Robot MAC data interruption error 机械臂MAC数据中断错误 + RobotEventDriveVersionError = + 2207, // Drive version error 驱动器版本错误(关节固件版本不一致) + RobotEventToolNotExist = 2208, // Robot tool do not exist! 工具端不存在 + RobotEventPowerOnCheckError = + 2209, // Robot power on check error! 上电自检错误 + RobotEventDriverVersionTooLow = + 2210, // Robot driver firmware version is too low! 驱动器版本过低 + RobotEventTargetPosDataBufferOverflow = + 2211, // Robot target pos data buffer overflow! 目标位置数据溢出 + RobotEventRobotArmNotConnected = + 2212, // Robot arm is not connected! 机械臂未连接 + RobotEventPayloadError = 2213, // Robot payload error! 负载错误 + + RobotEventInitAbnormal = 2300, // Robot init abnormal 机械臂初始化异常 + RobotEventDriverEnableFailed = + 2301, // Robot driver enable failed 机械臂驱动器使能失败 + RobotEventDriverEnableAutoBackFailed = + 2302, // Robot driver enable auto back failed + // 机械臂驱动器使能自动回应失败 + RobotEventDriverEnableCurrentLoopFailed = + 2303, // Robot driver enable current loop failed + // 机械臂驱动器使能电流环失败 + RobotEventDriverSetTargetCurrentFailed = + 2304, // Robot driver set target current failed + // 机械臂驱动器设置目标电流失败 + RobotEventDriverReleaseBrakeFailed = + 2305, // Robot driver release brake failed 机械臂释放刹车失败 + RobotEventDriverEnablePostionLoopFailed = + 2306, // Robot driver enable postion loop failed 机械臂使能位置环失败 + RobotEventSetMaxAccelerateFailed = + 2307, // Robot set max accelerate failed 设置最大加速度失败 + RobotEventSetPositionLoopWorkModeFailed = + 2308, // Robot set position loop work mode failed! + // 设置位置环工作模式失败 + RobotEventCalcuateGravityComponentFailed = + 2309, // Robot calculate the gravity component failed! 计算重力分量错误 + RobotEventSetMaxVelocityFailed = + 2310, // Robot set max velocity failed! 设置最大速度失败 + RobotEventEnableCANSyncFrameFailed = + 2311, // Robot enable can synchronization frame failed! + // 使能CAN同步帧失败 + + RobotEventSafetyError = 2400, // Robot Safety error 机械臂安全出错 + RobotEventExternEmergencyStop = + 2401, // Robot extern emergency stop 机械臂外部紧急停止 + RobotEventSystemEmergencyStop = + 2402, // Robot system emergency stop 机械臂系统紧急停止 + RobotEventTeachpendantEmergencyStop = + 2403, // Robot teachpendant emergency stop 机械臂示教器紧急停止 + RobotEventControlCabinetEmergencyStop = + 2404, // Robot control cabinet emergency stop 机械臂控制柜紧急停止 + RobotEventProtectionStopTimeout = + 2405, // Robot protection stop timeout 机械臂保护停止超时 + RobotEventEeducedModeTimeout = + 2406, // Robot reduced mode timeout 机械臂缩减模式超时 + + RobotEventSystemAbnormal = 2500, // Robot systen abnormal 机械臂系统异常 + RobotEvent_MCU_CommunicationAbnormal = + 2501, // Robot mcu communication error 机械臂mcu通信异常 + RobotEvent485CommunicationAbnormal = + 2502, // Robot RS485 communication error 机械臂485通信异常 + RobotEvent220VDetectionBoardAbnormal = + 2503, // Robot 220v detection board abnormal 220V掉电板检测错误 + + //#if 0 // 非实时版本 + RobotEventCurrentJointOutRange = 2550, // Joint out of Range + //#else + RobotEventSoftEmergency = 2550, // 软急停 + RobotEventSoftEmergencyExit = 2551, // 软急停退出 + //#endif + + RobotEventArmPowerOff = + 2600, // Disconnecting the contactor causes the arm 48V power off + // 控制柜接触器断开导致机械臂48V断电 + + RobotEventHardwareErrorNotifyMaximumIndex = 2999, // 索引 + + RobotEventNotifyEvent = 3000, // Robot notification event 机械臂通知性事件 + RobotEventNotifyCollisionLevelChange = + 3001, // Robot Collision level change 机械臂事件通知-碰撞等级被改变 + RobotEventNotifyEnterFlexibleControlMode = 3010, // 进入柔性控制模式通知 + RobotEventNotifyExitFlexibleControlMode = 3011, // 退出柔性控制模式通知 + RobotEventNotifyEnterSpeedReducedMode = 3015, // 进入速度缩减模式通知 + RobotEventNotifyExitSpeedReducedMode = 3016, // 退出速度缩减模式通知 + + RobotEventNotifyStopCurrentMove = 3100, // 停止掉当前运动 + + RobotEventNotifyScriptFinishSucc = 3200, // 脚本运行结束:成功 + RobotEventNotifyScriptFinishFailed = 3201, // 脚本运行结束:失败 + RobotEventNotifyScriptRunInterruptedByStopOperation = + 3202, //脚本运行中断:被stop操作中断 + + RobotEventNotifyScriptRunLabel = 3300, //通知性事件:脚本运行标签 + RobotEventNotifyScriptTraceInfo = 3301, //通知性事件:脚本Print + RobotEventNotifyScriptSetVariable = 3302, //通知性事件:设置示教器全局变量值 + RobotEventNotifyScriptTimeStamp = 3303, //通知性事件:设置计时器 + RobotEventNotifyScriptPopMessage = 3304, //通知性事件:服务器脚本层弹窗 + + RobotEventNotifyJointUpdateFinishSucc = 3400, // 关节驱动升级结束：成功 + RobotEventNotifyJointUpdateFinishFailed = 3401, // 关节驱动升级结束：失败 + RobotEventNotifyJointUpdating = 3402, // 关节驱动升级中 + RobotEventNotifyJointNoProgram = + 3410, // 关节在上电后检测到没有程序，需要升级 + + RobotEventMoveGroupCurrentWaypointId = 3500, // moveGroup当前路点id + RobotEventMoveGroupPaused = 3501, // moveGroup暂停完成 + RobotEventMoveGroupResumed = 3502, // moveGroup恢复完成 + RobotEventMoveGroupStopped = 3503, // moveGroup停止完成 + RobotEventMoveGroupAtTargrtPos = 3504, // moveGroup运行结束 + + // unknown event + robot_event_unknown = 10000, + + // user event + RobotEvent_User = 9000, // first user event id + RobotEvent_MaxUser = 9999 // last user event id + +} RobotEventType; + +/** 事件类型 **/ +typedef struct +{ + RobotEventType eventType; //事件类型号 + int eventCode; // + std::string eventContent; //事件内容 +} RobotEventInfo; + +/** + * 接口函数 错误码定义 成功返回InterfaceCallSuccCode(0);失败返回对应的错误号 + * + *　下面是错误代码列表 + * 21000 ~ 21999错误码　　表示错由于控制器异常事件导致的 + * 22000 ~ 22999错误码　　表示错由于硬件层异常事件导致的 + */ +enum +{ + InterfaceCallSuccCode = 0, //接口调用成功的返回值 +}; + +typedef enum +{ + // clang-format off + ErrnoSucc = InterfaceCallSuccCode, // 成功 + + ErrCode_Base = 10000, + ErrCode_Failed = 10001, // 通用失败 failed + ErrCode_ParamError = 10002, // 参数错误 parameters error + ErrCode_ConnectSocketFailed = 10003, // 连接失败 socket connect failed Socket + ErrCode_SocketDisconnect = 10004, // Socket断开连接　socket disconnected Socket + ErrCode_CreateRequestFailed = 10005, // 创建请求失败 create request failed + ErrCode_RequestRelatedVariableError = 10006, // 请求相关的内部变量出错 internal error + ErrCode_RequestTimeout = 10007, // 请求超时 timout + ErrCode_SendRequestFailed = 10008, // 发送请求信息失败 send request failed + ErrCode_ResponseInfoIsNULL = 10009, // 响应信息为空 response is null + ErrCode_ResolveResponseFailed = 10010, // 解析响应失败 parse response failed + ErrCode_FkFailed = 10011, // 正解出错 fk failed + ErrCode_IkFailed = 10012, // 逆解出错 ik failed + ErrCode_ToolCalibrateError = 10013, // 工具标定参数有错 tool coordinate paramter error + ErrCode_ToolCalibrateParamError = 10014, // 工具标定参数有错 tool coordinate paramter error + ErrCode_CoordinateSystemCalibrateError = 10015, // 坐标系标定失败 user coordinate calibrate failed + ErrCode_BaseToUserConvertFailed = 10016, // 基坐标系转用户座标失败 base coordinate convert to user coordinate fialed + ErrCode_UserToBaseConvertFailed = 10017, // 用户坐标系转基座标失败 user coordinate convert to base coordinate fialed + + + ErrCode_MotionRelatedVariableError = 10018, // 运动相关的内部变量出错 move funcation paramters error + ErrCode_MotionRequestFailed = 10019, // 运动请求失败 call move funcation failed + ErrCode_CreateMotionRequestFailed = 10020, // 生成运动请求失败 create request failed + ErrCode_MotionInterruptedByEvent = 10021, // 运动被事件中断 move funcation interrupt + ErrCode_MotionWaypointVetorSizeError = 10022, // 运动相关的路点容器的长度不符合规定 parameter error + ErrCode_ResponseReturnError = 10023, // 服务器响应返回错误 server reponse error + ErrCode_RealRobotNoExist = 10024, // 真实机械臂不存在，因为有些接口只有在真是机械臂存在的情况下才可以被调用 real robot no exist + + ErrCode_moveControlSlowStopFailed = 11025, // 调用缓停接口失败 call function failed, server side error + ErrCode_moveControlFastStopFailed = 11026, // 调用急停接口失败 call function failed, server side error + ErrCode_moveControlPauseFailed = 11027, // 调用暂停接口失败 call function failed, server side error + ErrCode_moveControlContinueFailed = 11028, // 调用继续接口失败 call function failed, server side error + + + //20000~21000 的异常码是为了版本兼容 后续会逐渐取消 + ErrCode_collision = 20008, //碰撞 + ErrCode_robotControllerError = 20026, //控制器异常 + + + /** + * 控制器返回的异常 + **/ + ErrCodeMoveJConfigError = 21001, // moveJ configuration error 关节运动属性配置错误 + ErrCodeMoveLConfigError = 21002, // moveL configuration error 直线运动属性配置错误 + ErrCodeMovePConfigError = 21003, // moveP configuration error 轨迹运动属性配置错误 + ErrCodeInvailConfigError = 21004, // invail configuration 无效的运动属性配置 + ErrCodeWaitRobotStopped = 21005, // please wait robot stopped 等待机器人停止 + ErrCodeJointOutRange = 21006, // joint out of range 超出关节运动范围 + ErrCodeFirstWaypointSetError = 21007, // please set first waypoint correctly in modep 请正确设置MODEP第一个路点 + ErrCodeConveyorTrackConfigError = 21008, // configuration error for conveyor tracking 传送带跟踪配置错误 + ErrCodeConveyorTrackTrajectoryTypeError = 21009, // unsupported conveyor tracking trajectory type 传送带轨迹类型错误 + ErrCodeRelativeTransformIKFailed = 21010, // inverse kinematics failure due to invalid relative transform 相对坐标变换逆解失败 + ErrCodeTeachModeCollision = 21011, // collision in teach-mode 示教模式发生碰撞 + ErrCodeextErnalToolConfigError = 21012, // configuration error for external tool and hand workobject 运动属性配置错误,外部工具或手持工件配置错误 + + ErrCodeTrajectoryAbnormal = 21101, // Trajectory is abnormal 轨迹异常 + ErrCodeOnlineTrajectoryPlanError = 21102, // Trajectory is abnormal,online planning failed 轨迹规划错误 + ErrCodeOnlineTrajectoryTypeIIError = 21103, // Trajectory is abnormal,type II online planning failed 二型在线轨迹规划失败 + ErrCodeIKFailed = 21104, // Trajectory is abnormal,inverse kinematics failed 逆解失败 + ErrCodeAbnormalLimitProtect = 21105, // Trajectory is abnormal,abnormal limit protection 动力学限制保护 + ErrCodeConveyorTrackingFailed = 21106, // Trajectory is abnormal,conveyor tracking failed 传送带跟踪失败 + ErrCodeConveyorOutWorkingRange = 21107, // Trajectory is abnormal,exceeding the conveyor working range 超出传送带工作范围 + ErrCodeTrajectoryJointOutOfRange = 21108, // Trajectory is abnormal,joint out of range 关节超出范围 + ErrCodeTrajectoryJointOverspeed = 21109, // Trajectory is abnormal,joint overspeed 关节超速 + ErrCodeOfflineTrajectoryPlanFailed = 21110, // Trajectory is abnormal,Offline track planning failed 离线轨迹规划失败 + ErrCodeTrajectoryJointAccOutOfRange = 21111, // Trajectory is abnormal,joint acc out of range 轨迹异常,关节加速度超限 + + ErrCodeForceModeException = 21120, // 力控模式异常 + ErrCodeForceModeIKFailed = 21121, // Trajectory is abnormal,force control mode ik failed 轨迹异常，力控模式下失败 + ErrCodeForceModeTrackJointverspeed = 21122, // Trajectory is abnormal,joint overspeed 关节超速 + + ErrCodeControllerIKFailed = 21200, // The controller has an exception and the inverse kinematics failed 控制器异常，逆解失败 + ErrCodeControllerStatusException = 21201, // The controller has an exception and the status is abnormal 控制器异常，状态异常 + ErrCodeControllerTrackingLost = 21202, // Exception that joint tracking is lost, 关节跟踪误差过大. + ErrCodeMonitorErrTrackingLost = 21203, // Exception that joint tracking is lost, 关节跟踪误差过大. + ErrCodeMonitorErrNoArrivalInTime = 21204, // not used 预留 + ErrCodeMonitorErrCurrentOverload = 21205, // not used 预留 + ErrCodeMonitorErrJointOutOfRange = 21206, // Exception that joint out of range 　机械臂关节超出限制范围 + ErrCodeFifoDataTimeNotRead = 21207, // 缓存区超时未更新 + + ErrCodeMoveEnterStopState = 21300, // Movement enters the stop state 运动进入到stop阶段 + ErrCodeMoveInterruptedByEvent = 21301, // Movement interrupted by the event 运动被未知事件中断 + + /** + * 来自硬件层返回的异常 + **/ + ErrCodeHardwareErrorNotify = 22001, // Robot hardware error 机械臂硬件错误 不能区分是哪种硬件异常才会返回该错误 + + ErrCodeJointError = 22101, // Robot joint error 机械臂关节错误 + ErrCodeJointOverCurrent = 22102, // Robot joint over current. 机械臂关节过流 + ErrCodeJointOverVoltage = 22103, // Robot joint over voltage.　 机械臂关节过压 + ErrCodeJointLowVoltage = 22104, // Robot joint low voltage.　 机械臂关节欠压 + ErrCodeJointOverTemperature = 22105, // Robot joint over temperature. 机械臂关节过温 + ErrCodeJointHallError = 22106, // Robot joint hall error. 机械臂关节霍尔错误 + ErrCodeJointEncoderError = 22107, // Robot joint encoder error. 机械臂关节编码器错误 + ErrCodeJointAbsoluteEncoderError = 22108, // Robot joint absolute encoder error. 机械臂关节绝对编码器错误 + ErrCodeJointCurrentDetectError = 22109, // Robot joint current position error. 机械臂关节当前位置错误 + ErrCodeJointEncoderPollustion = 22110, // Robot joint encoder pollustion. 机械臂关节编码器污染 建议采取措施:警告性通知 + ErrCodeJointEncoderZSignalError = 22111, // Robot joint encoder Z signal error. 机械臂关节编码器Z信号错误 + ErrCodeJointEncoderCalibrateInvalid = 22112, // Robot joint encoder calibrate　invalid. 机械臂关节编码器校准失效 + ErrCodeJoint_IMU_SensorInvalid = 22113, // Robot joint IMU sensor invalid. 机械臂关节IMU传感器失效 + ErrCodeJointTemperatureSensorError = 22114, // Robot joint temperature sensor error. 机械臂关节温度传感器出错 + ErrCodeJointCanBusError = 22115, // Robot joint CAN BUS error. 机械臂关节CAN总线出错 + ErrCodeJointCurrentError = 22116, // Robot joint current error. 机械臂关节当前电流错误 + ErrCodeJointCurrentPositionError = 22117, // Robot joint current position error. 机械臂关节当前位置错误 + ErrCodeJointOverSpeed = 22118, // Robot joint over speed. 机械臂关节超速 + ErrCodeJointOverAccelerate = 22119, // Robot joint over accelerate. 机械臂关节加速度过大错误 + ErrCodeJointTraceAccuracy = 22120, // Robot joint trace accuracy. 机械臂关节跟踪精度错误 + ErrCodeJointTargetPositionOutOfRange = 22121, // Robot joint target position out of range. 机械臂关节目标位置超范围 + ErrCodeJointTargetSpeedOutOfRange = 22122, // Robot joint target speed out of range. 机械臂关节目标速度超范围 + ErrCodeJointCollision = 22123, // Robot joint collision. 机械臂碰撞 　　　建议采取措施:暂停当前运动 + + ErrCodeDataAbnormal = 22200, // Robot data abnormal 机械臂信息异常 + ErrCodeRobotTypeError = 22201, // Robot type error 机械臂类型错误 + ErrCodeAccelerationSensorError = 22202, // Robot acceleration sensor error 机械臂加速度计芯片错误 + ErrCodeEncoderLineError = 22203, // Robot encoder line error 机械臂编码器线数错误 + ErrCodeEnterDragAndTeachModeError = 22204, // Robot enter drag and teach mode error 机械臂进入拖动示教模式错误 + ErrCodeExitDragAndTeachModeError = 22205, // Robot exit drag and teach mode error 机械臂退出拖动示教模式错误 + ErrCodeMACDataInterruptionError = 22206, // Robot MAC data interruption error 机械臂MAC数据中断错误 + ErrCodeDriveVersionError = 22207, // Drive version error 驱动器版本错误(关节固件版本不一致) + + ErrCodeInitAbnormal = 22300, // Robot init abnormal 机械臂初始化异常 + ErrCodeDriverEnableFailed = 22301, // Robot driver enable failed 机械臂驱动器使能失败 + ErrCodeDriverEnableAutoBackFailed = 22302, // Robot driver enable auto back failed 机械臂驱动器使能自动回应失败 + ErrCodeDriverEnableCurrentLoopFailed = 22303, // Robot driver enable current loop failed 机械臂驱动器使能电流环失败 + ErrCodeDriverSetTargetCurrentFailed = 22304, // Robot driver set target current failed 机械臂驱动器设置目标电流失败 + ErrCodeDriverReleaseBrakeFailed = 22305, // Robot driver release brake failed 机械臂释放刹车失败 + ErrCodeDriverEnablePostionLoopFailed = 22306, // Robot driver enable postion loop failed 机械臂使能位置环失败 + ErrCodeSetMaxAccelerateFailed = 22307, // Robot set max accelerate failed 设置最大加速度失败 + + ErrCodeSafetyError = 22400, // Robot Safety error 机械臂安全出错 + ErrCodeExternEmergencyStop = 22401, // Robot extern emergency stop 机械臂外部紧急停止 + ErrCodeSystemEmergencyStop = 22402, // Robot system emergency stop 机械臂系统紧急停止 + ErrCodeTeachpendantEmergencyStop = 22403, // Robot teachpendant emergency stop 机械臂示教器紧急停止 + ErrCodeControlCabinetEmergencyStop = 22404, // Robot control cabinet emergency stop 机械臂控制柜紧急停止 + ErrCodeProtectionStopTimeout = 22405, // Robot protection stop timeout 机械臂保护停止超时 + ErrCodeEeducedModeTimeout = 22406, // Robot reduced mode timeout 机械臂缩减模式超时 + + ErrCodeSystemAbnormal = 22500, // Robot systen abnormal 机械臂系统异常 + ErrCode_MCU_CommunicationAbnormal = 22501, // Robot mcu communication error 机械臂mcu通信异常 + ErrCode485CommunicationAbnormal = 22502, // Robot RS485 communication error 机械臂485通信异常 + + ErrCodeSoftEmergency = 22550, // 软急停 + + ErrCodeArmPowerOff = 22600, //Disconnecting the contactor causes the arm 48V power off 控制柜接触器断开导致机械臂48V断电 + + ErrCodeInterfaceNotImpleted = 30000, // 此接口不支持 + // clang-format on +} RobotErrorCode; + +enum class MoveModeType : int +{ + NONE = 0, + MOVE_GROUP, + SERVOJ, + FORCE_TEACH, + TRAJECTORY_ANALYSE, + TOOL_DYNAMIC_IDENTIFY +}; + +} // namespace aubo_robot_namespace +#ifdef __cplusplus +} +#endif + +/** + * @brief 获取实时关节状态回调函数类型. + * @param jointStatus　当前的关节状态; + * @param size　　　　　上一个参数（jointStatus）的长度; + * @param arg　　　　　　使用者在注册回调函数中传递的第二个参数; + */ +typedef void (*RealTimeJointStatusCallback)( + const aubo_robot_namespace::JointStatus *jointStatus, int size, void *arg); + +/** + * @brief 获取实时路点信息的回调函数类型. + * @param wayPoint　 当前的路点信息; + * @param arg　　　　　　使用者在注册回调函数中传递的第二个参数; + */ +typedef void (*RealTimeRoadPointCallback)( + const aubo_robot_namespace::wayPoint_S *wayPoint, void *arg); + +/** + *@brief 获取实时末端速度的回调函数类型 + *@param speed 当前的末端速度; + *@param arg　　　使用者在注册回调函数中传递的第二个参数; + */ +typedef void (*RealTimeEndSpeedCallback)(double speed, void *arg); + +/** + *@brief 获取实时Movep执行进度的回调函数类型 + *@param num 当前的Movep执行进度; + *@param arg　　　使用者在注册回调函数中传递的第二个参数; + */ +typedef void (*RealTimeMovepStepNumNotifyCallback)(int num, void *arg); + +/** + * @brief 获取机械臂事件信息的回调函数类型 + * @param arg 使用者在注册回调函数中传递的第二个参数; + */ +typedef void (*RobotEventCallback)( + const aubo_robot_namespace::RobotEventInfo *eventInfo, void *arg); + +/** + * @brief 日志输出对应的回调函数类型 + * @param logLevel 日志级别; + * @param str 日志信息; + */ +typedef void (*RobotLogPrintCallback)(aubo_robot_namespace::LOG_LEVEL logLevel, + const char *str, void *arg); + +#endif // AUBOROBOTMETATYPE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/aubo_api.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/aubo_api.h new file mode 100644 index 00000000..48c3fdc7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/aubo_api.h @@ -0,0 +1,403 @@ +/** @file aubo_api.h + * @brief \~chinese 机器人及外部轴等控制API接口，如获取机器人列表、获取系统信息等等 + * @brief \~english API for controlling the robot and external axis + */ +#ifndef AUBO_SDK_AUBO_API_INTERFACE_H +#define AUBO_SDK_AUBO_API_INTERFACE_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * @defgroup AuboApi AuboApi (主入口) + * @ingroup AuboApi + * AuboApi + * \endchinese + * + * \english + * @defgroup AuboApi Main Entrance + * @ingroup AuboApi + * AuboApi + * \endenglish + */ +class ARCS_ABI_EXPORT AuboApi +{ +public: + AuboApi(); + virtual ~AuboApi(); + + /** + * @ingroup AuboApi + * @ref Math + * \chinese + * 获取纯数学相关接口 + * + * @return MathPtr对象的指针 + * + * @par Python函数原型 + * getMath(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.Math + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * MathPtr ptr = rpc_cli->getMath(); + * @endcode + * \endchinese + * + *\english + * Get pure mathematic related API + * + * @return Shared pointer to a Math object + * + * @par Python function prototype + * getMath(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.Math + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * MathPtr ptr = rpc_cli->getMath(); + * @endcode + *\endenglish + */ + MathPtr getMath(); + + /** + * @ingroup AuboApi + * @ref SystemInfo + * \chinese + * 获取系统信息 + * + * @return SystemInfoPtr对象的指针 + * + * @par Python函数原型 + * getSystemInfo(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.SystemInfo + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * SystemInfoPtr ptr = rpc_cli->getSystemInfo(); + * @endcode + * \endchinese + * + * \english + * Get system info + * + * @return Shared pointer to SystemInfo object + * + * @par Python function prototype + * getSystemInfo(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.SystemInfo + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * SystemInfoPtr ptr = rpc_cli->getSystemInfo(); + * @endcode + * \endenglish + */ + SystemInfoPtr getSystemInfo(); + + /** + * @ingroup AuboApi + * @ref RuntimeMachine + * \chinese + * 获取运行时接口 + * + * @return RuntimeMachinePtr对象的指针 + * + * @par Python函数原型 + * getRuntimeMachine(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.RuntimeMachine + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * RuntimeMachinePtr ptr = rpc_cli->getRuntimeMachine(); + * @endcode + * \endchinese + * + * \english + * Get runtime api + * + * @return Shared pointer to RuntimeMachine object + * Python function prototype + * getRuntimeMachine(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.RuntimeMachine + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * RuntimeMachinePtr ptr = rpc_cli->getRuntimeMachine(); + * @endcode + * \endenglish + */ + RuntimeMachinePtr getRuntimeMachine(); + + /** + * @ingroup AuboApi + * @ref RegisterControl + * \chinese + * 对外寄存器接口 + * + * @return RegisterControlPtr对象的指针 + * + * @par Python函数原型 + * getRegisterControl(self: pyaubo_sdk.AuboApi) -> + * pyaubo_sdk.RegisterControl + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * RegisterControlPtr ptr = rpc_cli->getRegisterControl(); + * @endcode + * \endchinese + * + * \english + * External registers api + * + * @return Shared pointer to RegisterControl object + * + * @par Python function prototype + * getRegisterControl(self: pyaubo_sdk.AuboApi) -> + * pyaubo_sdk.RegisterControl + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * RegisterControlPtr ptr = rpc_cli->getRegisterControl(); + * @endcode + * \endenglish + */ + RegisterControlPtr getRegisterControl(); + + /** + * @ingroup AuboApi + * \chinese + * 获取机器人列表 + * + * @return 机器人列表 + * + * @par Python函数原型 + * getRobotNames(self: pyaubo_sdk.AuboApi) -> List[str] + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * @endcode + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"getRobotNames","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":["rob1"]} + * \endchinese + * + * \english + * Get robot list + * + * @return robot list + * + * @par Python function prototype + * getRobotNames(self: pyaubo_sdk.AuboApi) -> List[str] + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * @endcode + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"getRobotNames","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":["rob1"]} + * \endenglish + */ + std::vector getRobotNames(); + + /** + * @ingroup AuboApi + * @ref RobotInterface + * \chinese + * 根据名字获取 RobotInterfacePtr 接口 + * + * @param name 机器人名字 + * @return RobotInterfacePtr对象的指针 + * + * @par Python函数原型 + * getRobotInterface(self: pyaubo_sdk.AuboApi, arg0: str) -> + * pyaubo_sdk.RobotInterface + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * RobotInterfacePtr ptr = rpc_cli->getRobotInterface(robot_name); + * @endcode + * \endchinese + * + * \english + * Get RobotInterfacePtr based on name + * + * @param name Robot name + * @return Shared pointer to a RobotInterface object + * + * @par Python function prototype + * getRobotInterface(self: pyaubo_sdk.AuboApi, arg0: str) -> + * pyaubo_sdk.RobotInterface + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * RobotInterfacePtr ptr = rpc_cli->getRobotInterface(robot_name); + * @endcode + * \endenglish + */ + RobotInterfacePtr getRobotInterface(const std::string &name); + + /** + * @ingroup AuboApi + * \~chinese 获取外部轴列表 \~english Get external axis list + * + * @return + */ + std::vector getAxisNames(); + + /** + * @ingroup AuboApi + * @ref AxisInterface + * \chinese + * 获取外部轴接口 + * + * @param name + * @return + * \endchinese + * + * \english + * Get external axis interface + * + * @param name + * @return + * \endenglish + */ + AxisInterfacePtr getAxisInterface(const std::string &name); + + /** + * @ingroup AuboApi + * @ref Socket + * \chinese + * 获取 socket + * @return SocketPtr对象的指针 + * + * @par Python函数原型 + * getSocket(self: pyaubo_sdk.AuboApi) -> arcs::common_interface::Socket + * @endcode + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * SocketPtr ptr = rpc_cli->getSocket(); + * @endcode + * \endchinese + * + * \english + * Get socket + * @return Shared pointer to a socket object + * + * @par Python function prototype + * getSocket(self: pyaubo_sdk.AuboApi) -> arcs::common_interface::Socket + * @endcode + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * SocketPtr ptr = rpc_cli->getSocket(); + * @endcode + * \endenglish + */ + SocketPtr getSocket(); + + /** + * @ingroup AuboApi + * @ref Serial + * \chinese + * 获取Serial串口 + * @return SerialPtr对象的指针 + * + * @par Python函数原型 + * getSerial(self: pyaubo_sdk.AuboApi) -> arcs::common_interface::Serial + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * SerialPtr ptr = rpc_cli->getSerial(); + * @endcode + * \endchinese + * + * \english + * @return Shared pointer to Serial object + * + * @par Python function prototype + * getSerial(self: pyaubo_sdk.AuboApi) -> arcs::common_interface::Serial + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * SerialPtr ptr = rpc_cli->getSerial(); + * @endcode + * \endenglish + */ + SerialPtr getSerial(); + + /** + * @ingroup AuboApi + * @ref SyncMove + * \~chinese 获取同步运动接口 \~english Get syncronous move interface + * + * \~chinese @return SyncMovePtr对象的指针 + * \~english @return Shared pointer to SyncMove object + */ + SyncMovePtr getSyncMove(const std::string &name); + + /** + * @ingroup AuboApi + * @ref Trace + * \~chinese 获取告警信息接口 + * \~english Get alert interface + * + * \~chinese @return TracePtr对象的指针 + * \~english @return Shared pointer of trace object + */ + TracePtr getTrace(const std::string &name); + + /** + * @ingroup AuboApi + * @ref GripperInterface + * \~chinese 获取通用夹爪接口 + * \~english Get gripper interface + * + * \~chinese @return GripperInterfacePtr对象的指针 + * \~english @return Shared pointer of gripper object + */ + GripperInterfacePtr getGripperInterface(); + +protected: + void *d_{ nullptr }; +}; +using AuboApiPtr = std::shared_ptr; + +} // namespace common_interface +} // namespace arcs + +#endif // AUBO_SDK_AUBO_API_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/axis_interface.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/axis_interface.h new file mode 100644 index 00000000..3d09a46e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/axis_interface.h @@ -0,0 +1,650 @@ +/** @file axes.h + * @brief 外部轴接口 + */ +#ifndef AUBO_SDK_AXIS_INTERFACE_H +#define AUBO_SDK_AXIS_INTERFACE_H + +#include +#include + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * @defgroup AxisInterface AxisInterface (外部轴) + * 外部轴API接口 + * \endchinese + * + * \english + * @defgroup AxisInterface External Axis + * External axis API interface + * \endenglish + */ +class ARCS_ABI_EXPORT AxisInterface +{ +public: + AxisInterface(); + virtual ~AxisInterface(); + + /** + * @ingroup AxisInterface + * \~chinese 通电 + * \~english Power on + * @return + */ + int poweronExtAxis(); + + /** + * @ingroup AxisInterface + * \~chinese 断电 + * \~english Power off + * @return + */ + int poweroffExtAxis(); + + /** + * @ingroup AxisInterface + * \~chinese 使能 + * \~english Enable + * @return + */ + int enableExtAxis(); + + /** + * @ingroup AxisInterface + * \~chinese 设置外部轴的安装位姿(相对于世界坐标系) + * \~chinese @param pose + * \~english Set mounting pose of external axis (wrt world frame) + * \~english @param pose + + * @return + */ + int setExtAxisMountingPose(const std::vector &pose); + + /** + * @ingroup AxisInterface + * \chinese 运动到指定点， 旋转或者平移 + * + * @param pos + * @param v + * @param a + * @param duration + * @return + * \endchinese + * + * \english move to pos, rotation or linear + * + * @param pos + * @param v + * @param a + * @param duration + * @return + * \endenglish + */ + int moveExtJoint(double pos, double v, double a, double duration); + + /** + * @ingroup AxisInterface + * \chinese + * 制定目标运动速度 + * + * @param v + * @param a + * @param duration + * @return + * \endchinese + * + * \english + * Set target speed, acceleration and duration + * @param v + * @param a + * @param duration + * @return + * \endenglish + */ + int speedExtJoint(double v, double a, double duration); + + /** + * @ingroup AxisInterface + * \chinese + * 停止外部轴运动 + * + * @param a + * @return + * \endchinese + * + * \english + * stop ext joint + * @param a + * @return + * \endenglish + */ + int stopExtJoint(double a); + + /** + * @ingroup AxisInterface + * \~chinese 获取外部轴的类型 0代表是旋转 1代表平移 + * \~english Get external axis type: 0 for rotation, 1 for linear + * @return + */ + int getExtAxisType(); + + /** + * @ingroup AxisInterface + * \~chinese 设置外部轴的类型 + * @param type 0代表是旋转 1代表平移 + * + * \~english Set external axis type + * @param type: 0 for rotation, 1 for linear + * @return + */ + int setExtAxisType(int type); + + /** + * @ingroup AxisInterface + * \chinese + * 获取当前外部轴的状态 + * + * @return 当前外部轴的状态 + * \endchinese + * + * \english + * Get external axis status + * + * @return Current exteral axis status + * \endenglish + */ + AxisModeType getAxisModeType(); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴安装位姿 + * + * @return 外部轴安装位姿 + * \endchinese + * + * \english + * Get external axis mounting pose + * + * @return External axis pose + * \endenglish + */ + std::vector getExtAxisMountingPose(); + + /** + * @ingroup AxisInterface + * \chinese + * 获取相对于安装坐标系的位姿，外部轴可能为变位机或者导轨 + * + * @return 相对于安装坐标系的位姿 + * \endchinese + * + * \english + * Get pose wrt mounting coordinate system, axis can be positioner or linear + * rail + * + * @return Pose wrt mounting coordinate system + * \endenglish + */ + std::vector getExtAxisPose(); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴位置 + * + * @return 外部轴位置 + * \endchinese + * + * \english + * Get external axis position + * + * @return External axis position + * \endenglish + */ + double getExtAxisPosition(); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴运行速度 + * + * @return 外部轴运行速度 + * \endchinese + * + * \english + * Get external axis speed + * + * @return External axis speed + * \endenglish + */ + double getExtAxisVelocity(); + + /** + * @ingroup AxisInterface + * \chinese + * 设置外部轴运行速度 + * + * @return + * \endchinese + * + * \english + * Set external axis speed + * + * @return + * \endenglish + */ + int setExtAxisVelocity(double velocity); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴运行加速度 + * + * @return 外部轴运行加速度 + * \endchinese + * + * \english + * Get external axis acceleration + * + * @return External axis acceleration + * \endenglish + */ + double getExtAxisAcceleration(); + + /** + * @ingroup AxisInterface + * \chinese + * 设置外部轴运行加速度 + * + * @param acc + * @return + * \endchinese + * + * \english + * Set external axis acceleration + * + * @param acc + * @return + * \endenglish + */ + int setExtAxisAcceleration(double acc); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴电流 + * + * @return 外部轴电流 + * \endchinese + * + * \english + * Get external axis current + * + * @return External axis current + * \endenglish + */ + double getExtAxisCurrent(); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴温度 + * + * @return 外部轴温度 + * \endchinese + * + * \english + * Get external axis temperature + * + * @return External axis temperature + * \endenglish + */ + double getExtAxisTemperature(); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴电压 + * + * @return 外部轴电压 + * \endchinese + * + * \english + * Get external axis voltage + * + * @return External axis voltage + * \endenglish + */ + double getExtAxisBusVoltage(); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴电流 + * + * @return 外部轴电流 + * \endchinese + * + * \english + * Get external axis current + * + * @return external axis current + * \endenglish + */ + double getExtAxisBusCurrent(); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴最大位置(物理极限) + * + * @return 外部轴最大位置 + * \endchinese + * + * \english + * Get external axis max position + * + * @return External axis max position + * \endenglish + */ + double getExtAxisMaxPosition(); + + /** + * @ingroup AxisInterface + * \chinese + * 设置外部轴最大位置(软件/算法限制) + * + * @param q + * @return + * \endchinese + * + * \english + * Set external axis max position + * + * @param q + * @return + * \endenglish + */ + int setExtAxisMaxPositionLimit(double q); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴最大位置(软件/算法限制) + * + * @return 外部轴最大位置 + * \endchinese + * + * \english + * Get external axis max position + * + * @return External axis max position + * \endenglish + */ + double getExtAxisMaxPositionLimit(); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴最小位置(物理极限) + * + * @return 外部轴最小位置 + * \endchinese + * + * \english + * Get external axis min position + * + * @return External axis min position + * \endenglish + */ + double getExtMinPosition(); + + /** + * @ingroup AxisInterface + * \chinese + * 设置外部轴最小位置(软件/算法限制) + * + * @param q + * @return + * \endchinese + * + * \english + * Set external axis min position + * + * @param q + * @return + * \endenglish + */ + int setExtMinPositionLimit(double q); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴最小位置(软件/算法限制) + * + * @return 外部轴最小位置 + * \endchinese + * + * \english + * Get external axis min position + * + * @return External axis min position + * \endenglish + */ + double getExtMinPositionLimit(); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴最大速度(物理极限) + * + * @return 外部轴最大速度 + * \endchinese + * + * \english + * Get external axis max speed + * + * @return External axis max speed + * \endenglish + */ + double getExtAxisMaxVelocity(); + + /** + * @ingroup AxisInterface + * \chinese + * 设置外部轴最大速度(软件/算法限制) + * + * @param v + * @return + * \endchinese + * + * \english + * Set external axis max speed + * + * @param v + * @return + * \endenglish + */ + int setExtAxisMaxVelocityLimit(double v); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴最大速度(软件/算法限制) + * + * @return 外部轴最大速度 + * \endchinese + * + * \english + * Get external axis max speed + * + * @return External axis max speed + * \endenglish + */ + double getExtAxisMaxVelocityLimit(); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴最大加速度(物理极限) + * + * @return 外部轴最大加速度 + * \endchinese + * + * \english + * Get external axis max acceleration + * + * @return External axis max acceleration + * \endenglish + */ + double getExtAxisMaxAcceleration(); + + /** + * @ingroup AxisInterface + * \chinese + * 设置外部轴最大加速度(软件/算法限制) + * + * @param acc + * @return + * \endchinese + * + * \english + * Set external axis max acceleration + * + * @param acc + * @return + * \endenglish + */ + int setExtAxisMaxAccelerationLimit(double acc); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴最大加速度(软件/算法限制) + * + * @return 外部轴最大加速度 + * \endchinese + * + * \english + * Get external axis max acceleration + * + * @return External axis max acceleration + * \endenglish + */ + double getExtAxisMaxAccelerationLimit(); + + /** + * @ingroup AxisInterface + * \chinese + * 跟踪另一个外部轴的运动(禁止运动过程中使用) + * + * @param target_name 目标的外部轴名字 + * @param phase 相位差 + * @param err 跟踪运行的最大误差 + * @return + * \endchinese + * + * \english + * Follow motion of another external axis （not to be used during motion） + * + * @param target_name name of target axis + * @param phase phase difference + * @param err max error when following motion + * @return + * \endenglish + */ + int followAnotherAxis(const std::string &target_name, double phase, + double err); + + /** + * @ingroup AxisInterface + * \~chinese @brief stopFollowAnotherAxis(禁止运动过程中使用) + * \~english @brief stopFollowAnotherAxis(not to be used during motion) + * @return + */ + int stopFollowAnotherAxis(); + + /** + * @ingroup AxisInterface + * \~chinese @brief getErrorCode(获取外部轴错误码) + * \~english @brief getErrorCode(Get raw external axis error code) + * @return + */ + int getErrorCode(); + + /** + * @ingroup AxisInterface + * \chinese + * 重置外部轴错误 + * + * @return + * \endchinese + * + * \english + * Reset axis error + * + * @return + * \endenglish + */ + int clearAxisError(); + + /** + * @ingroup AxisInterface + * \chinese + * 将当前外部轴位置设置为零位 + * + * @return + * \endchinese + * + * \english + * Set current external axis position as zero. + * + * @return + * \endenglish + */ + int setExtAxisZero(); + + /** + * @ingroup AxisInterface + * \chinese + * 设置外部轴减速比 + * + * @return + * \endchinese + * + * \english + * Set axis reduction ratio + * + * @return + * \endenglish + */ + int setReductionRatio(double ratio); + + /** + * @ingroup AxisInterface + * \chinese + * 获取外部轴减速比 + * + * @return + * \endchinese + * + * \english + * Get axis reduction ratio + * + * @return + * \endenglish + */ + double getReductionRatio(); + +protected: + void *d_; +}; +using AxisInterfacePtr = std::shared_ptr; + +} // namespace common_interface +} // namespace arcs + +#endif // AUBO_SDK_AXIS_INTERFACE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/error_stack/error_stack.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/error_stack/error_stack.h new file mode 100644 index 00000000..8a25b610 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/error_stack/error_stack.h @@ -0,0 +1,118 @@ +/** @file error_stack.h + * @brief 汇总错误码 + */ +#ifndef AUBO_SDK_ERROR_STACK_H +#define AUBO_SDK_ERROR_STACK_H + +#include +#include +#include +#include +#include +#include + +#include + +// 格式化占位符，默认是 fmt 的格式 +#ifndef _PH1_ +#define _PH1_ "{}" +#define _PH2_ "{}" +#define _PH3_ "{}" +#define _PH4_ "{}" +#endif + +namespace arcs { +namespace error_stack { + +constexpr int ARCS_ABI_EXPORT codeCompose(int aa, int bb, int cccc) +{ + return (int)((aa * 1000000) + (bb * 10000) + cccc); +} + +constexpr int ARCS_ABI_EXPORT mod(int x) +{ + return (x % 1000000); +} + +#include +#include +#include + +#define ARCS_ERROR_CODES \ + SYSTEM_ERRORS \ + JOINT_ERRORS \ + JOINT_EX_ERRORS \ + EXT_AXIS_ERRORS \ + SAFETY_INTERFACE_BOARD_ERRORS \ + RTM_ERRORS \ + TOOL_ERRORS \ + EX_TOOL_ERRORS \ + PEDSTRAL_ERRORS \ + EX_PEDSTRAL_ERRORS \ + HARDWARE_INTERFACE_ERRORS \ + _D(ARCS_MAX_ERROR_CODE, -1, "Max error code", "suggest...") + +// 错误代码枚举 +enum ErrorCodes +{ +#define _D(n, v, s, r, ...) n = (int)v, + ARCS_ERROR_CODES +#undef _D +}; + +inline int str2ErrorCode(const char *err_code_name) +{ +#define _D(n, v, s, r, ...) \ + if (strcmp(#n, err_code_name) == 0) \ + return v; + ARCS_ERROR_CODES +#undef _D + return ARCS_MAX_ERROR_CODE; +} + +inline const char *errorCode2Str(int err_code) +{ + static const char *errcode_str[] = { +#define _D(n, v, s, r, ...) s, + ARCS_ERROR_CODES +#undef _D + }; + + enum arcs_index + { +#define _D(n, v, s, r, ...) n##_INDEX, + ARCS_ERROR_CODES +#undef _D + }; + + int index = -1; + +#define _D(n, v, s, r, ...) \ + if (err_code == v) \ + index = n##_INDEX; + ARCS_ERROR_CODES +#undef _D + + if (index == -1) { + index = ARCS_MAX_ERROR_CODE_INDEX; + } + + return errcode_str[(unsigned)index]; +} + +inline std::ostream &dump(std::ostream &os) +{ +#define _D(n, v, s, r, ...) \ + os << std::setw(20) << #n << "\t" << v << "\t" << s << "\t" << r \ + << std::endl; + + ARCS_ERROR_CODES +#undef _D + + return os; +} + +} // namespace error_stack +} // namespace arcs + +#endif // AUBO_SDK_ERROR_STACK_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/error_stack/hal_error.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/error_stack/hal_error.h new file mode 100644 index 00000000..2646c8d0 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/error_stack/hal_error.h @@ -0,0 +1,350 @@ +/** @file hal_error.h + * @brief 定义硬件抽象层的错误码 + */ +#ifndef AUBO_SDK_HAL_ERROR_H +#define AUBO_SDK_HAL_ERROR_H + +// 缩写说明 +// JNT: joint +// PDL: pedstral +// TP: teach pendant +// COMM: communication +// ENC: encoder +// CURR: current +// POS: position +// PKG: package +// PROG: program + +// clang-format off +#define JOINT_ERRORS \ + _D(JOINT_ERR_OVER_CURRENET, 10001, "joint" _PH1_ " error: over current", "(a) Check for short circuit. (b) Do a Complete rebooting sequence. (c) If this happens more than two times in a row, replace joint") \ + _D(JOINT_ERR_OVER_VOLTAGE, 10002, "joint" _PH1_ " error: over voltage", "(a) Do a Complete rebooting sequence. (b) Check 48 V Power supply, current distributer, energy eater and Control Board for issues") \ + _D(JOINT_ERR_LOW_VOLTAGE, 10003, "joint" _PH1_ " error: low voltage", "(a) Do a Complete rebooting sequence. (b) Check for short circuit in robot arm. (c) Check 48 V Power supply, current distributer, energy eater and Control Board for issues") \ + _D(JOINT_ERR_OVER_TEMP, 10004, "joint" _PH1_ " error: over temperature", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_HALL, 10005, "joint" _PH1_ " error: hall", "suggest...") \ + _D(JOINT_ERR_ENCODER, 10006, "joint" _PH1_ " error: encoder", "Check encoder connections") \ + _D(JOINT_ERR_ABS_ENCODER, 10007, "joint" _PH1_ " error: abs encoder", "suggest...") \ + _D(JOINT_ERR_Q_CURRENT, 10008, "joint" _PH1_ " error: detect current", "suggest...") \ + _D(JOINT_ERR_ENC_POLL, 10009, "joint" _PH1_ " error: encoder pollustion", "suggest...") \ + _D(JOINT_ERR_ENC_Z_SIGNAL, 10010, "joint" _PH1_ " error: enocder z signal", "suggest...") \ + _D(JOINT_ERR_ENC_CAL, 10011, "joint" _PH1_ " error: encoder calibrate", "suggest...") \ + _D(JOINT_ERR_IMU_SENS, 10012, "joint" _PH1_ " error: IMU sensor", "suggest...") \ + _D(JOINT_ERR_TEMP_SENS, 10013, "joint" _PH1_ " error: TEMP sensor", "suggest...") \ + _D(JOINT_ERR_CAN_BUS, 10014, "joint" _PH1_ " error: CAN bus error", "suggest...") \ + _D(JOINT_ERR_SYS_CUR, 10015, "joint" _PH1_ " error: system current error", "suggest...") \ + _D(JOINT_ERR_SYS_POS, 10016, "joint" _PH1_ " error: system position error","suggest...") \ + _D(JOINT_ERR_OVER_SP, 10017, "joint" _PH1_ " error: over speed","suggest...") \ + _D(JOINT_ERR_OVER_ACC, 10018, "joint" _PH1_ " error: over accelerate", "suggest...") \ + _D(JOINT_ERR_TRACE, 10019, "joint" _PH1_ " error: trace accuracy", "suggest...") \ + _D(JOINT_ERR_TAG_POS_OVER, 10020, "joint" _PH1_ " error: target position out of range", "suggest...") \ + _D(JOINT_ERR_TAG_SP_OVER, 10021, "joint" _PH1_ " error: target speed out of range", "suggest...") \ + _D(JOINT_ERR_COLLISION, 10022, "joint" _PH1_ " error: collision", "suggest...") \ + _D(JOINT_ERR_COMMON, 10023, "joint" _PH1_ " error: unkown error. Check communication with joint.", "suggest...") \ + _D(JOINT_ERR_SWITCH_SERVO_MODE, 10024, "joint" _PH1_ " error: switch servo mode timeout.", "suggest...") \ + _D(JOINT_ERR_MOTOR_STUCK, 10025, "joint" _PH1_ " error: motor stucked.", "suggest...") \ + _D(JOINT_ERR_REDUCER_OVER_TEMP, 10026, "joint" _PH1_ " error: reducer over temperature", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_REDUCER_NTC, 10027, "joint" _PH1_ " error: reducer TEMP sensor failure", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_ABS_MULTITURN, 10028, "joint" _PH1_ " error: absolute encoder multiturn error", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_ADC_ZERO_OFFSET, 10029, "joint" _PH1_ " error: ADC zero offset failure", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_SHORT_CIRCUIT, 10030, "joint" _PH1_ " error: short circuit", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_PHASE_LOST, 10031, "joint" _PH1_ " error: motor phase lost", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_BRAKE, 10032, "joint" _PH1_ " error: brake failure", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_FIRMWARE_UPDATE, 10033, "joint" _PH1_ " error: firmware update failure", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_BATTERY_LOW, 10034, "joint" _PH1_ " error: battery low", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_PHASE_ALIGN, 10035, "joint" _PH1_ " error: phase align", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_CAN_HW_FAULT, 10036, "joint" _PH1_ " error: CAN bus hw fault", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_POS_DISCONTINUOUS, 10037, "joint" _PH1_ " error: target position discontinuous", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_POS_INIT, 10038, "joint" _PH1_ " error: position initiallization failure", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_TORQUE_SENSOR, 10039, "joint" _PH1_ " error: torqure sensor failure", "(a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence") \ + _D(JOINT_ERR_OFFLINE, 10040, "joint" _PH1_ " error: joint may be offline", "(a) Check joint's hardware. (b) Check joint's id.") \ + _D(JOINT_ERR_BOOTLOADER, 10041, "joint" _PH1_ " error: The joint is in bootloader mode. Retry firmware update. ", "suggest...") \ + _D(JOINT_ERR_SLAVE_OFFLINE, 10042, "slave joint" _PH1_ " error: slave joint may be offline", "(a) Check slave joint's hardware. (b) Check slave joint's id.") \ + _D(JOINT_ERR_SLAVE_BOOTLOADER, 10043, "slave joint" _PH1_ " error: The slave joint is in bootloader mode. Retry firmware update. ", "suggest...") \ + _D(JOINT_ERR_ETHERCAT_BUS, 10044, "joint" _PH1_ " error: ETHERCAT bus error", "suggest...") + +// Joint extended error codes (ex_err_code), starting from 10401 +#define JOINT_EX_ERRORS \ + _D(EX_JOINT_EC_SHORT_CIRCUIT, 10401, "joint" _PH1_ " error: short circuit protection", "suggest...", 0x2130) \ + _D(EX_JOINT_EC_SHORT_CURRENT, 10402, "joint" _PH1_ " error: over current", "suggest...", 0x2310) \ + _D(EX_JOINT_EC_PHASEA_CURRENT, 10403, "joint" _PH1_ " error: phase A over current", "suggest...", 0x2311) \ + _D(EX_JOINT_EC_PHASEB_CURRENT, 10404, "joint" _PH1_ " error: phase B over current", "suggest...", 0x2312) \ + _D(EX_JOINT_EC_PHASEC_CURRENT, 10405, "joint" _PH1_ " error: phase C over current", "suggest...", 0x2313) \ + _D(EX_JOINT_EC_PHASE_CURRENT, 10406, "joint" _PH1_ " error: phase over current", "suggest...", 0x2314) \ + _D(EX_JOINT_EC_MOTOR_PHASE_LOSE, 10407, "joint" _PH1_ " error: motor phase loss", "suggest...", 0x3331) \ + _D(EX_JOINT_EC_BUS_OVER_VOLTAGE, 10408, "joint" _PH1_ " error: bus over voltage", "suggest...", 0x3210) \ + _D(EX_JOINT_EC_BUS_LOW_VOLTAGE, 10409, "joint" _PH1_ " error: bus under voltage", "suggest...", 0x3220) \ + _D(EX_JOINT_EC_OVERLOAD, 10410, "joint" _PH1_ " error: overload", "suggest...", 0x3230) \ + _D(EX_JOINT_EC_IPM_OVER_TEMP, 10411, "joint" _PH1_ " error: IPM over temperature", "suggest...", 0x4310) \ + _D(EX_JOINT_EC_REDUCER_OVER_TEMP, 10412, "joint" _PH1_ " error: reducer over temperature", "suggest...", 0x4311) \ + _D(EX_JOINT_EC_ADC_ZERO_OFFSET, 10413, "joint" _PH1_ " error: ADC zero offset", "suggest...", 0x5101) \ + _D(EX_JOINT_EC_REDUCER_NTC, 10414, "joint" _PH1_ " error: reducer NTC fault", "suggest...", 0x5102) \ + _D(EX_JOINT_EC_IPM_NTC, 10415, "joint" _PH1_ " error: IPM NTC fault", "suggest...", 0x5103) \ + _D(EX_JOINT_EC_TORQUE_SENSOR, 10416, "joint" _PH1_ " error: torque sensor fault", "suggest...", 0x5104) \ + _D(EX_JOINT_EC_TORQUE_SENSOR_COMM, 10417, "joint" _PH1_ " error: torque sensor communication fault", "suggest...", 0x5105) \ + _D(EX_JOINT_EC_MOTOR_ABS_ENC_COMM, 10418, "joint" _PH1_ " error: motor-side absolute encoder communication fault", "suggest...", 0x5201) \ + _D(EX_JOINT_EC_REDUCER_ABS_ENC_COMM, 10419, "joint" _PH1_ " error: reducer-side absolute encoder communication fault", "suggest...", 0x5202) \ + _D(EX_JOINT_EC_REDUCER_ABS_ENC_DATA, 10420, "joint" _PH1_ " error: reducer-side absolute encoder data channel disabled warning", "suggest...", 0x5203) \ + _D(EX_JOINT_EC_REDUCER_ABS_ENC_CMD, 10421, "joint" _PH1_ " error: reducer-side absolute encoder command invalid warning", "suggest...", 0x5204) \ + _D(EX_JOINT_EC_REDUCER_ABS_ENC_ERR, 10422, "joint" _PH1_ " error: reducer-side absolute encoder fault", "suggest...", 0x5205) \ + _D(EX_JOINT_EC_REDUCER_ABS_ENC_WARNING, 10423, "joint" _PH1_ " error: reducer-side absolute encoder warning", "suggest...", 0x5206) \ + _D(EX_JOINT_EC_BRAKE, 10424, "joint" _PH1_ " error: brake fault", "suggest...", 0x5301) \ + _D(EX_JOINT_EC_COMM_HWL, 10425, "joint" _PH1_ " error: communication hardware layer error", "suggest...", 0x5302) \ + _D(EX_JOINT_EC_FIRMWARE_UPDATE, 10426, "joint" _PH1_ " error: firmware update failed", "suggest...", 0x6100) \ + _D(EX_JOINT_EC_FLASH_OP, 10427, "joint" _PH1_ " error: flash operation failed", "suggest...", 0x6101) \ + _D(EX_JOINT_EC_MU_SAVE, 10428, "joint" _PH1_ " error: multi-turn data error", "suggest...", 0x6102) \ + _D(EX_JOINT_EC_DEMADATA_LOST, 10429, "joint" _PH1_ " error: calibration zero point data lost", "suggest...", 0x6103) \ + _D(EX_JOINT_EC_PARAMETER, 10430, "joint" _PH1_ " error: parameter error", "suggest...", 0x6200) \ + _D(EX_JOINT_EC_UVW_LOGIC, 10431, "joint" _PH1_ " error: hall signal fault", "suggest...", 0x7001) \ + _D(EX_JOINT_EC_UVW_ABZ, 10432, "joint" _PH1_ " error: incremental encoder fault", "suggest...", 0x7002) \ + _D(EX_JOINT_EC_ENC_Z_LOST, 10433, "joint" _PH1_ " error: encoder Z signal lost", "suggest...", 0x7305) \ + _D(EX_JOINT_EC_ENC_POLLUTE, 10434, "joint" _PH1_ " error: encoder pollution", "suggest...", 0x7004) \ + _D(EX_JOINT_EC_ENC_CALI, 10435, "joint" _PH1_ " error: encoder calibration failed", "suggest...", 0x7005) \ + _D(EX_JOINT_EC_MT_ABS_DATA, 10436, "joint" _PH1_ " error: multi-turn absolute data error", "suggest...", 0x7006) \ + _D(EX_JOINT_EC_ENC_TYPE_INFO, 10437, "joint" _PH1_ " error: encoder type identified and saved", "suggest...", 0x7007) \ + _D(EX_JOINT_EC_ENC_TYPE_ERROR, 10438, "joint" _PH1_ " error: encoder type error", "suggest...", 0x7008) \ + _D(EX_JOINT_EC_ENC_VERIFY, 10439, "joint" _PH1_ " error: encoder verification failed", "suggest...", 0x7009) \ + _D(EX_JOINT_EC_DUAL_ENC_ERROR, 10440, "joint" _PH1_ " error: dual encoder deviation too large", "suggest...", 0x700A) \ + _D(EX_JOINT_EC_DUAL_ENC_EANGLE, 10441, "joint" _PH1_ " error: dual encoder electrical angle deviation too large", "suggest...", 0x700B) \ + _D(EX_JOINT_EC_OBJECT_DICT_ERROR, 10442, "joint" _PH1_ " error: object dictionary data error", "suggest...", 0x700C) \ + _D(EX_JOINT_EC_MOTOR_STALL, 10443, "joint" _PH1_ " error: motor stall protection", "suggest...", 0x7121) \ + _D(EX_JOINT_EC_ABS_ENC_LOW_VOLT, 10444, "joint" _PH1_ " error: absolute encoder low voltage", "suggest...", 0x7385) \ + _D(EX_JOINT_EC_MT_BATTERY_LOW, 10445, "joint" _PH1_ " error: multi-turn battery low voltage", "suggest...", 0x7386) \ + _D(EX_JOINT_EC_POS_CMD, 10446, "joint" _PH1_ " error: position command discontinuous", "suggest...", 0x8001) \ + _D(EX_JOINT_EC_POS_OVER_LIMIT, 10447, "joint" _PH1_ " error: position over limit", "suggest...", 0x8002) \ + _D(EX_JOINT_EC_COMM_PROTO, 10448, "joint" _PH1_ " error: communication protocol layer error", "suggest...", 0x8003) \ + _D(EX_JOINT_EC_GRAVITY_PARA_WARNING, 10449, "joint" _PH1_ " error: gravity compensation parameter invalid", "suggest...", 0x8004) \ + _D(EX_JOINT_EC_GRAVITY_COMPENSATE_ERROR, 10450, "joint" _PH1_ " error: gravity compensation value sudden change", "suggest...", 0x8005) \ + _D(EX_JOINT_EC_LOW_RIGIDITY, 10451, "joint" _PH1_ " error: collision soft float abnormal", "suggest...", 0x8006) \ + _D(EX_JOINT_EC_POS_CMD_WARNING, 10452, "joint" _PH1_ " error: position command unchanged during motion", "suggest...", 0x8007) \ + _D(EX_JOINT_EC_SLAVE_COMM, 10453, "joint" _PH1_ " error: master-slave MCU communication fault", "suggest...", 0x8008) \ + _D(EX_JOINT_EC_POS_ERR, 10454, "joint" _PH1_ " error: position following error too large", "suggest...", 0x8009) \ + _D(EX_JOINT_EC_DUAL_POS_ERR, 10455, "joint" _PH1_ " error: dual servo position sync error too large", "suggest...", 0x800A) \ + _D(EX_JOINT_EC_DUAL_COMM_ERR, 10456, "joint" _PH1_ " error: dual servo communication", "suggest...", 0x800B) \ + _D(EX_JOINT_EC_CAN_BUSOFF, 10457, "joint" _PH1_ " error: CAN bus-off warning", "suggest...", 0x800C) \ + _D(EX_JOINT_EC_SYNC_SNAKE, 10458, "joint" _PH1_ " error: sync frame jitter warning", "suggest...", 0x800D) \ + _D(EX_JOINT_EC_SYNC_DISCON, 10459, "joint" _PH1_ " error: sync frame discontinuous warning", "suggest...", 0x800E) \ + _D(EX_JOINT_EC_RPDO_LOST, 10460, "joint" _PH1_ " error: RPDO lost warning", "suggest...", 0x800F) \ + _D(EX_JOINT_EC_RPDO_MANY, 10461, "joint" _PH1_ " error: multiple RPDO in one sync cycle warning", "suggest...", 0x8010) \ + _D(EX_JOINT_EC_GRAVITY_LOST, 10462, "joint" _PH1_ " error: gravity compensation value lost", "suggest...", 0x8011) \ + _D(EX_JOINT_EC_MAININT_TIME_WARN, 10463, "joint" _PH1_ " error: servo main interrupt runtime warning", "suggest...", 0x8012) \ + _D(EX_JOINT_EC_MAININT_TIME_ERROR, 10464, "joint" _PH1_ " error: servo main interrupt runtime error", "suggest...", 0x8013) \ + _D(EX_JOINT_EC_SPDINT_TIME_WARN, 10465, "joint" _PH1_ " error: servo speed loop interrupt runtime warning", "suggest...", 0x8014) \ + _D(EX_JOINT_EC_SPDINT_TIME_ERROR, 10466, "joint" _PH1_ " error: servo speed loop interrupt runtime error", "suggest...", 0x8015) \ + _D(EX_JOINT_EC_POS_CMD_JUMP_WARNING, 10467, "joint" _PH1_ " error: position command sudden jump during motion", "suggest...", 0x8016) \ + _D(EX_JOINT_EC_SYNC_TIMCOARSE, 10468, "joint" _PH1_ " error: clock sync compensation status", "suggest...", 0x8017) \ + _D(EX_JOINT_EC_ENC_Z_CNTS_ERR, 10469, "joint" _PH1_ " error: incremental encoder Z signal or CNTS abnormal", "suggest...", 0x8018) \ + _D(EX_JOINT_EC_SLAVE_OVER_CURRENT, 10470, "joint" _PH1_ " error: slave MCU detected motor phase current over safe threshold", "suggest...", 0x8019) \ + _D(EX_JOINT_EC_SLAVE_OVER_VOLTAGE, 10471, "joint" _PH1_ " error: slave MCU detected DC bus voltage over upper threshold", "suggest...", 0x801A) \ + _D(EX_JOINT_EC_SLAVE_UNDER_VOLTAGE, 10472, "joint" _PH1_ " error: slave MCU detected DC bus voltage below lower threshold", "suggest...", 0x801B) \ + _D(EX_JOINT_EC_SLAVE_POS_ERR, 10473, "joint" _PH1_ " error: slave MCU detected master-slave motor position deviation out of range", "suggest...", 0x801C) \ + _D(EX_JOINT_EC_SLAVE_SPEED_ERR, 10474, "joint" _PH1_ " error: slave MCU detected master-slave motor speed deviation out of range", "suggest...", 0x801D) \ + _D(EX_JOINT_EC_SLAVE_TRACE_ERR, 10475, "joint" _PH1_ " error: slave MCU detected position following error out of control range", "suggest...", 0x801E) \ + _D(EX_JOINT_EC_SLAVE_ABS_ERR, 10476, "joint" _PH1_ " error: slave MCU detected absolute encoder feedback abnormal", "suggest...", 0x801F) \ + _D(EX_JOINT_EC_SLAVE_ADC_ZERO_OFFSET, 10477, "joint" _PH1_ " error: slave MCU detected current sampling zero offset out of calibration range", "suggest...", 0x8020) \ + _D(EX_JOINT_EC_SLAVE_ENC_POLLUTE, 10478, "joint" _PH1_ " error: slave MCU detected encoder signal quality degradation", "suggest...", 0x8021) \ + _D(EX_JOINT_EC_SLAVE_ENC_Z_LOST, 10479, "joint" _PH1_ " error: slave MCU detected encoder Z reference signal lost", "suggest...", 0x8022) \ + _D(EX_JOINT_EC_SLAVE_COMM_OVER_TM, 10480, "joint" _PH1_ " error: slave MCU detected master-slave communication timeout", "suggest...", 0x8023) \ + _D(EX_JOINT_EC_SLAVE_TRQ_ERR, 10481, "joint" _PH1_ " error: slave MCU detected master-slave motor torque deviation out of range", "suggest...", 0x8024) \ + _D(EX_JOINT_EC_BRAKE_TYPE_ERR, 10482, "joint" _PH1_ " error: brake type config mismatch with hardware", "suggest...", 0x8025) \ + _D(EX_JOINT_EC_PHASE_ALIGN, 10483, "joint" _PH1_ " error: phase alignment failed", "suggest...", 0xFF02) \ + _D(EX_JOINT_EC_POS_OVER_LIMIT_WARNING, 10484, "joint" _PH1_ " error: position over limit", "suggest...", 0x8026) \ + _D(EX_JOINT_EC_PHASE_ALIGN_WARNING, 10485, "joint" _PH1_ " error: phase alignment warning", "suggest...", 0xFF03) \ + _D(EX_JOINT_EC_TASK_STACK_SHORTAGE, 10486, "joint" _PH1_ " error: task stack insufficient", "suggest...", 0xFF04) \ + _D(EX_JOINT_EC_TASK_STACK_OVERFLOW, 10487, "joint" _PH1_ " error: task stack overflow", "suggest...", 0xFF05) \ + _D(EX_JOINT_EC_SERVO_STEP, 10488, "joint" _PH1_ " servo process step", "For information only. No action required.", 0x6105) \ + _D(EX_JOINT_EC_UNKNOWN, 10800, "joint" _PH1_ " error: unknown error", "suggest...", 0xFFFF) + +#define EXT_AXIS_ERRORS \ + _D(EXT_AXIS_ERR_COMMON, 11001, "ext axis" _PH1_ " error: common", "Check communication with ext axis drive.") \ + _D(EXT_AXIS_ERR_OVER_CURRENT, 11002, "ext axis" _PH1_ " error: over current", "Check wiring/short circuit; reboot; if repeated replace drive/motor.") \ + _D(EXT_AXIS_ERR_OVER_VOLTAGE, 11003, "ext axis" _PH1_ " error: over voltage", "Check DC supply, regen, energy eater; reboot.") \ + _D(EXT_AXIS_ERR_LOW_VOLTAGE, 11004, "ext axis" _PH1_ " error: low voltage", "Check DC supply and cabling; reboot.") \ + _D(EXT_AXIS_ERR_OVER_TEMP, 11005, "ext axis" _PH1_ " error: over temperature", "Check environment/cooling; reboot.") \ + _D(EXT_AXIS_ERR_HALL, 11006, "ext axis" _PH1_ " error: hall fault", "Check hall sensor and motor cabling.") \ + _D(EXT_AXIS_ERR_ENCODER, 11007, "ext axis" _PH1_ " error: encoder fault", "Check encoder connection/cable/noise.") \ + _D(EXT_AXIS_ERR_ABS_ENCODER, 11008, "ext axis" _PH1_ " error: absolute encoder fault", "Check abs encoder power/cable; reboot.") \ + _D(EXT_AXIS_ERR_CUR_CALIB, 11009, "ext axis" _PH1_ " error: current calibration fault", "Reboot; check current sensing circuit.") \ + _D(EXT_AXIS_ERR_Q_CURRENT, 11010, "ext axis" _PH1_ " error: current detect fault", "Reboot; check current sensing circuit.") \ + _D(EXT_AXIS_ERR_ENC_POLL, 11011, "ext axis" _PH1_ " error: encoder pollution", "Check encoder contamination/noise; improve shielding.") \ + _D(EXT_AXIS_ERR_ENC_Z_SIGNAL, 11012, "ext axis" _PH1_ " error: encoder Z signal fault", "Check encoder Z channel and wiring.") \ + _D(EXT_AXIS_ERR_ENC_CAL, 11013, "ext axis" _PH1_ " error: encoder calibrate invalid", "Redo calibration; check encoder.") \ + _D(EXT_AXIS_ERR_IMU, 11014, "ext axis" _PH1_ " error: IMU fault", "Check IMU sensor and connection.") \ + _D(EXT_AXIS_ERR_TEMP_SENSOR, 11015, "ext axis" _PH1_ " error: temperature sensor fault", "Check temp sensor wiring; reboot.") \ + _D(EXT_AXIS_ERR_ECAT_BUS, 11016, "ext axis" _PH1_ " error: EtherCAT bus error", "Check EtherCAT cabling/topology/sync; reboot master/drive.") \ + _D(EXT_AXIS_ERR_ECAT_CONFIG, 11017, "ext axis" _PH1_ " error: EtherCAT config/ESI/SM/PDO fault", "Check ESI, Mailbox/SM/PDO mapping, vendor/product/revision match.") \ + _D(EXT_AXIS_ERR_ECAT_SYNC, 11018, "ext axis" _PH1_ " error: EtherCAT sync/frame/period fault", "Check DC sync, cycle time, frame loss; verify NIC/IRQ affinity.") \ + _D(EXT_AXIS_ERR_SYS_CUR, 11019, "ext axis" _PH1_ " error: system current fault", "Check current loop and load; reboot.") \ + _D(EXT_AXIS_ERR_SYS_POS, 11020, "ext axis" _PH1_ " error: position out of range", "Check encoder/scale/limits; reboot.") \ + _D(EXT_AXIS_ERR_OVER_SPEED, 11021, "ext axis" _PH1_ " error: over speed", "Check command limits and tuning parameters.") \ + _D(EXT_AXIS_ERR_OVER_ACC, 11022, "ext axis" _PH1_ " error: over acceleration", "Reduce acceleration/jerk; check tuning.") \ + _D(EXT_AXIS_ERR_FOLLOW_ERROR, 11023, "ext axis" _PH1_ " error: following error", "Check gains, load, saturation; verify feedback.") \ + _D(EXT_AXIS_ERR_TAG_POS_OVER, 11024, "ext axis" _PH1_ " error: target position out of range", "Check target limits and homing.") \ + _D(EXT_AXIS_ERR_TAG_SPEED_OVER, 11025, "ext axis" _PH1_ " error: target speed out of range", "Clamp speed; check profile settings.") \ + _D(EXT_AXIS_ERR_TAG_CURRENT_OVER, 11026, "ext axis" _PH1_ " error: target current out of range", "Clamp current/torque; check load.") \ + _D(EXT_AXIS_ERR_COLLISION, 11027, "ext axis" _PH1_ " error: collision", "Remove obstruction; check torque/force limits.") \ + _D(EXT_AXIS_ERR_ADC_ZERO_OFFSET, 11028, "ext axis" _PH1_ " error: ADC zero offset", "Reboot; check ADC/current sensor offset.") \ + _D(EXT_AXIS_ERR_IPM_NTC, 11029, "ext axis" _PH1_ " error: IPM NTC fault", "Check power module temperature sensing.") \ + _D(EXT_AXIS_ERR_SHORT_CIRCUIT, 11030, "ext axis" _PH1_ " error: short circuit", "Check motor phase wiring; insulation test.") \ + _D(EXT_AXIS_ERR_MOTOR_STALL, 11031, "ext axis" _PH1_ " error: motor stall", "Check mechanical jam/load; reduce accel; reboot.") \ + _D(EXT_AXIS_ERR_ABS_MULTITURN, 11032, "ext axis" _PH1_ " error: abs encoder multiturn fault", "Check abs encoder battery/params; reboot.") \ + _D(EXT_AXIS_ERR_PHASE_LOST, 11033, "ext axis" _PH1_ " error: motor phase lost", "Check phase wiring/connector; measure continuity.") \ + _D(EXT_AXIS_ERR_BRAKE, 11034, "ext axis" _PH1_ " error: brake fault", "Check brake wiring/power; verify brake release.") \ + _D(EXT_AXIS_ERR_REDUCER_OVER_TEMP, 11035, "ext axis" _PH1_ " error: reducer over temperature", "Check reducer temperature/cooling.") \ + _D(EXT_AXIS_ERR_REDUCER_NTC, 11036, "ext axis" _PH1_ " error: reducer NTC fault", "Check reducer temperature sensor.") \ + _D(EXT_AXIS_ERR_FIRMWARE_UPDATE, 11037, "ext axis" _PH1_ " error: firmware update fault", "Retry update; check power stability.") \ + _D(EXT_AXIS_ERR_FLASH_OP, 11038, "ext axis" _PH1_ " error: flash operation fault", "Retry; if persistent replace drive.") \ + _D(EXT_AXIS_ERR_EXT_ABS_ENC, 11039, "ext axis" _PH1_ " error: motor-side abs encoder comm fault", "Check external abs encoder link/power.") \ + _D(EXT_AXIS_ERR_DRIVE_FAULT, 11040, "ext axis" _PH1_ " error: drive fault", "Check drive alarm code; reboot; replace if repeated.") \ + _D(EXT_AXIS_ERR_OVERLOAD, 11041, "ext axis" _PH1_ " error: overload", "Reduce load; check mechanics and tuning.") \ + _D(EXT_AXIS_ERR_HARDWARE_LIMIT, 11042, "ext axis" _PH1_ " error: hardware limit triggered", "Move away from limit; check limit switch.") \ + _D(EXT_AXIS_ERR_SERVO_MODE_TIMEOUT, 11043, "ext axis" _PH1_ " error: switch servo mode timeout", "Check mode transition and comm; reboot.") \ + _D(EXT_AXIS_ERR_UVW_ABZ, 11044, "ext axis" _PH1_ " error: UVW/ABZ fault", "Check phase/encoder signals wiring.") \ + _D(EXT_AXIS_ERR_BATTERY_LOW, 11045, "ext axis" _PH1_ " error: battery low", "Replace encoder battery; reboot.") \ + _D(EXT_AXIS_ERR_PHASE_ALIGN, 11046, "ext axis" _PH1_ " error: phase align fail", "Redo phase alignment; check motor params.") \ + _D(EXT_AXIS_ERR_POS_DISCONTINUOUS, 11047, "ext axis" _PH1_ " error: position command discontinuous", "Check trajectory generation and limits.") \ + _D(EXT_AXIS_ERR_POS_INIT, 11048, "ext axis" _PH1_ " error: position initialization failure", "Check encoder init/homing procedure.") \ + _D(EXT_AXIS_ERR_TORQUE_SENSOR, 11049, "ext axis" _PH1_ " error: torque sensor fault", "Check torque sensor wiring/calibration.") \ + _D(EXT_AXIS_ERR_ABS_ENC_LOW_VOLT, 11050, "ext axis" _PH1_ " error: abs encoder low voltage", "Check encoder supply voltage and cable.") \ + _D(EXT_AXIS_ERR_OFFLINE, 11051, "ext axis" _PH1_ " error: ext axis offline", "Check hardware and axis id; check EtherCAT state.") \ + _D(EXT_AXIS_ERR_BOOTLOADER, 11052, "ext axis" _PH1_ " error: ext axis in bootloader", "Retry firmware update.") \ + _D(EXT_AXIS_ERR_SLAVE_OFFLINE, 11053, "ext axis slave" _PH1_ " error: slave offline", "Check slave hardware and id.") \ + _D(EXT_AXIS_ERR_SLAVE_BOOTLOADER, 11054, "ext axis slave" _PH1_ " error: slave in bootloader", "Retry firmware update.") \ + _D(EXT_AXIS_ERR_EEPROM, 11055, "ext axis" _PH1_ " error: EEPROM/param store fault", "Check EEPROM/parameter storage; power cycle.") \ + _D(EXT_AXIS_ERR_PARAM_CONFIG, 11056, "ext axis" _PH1_ " error: parameter/config fault", "Verify parameter set; restore defaults if needed.") \ + _D(EXT_AXIS_ERR_STO, 11057, "ext axis" _PH1_ " error: STO safety fault", "Check STO wiring/safety chain; reset safety.") \ + _D(EXT_AXIS_ERR_ENCRYPT_CHIP, 11058, "ext axis" _PH1_ " error: encrypt chip/key fault", "Check encryption chip/keys/firmware compatibility.") \ + _D(EXT_AXIS_ERR_BRAKE_RES_OVERLOAD, 11059, "ext axis" _PH1_ " error: brake resistor overload", "Check brake resistor/regen circuit; duty cycle.") \ + _D(EXT_AXIS_ERR_POWER_LINE_OPEN, 11060, "ext axis" _PH1_ " error: motor power line open", "Check motor power cable continuity/connector.") \ + _D(EXT_AXIS_ERR_HOMING, 11061, "ext axis" _PH1_ " error: homing fault", "Check homing sensor/origin procedure; retry.") \ + _D(EXT_AXIS_ERR_TUNING_FAIL, 11062, "ext axis" _PH1_ " error: tuning fail", "Redo tuning; reduce resonance; check mechanics.") \ + _D(EXT_AXIS_ERR_INERTIA_ID_FAIL, 11063, "ext axis" _PH1_ " error: inertia identification fail", "Check load; redo inertia ID; adjust conditions.") \ + _D(EXT_AXIS_ERR_FLYAWAY, 11064, "ext axis" _PH1_ " error: flyaway", "Emergency stop; check feedback polarity/scale; inspect drive params.") \ + _D(EXT_AXIS_ERR_SPEED_PULSE_OVER, 11065, "ext axis" _PH1_ " error: feedback pulse overspeed", "Check encoder feedback and scaling; reduce speed.") \ + _D(EXT_AXIS_ERR_CTRL_LOOP, 11066, "ext axis" _PH1_ " error: control loop/timeout fault", "Check sampling/current loop/comm timeout; reboot.") + +#define TOOL_ERRORS \ + _D(TOOL_FLASH_VERIFY_FAILED, 40001, "Flash write verify failed", "suggest...") \ + _D(TOOL_PROGRAM_CRC_FAILED, 40002, "Program flash checksum failed during bootloading", "suggest...") \ + _D(TOOL_PROGRAM_CRC_FAILED2, 40003, "Program flash checksum failed at runtime", "suggest...") \ + _D(TOOL_ID_UNDIFINED, 40004, "Tool ID is undefined", "suggest...") \ + _D(TOOL_ILLEGAL_BL_CMD, 40005, "Illegal bootloader command", "suggest...") \ + _D(TOOL_FW_WRONG, 40006, "Wrong firmware at the joint", "suggest...") \ + _D(TOOL_HW_INVALID, 40007, "Invalid hardware revision", "suggest...") \ + _D(TOOL_SHORT_CURCUIT_H, 40011, "Short circuit detected on Digital Output: " _PH1_ " high side", "suggest...") \ + _D(TOOL_SHORT_CURCUIT_L, 40012, "Short circuit detected on Digital Output: " _PH1_ " low side", "suggest...") \ + _D(TOOL_AVERAGE_CURR_HIGH, 40013, "10 second Average tool IO Current of " _PH1_ " A is outside of the allowed range.", "suggest...") \ + _D(TOOL_POWER_PIN_OVER_CURR, 40014, "Current of " _PH1_ " A on the POWER pin is outside of the allowed range.", "suggest...") \ + _D(TOOL_DOUT_PIN_OVER_CURR, 40015, "Current of " _PH1_ " A on the Digital Output pins is outside of the allowed range.", "suggest...") \ + _D(TOOL_GROUND_PIN_OVER_CURR, 40016, "Current of " _PH1_ " A on the ground pin is outside of the allowed range.", "suggest...") \ + _D(TOOL_RX_FRAMING, 40021, "RX framing error", "suggest...") \ + _D(TOOL_RX_PARITY, 40022, "RX Parity error", "suggest...") \ + _D(TOOL_48V_LOW, 40031, "48V input is too low", "suggest...") \ + _D(TOOL_48V_HIGH, 40032, "48V input is too high", "suggest...") \ + _D(TOOL_ERR_OFFLINE, 40033, "tool error: tool may be offline", "(a) Check tool's hardware. (b) Check joint's id.") \ + _D(TOOL_ERR_BOOTLOADER, 40034, "tool error: The tool is in bootloader mode. Retry firmware update. ", "suggest...") + +#define EX_TOOL_ERRORS \ + _D(EX_TOOL_EC_LOW_VOLTAGE, 40101, "tool error: low voltage", "check tool power supply voltage") \ + _D(EX_TOOL_EC_FORCESENSOR_COMM, 40102, "tool error: external force sensor communication error", "check external force sensor communication connection") \ + _D(EX_TOOL_485_SENDFULL_COMM, 40103, "tool error: 485 transparent transmission buffer full", "check 485 communication load and transmission frequency") \ + _D(EX_TOOL_FORCESENSOR_FILTER_ZERO, 40104, "tool error: force sensor filter parameter is zero", "check force sensor filter parameter configuration") \ + _D(EX_TOOL_EC_UNKNOWN, 40200, "tool error: unknown error", "check controller logs and hardware status") + +#define PEDSTRAL_ERRORS \ + _D(PKG_LOST, 50001, "Lost package from pedestal", "suggest...") \ + _D(PEDSTRAL_OFFLINE, 50002, "pedestal error: pedestal may be offline", "(a) Check pedestal's hardware. (b) Check pedestal's id.") \ + _D(PEDESTAL_ERR_BOOTLOADER, 50003, "pedestal error: The pedestal is in bootloader mode. Retry firmware update. ", "suggest...") + +#define EX_PEDSTRAL_ERRORS \ + _D(EX_BASE_EC_LOW_VOLTAGE, 50101, "pedstral error: low voltage", "check power supply voltage and battery status") \ + _D(EX_BASE_EC_OVER_TEMPERATURE_RES, 50102, "pedstral error: resistor over temperature", "check braking resistor temperature and cooling condition") \ + _D(EX_BASE_EC_OVER_TARGET_BRAKE_OPEN_VOLT, 50103, "pedstral error: input voltage close to or exceeds regenerative brake activation voltage", "check input power voltage and regenerative braking configuration") \ + _D(EX_BASE_EC_RES_BREAKAGE, 50104, "pedstral error: brake resistor breakage", "check whether the brake resistor is disconnected or damaged") \ + _D(EX_BASE_EC_IMU_CALIBRATE, 50105, "pedstral error: IMU calibration required", "perform IMU calibration according to maintenance procedure") \ + _D(EX_BASE_EC_TEMP_SENSOR_SHORT, 50106, "pedstral error: temperature sensor short circuit", "check temperature sensor wiring and solder joints for short circuit") \ + _D(EX_BASE_EC_TEMP_SENSOR_BREAK, 50107, "pedstral error: temperature sensor open circuit", "check temperature sensor connection and cable continuity") \ + _D(EX_BASE_EC_96V_INSTANT_OVER_VOLTAGE, 50108, "pedstral error: 96V instantaneous over voltage after regenerative braking", "check regenerative braking behavior and power bus voltage") \ + _D(EX_BASE_EC_UNKNOWN, 50200, "pedstral error: unknown error", "check controller logs and hardware status") + +#define SAFETY_INTERFACE_BOARD_ERRORS \ + _D(IFB_ERR_ROBOTTYPE, 20001, "Robot error type!", "suggest...") \ + _D(IFB_ERR_ADXL_SENS, 20002, "Base Acceleration sensor error!", "suggest...") \ + _D(IFB_ERR_EN_LINE, 20003, "Encoder line error!", "suggest...") \ + _D(IFB_ERR_ENTER_HDG_MODE, 20004, "Robot enter handguide mode!", "suggest...") \ + _D(IFB_ERR_EXIT_HDG_MODE, 20005, "Robot exit handguide mode!", "suggest...") \ + _D(IFB_ERR_MAC_DATA_BREAK, 20006, "MAC data break!", "suggest...") \ + _D(IFB_ERR_DRV_FIRMWARE_VERSION, 20007, "Motor driver firmware version error!", "suggest...") \ + _D(INIT_ERR_EN_DRV, 20008, "Motor driver enable failed!", "suggest...") \ + _D(INIT_ERR_EN_AUTO_BACK, 20009, "Motor driver enable auto back failed!", "suggest...") \ + _D(INIT_ERR_EN_CUR_LOOP, 20010, "Motor driver enable current loop failed!", "suggest...") \ + _D(INIT_ERR_SET_TAG_CUR, 20011, "Motor driver set target current failed!", "suggest...") \ + _D(INIT_ERR_RELEASE_BRAKE, 20012, "Motor driver release brake failed!", "suggest...") \ + _D(INIT_ERR_EN_POS_LOOP, 20013, "Motor driver enable postion loop failed!", "suggest...") \ + _D(INIT_ERR_SET_MAX_ACC, 20014, "Motor set max accelerate failed!", "suggest...") \ + _D(SAFETY_ERR_PROTECTION_STOP_TIMEOUT, 20015, "Protective stop timeout!", "suggest...") \ + _D(SAFETY_ERR_REDUCED_MODE_TIMEOUT, 20016, "Reduced mode timeout!", "suggest...") \ + _D(SYS_ERR_MCU_COM, 20017, "Robot system error: mcu communication error!", "suggest...") \ + _D(SYS_ERR_RS485_COM, 20018, "Robot system error: RS485 communication error!", "suggest...") \ + _D(IFB_ERR_DISCONNECTED, 20019, "Interface board may be disconnected. Please check connection between IPC and Interface board.", "suggest...")\ + _D(IFB_ERR_PAYLOAD_ERROR, 20020, "Payload error.", "suggest...") \ + _D(IFB_OFFLINE, 20021, "ifaceboard error: ifaceboard may be offline", "(a) Check ifaceboard's hardware. (b) Check ifaceboard's id.") \ + _D(IFB_ERR_BOOTLOADER, 20022, "ifaceboard error: The ifaceboard is in bootloader mode. Retry firmware update. ", "suggest...") \ + _D(IFB_SLAVE_OFFLINE, 20023, "interface slave board error: interface slave board may be offline", "(a) Check interface slave board's hardware. (b) Check interface slave board's id.") \ + _D(IFB_SLAVE_ERR_BOOTLOADER, 20024, "interface slave board error: The interface slave board is in bootloader mode. Retry firmware update. ", "suggest...") \ + _D(IFB_TOOL_ERR_ADXL_SENS, 20025, "Tool Acceleration sensor error!", "suggest...") \ + _D(HANDLE_OFFLINE, 20026, "handle error: handle may be offline", "(a) Check handle's hardware. (b) Check handle's id.") \ + _D(HANDLE_ERR_BOOTLOADER, 20027, "handle error: The handle is in bootloader mode. Retry firmware update. ", "suggest...") \ + _D(IFB_POWERLOSS_OFFLINE, 20028, "interface powerloss board error: interface powerloss board may be offline", "(a) Check interface powerloss board's hardware. (b) Check interface powerloss board's id.") \ + _D(IFB_POWERLOSS_ERR_BOOTLOADER, 20029, "interface powerloss board error: The interface powerloss board is in bootloader mode. Retry firmware update. ", "suggest...") \ + _D(HANDLE_COMM_ERROR, 20030, "handle error: handle comm error", "(a) Check handle's hardware. (b) Check handle's id.") + +#define HARDWARE_INTERFACE_ERRORS \ + _D(HW_SCB_SETUP_FAILED, 60001, "Setup of Interface Board failed", "suggest...") \ + _D(HW_PKG_CNT_DISAGEE, 60002, "Packet counter disagreements", "suggest...") \ + _D(HW_SCB_DISCONNECT, 60003, "Connection to Interface Board lost", "suggest...") \ + _D(HW_SCB_PKG_LOST, 60004, "Package lost from Interface Board", "suggest...") \ + _D(HW_SCB_CONN_INIT_FAILED, 60005, "Ethernet connection initialization with Interface Board failed", "suggest...") \ + _D(HW_LOST_JOINT_PKG, 60006, "Lost package from joint " _PH1_ "", "suggest...") \ + _D(HW_LOST_TOOL_PKG, 60007, "Lost package from tool", "suggest...") \ + _D(HW_JOINT_PKG_CNT_DISAGREE, 60008, "Packet counter disagreement in packet from joint " _PH1_ "", "suggest...") \ + _D(HW_TOOL_PKG_CNT_DISAGREE, 60009, "Packet counter disagreement in packet from tool", "suggest...") \ + _D(HW_JOINTS_FAULT, 60011, "" _PH1_ " joint entered the Fault State", "suggest...") \ + _D(HW_JOINTS_VIOLATION, 60012, "" _PH1_ " joint entered the Violation State", "suggest...") \ + _D(HW_TP_FAULT, 60013, "Teach Pendant entered the Fault State", "suggest...") \ + _D(HW_TP_VIOLATION, 60014, "Teach Pendant entered the Violation State", "suggest...") \ + _D(HW_JOINT_MV_TOO_FAR, 60021, "" _PH1_ " joint moved too far before robot entered RUNNING State", "suggest...") \ + _D(HW_JOINT_STOP_NOT_FAST, 60022, "Joint Not stopping fast enough", "suggest...") \ + _D(HW_JOINT_MV_LIMIT, 60023, "Joint moved more than allowable limit", "suggest...") \ + _D(HW_FT_SENSOR_DATA_INVALID, 60024, "Force-Torque Sensor data invalid", "suggest...") \ + _D(HW_NO_FT_SENSOR, 60025, "Force-Torque sensor is expected, but it cannot be detected", "suggest...") \ + _D(HW_FT_SENSOR_NOT_CALIB, 60026, "Force-Torque sensor is detected but not calibrated", "suggest...") \ + _D(HW_RELEASE_BRAKE_FAILED, 60030, "Robot was not able to brake release, see log for details", "suggest...") \ + _D(HW_OVERCURR_SHUTDOWN, 60040, "Overcurrent shutdown", "suggest...") \ + _D(HW_ENERGEY_SURPLUS, 60050, "Energy surplus shutdown", "suggest...") \ + _D(HW_IDLE_POWER_HIGH, 60060, "Idle power consumption to high", "suggest...") \ + _D(HW_ENTER_COLLISION_TIMEOUT, 60071, "Enter collision stop procedure timeout", "suggest...") \ + _D(HW_POWERON_TIMEOUT, 60072, "Poweron robot timeout", "suggest...") \ + _D(HW_NO_NIC_FOUND, 60073, "No network cards found.", "suggest...") \ + _D(HW_IFB_NOT_FOUND, 60074, "No Interface Board found.", "suggest...") \ + _D(HW_IFB_BOOTLOAD, 60075, "The Interface Board is in bootloader mode. Update firmware firstly.", "suggest...") \ + _D(HW_TOOL_NOT_FOUND, 60076, "No Tool Board found.", "suggest...") \ + _D(HW_BASE_NOT_FOUND, 60077, "No Base Board found.", "suggest...") \ + _D(HW_BRINGUP_TIMEOUT, 60078, "Poweron robot timeout", "suggest...") \ + _D(HW_COLLISION_RECOVERY_FAILED, 60079, "Collision recovery failed", "suggest...") \ + _D(HW_TP_ENABLED, 60080, "Teach pendant enabled status changed to " _PH1_, "suggest...") + +// clang-format on + +// 定义硬件抽象层的错误代码 +#define HAL_ERRORS \ + JOINT_ERRORS \ + JOINT_EX_ERRORS \ + EXT_AXIS_ERRORS \ + SAFETY_INTERFACE_BOARD_ERRORS \ + TOOL_ERRORS \ + EX_TOOL_ERRORS \ + PEDSTRAL_ERRORS \ + EX_PEDSTRAL_ERRORS \ + HARDWARE_INTERFACE_ERRORS + +#endif // AUBO_SDK_JOINT_ERROR_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/error_stack/rtm_error.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/error_stack/rtm_error.h new file mode 100644 index 00000000..9471a1a1 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/error_stack/rtm_error.h @@ -0,0 +1,187 @@ +/** @file rtm_error.h + * @brief 运行时错误码 + */ +#ifndef AUBO_SDK_RTM_ERROR_H +#define AUBO_SDK_RTM_ERROR_H + +// clang-format off + +#define RTM_ERRORS \ + _D(ROBOT_BE_PULLING, 30001, "Something is pulling the robot.","Please check TCP configuration,payload and mounting settings") \ + _D(PSTOP_ELBOW_POS, 30002, "Protective Stop: Elbow position close to safety plane limits.","Please move robot Elbow joint away from the safety plane") \ + _D(PSTOP_STOP_TIME, 30003, "Protective Stop: Exceeding user safety settings for stopping time.","(a) Check speeds and accelerations in the program (b) Check usage of TCP,payload and CoG correctly (c) Check external equipmentactivation if correctly set") \ + _D(PSTOP_STOP_DISTANCE, 30004, "Protective Stop: Exceeding user safety settings for stopping distance.","(a) Check speeds and accelerations in the program (b) Check usage of TCP,payload and CoG correctly (c) Check external equipmentactivation if correctly set") \ + _D(PSTOP_CLAMP, 30005, "Protective Stop: Danger of clamping between the Robot’s lower arm and tool.","(a) Check speeds and accelerations in the program (b) Check usage of TCP,payload and CoG correctly (c) Check external equipmentactivation if correctly set") \ + _D(PSTOP_POS_LIMIT, 30006, "Protective Stop: Position close to joint limits", "suggest...") \ + _D(PSTOP_ORI_LIMIT, 30007, "Protective Stop: Tool orientation close to limits", "suggest...") \ + _D(PSTOP_PLANE_LIMIT, 30008, "Protective Stop: Position close to safety plane limits", "suggest...") \ + _D(PSTOP_POS_DEVIATE, 30009, "Protective Stop: Position deviates from path", "Check payload, center of gravity and acceleration settings.") \ + _D(JOINT_CHK_PAYLOAD, 30010, "Joint " _PH1_ ": Check payload, center of gravity and acceleration settings. Log screen may contain additional information.", "suggest...") \ + _D(PSTOP_SINGULARITY, 30011, "Protective Stop: Position in singularity.","Please use MoveJ or change the motion") \ + _D(PSTOP_CANNOT_MAINTAIN, 30012, "Protective Stop: Robot cannot maintain its position, check if payload is correct", "suggest...") \ + _D(PSTOP_WRONG_PAYLOAD, 30013, "Protective Stop: Wrong payload or mounting detected, or something is pushing the robot when entering Freedrive mode","Verify that the TCP configuration and mounting in the used installation is correct") \ + _D(PSTOP_JOINT_COLLISION, 30014, "Protective Stop: Collision detected by joint " _PH1_, "Make sure no objects are in the path of the robot and resume the program") \ + _D(PSTOP_POS_DISAGREE, 30015, "Protective stop: The robot was powered off last time due to a joint position disagreement."," (a) Verify that the robot position in the 3D graphics matches the real robot, to ensure that the encoders function before releasing the brakes. Stand back and monitor the robot performing its first program cycle as expected. (b) If the position is not correct, the robot must be repaired. In this case, click Power Off Robot. (c) If the position is correct, please tick the check box below the 3D graphics and click Robot Position Verified") \ + _D(TARGET_JOINT_SPEED_EXCEED, 30016, "Target joint speed exceed limits", "suggest...") \ + _D(TARGET_POS_SUDDEN_CHG, 30017, "Sudden change in target position", "suggest...") \ + _D(SUDDEN_STOP, 30018, "Sudden stop."," To abort a motion, use \"stopj\" or \"stopl\" script commands to generate a smooth deceleration before using \"wait\". Avoid aborting motions between waypoints with blend”") \ + _D(ROBOT_STOP_ABNORMAL, 30019, "Robot has not stopped in the allowed reaction and braking time", "suggest...") \ + _D(PROG_INVALID_SETP, 30020, "Robot program resulted in invalid setpoint.", "Please review waypoints in the program") \ + _D(BLEND_INVALID_SETP, 30021, "Blending failed and resulted in an invalid setpoint.", "Try changing the blend radius or contact technical support") \ + _D(APPROACH_SINGULARITY, 30022, "Robot approaching singularity – Acceleration threshold failed.","Review waypoints in the program, try using MoveJ instead of MoveL in the position close to singularity") \ + _D(TSPEED_UNMATCH_POS, 30023, "Target speed does not match target position", "suggest...") \ + _D(INCONSIS_TPOS_SPD, 30024, "Inconsistency between target position and speed", "suggest...") \ + _D(JOINT_TSPD_UNMATCH_POS, 30025, "Target joint speed does not match target joint position change – Joint " _PH1_ "", "suggest...") \ + _D(FIELDBUS_INPUT_DISCONN, 30026, "Fieldbus input disconnected.","Please check fieldbus connections (RTDE, ModBus, EtherNet/IP and Profinet) or disable the fieldbus in the installation. Check RTDE watchdog feature. Check if a URCap is using this feature.") \ + _D(OPMODE_CHANGED, 30027, "Operational mode changed: " _PH1_ "", "suggest...") \ + _D(NO_KIN_CALIB, 30028, "No Kinematic Calibration found (calibration.conf file is either corrupt or missing).","A new kinematics calibration may be needed if the robot needs to improve its kinematics, otherwise, ignore this message)") \ + _D(KIN_CALIB_UNMATCH_JOINT, 30029, "Kinematic Calibration for the robot does not match the joint(s).", "If moving a program from a different robot to this one, rekinematic calibrate the second robot to improve kinematics, otherwise ignore this message.") \ + _D(KIN_CALIB_UNMATCH_ROBOT, 30030, "Kinematic Calibration does not match the robot.","Please check if the serial number of the robot arm matches the Control Box") \ + _D(JOINT_OFFSET_CHANGED, 30031, "Large movement of the robot detected while it was powered off. The joints were moved while it was powered off, or the encoders do not function", "suggest...") \ + _D(OFFSET_CHANGE_HIGH, 30032, "Change in offset is too high", "suggest...") \ + _D(JOINT_SPEED_LIMIT, 30033, "Close to joint speed safety limit.", "Review program speed and acceleration") \ + _D(TOOL_SPEED_LIMIT, 30034, "Close to tool speed safety limit.", "Review program speed and acceleration") \ + _D(MOMENTUM_LIMIT, 30035, "Close to momentum safety limit.", "Review program speed and acceleration") \ + _D(ROBOT_MV_STOP, 30036, "Robot is moving when in Stop Mode", "suggest...") \ + _D(HAND_PROTECTION, 30037, "Hand protection: Tool is too close to the lower arm: " _PH1_ " meter.","(a) Check wrist position. (b) Verify mounting (c) Do a Complete rebooting sequence (d) Update software (e) Contact your local AUBO Robots service provider for assistance") \ + _D(WRONG_SAFETYMODE, 30038, "Wrong safety mode: " _PH1_, "suggest...") \ + _D(SAFETYMODE_CHANGED, 30039, "Safety mode changed: " _PH1_, "suggest...") \ + _D(JOINT_ACC_LIMIT, 30040, "Close to joint acceleration safety limit", "suggest...") \ + _D(TOOL_ACC_LIMIT, 30041, "Close to tool acceleration safety limit", "suggest...") \ + _D(JOINT_TEMPERATURE_LIMIT, 30042, "Joint " _PH1_ " temperature too high(>" _PH2_ "℃)", "suggest...") \ + _D(CONTROL_BOX_TEMPERATURE_LIMIT, 30043, "Control box temperature too high(>" _PH1_ "℃)", "suggest...") \ + _D(ROBOT_EMERGENCY_STOP, 30044, "Robot emergency stop", "suggest...") \ + _D(ROBOTMODE_CHANGED, 30045, "Robot mode changed: " _PH1_, "suggest...") \ + _D(ROBOTMODE_ERROR, 30046, "Wrong robot mode: " _PH1_, "suggest...") \ + _D(POSE_OUT_OF_REACH, 30047, "Target pose [" _PH1_ "] out of reach", "suggest...") \ + _D(TP_PLAN_FAILED, 30048, "Trajectory plan FAILED." , "suggest...") \ + _D(START_FORCE_FAILED, 30049, "Start force control failed, because force sensor does not exist." , "suggest...") \ + _D(OVER_SAFE_PLANE_LIMIT,30050, _PH1_ " axis exceeds the safety plane limit (Move_type:" _PH2_ " id:" _PH3_ ").","Please move the robot to the safety plane range.") \ + _D(POWERON_FAIL_VIOLATION,30051, "Failed to power on because the robot safety mode is in violation", "suggest...") \ + _D(POWERON_FAIL_SYSTEMEMERGENCYSTOP, 30052, "Failed to power on because the robot safety mode is in system emergency stop", "suggest...") \ + _D(POWERON_FAIL_ROBOTEMERGENCYSTOP, 30053, "Failed to power on because the robot safety mode is in robot emergency stop", "Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion") \ + _D(POWERON_FAIL_FAULT, 30054, "Failed to power on because the robot safety mode is in fault", "suggest...") \ + _D(STARTUP_FAIL_VIOLATION, 30055, "Failed to startup because the robot safety mode is in violation", "suggest...") \ + _D(STARTUP_FAIL_SYSTEMEMERGENCYSTOP, 30056, "Failed to startup because the robot safety mode is in system emergency stop", "suggest...") \ + _D(STARTUP_FAIL_ROBOTEMERGENCYSTOP, 30057, "Failed to startup because the robot safety mode is in robot emergency stop", "Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion") \ + _D(STARTUP_FAIL_FAULT, 30058, "Failed to startup because the robot safety mode is in fault", "suggest...") \ + _D(BACKDRIVE_FAIL_VIOLATION, 30059, "Failed to backdrive because the robot safety mode is in violation", "suggest...") \ + _D(BACKDRIVE_FAIL_SYSTEMEMERGENCYSTOP, 30060, "Failed to backdrive because the robot safety mode is in system emergency stop", "suggest...") \ + _D(BACKDRIVE_FAIL_ROBOTEMERGENCYSTOP, 30061, "Failed to backdrive because the robot safety mode is in robot emergency stop", "Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion") \ + _D(BACKDRIVE_FAIL_FAULT, 30062, "Failed to backdrive because the robot safety mode is in fault", "suggest...") \ + _D(SETSIM_FAIL_VIOLATION, 30063, "Switch sim mode failed because the robot safety mode is in violation", "suggest...") \ + _D(SETSIM_FAIL_SYSTEMEMERGENCYSTOP, 30064, "Switch sim mode failed because the robot safety mode is in system emergency stop", "suggest...") \ + _D(SETSIM_FAIL_ROBOTEMERGENCYSTOP, 30065, "Switch sim mode failed because the robot safety mode is in robot emergency stop", "Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion") \ + _D(SETSIM_FAIL_FAULT, 30066, "Switch sim mode failed because the robot safety mode is in fault", "suggest...") \ + _D(FREEDRIVE_FAIL_VIOLATION, 30067, "Enable handguide mode failed because the robot safety mode is in violation", "suggest...") \ + _D(FREEDRIVE_FAIL_SYSTEMEMERGENCYSTOP, 30068, "Enable handguide mode failed because the robot safety mode is in system emergency stop", "suggest...") \ + _D(FREEDRIVE_FAIL_ROBOTEMERGENCYSTOP, 30069, "Enable handguide mode failed because the robot safety mode is in robot emergency stop", "Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion") \ + _D(FREEDRIVE_FAIL_FAULT, 30070, "Enable handguide mode failed because the robot safety mode is in fault", "suggest...") \ + _D(UPFIRMWARE_FAIL_VIOLATION, 30071, "Firmware update failed because the robot safety mode is in violation", "suggest...") \ + _D(UPFIRMWARE_FAIL_SYSTEMEMERGENCYSTOP, 30072, "Firmware update failed because the robot safety mode is in system emergency stop", "suggest...") \ + _D(UPFIRMWARE_FAIL_ROBOTEMERGENCYSTOP, 30073, "Firmware update failed because the robot safety mode is in robot emergency stop", "Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion") \ + _D(UPFIRMWARE_FAIL_FAULT, 30074, "Firmware update failed because the robot safety mode is in fault", "suggest...") \ + _D(SETPERSOSTENT_FAIL_VIOLATION, 30075, "Set persistent parameter failed because the robot safety mode is in violation", "suggest...") \ + _D(SETPERSOSTENT_FAIL_SYSTEMEMERGENCYSTOP, 30076, "Set persistent parameter failed because the robot safety mode is in system emergency stop", "suggest...") \ + _D(SETPERSOSTENT_FAIL_ROBOTEMERGENCYSTOP, 30077, "Set persistent parameter failed because the robot safety mode is in robot emergency stop", "Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion") \ + _D(SETPERSOSTENT_FAIL_FAULT, 30078, "Set persistent parameter failed because the robot safety mode is in fault", "suggest...") \ + _D(SETPERSOSTENT_FAIL_PARAM_ERR, 30079, "Set persistent parameter failed", "(a) Check the parameter format, whether all are floating point numbers") \ + _D(ROBOT_CABLE_DISCONN, 30080, "Robot cable not connected", "(a) Make sure the cable between Control Box and Robot Arm is correctly connected and it has no damage. (b) Check for loose connections (c) Do a Complete rebooting sequence (d) Update software (e) Contact your local AUBO Robots service provider for assistance Contact your local AUBO Robots service provider for assistance.") \ + _D(TP_TOO_SHORT, 30081, "The generated trajectory is ignored because it is too short", "(a) Please check if the added waypoints are coincident (b) If it is an arc movement, please check whether the three points are collinear") \ + _D(INV_KIN_FAIL, 30082, "Inverse kinematics solution failed. The target pose may be in a singular position or exceed the joint limits", "(a) Change the target pose and try moving again") \ + _D(FREEDRIVE_ENABLED, 30083, "Freedrive status changed to " _PH1_ "", "suggest...") \ + _D(TP_INV_FAIL_REFERENCE_JOINT_OUT_OF_LIMIT, 30084, "Inverse kinematics solution failed. Reference angle [" _PH1_ "] exceeds joint limit [" _PH2_ "].", "suggest...") \ + _D(TP_INV_FAIL_NO_SOLUTION, 30085, "Inverse kinematics solution failed. The reference angle [" _PH1_ "] and the target angle [" _PH2_ "] are used as parameters. there is no solution in the calculation of the inverse solution process.", "suggest...")\ + _D(SERVO_FAIL_VIOLATION, 30086, "Switch servo mode failed because the robot safety mode is in violation", "suggest...") \ + _D(SERVO_FAIL_SYSTEMEMERGENCYSTOP, 30087, "Switch servo mode failed because the robot safety mode is in system emergency stop", "suggest...") \ + _D(SERVO_FAIL_ROBOTEMERGENCYSTOP, 30088, "Switch servo mode failed because the robot safety mode is in robot emergency stop", "Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion") \ + _D(SERVO_FAIL_FAULT, 30089, "Switch servo mode failed because the robot safety mode is in fault", "suggest...") \ + _D(FREEDRIVE_FAIL_NO_RUNNING, 30090, "Enable handguide mode failed because the robot mode type is " _PH1_ "(not running)", "suggest...") \ + _D(RUNTIME_MACHINE_ERROR, 30091, "The state of the running machine is " _PH1_ ", not " _PH2_ ". " _PH3_ " function execution failed because the state is wrong." , "suggest...") \ + _D(RESUME_FAR_PAUSE_PT, 30092, "Cannot resume from joint position [" _PH1_ "].\\nToo far away from paused point [" _PH2_ "]." , "suggest...") \ + _D(PAYLOAD_LIGHTER_ERROR, 30093, "The payload setting is too small!" , "suggest...") \ + _D(PAYLOAD_OVERLOAD_ERROR, 30094, "The payload setting is too large!" , "suggest...") \ + _D(PAUSE_FAIL_NOT_POSITION_PLAN_MODE, 30095, "This motion does not support the pause function. The motion is stopping." , "suggest...") \ + _D(TP_PLAN_FAILED_CIRCULAR_WAYPOINTS_COINCIDE, 30096, "The planning failed because the three waypoints of the arc were determined to coincide." , "Check the circular waypoints to make sure they are different.") \ + _D(SERVO_WRONG_SAFETYMODE, 30097, "Switch servo mode failed because the robot safety mode is in " _PH1_ "." , "Check the circular waypoints to make sure they are different.") \ + _D(SET_PERSTPARAM_WRONG_SAFETYMODE, 30098, "Set persistent parameter failed because the robot safety mode is in " _PH1_ , "suggest...") \ + _D(SET_KINPARAM_WRONG_SAFETYMODE, 30099, "Set Kinematics Compensate parameters failed because the robot safety mode is in " _PH1_ , "suggest...") \ + _D(SET_ROBOT_ZERO_WRONG_SAFETYMODE, 30100, "Set current joint angles to zero failed because the robot safety mode is in " _PH1_ , "suggest...") \ + _D(UPFIRMWARE_WRONG_SAFETYMODE, 30101, "Firmware update failed because the robot safety mode is in " _PH1_, "suggest...") \ + _D(POWERON_WRONG_SAFETYMODE, 30102, "Failed to power on because the robot safety mode is in " _PH1_, "suggest...") \ + _D(STARTUP_WRONG_SAFETYMODE, 30103, "Failed to startup because the robot safety mode is in " _PH1_, "suggest...") \ + _D(BACKDRIVE_WRONG_SAFETYMODE, 30104, "Failed to backdrive because the robot safety mode is in system emergency stop", "suggest...") \ + _D(SETSIM_WRONG_SAFETYMODE, 30105, "Switch sim mode failed because the robot safety mode is in violation", "suggest...") \ + _D(FREEDRIVE_WRONG_SAFETYMODE, 30106, "Enable handguide mode failed because the robot safety mode is in wrong safety mode: " _PH1_, "suggest...") \ + _D(TP_PLAN_FAILED_JOINT_JUMP_BIGGER, 30107, "Inverse kinematics solution failed. The target point and the current point are in different robot configuration spaces.", "Add a few more points between the target point and the current point.") \ + _D(RUN_PROGRAM_FAILED, 30108, "Run program " _PH1_ " failed.", "suggset...") \ + _D(FREEDRIVE_FAIL_WRONG_RTMSTATE, 30109, "Unable to enter the HandGuide mode as the robot is not currently in a stopped or paused state.", "suggset...") \ + _D(SAFEGUARDSTOP_CONFIGURABLE_INPUT, 30110, "Configurable safety input is triggered.", "suggset...") \ + _D(SAFEGUARDSTOP_3PE, 30111, "3PE is triggered.", "suggset...") \ + _D(SAFEGUARDSTOP_SI, 30112, "SI0/SI1 is triggered.", "suggset...") \ + _D(ROBOT_TYPE_CHANGED, 30200, "Robot type changed to '" _PH1_ "', and robot subtype changed to '" _PH2_ "'", "suggest...") \ + _D(LINKMODE_CHANGED, 30201, "Link mode changed to " _PH1_ "", "suggest...") \ + _D(ROBOT_SELF_COLLISION, 30301, "Detect risk of robot self collision", "suggest...") \ + _D(CONSTANT_INVALID, 30302, "Joint torque constants are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake.", "suggest...") \ + _D(GRAVITY_INVALID, 30303, "Abnormal value of gravity acceleration sensor. HandGuide will be disabled, and the collision protection may be triggered by mistake.", "suggest...") \ + _D(DYNAMICS_INVALID, 30304, "Robot dynamics parameters are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake.", "suggest...") \ + _D(FRICTION_INVALID, 30305, "Joint friction parameters are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake.", "suggest...") \ + _D(HANDGUIDE_UNDER_DEVELOP, 30306, "Robot type of " _PH1_ " function under development. HandGuide will be disabled, and the collision protection may be triggered by mistake.", "suggest...") \ + _D(SLOW_DOWN_INFO, 30307, "Slow down level changed to " _PH1_ "(" _PH2_ "%)", "suggest...") \ + _D(WRONG_JOINT_DESIGNED_LIMIT, 30308, "Joint designed ranges exceeds ranges read from hardware interface.", "suggest...") \ + _D(FREEDRIVE_IN_SIMULATION, 30309, "Enable handguide mode failed because the robot is in simulation mode.", "suggest...") \ + _D(ROBOT_STOPPING_TIMEOUT, 30310, "Robot stopping timeout.", "suggest...") \ + _D(PSTOP_INCORRECT_FORCE_OFFSET, 30311, "Protective Stop: Sudden change in force control target position. Force sensor offset may be incorrect or force sensor fault.", "suggest...") \ + _D(WRONG_JOINT_SAFETY_LIMIT, 30312, "Joint safety ranges exceeds designed ranges.", "suggest...") \ + _D(PSTOP_TCP_PLANE_VIOLATION, 30401, "Protective Stop: TCP position close to safety plane limits.", "suggest...") \ + _D(PSTOP_ELBOW_PLANE_VIOLATION, 30402, "Protective Stop: elbow position close to safety plane limits.", "suggest...") \ + _D(PSTOP_JOINT_TORQUE_VIOLATION, 30403, "Protective Stop: joint" _PH1_ " exceeds torque limit.", "suggest...") \ + _D(PSTOP_JOINT_POSITION_VIOLATION, 30404, "Protective Stop: joint" _PH1_ " exceeds position limit.", "suggest...") \ + _D(PSTOP_JOINT_SPEED_VIOLATION, 30405, "Protective Stop: joint" _PH1_ " exceeds speed limit.", "suggest...") \ + _D(PSTOP_TCP_SPEED_VIOLATION, 30406, "Protective Stop: TCP speed close to safety limits.", "suggest...") \ + _D(PSTOP_ELBOW_SPEED_VIOLATION, 30407, "Protective Stop: elbow speed close to safety limits.", "suggest...") \ + _D(PSTOP_TCP_FORCE_VIOLATION, 30408, "Protective Stop: TCP foece close to safety limits.", "suggest...") \ + _D(PSTOP_ELBOW_TORQUE_VIOLATION, 30409, "Protective Stop: elbow torque close to safety limits.", "suggest...") \ + _D(PSTOP_POWER_VIOLATION, 30410, "Protective Stop: robot power close to safety limits.", "suggest...") \ + _D(PSTOP_MOMENTUM_VIOLATION, 30411, "Protective Stop: robot momentum close to safety limits.", "suggest...") \ + _D(PSTOP_TCP_CUBE_VIOLATION, 30412, "Protective Stop: TCP position close to safety cube.", "suggest...") \ + _D(PSTOP_ELBOW_CUBE_VIOLATION, 30413, "Protective Stop: TCP position close to safety cube.", "suggest...") \ + _D(REDUCE_ELBOW_PLANE_TRIGGER, 30414, "Reduce mode: elbow close to safety plane triggers reduction mode.", "suggest...") \ + _D(REDUCE_TCP_PLANE_TRIGGER, 30415, "Reduce mode: TCP close to safety plane triggers reduction mode.", "suggest...") \ + _D(PSTOP_MOVE_OUT_RANGE, 30416, "Joint " _PH1_ " has exceeded the limit, please do not continue to move out of the range", "suggest...") \ + _D(RESUME_PAUSE_FAILED, 30417, "Resume Failed: Safety mode type is " _PH1_ "", "suggest...") \ + _D(FIRMWARE_UPDATE_FAIL_EMERGENCYSTOP, 30418, "Failed to firmware update because the robot safety mode is in " _PH1_ , "Release emergency stop when the robot is in a safe range of motion") \ + _D(TOOL_SENSOR_CHANGED, 30419, "Tool sensor type changed to " _PH1_ "", "suggest...") \ + _D(TOOL_SENSOR_REMOVED, 30420, "Tool sensor is removed.", "suggest...") \ + _D(CAL_TARGET_CURRENT_ERR, 30421, "The calculation of the target current failed. Please try again later.", "suggest...") \ + _D(CONVEYOR_MODE_CHANGED, 30422, "Conveyor" _PH1_ ": track mode changed to " _PH2_ ", track item id is " _PH3_, "suggest...") \ + _D(CONVEYOR_ENQUEUE, 30423, "Conveyor" _PH1_ ": the queue has been changed, item" _PH2_ " is enqueue", "suggest...") \ + _D(CONVEYOR_DEQUEUE_FINISH, 30424, "Conveyor" _PH1_ ": the queue has been changed, item" _PH2_ " dequeue due to track finished", "suggest...") \ + _D(CONVEYOR_DEQUEUE_STARTWINDOW, 30425, "Conveyor" _PH1_ ": the queue has been changed, item" _PH2_ " dequeue due to exceeds startwindow", "suggest...") \ + _D(CONVEYOR_DEQUEUE_LIMIT, 30426, "Conveyor" _PH1_ ": the queue has been changed, item" _PH2_ " dequeue due to exceed limit area", "suggest...") \ + _D(CONVEYOR_DEQUEUE_CLEAR, 30427, "Conveyor" _PH1_ ": item queue is cleared", "suggest...") \ + _D(CONVEYOR_NEXT_TRACK, 30428, "Conveyor" _PH1_ ": item" _PH2_ " inside the start window that can be tracked ", "suggest...") \ + _D(CONVEYOR_EXCEED_LIMIT, 30429, "Conveyor" _PH1_ ": item" _PH2_ " exceeds the limit area during tracking", "suggest...") \ + _D(WRONG_POWER_SAFETY_LIMIT, 30430, "Robot power safety value exceeds designed value.", "suggest...") \ + _D(WRONG_POWER_DESIGNED_LIMIT, 30431, "Power designed value exceeds value read from hardware interface.", "suggest...") \ + _D(TOOL_SENSOR_STATUS_CHANGED, 30432, "Tool sensor status changed to " _PH1_, "suggest...") \ + _D(COLLISION_THRESHOLD_INVALID, 30433, "Robot collision threshold parameters are invalid.Please reidentify the threshold or modify the configuration to ensure that it does not cause accidental collisions.", "suggest...") \ + _D(GRIPPER_DISCONNECT, 30434, "The gripper " _PH1_ " is disconnected.", "suggest...") \ + _D(GRIPPER_UNKNOWN_FAULT, 30435, "There is an unknown fault with the gripper " _PH1_ , "suggest...") \ + _D(GRIPPER_CURRENT_ANOMALY_FAULT, 30436, "There is an abnormal current fault with the gripper " _PH1_ , "suggest...") \ + _D(GRIPPER_VOLTAGE_ANOMALY_FAULT, 30437, "There is an abnormal voltage fault with the gripper " _PH1_ , "suggest...") \ + _D(GRIPPER_OVER_TEMPERATURE_FAULT, 30438, "There is an over-temperature fault with the gripper " _PH1_ , "suggest...") \ + _D(GRIPPER_INTERNAL_FAULT, 30439, "There is an internal fault with the gripper " _PH1_ , "suggest...") \ + _D(GRIPPER_COMMUNICATION_FAULT, 30440, "There is an communication fault with the gripper " _PH1_ , "suggest...") \ + _D(GRIPPER_CONTROL_COMMAND_FAULT, 30441, "There is an control command fault with the gripper " _PH1_ , "suggest...") \ + _D(GRIPPER_ENABLE_FAULT, 30442, "There is an enable fault with the gripper " _PH1_ , "suggest...") \ + _D(WRIST_SINGULARITY_RISK, 30443,"Wrist singularity detected. Linear motion may cause excessive joint speed.Adjust robot posture to avoid J5 near 0° or 180°, or use joint motion instead of linear motion.","suggest...") \ + _D(PSTOP_PATH_OFFSET_OVER_LIMIT, 30444, "Protective Stop: the offset of the robot has exceeded the limit.", "suggest...") \ + _D(EXT_AXIS_SET_PARAM_FAILED_BUSY, 30445, "Set external axis parameter " _PH1_ " failed because the robot mode is in " _PH2_ ". Please power off the robot before changing this parameter.", "Power off the robot and try again.") \ + _D(WRONG_JOINT_POS_LIMIT, 30446, "Joint limit max pos less than min pos.", "suggest...") \ + _D(WRONG_JOINT_VEL_LIMIT, 30447, "Joint limit max vel is invalid.", "suggest...") \ + _D(AUTO_RESUME_FAR_PAUSE_PT, 30448, "Robot is still paused after switching to automatic mode. Current joint position [" _PH1_ "] is too far away from pause position [" _PH2_ "]. Resuming directly may cause collision.", "Move the robot back to the pause position or stop the program before resuming.") \ + _D(CONVEYOR_TRACK_CAPACITY_EXCEEDED, 30449, "Conveyor" _PH1_ ": item" _PH2_ " tracking capacity exceeded, tracking stop started. Capacity usage is " _PH3_ "%, actual conveyor speed is " _PH4_ " m/s.", "Reduce conveyor speed, shorten tracking distance, or adjust tracking posture.") +// clang-format on + +#endif // AUBO_SDK_RTM_ERROR_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/error_stack/system_error.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/error_stack/system_error.h new file mode 100644 index 00000000..67d3ed9e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/error_stack/system_error.h @@ -0,0 +1,60 @@ +/** @file system_error.h + * @brief 系统错误码 + */ +#ifndef AUBO_SDK_SYSTEM_ERROR_H +#define AUBO_SDK_SYSTEM_ERROR_H + +#define SYSTEM_ERRORS \ + _D(DEBUG, 0, "Debug message " _PH1_, "suggest...") \ + _D(POPUP, 1, "Popup title: " _PH1_ ", msg: " _PH2_ ", mode: " _PH3_, \ + "suggest...") \ + _D(POPUP_DISMISS, 2, _PH1_, "suggest...") \ + _D(SYSTEM_HALT, 3, _PH1_, "suggest...") \ + _D(INV_ARGUMENTS, 4, "Invalid arguments.", "suggest...") \ + _D(USER_NOTIFY, 5, _PH1_, "suggest...") \ + _D(POPUP_DISMISS_BY_ID, 6, _PH1_, "suggest...") \ + _D(MODBUS_SIGNAL_CREATED, 10, "Modbus signal " _PH1_ " created.", \ + "suggest...") \ + _D(MODBUS_SIGNAL_REMOVED, 11, "Modbus signal " _PH1_ " removed.", \ + "suggest...") \ + _D(MODBUS_SIGNAL_VALUE_CHANGED, 12, \ + "Modbus signal " _PH1_ " value changed to " _PH2_, "suggest...") \ + _D(RUNTIME_CONTEXT, 13, \ + "tid: " _PH1_ " lineno: " _PH2_ " index: " _PH3_ " comment: " _PH4_, \ + "suggest...") \ + _D(INTERP_CONTEXT, 14, \ + "tid: " _PH1_ " lineno: " _PH2_ " index: " _PH3_ " comment: " _PH4_, \ + "suggest...") \ + _D(PROGRAM_LOADED, 15, "program loaded: " _PH1_, "suggest...") \ + _D(TASK_DELETED, 16, "tid: " _PH1_, " was deleted") \ + _D(MODBUS_SLAVE_BIT, 20, "Modbus slave address: " _PH1_ " value " _PH2_, \ + "suggest...") \ + _D(MODBUS_SLAVE_REG, 21, "Modbus slave address: " _PH1_ " value " _PH2_, \ + "suggest...") \ + _D(PNIO_SLAVE_SLOT_VALUE, 30, \ + "PNIO slot: " _PH1_ " subslot " _PH2_ " index " _PH3_ " value " _PH4_, \ + "suggest...") \ + _D(PNIO_CONNECT_STATUS, 31, "PNIO connection status changed to " _PH1_, \ + "suggest...") \ + _D(PNIO_DEVICE_NAME, 32, "PNIO device name changed to " _PH1_, \ + "suggest...") \ + _D(PNIO_IP, 33, "PNIO ip " _PH1_ " mask " _PH2_ " gateway " _PH3_, \ + "suggest...") \ + _D(ICM_SERVER_STATUS, 40, " ICM server status changed to " _PH1_, \ + "suggest...") \ + _D(EIP_SLAVE_VALUE, 50, \ + "EIP slave: trans_type " _PH1_ " index " _PH2_ " value " _PH3_, \ + "suggest...") \ + _D(EIP_SLAVE_CONNECT_STATUS, 51, \ + "EIP slave connection status changed to " _PH1_, "suggest...") \ + _D(LOG_PROGRAM_SUCCESS, 100, \ + "[" _PH1_ "] Load program " _PH2_ " successful", "suggest...") \ + _D(LOG_PROGRAM_FAILED, 101, \ + "[" _PH1_ "] Load program " _PH2_ " failed, file not found", \ + "suggest...") \ + _D(LOG_PROGRAM_FAILED2, 102, \ + "[" _PH1_ "] Load program " _PH2_ \ + " failed, configuration file (.ins) does not match", \ + "suggest...") + +#endif // AUBO_SDK_SYSTEM_ERROR_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/global_config.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/global_config.h new file mode 100644 index 00000000..3673c806 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/global_config.h @@ -0,0 +1,178 @@ +/* + global_config.h + this file is generated. Do not change! +*/ + +#ifndef ARCS_GLOBALCONFIG_H +#define ARCS_GLOBALCONFIG_H + +/* #undef ARCS_BUILD_SHARED_LIBS */ +/* #undef ARCS_ENABLE_THREADING_SUPPORT */ + +//------------------------------------------------------------------- +// Header Availability +//------------------------------------------------------------------- + +/* #undef ARCS_HAVE_CXXABI_H */ + +//------------------------------------------------------------------- +// Version information +//------------------------------------------------------------------- + +#define INTERFACE_VERSION_MAJOR 0 +#define INTERFACE_VERSION_MINOR 26 +#define INTERFACE_VERSION_PATCH 0 +#define INTERFACE_VERSION "0.26.0" + +//------------------------------------------------------------------- +// Platform defines +//------------------------------------------------------------------- + +#if defined(__APPLE__) +#define ARCS_PLATFORM_APPLE +#endif + +#if defined(__linux__) +#define ARCS_PLATFORM_LINUX +#endif + +#if defined(_WIN32) || defined(_WIN64) +#define ARCS_PLATFORM_WINDOWS +#else +#define ARCS_PLATFORM_POSIX +#endif + +/* #undef ARCS_BIG_ENDIAN */ +/* #undef ARCS_LITTLE_ENDIAN */ + +#define ARCS_LIB_PREFIX "lib" +#define ARCS_LIB_EXT ".so" +#define ARCS_EXE_EXT "" + +#ifdef NDEBUG // Defined by cmake UNLESS Debug build type is chosen +#define ARCS_LIB_POSTFIX "" +#else +#define ARCS_LIB_POSTFIX \ + "" // Set in top level CMakeList.txt +#endif + +#define ARCS_FUNCTION // 函数接口 +#define ARCS_INSTRUCT // 指令接口 + +///------------------------------------------------------------------- +// Macros for import/export declarations +//------------------------------------------------------------------- + +#if defined(ARCS_PLATFORM_WINDOWS) +#define ARCS_ABI_EXPORT __declspec(dllexport) +#define ARCS_ABI_IMPORT __declspec(dllimport) +#define ARCS_ABI_LOCAL +#elif defined(ARCS_HAVE_VISIBILITY_ATTRIBUTE) +#define ARCS_ABI_EXPORT __attribute__((visibility("default"))) +#define ARCS_ABI_IMPORT __attribute__((visibility("default"))) +#define ARCS_ABI_LOCAL __attribute__((visibility("hidden"))) +#else +#define ARCS_ABI_EXPORT +#define ARCS_ABI_IMPORT +#define ARCS_ABI_LOCAL +#endif + +#ifdef ARCS_BUILDING_STAGE +#define ARCS_ABI ARCS_ABI_EXPORT +#else +#define ARCS_ABI ARCS_ABI_IMPORT +#endif + +//------------------------------------------------------------------- +// Macros for suppressing warnings +//------------------------------------------------------------------- + +#ifdef _MSC_VER +#define ARCS_MSVC_PUSH_DISABLE_WARNING(wn) \ + __pragma(warning(push)) __pragma(warning(disable : wn)) +#define ARCS_MSVC_POP_WARNING __pragma(warning(pop)) +#define ARCS_MSVC_DISABLE_WARNING(wn) __pragma(warning(disable : wn)) +#else +#define ARCS_MSVC_PUSH_DISABLE_WARNING(wn) +#define ARCS_MSVC_POP_WARNING +#define ARCS_MSVC_DISABLE_WARNING(wn) +#endif + +#ifdef __GNUC__ +#define aubo_gcc_pragma_expand(x) _Pragma(#x) +#define ARCS_GCC_PUSH_DISABLE_WARNING(wn) \ + _Pragma("GCC diagnostic push") \ + aubo_gcc_pragma_expand(GCC diagnostic ignored "-W" #wn) +#define ARCS_GCC_POP_WARNING _Pragma("GCC diagnostic pop") +#else +#define ARCS_GCC_PUSH_DISABLE_WARNING(wn) +#define ARCS_GCC_POP_WARNING +#endif + +#if defined(__GNUC__) +#define ARCS_DEPRECATED __attribute__((deprecated)) +#elif defined(_MSC_VER) +#define ARCS_DEPRECATED __declspec(deprecated) +#else +#pragma message( \ + "WARNING: You need to implement ARCS_DEPRECATED for your compiler!") +#define ARCS_DEPRECATED +#endif + +// Do not warn about the usage of deprecated unsafe functions +ARCS_MSVC_DISABLE_WARNING(4996) + +// Mark a variable or expression result as unused +#define ARCS_UNUSED(x) (void)(x) + +//------------------------------------------------------------------- +// C++ Language features +//------------------------------------------------------------------- + +/* #undef ARCS_HAVE_THREAD_LOCAL */ + +//------------------------------------------------------------------- +// C++ Library features +//------------------------------------------------------------------- + +/* #undef ARCS_HAVE_REGEX */ + +//------------------------------------------------------------------- +// Hash Container +//------------------------------------------------------------------- + +#define ARCS_HASH_FUNCTION_BEGIN(type) \ + namespace std { \ + template <> \ + struct hash \ + { \ + std::size_t operator()(const type &arg) const \ + { +#define ARCS_HASH_FUNCTION_END \ + } \ + } \ + ; \ + } + +//------------------------------------------------------------------- +// Utility macros +//------------------------------------------------------------------- + +#define ARCS_STR_(x) #x +#define ARCS_STR(x) ARCS_STR_(x) +#define ARCS_CONCAT_(x, y) x##y +#define ARCS_CONCAT(x, y) ARCS_CONCAT_(x, y) + +//------------------------------------------------------------------- +// Backwards compatibility macros +//------------------------------------------------------------------- + +#if !defined(__clang__) && __GNUC__ == 4 && __GNUC_MINOR__ < 7 +#define ARCS_FUTURE_READY true +#define ARCS_FUTURE_TIMEOUT false +#else +#define ARCS_FUTURE_READY std::future_status::ready +#define ARCS_FUTURE_TIMEOUT std::future_status::timeout +#endif + +#endif // ARCS_GLOBALCONFIG_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/gripper_interface.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/gripper_interface.h new file mode 100644 index 00000000..ddedc478 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/gripper_interface.h @@ -0,0 +1,320 @@ +/** @file gripper_interface.h + * @brief 通用夹爪接口 + */ +#ifndef AUBO_SDK_GRIPPER_INTERFACE_H +#define AUBO_SDK_GRIPPER_INTERFACE_H + +#include +#include + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * @defgroup GripperInterface GripperInterface (夹爪) + * 通用夹爪API接口 + * \endchinese + * + * \english + * @defgroup GripperInterface Gripper Interface + * Common Gripper API interface + * \endenglish + */ +class ARCS_ABI_EXPORT GripperInterface +{ +public: + GripperInterface(); + virtual ~GripperInterface(); + + /** + * @ingroup GripperInterface + * \chinese + * 获取支持的所有夹爪 + * + * @return + * \endchinese + */ + std::vector gripperGetSupportedModels(); + + /** + * @ingroup GripperInterface + * \chinese + * 扫描该型号下的所有设备 + * + * @param model 夹爪品牌型号 + * @param device_name 设备名 + * @return 成功返回设备列表和0，失败返回错误码 + * \endchinese + */ + ResultWithErrno2 gripperScanDevices(const std::string &model, + const std::string &device_name); + + /** + * @ingroup GripperInterface + * \chinese + * 获取已添加的夹爪 + * @return + */ + std::vector gripperGetNames(); + + /** + * @ingroup GripperInterface + * \chinese + * 添加夹爪 + * + * @param name 用户自定义名字，唯一 + * @param model 夹爪品牌及型号 + * @return 成功返回0，失败返回错误码 + * \endchinese + */ + int gripperAdd(const std::string &name, const std::string &model); + + /** + * @ingroup GripperInterface + * \chinese + * 删除夹爪 + * + * @param name 用户自定义名字 + * @return 成功返回0，失败返回错误码 + * \endchinese + */ + int gripperDelete(const std::string &name); + + /** + * @ingroup GripperInterface + * \chinese + * 删除所有夹爪 + * + * @return 成功返回0，失败返回错误码 + * \endchinese + */ + int gripperDeleteAll(); + + /** + * @ingroup GripperInterface + * \chinese + * 修改夹爪名 + * + * @param name + * @param new_name 新名字 + * @return 成功返回0，失败返回错误码 + * \endchinese + */ + int gripperRename(const std::string &name, const std::string &new_name); + + /** + * @ingroup GripperInterface + * \chinese + * 夹爪连接 + * + * @param name + * @param device_name 设备名 + * @return 成功返回0，失败返回错误码 + * \endchinese + */ + int gripperConnect(const std::string &name, const std::string &device_name); + + /** + * @ingroup GripperInterface + * \chinese + * 夹爪断开连接 + * + * @param name + * @return 成功返回0，失败返回错误码 + * \endchinese + */ + int gripperDisconnect(const std::string &name); + + /** + * @ingroup GripperInterface + * \chinese + * 夹爪是否连接 + * + * @param name + * @return 已连接返回true，未连接返回false + * \endchinese + */ + bool gripperIsConnected(const std::string &name); + + /** + * @ingroup GripperInterface + * \chinese + * 设置工作模式 + * + * @param name + * @param work_mode 工作模式 + * @return 成功返回0，失败返回错误码 + * \endchinese + */ + int gripperSetWorkMode(const std::string &name, int work_mode); + + /** + * @ingroup GripperInterface + * \chinese + * 获取工作模式 + * + * @param name + * @return 返回工作模式 + * \endchinese + */ + int gripperGetWorkMode(const std::string &name); + + /** + * @ingroup GripperInterface + * \chinese + * 设置夹爪安装偏移 + * + * @param name + * @param isVisibled 是否显示 + * @param pose 末端（不包括手指）相对法兰的位姿 + * @return 成功返回true，失败返回false + * \endchinese + */ + int gripperSetMountPose(const std::string &name, + const std::vector &pose, + bool enable_collision); + + /** + * @brief 获取夹爪安装偏移 + * @param name + * @return 返回夹爪安装偏移 + */ + std::vector gripperGetMountPose(const std::string &name); + + /** + * @ingroup GripperInterface + * \chinese + * 使能夹爪 + * + * @param name + * @return + * \endchinese + */ + int gripperEnable(const std::string &name, bool enable); + + /** + * \chinese + * 等待夹爪使能完成（硬件激活），超时15s + * 初始化成功后再添加 gripper_link 到运动学模型 + * + * @param name 夹爪名称 + * @return 成功返回0，超时返回错误码 + * \endchinese + */ + int gripperWaitEnableFinished(const std::string &name); + + /** + * @ingroup GripperInterface + * \chinese + * 夹爪是否使能 + * + * @param name + * @return + * \endchinese + */ + bool gripperIsEnabled(const std::string &name); + + /** + * @ingroup GripperInterface + * \chinese + * 设置运动参数 + * + * @param name + * @param position 位置，单位：m/Pa + * @param velocity_percent 速度，单位：%，范围：[0, 1] + * @param force 夹持力，单位：N + * @param angle 旋转角度，单位：rad + * @param r_velocity_percent 旋转速度，单位：%，范围：[0, 1] + * @param torque_percent 旋转扭矩，单位：%，范围：[0, 1] + * + * @return + * \endchinese + */ + int gripperSetPosition(const std::string &name, const double position); + int gripperSetVelocity(const std::string &name, + const double velocity_percent); + int gripperSetForce(const std::string &name, const double force); + int gripperSetAngle(const std::string &name, const double angle); + int gripperSetRVelocity(const std::string &name, + const double r_velocity_percent); + int gripperSetTorque(const std::string &name, const double torque_percent); + + /** + * @ingroup GripperInterface + * \chinese + * 开始运动 + * + * @param name + * @return + * \endchinese + */ + int gripperMove(const std::string &name); + + /** + * @ingroup GripperInterface + * \chinese + * 停止运动 + * + * @param name + * @return + * \endchinese + */ + int gripperStop(const std::string &name); + + /** + * @ingroup GripperInterface + * \chinese + * 获取夹爪状态 + * + * @param name + * @return + * + * @note 位置，速度，夹持力，旋转角度，旋转速度，旋转扭矩的单位与Set接口一致 + * + * \endchinese + */ + std::string gripperGetHardwareVersion(const std::string &name); + std::string gripperGetSoftwareVersion(const std::string &name); + double gripperGetPosition(const std::string &name); + double gripperGetVelocity(const std::string &name); + double gripperGetForce(const std::string &name); + double gripperGetAngle(const std::string &name); + double gripperGetRVelocity(const std::string &name); + double gripperGetTorque(const std::string &name); + bool gripperGetObjectDetection(const std::string &name); + bool gripperGetMotionState(const std::string &name); + double gripperGetVoltage(const std::string &name); + double gripperGetTemperature(const std::string &name); + + /** + * @ingroup GripperInterface + * \chinese + * 重置modbus从站ID + * + * @param name + * @param slave_id 从站Id + * @return + * \endchinese + */ + int gripperResetSlaveId(const std::string &name, const int slave_id); + + /** + * @ingroup GripperInterface + * \chinese + * 获取夹爪状态 + * @param name + * @return 状态 + * \endchinese + */ + int gripperGetStatusCode(const std::string &name); + +protected: + void *d_; +}; +using GripperInterfacePtr = std::shared_ptr; + +} // namespace common_interface +} // namespace arcs + +#endif // AUBO_SDK_GRIPPER_INTERFACE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/math.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/math.h new file mode 100644 index 00000000..e3f957a9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/math.h @@ -0,0 +1,1084 @@ +/** @file math.h + * \~chinese @brief 数学方法接口，如欧拉角与四元数转换、位姿的加减运算 + * \~english @brief Mathematic operation interface, such as euler to quaternion conversion, addition/subtraction of poses + */ +#ifndef AUBO_SDK_MATH_INTERFACE_H +#define AUBO_SDK_MATH_INTERFACE_H + +#include +#include + +#include +#include + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * @defgroup Math Math (数学工具) + * 数学工具API接口 + * \endchinese + * + * \english + * @defgroup Math Math + * Math API interface + * \endenglish + */ +class ARCS_ABI_EXPORT Math +{ +public: + Math(); + virtual ~Math(); + + /** + * @ingroup Math + * \english + * Pose addition + * + * Both arguments contain three position parameters (x, y, z) jointly called + * P, and three rotation parameters (R_x, R_y, R_z) jointly called R. This + * function calculates the result x_3 as the addition of the given poses as + * follows: + * + * p_3.P = p_1.P + p_2.P + * + * p_3.R = p_1.R * p_2.R + * + * @param p1 Tool pose 1 + * @param p2 Tool pose 2 + * @return sum of position parts and product of rotation parts (pose) + * + * @par Python interface prototype + * poseAdd(self: pyaubo_sdk.Math, arg0: List[float], arg1: List[float]) -> + * List[float] + * + * @par Lua interface prototype + * poseAdd(p1: table, p2: table) -> table + * + * @par Lua example + * pose_add = poseAdd({0.2, 0.5, 0.1, 1.57, 0, 0},{0.2, 0.5, 0.6, 1.57, 0, 0}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Math.poseAdd","params":[[0.2, 0.5, 0.1, 1.57, + * 0, 0],[0.2, 0.5, 0.6, 1.57, 0, 0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.4,1.0,0.7,3.14,-0.0,0.0]} + * \endengish + * + * \chinese + * 位姿相加。 + * 两个参数都包含三个位置参数（x、y、z），统称为P， + * 以及三个旋转参数（R_x、R_y、R_z），统称为R。 + * 此函数根据以下方式计算结果 p_3，即给定位姿的相加： + * p_3.P = p_1.P + p_2.P, + * p_3.R = p_1.R * p_2.R + * + * @param p1 工具位姿1（pose） + * @param p2 工具位姿2（pose） + * @return 位置部分之和和旋转部分之积（pose） + * + * @par Python函数原型 + * poseAdd(self: pyaubo_sdk.Math, arg0: List[float], arg1: List[float]) -> + * List[float] + * + * @par Lua函数原型 + * poseAdd(p1: table, p2: table) -> table + * + * @par Lua示例 + * pose_add = poseAdd({0.2, 0.5, 0.1, 1.57, 0, 0},{0.2, 0.5, 0.6, 1.57, 0, 0}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Math.poseAdd","params":[[0.2, 0.5, 0.1, 1.57, + * 0, 0],[0.2, 0.5, 0.6, 1.57, 0, 0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.4,1.0,0.7,3.14,-0.0,0.0]} + * \endchinese + */ + std::vector poseAdd(const std::vector &p1, + const std::vector &p2); + + /** + * @ingroup Math + * \chinese + * 位姿相减 + * + * 两个参数都包含三个位置参数（x、y、z），统称为P， + * 以及三个旋转参数（R_x、R_y、R_z），统称为R。 + * 此函数根据以下方式计算结果 p_3，即给定位姿的相加： + * p_3.P = p_1.P - p_2.P, + * p_3.R = p_1.R * p_2.R.inverse + * + * @param p1 工具位姿1 + * @param p2 工具位姿2 + * @return 位姿相减计算结果 + * + * @par Python函数原型 + * poseSub(self: pyaubo_sdk.Math, arg0: List[float], arg1: List[float]) -> + * List[float] + * + * @par Lua函数原型 + * poseSub(p1: table, p2: table) -> table + * + * @par Lua示例 + * pose_sub = poseSub({0.2, 0.5, 0.1, 1.57, 0, 0},{0.2, 0.5, 0.6, 1.57, 0, 0}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Math.poseSub","params":[[0.2, 0.5, 0.1, 1.57, + * 0, 0],[0.2, 0.5, 0.6, 1.57, 0, 0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,-0.5,0.0,-0.0,0.0]} + * \endchinese + * + * \english + * Pose subtraction + * + * Both arguments contain three position parameters (x, y, z) jointly called + * P, and three rotation parameters (R_x, R_y, R_z) jointly called R. This + * function calculates the result x_3 as the addition of the given poses as + * follows: + * + * p_3.P = p_1.P - p_2.P, + * + * p_3.R = p_1.R * p_2.R.inverse + * + * @param p1 tool pose 1 + * @param p2 tool pose 2 + * @return difference between two poses + * + * @par Python interface prototype + * poseSub(self: pyaubo_sdk.Math, arg0: List[float], arg1: List[float]) -> + * List[float] + * + * @par Lua interface prototype + * poseSub(p1: table, p2: table) -> table + * + * @par Lua example + * pose_sub = poseSub({0.2, 0.5, 0.1, 1.57, 0, 0},{0.2, 0.5, 0.6, 1.57, 0, 0}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Math.poseSub","params":[[0.2, 0.5, 0.1, 1.57, + * 0, 0],[0.2, 0.5, 0.6, 1.57, 0, 0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,-0.5,0.0,-0.0,0.0]} + * \endenglish + */ + std::vector poseSub(const std::vector &p1, + const std::vector &p2); + + /** + * @ingroup Math + * \chinese + * 计算线性插值 + * + * @param p1 起点的TCP位姿 + * @param p2 终点的TCP位姿 + * @param alpha 系数， + * 当01,返回p2； + * 当alpha<0,返回p1； + * @return 插值计算结果 + * + * @par Python函数原型 + * interpolatePose(self: pyaubo_sdk.Math, arg0: List[float], arg1: + * List[float], arg2: float) -> List[float] + * + * @par Lua函数原型 + * interpolatePose(p1: table, p2: table, alpha: number) -> table + * + * @par Lua示例 + * pose_interpolate = interpolatePose({0.2, 0.2, 0.4, 0, 0, 0},{0.2, 0.2, 0.6, 0, 0, 0},0.5) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Math.interpolatePose","params":[[0.2, 0.2, + * 0.4, 0, 0, 0],[0.2, 0.2, 0.6, 0, 0, 0],0.5],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.2,0.2,0.5,0.0,-0.0,0.0]} + * \endchinese + * + * \english + * Calculate linear interpolation + * + * @param p1 starting TCP pose + * @param p2 ending TCP pose + * @param alpha coefficient; + * When 01, return p2； + * When alpha<0,return p1； + * @return interpolation result + * + * @par Python interface prototype + * interpolatePose(self: pyaubo_sdk.Math, arg0: List[float], arg1: + * List[float], arg2: float) -> List[float] + * + * @par Lua interface prototype + * interpolatePose(p1: table, p2: table, alpha: number) -> table + * + * @par Lua example + * pose_interpolate = interpolatePose({0.2, 0.2, 0.4, 0, 0, 0},{0.2, 0.2, 0.6, 0, 0, 0},0.5) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Math.interpolatePose","params":[[0.2, 0.2, + * 0.4, 0, 0, 0],[0.2, 0.2, 0.6, 0, 0, 0],0.5],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.2,0.2,0.5,0.0,-0.0,0.0]} + * \endenglish + * + */ + std::vector interpolatePose(const std::vector &p1, + const std::vector &p2, + double alpha); + /** + * @ingroup Math + * \chinese + * 位姿变换 + * + * 第一个参数 p_from 用于转换第二个参数 p_from_to，并返回结果。 + * 这意味着结果是从 p_from 的坐标系开始， + * 然后在该坐标系中移动 p_from_to后的位姿。 + * + * 这个函数可以从两个不同的角度来看。 + * 一种是函数将 p_from_to 根据 p_from 的参数进行转换，即平移和旋转。 + * 另一种是函数被用于获取结果姿态，先对 p_from 进行移动，然后再对 p_from_to + * 进行移动。 如果将姿态视为转换矩阵，它看起来像是： + * + * T_world->to = T_world->from * T_from->to， + * T_x->to = T_x->from * T_from->to + * + * 这两个方程描述了姿态变换的基本原理，根据给定的起始姿态和相对于起始姿态的姿态变化，可以计算出目标姿态。 + * + * 举个例子，已知B相对于A的位姿、C相对于B的位姿，求C相对于A的位姿。 + * 第一个参数是B相对于A的位姿，第二个参数是C相对于B的位姿， + * 返回值是C相对于A的位姿。 + * + * @param pose_from 起始位姿（空间向量） + * @param pose_from_to 相对于起始位姿的姿态变化（空间向量） + * @return 结果位姿 (空间向量) + * + * @par Python函数原型 + * poseTrans(self: pyaubo_sdk.Math, arg0: List[float], arg1: List[float]) -> + * List[float] + * + * @par Lua函数原型 + * poseTrans(pose_from: table, pose_from_to: table) -> table + * + * @par Lua示例 + * pose_trans = poseTrans({0.2, 0.5, 0.1, 1.57, 0, 0},{0.2, 0.5, 0.6, 1.57, 0, 0}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Math.poseTrans","params":[[0.2, 0.5, + * 0.1, 1.57, 0, 0],[0.2, 0.5, 0.6, 1.57, 0, 0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.4,-0.09960164640373415,0.6004776374923573,3.14,-0.0,0.0]} + * \endchinese + * + * \english + * Pose transformation + * + * The first argument, p_from, is used to transform the second argument, + * p_from_to, and the result is then returned. This means that the result is + * the resulting pose, when starting at the coordinate system of p_from, and + * then in that coordinate system moving p_from_to. + * + * This function can be seen in two different views. Either the function + * transforms, that is translates and rotates, p_from_to by the parameters + * of p_from. Or the function is used to get the resulting pose, when first + * making a move of p_from and then from there, a move of p_from_to. If the + * poses were regarded as transformation matrices, it would look like: + * + * T_world->to = T_world->from * T_from->to， + * T_x->to = T_x->from * T_from->to + * + * + * These two equations describes the foundations for pose transformation. + * Based on a starting pose and the pose transformation relative to the starting pose, we can get the target pose. + * + * For example, we know pose of B relative to A, pose of C relative to B, find pose of C relative to A. + * param 1 is pose of B relative to A，param 2 is pose of C relative to B， + * the return value is the pose of C relative to A + * + * @param pose_from starting pose（vector in 3D space） + * @param pose_from_to pose transformation relative to starting pose（vector in 3D space） + * @return final pose (vector in 3D space) + * + * @par Python interface prototype + * poseTrans(self: pyaubo_sdk.Math, arg0: List[float], arg1: List[float]) -> + * List[float] + * + * @par Lua interface prototype + * poseTrans(pose_from: table, pose_from_to: table) -> table + * + * @par Lua example + * pose_trans = poseTrans({0.2, 0.5, 0.1, 1.57, 0, 0},{0.2, 0.5, 0.6, 1.57, 0, 0}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Math.poseTrans","params":[[0.2, 0.5, + * 0.1, 1.57, 0, 0],[0.2, 0.5, 0.6, 1.57, 0, 0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.4,-0.09960164640373415,0.6004776374923573,3.14,-0.0,0.0]} + * \endenglish + */ + std::vector poseTrans(const std::vector &pose_from, + const std::vector &pose_from_to); + + /** + * \english + * Pose inverse transformation + * + * Given pose of C relative to A, pose of C relative to B, find pose of B relative to A. + * param 1 is pose of C relative to A，param 2 is pose of C relative to B， + * the return value is the pose of B relative to A + * + * @param pose_from starting pose + * @param pose_to_from pose transformation relative to final pose + * @return resulting pose + * + * @par Python interface prototype + * poseTransInv(self: pyaubo_sdk.Math, arg0: List[float], arg1: List[float]) + * -> List[float] + * + * @par Lua interface prototype + * poseTransInv(pose_from: table, pose_to_from: table) -> table + * + * @par Lua example + * pose_trans_inv = poseTransInv({0.4, -0.0996016, 0.600478, 3.14, 0, 0},{0.2, 0.5, 0.6, 1.57, 0, 0}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Math.poseTransInv","params":[[0.4, -0.0996016, + * 0.600478, 3.14, 0, 0],[0.2, 0.5, 0.6, 1.57, 0, 0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.2,0.5000000464037341,0.10000036250764266,1.57,-0.0,0.0]} + * \endenglish + * + * @ingroup Math + * \chinese + * 姿态逆变换 + * + * 已知C相对于A的位姿、C相对于B的位姿，求B相对于A的位姿。 + * 第一个参数是C相对于A的位姿，第二个参数是C相对于B的位姿， + * 返回值是B相对于A的位姿。 + * + * @param pose_from 起始位姿 + * @param pose_to_from 相对于结果位姿的姿态变化 + * @return 结果位姿 + * + * @par Python函数原型 + * poseTransInv(self: pyaubo_sdk.Math, arg0: List[float], arg1: List[float]) + * -> List[float] + * + * @par Lua函数原型 + * poseTransInv(pose_from: table, pose_to_from: table) -> table + * + * @par Lua示例 + * pose_trans_inv = poseTransInv({0.4, -0.0996016, 0.600478, 3.14, 0, 0},{0.2, 0.5, 0.6, 1.57, 0, 0}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Math.poseTransInv","params":[[0.4, -0.0996016, + * 0.600478, 3.14, 0, 0],[0.2, 0.5, 0.6, 1.57, 0, 0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.2,0.5000000464037341,0.10000036250764266,1.57,-0.0,0.0]} + * \endchinese + */ + std::vector poseTransInv(const std::vector &pose_from, + const std::vector &pose_to_from); + + /** + * @ingroup Math + * \chinese + * 获取位姿的逆 + * + * @param pose 工具位姿（空间向量） + * @return 工具位姿的逆转换（空间向量） + * + * @par Python函数原型 + * poseInverse(self: pyaubo_sdk.Math, arg0: List[float]) -> List[float] + * + * @par Lua函数原型 + * poseInverse(pose: table) -> table + * + * @par Lua示例 + * pose_inverse = poseInverse({0.2, 0.5, 0.1, 1.57, 0, 3.14}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Math.poseInverse","params":[[0.2, 0.5, + * 0.1, 1.57, 0, 3.14]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.19920341988726448,-0.09960155178838484,-0.5003973704832628, + * 1.5699999989900404,-0.0015926530848129354,-3.1415913853161266]} + * + * \endchinese + * + * \english + * Get the inverse of a pose + * + * @param pose tool pose (spatial vector) + * @return inverse tool pose transformation (spatial vector) + * + * @par Python interface prototype + * poseInverse(self: pyaubo_sdk.Math, arg0: List[float]) -> List[float] + * + * @par Lua interface prototype + * poseInverse(pose: table) -> table + * + * @par Lua example + * pose_inverse = poseInverse({0.2, 0.5, 0.1, 1.57, 0, 3.14}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Math.poseInverse","params":[[0.2, 0.5, + * 0.1, 1.57, 0, 3.14]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.19920341988726448,-0.09960155178838484,-0.5003973704832628, + * 1.5699999989900404,-0.0015926530848129354,-3.1415913853161266]} + * \endenglish + * + */ + std::vector poseInverse(const std::vector &pose); + + /** + * @ingroup Math + * \chinese + * 计算两个位姿的位置距离 + * + * @param p1 位姿1 + * @param p2 位姿2 + * @return 两个位姿的位置距离 + * + * @par Lua函数原型 + * poseDistance(p1: table, p2: table) -> number + * + * @par Lua示例 + * pose_distance = poseDistance({0.1, 0.3, 0.1, 0.3142, 0.0, 1.571},{0.2, 0.5, 0.6, 0, -0.172, 0.0}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Math.poseDistance","params":[[0.1, 0.3, 0.1, + * 0.3142, 0.0, 1.571],[0.2, 0.5, 0.6, 0, -0.172, 0.0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.5477225575051661} + * \endchinese + * + * \english + * Calculate distance between two poses + * + * @param p1 pose 1 + * @param p2 pose 2 + * @return distance between the poses + * + * @par Lua function prototype + * poseDistance(p1: table, p2: table) -> number + * + * @par Lua example + * pose_distance = poseDistance({0.1, 0.3, 0.1, 0.3142, 0.0, 1.571},{0.2, 0.5, 0.6, 0, -0.172, 0.0}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Math.poseDistance","params":[[0.1, 0.3, 0.1, + * 0.3142, 0.0, 1.571],[0.2, 0.5, 0.6, 0, -0.172, 0.0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.5477225575051661} + * \endenglish + * + */ + double poseDistance(const std::vector &p1, + const std::vector &p2); + + /** + * @ingroup Math + * \chinese + * 计算两个位姿的轴角距离 + * + * @param p1 位姿1 + * @param p2 位姿2 + * @return 轴角距离 + * + * @par Lua函数原型 + * poseAngleDistance(p1: table, p2: table) -> number + * + * @par Lua示例 + * pose_angle_distance = poseAngleDistance({0.1, 0.3, 0.1, 0.3142, 0.0, 1.571},{0.2, 0.5, 0.6, 0, -0.172, 0.0}) + * + * \endchinese + * + * \english + * Calculate axis-angle difference between two poses + * + * @param p1 pose 1 + * @param p2 pose 2 + * @return axis angle difference + * + * @par Lua函数原型 + * poseAngleDistance(p1: table, p2: table) -> number + * + * @par Lua示例 + * pose_angle_distance = poseAngleDistance({0.1, 0.3, 0.1, 0.3142, 0.0, 1.571},{0.2, 0.5, 0.6, 0, -0.172, 0.0}) + * + * \endenglish + */ + double poseAngleDistance(const std::vector &p1, + + const std::vector &p2); + + /** + * @ingroup Math + * \chinese + * 判断两个位姿是否相等 + * + * @param p1 位姿1 + * @param p2 位姿2 + * @param eps 误差 + * @return 相等返回true，反之返回false + * + * @par Lua函数原型 + * poseEqual(p1: table, p2: table, eps: number) -> boolean + * + * @par Lua示例 + * pose_equal = poseEqual({0.1, 0.3, 0.1, 0.3142, 0.0, 1.571},{0.1, 0.3, 0.1, 0.3142, 0.0, 1.5711},0.01) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Math.poseEqual","params":[[0.1, 0.3, 0.1, + * 0.3142, 0.0, 1.571],[0.1, 0.3, 0.1, 0.3142, 0.0, 1.5711],0.01]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.0} + * \endchinese + * + * \english + * Determine if two poses are equivalent + * + * @param p1 pose 1 + * @param p2 pose 2 + * @param eps error margin + * @return true or false + * + * @par Lua函数原型 + * poseEqual(p1: table, p2: table, eps: number) -> boolean + * + * @par Lua示例 + * pose_equal = poseEqual({0.1, 0.3, 0.1, 0.3142, 0.0, 1.571},{0.1, 0.3, 0.1, 0.3142, 0.0, 1.5711},0.01) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Math.poseEqual","params":[[0.1, 0.3, 0.1, + * 0.3142, 0.0, 1.571],[0.1, 0.3, 0.1, 0.3142, 0.0, 1.5711],0.01],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.0} + * \endenglish + */ + bool poseEqual(const std::vector &p1, const std::vector &p2, + double eps = 5e-5); + + /** + * @ingroup Math + * \chinese + * @param F_b_a_old + * @param V_in_a + * @param type + * @return + * + * @par Python函数原型 + * transferRefFrame(self: pyaubo_sdk.Math, arg0: List[float], arg1: + * List[float[3]], arg2: int) -> List[float] + * + * @par Lua函数原型 + * transferRefFrame(F_b_a_old: table, V_in_a: table, type: number) -> table + * \endchinese + * + * \english + * @param F_b_a_old + * @param V_in_a + * @param type + * @return + * + * @par Python interface prototype + * transferRefFrame(self: pyaubo_sdk.Math, arg0: List[float], arg1: + * List[float[3]], arg2: int) -> List[float] + * + * @par Lua interface prototype + * transferRefFrame(F_b_a_old: table, V_in_a: table, type: number) -> table + * \endenglish + */ + std::vector transferRefFrame(const std::vector &F_b_a_old, + const Vector3d &V_in_a, int type); + + /** + * @ingroup Math + * \chinese + * 姿态旋转 + * + * @param pose + * @param rotv + * @return + * + * @par Python函数原型 + * poseRotation(self: pyaubo_sdk.Math, arg0: List[float], arg1: List[float]) + * -> List[float] + * + * @par Lua函数原型 + * poseRotation(pose: table, rotv: table) -> table + * \endchinese + * + * \english + * Pose rotation + * + * @param pose + * @param rotv + * @return + * + * @par Python interface prototype + * poseRotation(self: pyaubo_sdk.Math, arg0: List[float], arg1: List[float]) + * -> List[float] + * + * @par Lua interface prototype + * poseRotation(pose: table, rotv: table) -> table + * \endenglish + */ + std::vector poseRotation(const std::vector &pose, + const std::vector &rotv); + + /** + * @ingroup Math + * \chinese + * 欧拉角转四元数 + * + * @param rpy 欧拉角 + * @return 四元数 + * + * @par Python函数原型 + * rpyToQuaternion(self: pyaubo_sdk.Math, arg0: List[float]) -> List[float] + * + * @par Lua函数原型 + * rpyToQuaternion(rpy: table) -> table + * + * @par Lua示例 + * quaternion = rpyToQuaternion({0.611, 0.785, 0.960}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Math.rpyToQuaternion","params":[[0.611, 0.785, + * 0.960]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.834721517970497,0.07804256900772265,0.4518931575790371,0.3048637712043723]} + * \endchinese + * + * \english + * Euler angles to quaternions + * + * @param rpy euler angles + * @return quaternions + * + * @par Python interface prototype + * rpyToQuaternion(self: pyaubo_sdk.Math, arg0: List[float]) -> List[float] + * + * @par Lua interface prototype + * rpyToQuaternion(rpy: table) -> table + * + * @par Lua example + * quaternion = rpyToQuaternion({0.611, 0.785, 0.960}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Math.rpyToQuaternion","params":[[0.611, 0.785, + * 0.960]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.834721517970497,0.07804256900772265,0.4518931575790371,0.3048637712043723]} + * \endenglish + */ + std::vector rpyToQuaternion(const std::vector &rpy); + + /** + * @ingroup Math + * \chinese + * 四元数转欧拉角 + * + * @param quat 四元数 + * @return 欧拉角 + * + * @par Python函数原型 + * quaternionToRpy(self: pyaubo_sdk.Math, arg0: List[float]) -> List[float] + * + * @par Lua函数原型 + * quaternionToRpy(quat: table) -> table + * + * @par Lua示例 + * rpy = quaternionToRpy({0.834722,0.0780426, 0.451893, 0.304864}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Math.quaternionToRpy","params":[[0.834722, + * 0.0780426, 0.451893, 0.304864]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.6110000520523781,0.7849996877683915,0.960000543982093]} + * \endchinese + * + * \english + * Quaternions to euler angles + * + * @param quat quaternions + * @return euler angles + * + * @par Python interface prototype + * quaternionToRpy(self: pyaubo_sdk.Math, arg0: List[float]) -> List[float] + * + * @par Lua interface prototype + * quaternionToRpy(quat: table) -> table + * + * @par Lua example + * rpy = quaternionToRpy({0.834722,0.0780426, 0.451893, 0.304864}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Math.quaternionToRpy","params":[[0.834722, + * 0.0780426, 0.451893, 0.304864]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.6110000520523781,0.7849996877683915,0.960000543982093]} + * \endenglish + */ + std::vector quaternionToRpy(const std::vector &quat); + + /** + * @ingroup Math + * \chinese + * 四点法标定TCP偏移 + * + * 找一个尖点，将机械臂工具末端点绕着尖点示教四个位置，姿态差别要大。 + * 设置完毕后即可计算出来结果。 + * + * @param poses 四个点的位姿集合 + * @return TCP标定结果和标定结果是否有效 + * + * @par Python函数原型 + * tcpOffsetIdentify(self: pyaubo_sdk.Math, arg0: List[List[float]]) -> + * Tuple[List[float], int] + * + * @par Lua函数原型 + * tcpOffsetIdentify(poses: table) -> table + * + * @par Lua示例 + * p1 = {0.48659,0.10456,0.24824,-3.135,0.004,1.569} \n + * p2 = {0.38610,0.09096,0.22432,2.552,-0.437,1.008} \n + * p3 = {0.38610,0.05349,0.16791,-3.021,-0.981,0.517} \n + * p4 = {0.49675,0.06417,0.21408,-2.438,0.458,0.651} \n + * p = {p1,p2,p3,p4} \n + * tcp_result = tcpOffsetIdentify(p) + * + * \endchinese + * + * \english + * Four point method calibration for TCP offset + * + * About a sharp point, move the robot's tcp in four different poses. Difference between each pose should be drastic. + * Result can be obtained based on these four poses + * + * @param poses combination of four different poses + * @return TCP calibration result and whether successfull + * + * @par Python interface prototype + * tcpOffsetIdentify(self: pyaubo_sdk.Math, arg0: List[List[float]]) -> + * Tuple[List[float], int] + * + * @par Lua interface prototype + * tcpOffsetIdentify(poses: table) -> table + * + * @par Lua example + * p1 = {0.48659,0.10456,0.24824,-3.135,0.004,1.569} \n + * p2 = {0.38610,0.09096,0.22432,2.552,-0.437,1.008} \n + * p3 = {0.38610,0.05349,0.16791,-3.021,-0.981,0.517} \n + * p4 = {0.49675,0.06417,0.21408,-2.438,0.458,0.651} \n + * p = {p1,p2,p3,p4} \n + * tcp_result = tcpOffsetIdentify(p) + * + * \endenglish + */ + ResultWithErrno tcpOffsetIdentify( + const std::vector> &poses); + + /** + * @ingroup Math + * \chinese + * 三点法标定坐标系 + * + * @param poses 三个点的位姿集合 + * @param type 类型:\n + * 0 - oxy 原点 x轴正方向 xy平面（y轴正方向）\n + * 1 - oxz 原点 x轴正方向 xz平面（z轴正方向）\n + * 2 - oyz 原点 y轴正方向 yz平面（z轴正方向）\n + * 3 - oyx 原点 y轴正方向 yx平面（x轴正方向）\n + * 4 - ozx 原点 z轴正方向 zx平面（x轴正方向）\n + * 5 - ozy 原点 z轴正方向 zy平面（y轴正方向）\n + * @return 坐标系标定结果和标定结果是否有效 + * + * @par Lua函数原型 + * calibrateCoordinate(poses: table, type: int) -> table, number + * + * @par Lua示例 + * p1 = {0.55462,0.06219,0.37175,-3.142,0.0,1.580} \n + * p2 = {0.63746,0.11805,0.37175,-3.142,0.0,1.580} \n + * p3 = {0.40441,0.28489,0.37174,-3.142,0.0,1.580} \n + * p = {p1,p2,p3} \n + * coord_pose, cal_result = calibrateCoordinate(p,0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Math.calibrateCoordinate","params":[[[0.55462,0.06219,0.37175,-3.142,0.0,1.580], + * [0.63746,0.11805,0.37175,-3.142,0.0,1.580],[0.40441,0.28489,0.37174,-3.142,0.0,1.580]],0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[0.55462,0.06219,0.37175,-3.722688983883945e-05,-1.6940658945086007e-21,0.5932768162455785],0]} + * \endchinese + * + * \english + * Calibrate coordinate system with 3 points + * + * @param poses set of 3 poses + * @param type type:\n + * 0 - oxy origin, +x axis, xy plane (+y direction) \n + * 1 - oxz origin, +x axis, xz plane (+z direction) \n + * 2 - oyz origin, +y axis, yz plane (+z direction) \n + * 3 - oyx origin, +y axis, yx plane (+x direction) \n + * 4 - ozx origin, +z axis, zx plane (+x direction) \n + * 5 - ozy origin, +z axis, zy plane (+y direction) \n + * @return Coordinate system calibration result and whether the calibration result is valid + * + * @par Lua function prototype + * calibrateCoordinate(poses: table, type: int) -> table, number + * + * @par Lua example + * p1 = {0.55462,0.06219,0.37175,-3.142,0.0,1.580} \n + * p2 = {0.63746,0.11805,0.37175,-3.142,0.0,1.580} \n + * p3 = {0.40441,0.28489,0.37174,-3.142,0.0,1.580} \n + * p = {p1,p2,p3} \n + * coord_pose, cal_result = calibrateCoordinate(p,0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Math.calibrateCoordinate","params":[[[0.55462,0.06219,0.37175,-3.142,0.0,1.580], + * [0.63746,0.11805,0.37175,-3.142,0.0,1.580],[0.40441,0.28489,0.37174,-3.142,0.0,1.580]],0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[[0.55462,0.06219,0.37175,-3.722688983883945e-05,-1.6940658945086007e-21,0.5932768162455785],0]} + * \endenglish + */ + ResultWithErrno calibrateCoordinate( + const std::vector> &poses, int type); + + /** + * @ingroup Math + * \chinese + * 根据圆弧的三个点,计算出拟合成的圆的另一半圆弧的中间点位置 + * + * @param p1 圆弧的起始点 + * @param p2 圆弧的中间点 + * @param p3 圆弧的结束点 + * @param mode 当mode等于1的时候，表示需要对姿态进行圆弧规划； + * 当mode等于0的时候，表示不需要对姿态进行圆弧规划 + * + * @return 拟合成的圆的另一半圆弧的中间点位置和计算结果是否有效 + * + * @par Lua函数原型 + * calculateCircleFourthPoint(p1: table, p2: table, p3: table, mode: int) + * + * @par Lua示例 + * center_pose, cal_result = calculateCircleFourthPoint({0.5488696249770836,-0.1214996547187204,0.2631931199112321,-3.14159198038469,-3.673205103150083e-06,1.570796326792424}, + * {0.5488696249770835,-0.1214996547187207,0.3599720701808493,-3.14159198038469,-3.6732051029273e-06,1.570796326792423}, + * {0.5488696249770836,-0.0389996547187214,0.3599720701808496,-3.141591980384691,-3.673205102557476e-06,1.570796326792422},1) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Math.calculateCircleFourthPoint","params":[[0.5488696249770836,-0.1214996547187204,0.2631931199112321,-3.14159198038469,-3.673205103150083e-06,1.570796326792424], + * [0.5488696249770835,-0.1214996547187207,0.3599720701808493,-3.14159198038469,-3.6732051029273e-06,1.570796326792423], + * [0.5488696249770836,-0.0389996547187214,0.3599720701808496,-3.141591980384691,-3.673205102557476e-06, + * 1.570796326792422],1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[0.5488696249770837,-0.031860179583911546,0.27033259504604207,-3.1415919803846903,-3.67320510285378e-06,1.570796326792423],1]} + * + * \endchinese + * + * \english + * Based on three points on an arc, calculate the position of the midpoint of the other half of the fitted circle's arc + * + * @param p1 start point of the arc + * @param p2 middle point of the arc + * @param p3 end point of the arc + * @param mode when mode = 1, need to plan for orientation around arc; + * when mode = 0, do not need to plan for orientation around arc. + * @return position of the midpoint of the other half of the fitted circle's arc and whether the result is valid. + * + * + * @par Lua函数原型 + * calculateCircleFourthPoint(p1: table, p2: table, p3: table, mode: int) + * + * @par Lua示例 + * center_pose, cal_result = calculateCircleFourthPoint({0.5488696249770836,-0.1214996547187204,0.2631931199112321,-3.14159198038469,-3.673205103150083e-06,1.570796326792424}, + * {0.5488696249770835,-0.1214996547187207,0.3599720701808493,-3.14159198038469,-3.6732051029273e-06,1.570796326792423}, + * {0.5488696249770836,-0.0389996547187214,0.3599720701808496,-3.141591980384691,-3.673205102557476e-06,1.570796326792422},1) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Math.calculateCircleFourthPoint","params":[[0.5488696249770836,-0.1214996547187204,0.2631931199112321,-3.14159198038469,-3.673205103150083e-06,1.570796326792424], + * [0.5488696249770835,-0.1214996547187207,0.3599720701808493,-3.14159198038469,-3.6732051029273e-06,1.570796326792423], + * [0.5488696249770836,-0.0389996547187214,0.3599720701808496,-3.141591980384691,-3.673205102557476e-06, + * 1.570796326792422],1],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[[0.5488696249770837,-0.031860179583911546,0.27033259504604207,-3.1415919803846903,-3.67320510285378e-06,1.570796326792423],1]} + * + * \endenglish + */ + ResultWithErrno calculateCircleFourthPoint(const std::vector &p1, + const std::vector &p2, + const std::vector &p3, + int mode); + /** + * @ingroup Math + * \chinese + * @brief forceTrans: + * 变换力和力矩的参考坐标系 force_in_b = pose_a_in_b * force_in_a + * @param pose_a_in_b: a 坐标系在 b 坐标系的位姿 + * @param force_in_a: 力和力矩在 a 坐标系的描述 + * @return force_in_b，力和力矩在 b 坐标系的描述 + * \endchinese + * + * \english + * @brief forceTrans: + * Transform the reference frame of force and torque: force_in_b = pose_a_in_b * force_in_a + * @param pose_a_in_b: pose of frame a in frame b + * @param force_in_a: force and torque described in frame a + * @return Force_in_b, force and torque described in frame b + * \endenglish + */ + std::vector forceTrans(const std::vector &pose_a_in_b, + const std::vector &force_in_a); + + /** + * @ingroup Math + * \chinese + * @brief 通过距离计算工具坐标系下的位姿增量 + * @param distances: N 个距离, N >=3 + * @param position: 距离参考轨迹的保持高度 + * @param radius: 传感器中心距离末端tcp的等效半径 + * @param track_scale: 跟踪比例, 设置范围(0, 1], 1表示跟踪更快 + * @return 基于工具坐标系的位姿增量 + * \endchinese + * + * \english + * @brief Calculate pose increment in tool coordinate system based on sensor data + * @param distances: N distances, N >= 3 + * @param position: reference height to maintain from the trajectory + * @param radius: effective radius from sensor center to tool TCP + * @param track_scale: tracking ratio, range (0, 1], 1 means faster tracking + * @return Pose increment in tool coordinate system + * \endenglish + */ + std::vector getDeltaPoseBySensorDistance( + const std::vector &distances, double position, double radius, + double track_scale); + + /** + * @ingroup Math + * \chinese + * @brief changeFTFrame: 变换力和力矩的参考坐标系 + * @param pose_a_in_b: a 坐标系在 b 坐标系的位姿 + * @param ft_in_a: 作用在 a 点的力和力矩在 a 坐标系的描述 + * @return ft_in_b，作用在 b 点的力和力矩在 b 坐标系的描述 + * \endchinese + * + * \english + * @brief changeFTFrame: Transform the reference frame of force and torque + * @param pose_a_in_b: pose of frame a in frame b + * @param ft_in_a: force and torque applied at point a, described in frame a + * @return ft_in_b, force and torque applied at point b, described in frame b + * \endenglish + */ + std::vector deltaPoseTrans(const std::vector &pose_a_in_b, + const std::vector &ft_in_a); + + /** + * @ingroup Math + * \chinese + * @brief addDeltaPose: 计算以给定速度变换单位时间后的位姿 + * @param pose_a_in_b: 当前时刻 a 相对于 b 的位姿 + * @param v_in_b: 当前时刻 a 坐标系的速度在 b 的描述 + * @return pose_in_b, 单位时间后的位姿在 b 的描述 + * \endchinese + * + * \english + * @brief addDeltaPose: Calculate the pose after unit time given a velocity + * @param pose_a_in_b: current pose of a relative to b + * @param v_in_b: velocity of frame a described in frame b at current time + * @return pose_in_b, pose after unit time described in frame b + * \endenglish + */ + std::vector deltaPoseAdd(const std::vector &pose_a_in_b, + const std::vector &v_in_b); + + /** + * @ingroup Math + * \chinese + * @brief changePoseWithXYRef: 修改 pose_tar 的ｘｙ轴方向,尽量与 pose_ref 一致， + * @param pose_tar: 需要修改的目标位姿 + * @param pose_ref: 参考位姿 + * @return 修改后的位姿，采用pose_tar的 xyz 坐标和 z 轴方向 + * \endchinese + * + * \english + * @brief changePoseWithXYRef: Modify the XY axis direction of pose_tar to be as consistent as possible with pose_ref + * @param pose_tar: target pose to be modified + * @param pose_ref: reference pose + * @return Modified pose, using the xyz coordinates and z axis direction of pose_tar + * \endenglish + */ + std::vector changePoseWithXYRef( + const std::vector &pose_tar, + const std::vector &pose_ref); + + /** + * @ingroup Math + * \chinese + * @brief homMatrixToPose: 由齐次变换矩阵得到位姿 + * @param homMatrix: 4*4 齐次变换矩阵, 输入元素采用横向排列 + * @return 对应的位姿 + * \endchinese + * + * \english + * @brief homMatrixToPose: Get pose from homogeneous transformation matrix + * @param homMatrix: 4x4 homogeneous transformation matrix, input elements are arranged row-wise + * @return corresponding pose + * \endenglish + */ + std::vector homMatrixToPose(const std::vector &homMatrix); + + /** + * @ingroup Math + * \chinese + * @brief poseToHomMatrix: 位姿变换得到齐次变换矩阵 + * @param pose: 输入的位姿 + * @return 输出的齐次变换矩阵,元素横向排列 + * \endchinese + * + * \english + * @brief poseToHomMatrix: Get homogeneous transformation matrix from pose + * @param pose: input pose + * @return output homogeneous transformation matrix, elements arranged row-wise + * \endenglish + */ + std::vector poseToHomMatrix(const std::vector &pose); + +protected: + void *d_; +}; +using MathPtr = std::shared_ptr; + +} // namespace common_interface +} // namespace arcs +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/register_control.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/register_control.h new file mode 100644 index 00000000..fe08eca2 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/register_control.h @@ -0,0 +1,3559 @@ +/** @file register_control.h + * @brief 寄存器操作接口，用于三个模块之间的数据交换功能 + */ +#ifndef AUBO_SDK_REGISTER_CONTROL_INTERFACE_H +#define AUBO_SDK_REGISTER_CONTROL_INTERFACE_H + +#include +#include +#include + +#include +#include + +enum ModbusErrorNum +{ + /** MODBUS unit not initiallized + */ + MB_ERR_NOT_INIT = -1, + + /** MODBUS unit disconnected + */ + MB_ERR_DISCONNECTED = -2, + + /** The function code received in the query is not an allowable action for + * the server (or slave). + */ + MB_ERR_ILLEGAL_FUNCTION = 1, + + /** The function code received in the query is not an allowable action for + * the server (or slave), check that the entered signal address corresponds + * to the setup of the remote MODBUS server. + */ + MB_ERR_ILLEGAL_DATA_ADDRESS = 2, + + /** A value contained in the query data field is not an allowable value for + * server (or slave), check that the enterd signal value is valid for the + * specified address on the remote MODBUS server. + */ + MB_ERR_ILLEGAL_DATA_VALUE = 3, + + /** An unrecoverable error occurred while the server (or slave) was + * attempting to perform the requested action. + */ + MB_ERR_SLAVE_DEVICE_FAILURE = 4, + + /** Specialized use in conjunction with programming commands sent to the + * remote MODBUS unit. + */ + MB_ERR_ACKNOWLEDGE = 5, + + /** Specialized use in conjunction with programming commands sent to the + * remote MODBUS unit, the slave (server) is not able to respond now + */ + MB_ERR_SLAVE_DEVICE_BUSY = 6, +}; + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * @defgroup RegisterControl RegisterControl (寄存器操作) + * 通用寄存器 + * \chinese + * + * \english + * @defgroup RegisterControl Register Operation + * Common register + */ +class ARCS_ABI_EXPORT RegisterControl +{ +public: + RegisterControl(); + virtual ~RegisterControl(); + + /** + * @ingroup RegisterControl + * \chinese + * + * 从一个输入寄存器中读取布尔值，也可以通过现场总线进行访问。 + * 注意，它使用自己的内存空间。 + * + * @param address 寄存器的地址（0:127） + * @return 寄存器中保存的布尔值（true、false） + * + * @note 布尔输入寄存器的较低范围[0:63]保留供FieldBus/PLC接口使用。 + * 较高范围[64:127]无法通过FieldBus/PLC接口访问，因为它保留供外部RTDE客户端使用。 + * + * @par Python函数原型 + * getBoolInput(self: pyaubo_sdk.RegisterControl, arg0: int) -> bool + * + * @par Lua函数原型 + * getBoolInput(address: number) -> boolean + * + * @par Lua示例 + * BoolInput_0 = getBoolInput(0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getBoolInput","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * \endchinese + * + * \english + * Reads the boolean from one of the input registers, which can also be + * accessed by a Field bus. Note, uses its own memory space. + * + * @param address Address of the register (0:127) + * @return Boolean value held by the register (true, false) + * + * @note The lower range of the boolean input registers [0:63] is reserved + * for FieldBus/PLC interface usage. The upper range [64:127] cannot be + * accessed by FieldBus/PLC interfaces, since it is reserved for external + * RTDE clients. + * + * @par Python interface prototype + * getBoolInput(self: pyaubo_sdk.RegisterControl, arg0: int) -> bool + * + * @par Lua interface prototype + * getBoolInput(address: number) -> boolean + * + * @par Lua example + * BoolInput_0 = getBoolInput(0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getBoolInput","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * \endenglish + */ + bool getBoolInput(uint32_t address); + + /** + * @ingroup RegisterControl + * \chinese + * + * @param address + * @param value + * @return + * + * @note 只有在实现 RTDE/Modbus Slave/PLC 服务端时使用 + * + * @par Python函数原型 + * setBoolInput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: bool) -> + * int + * + * @par Lua函数原型 + * setBoolInput(address: number, value: boolean) -> nil + * + * @par Lua示例 + * setBoolInput(0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setBoolInput","params":[0,true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * + * @param address Address of the register (0:127) + * @param value Boolean value to set (true or false) + * @return Returns 0 on success, or an error code + * + * @note Only used when implementing RTDE/Modbus Slave/PLC server + * + * @par Python interface prototype + * setBoolInput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: bool) -> + * int + * + * @par Lua interface prototype + * setBoolInput(address: number, value: boolean) -> nil + * + * @par Lua example + * setBoolInput(0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setBoolInput","params":[0,true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setBoolInput(uint32_t address, bool value); + + /** + * @ingroup RegisterControl + * \chinese + * + * 从一个输入寄存器中读取整数值，也可以通过现场总线进行访问。 + * 注意，它使用自己的内存空间。 + * + * @param address 寄存器的地址（0:47） + * @return 寄存器中保存的整数值[-2,147,483,648 : 2,147,483,647] + * + * @note 整数输入寄存器的较低范围[0:23]保留供FieldBus/PLC接口使用。 + * 较高范围[24:47]无法通过FieldBus/PLC接口访问，因为它保留供外部RTDE客户端使用。 + * + * @par Python函数原型 + * getInt32Input(self: pyaubo_sdk.RegisterControl, arg0: int) -> int + * + * @par Lua函数原型 + * getInt32Input(address: number) -> number + * + * @par Lua示例 + * Int32Input_0 = getInt32Input(0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getInt32Input","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * + * \english + * Reads the integer from one of the input registers, which can also be + * accessed by a FieldBus. Note, uses it’s own memory space. + * + * @param address Address of the register (0:47) + * @return The value held by the register [-2,147,483,648 : 2,147,483,647] + * + * @note The lower range of the integer input registers [0:23] is reserved + * for FieldBus/PLC interface usage. The upper range [24:47] cannot be + * accessed by FieldBus/PLC interfaces, since it is reserved for external + * RTDE clients. + * + * @par Python interface prototype + * getInt32Input(self: pyaubo_sdk.RegisterControl, arg0: int) -> int + * + * @par Lua interface prototype + * getInt32Input(address: number) -> number + * + * @par Lua example + * Int32Input_0 = getInt32Input(0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getInt32Input","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + */ + int getInt32Input(uint32_t address); + + /** + * @ingroup RegisterControl + * @ingroup RegisterControl + * \chinese + * + * @param address 寄存器的地址（0:47） + * @param value 要设置的整数值 + * @return 返回0表示成功，其他为错误码 + * + * @note 只有在实现 RTDE/Modbus Slave/PLC 服务端时使用 + * + * @par Python函数原型 + * setInt32Input(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: int) -> + * int + * + * @par Lua函数原型 + * setInt32Input(address: number, value: number) -> nil + * + * @par Lua示例 + * setInt32Input(0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setInt32Input","params":[0,33],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * + * @param address Address of the register (0:47) + * @param value Integer value to set + * @return Returns 0 on success, or an error code + * + * @note Only used when implementing RTDE/Modbus Slave/PLC server + * + * @par Python interface prototype + * setInt32Input(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: int) -> + * int + * + * @par Lua interface prototype + * setInt32Input(address: number, value: number) -> nil + * + * @par Lua example + * setInt32Input(0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setInt32Input","params":[0,33],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setInt32Input(uint32_t address, int value); + + /** + * @ingroup RegisterControl + * \chinese + * Reads the float from one of the input registers, which can also be + * accessed by a Field bus. Note, uses it’s own memory space. + * + * 从一个输入寄存器中读取浮点数，也可以通过现场总线进行访问。 + * 注意，它使用自己的内存空间。 + * + * @param address Address of the register (0:47) + * 寄存器地址（0:47） + * @return The value held by the register (float) + * 寄存器中保存的浮点数值 + * + * @note The lower range of the float input registers [0:23] is reserved + * for FieldBus/PLC interface usage. The upper range [24:47] cannot be + * accessed by FieldBus/PLC interfaces, since it is reserved for external + * RTDE clients. + * 浮点数输入寄存器的较低范围[0:23]保留供现场总线/PLC接口使用。 + * 较高范围[24:47]不能通过现场总线/PLC接口访问，因为它们是为外部RTDE客户端保留的。 + * + * @par Python函数原型 + * getFloatInput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float + * + * @par Lua函数原型 + * getFloatInput(address: number) -> number + * + * @par Lua示例 + * FloatInput_0 = getFloatInput(0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getFloatInput","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.0} + * + * \endchinese + * + * \english + * Reads the float from one of the input registers, which can also be + * accessed by a Field bus. Note, uses it’s own memory space. + * + * @param address Address of the register (0:47) + * @return The value held by the register (float) + * + * @note The lower range of the float input registers [0:23] is reserved + * for FieldBus/PLC interface usage. The upper range [24:47] cannot be + * accessed by FieldBus/PLC interfaces, since it is reserved for external + * RTDE clients. + * + * @par Python interface prototype + * getFloatInput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float + * + * @par Lua interface prototype + * getFloatInput(address: number) -> number + * + * @par Lua example + * FloatInput_0_0 = getFloatInput(0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getFloatInput","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.0} + */ + float getFloatInput(uint32_t address); + + /** + * @ingroup RegisterControl + * \chinese + * + * @param address 寄存器的地址（0:47） + * @param value 要设置的浮点数值 + * @return 返回0表示成功，其他为错误码 + * + * @note 只有在实现 RTDE/Modbus Slave/PLC 服务端时使用 + * + * @par Python函数原型 + * setFloatInput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) + * -> int + * + * @par Lua函数原型 + * setFloatInput(address: number, value: number) -> nil + * + * @par Lua示例 + * setFloatInput(0, 3.3) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setFloatInput","params":[0,3.3],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * + * @param address Address of the register (0:47) + * @param value Float value to set + * @return Returns 0 on success, or an error code + * + * @note Only used when implementing RTDE/Modbus Slave/PLC server + * + * @par Python interface prototype + * setFloatInput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) + * -> int + * + * @par Lua interface prototype + * setFloatInput(address: number, value: number) -> nil + * + * @par Lua example + * setFloatInput(0, 3.3) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setFloatInput","params":[0,3.3],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setFloatInput(uint32_t address, float value); + + /** + * @ingroup RegisterControl + * \chinese + * + * 从一个输入寄存器中读取双精度浮点数，也可以通过现场总线进行访问。 + * 注意，它使用自己的内存空间。 + * + * @param address 寄存器的地址（0:47） + * @return 寄存器中保存的双精度浮点数值 + * + * @par Python函数原型 + * getDoubleInput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float + * + * @par Lua函数原型 + * getDoubleInput(address: number) -> number + * + * @par Lua示例 + * DoubleInput_0 = getDoubleInput(0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getDoubleInput","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.0} + * + * \endchinese + * \english + * + * Reads the double value from one of the input registers, which can also be + * accessed by a FieldBus. Note, uses its own memory space. + * + * @param address Address of the register (0:47) + * @return The double value held by the register + * + * @par Python interface prototype + * getDoubleInput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float + * + * @par Lua interface prototype + * getDoubleInput(address: number) -> number + * + * @par Lua example + * DoubleInput_0 = getDoubleInput(0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getDoubleInput","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.0} + * + * \endenglish + */ + double getDoubleInput(uint32_t address); + + /** + * \english + * @param address + * @param value + * @return + * + * @note Only used when implementing RTDE/Modbus Slave/PLC server + * + * @par Python interface prototype + * setDoubleInput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) + * -> int + * + * @par Lua interface prototype + * setDoubleInput(address: number, value: number) -> nil + * + * @par Lua example + * setDoubleInput(0, 3.3) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setDoubleInput","params":[0,6.6],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + * + * @ingroup RegisterControl + * \chinese + * @param address + * @param value + * @return + * + * @note 只有在实现 RTDE/Modbus Slave/PLC 服务端时使用 + * + * @par Python函数原型 + * setDoubleInput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) + * -> int + * + * @par Lua函数原型 + * setDoubleInput(address: number, value: number) -> nil + * + * @par Lua示例 + * setDoubleInput(0, 3.3) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setDoubleInput","params":[0,6.6],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + */ + int setDoubleInput(uint32_t address, double value); + + /** + * @ingroup RegisterControl + * \chinese + * 从一个输出寄存器中读取布尔值，也可以通过现场总线进行访问。 + * 注意，它使用自己的内存空间。 + * + * @param address 寄存器地址（0:127） + * @return 寄存器中保存的布尔值（true, false） + * + * @note 布尔输出寄存器的较低范围[0:63]保留供现场总线/PLC接口使用。 + * 较高范围[64:127]不能通过现场总线/PLC接口访问，因为它们是为外部RTDE客户端保留的。 + * + * @par Python函数原型 + * getBoolOutput(self: pyaubo_sdk.RegisterControl, arg0: int) -> bool + * + * @par Lua函数原型 + * getBoolOutput(address: number) -> boolean + * + * @par Lua示例 + * BoolOutput_0 = getBoolOutput(0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getBoolOutput","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * \endchinese + * + * \english + * Reads the boolean from one of the output registers, which can also be + * accessed by a Field bus. + * Note, uses its own memory space. + * + * @param address Address of the register (0:127) + * @return The boolean value held by the register (true, false) + * + * @note The lower range of the boolean output registers [0:63] is reserved + * for FieldBus/PLC interface usage. The upper range [64:127] cannot be + * accessed by FieldBus/PLC interfaces, since it is reserved for external + * RTDE clients. + * + * @par Python interface prototype + * getBoolOutput(self: pyaubo_sdk.RegisterControl, arg0: int) -> bool + * + * @par Lua interface prototype + * getBoolOutput(address: number) -> boolean + * + * @par Lua example + * BoolOutput_0 = getBoolOutput(0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getBoolOutput","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * \endenglish + */ + bool getBoolOutput(uint32_t address); + + /** + * @ingroup RegisterControl + * \chinese + * + * @param address 寄存器地址（0:127） + * @param value 要设置的布尔值（true 或 false） + * @return 返回0表示成功，其他为错误码 + * + * @par Python函数原型 + * setBoolOutput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: bool) -> + * int + * + * @par Lua函数原型 + * setBoolOutput(address: number, value: boolean) -> nil + * + * @par Lua示例 + * setBoolOutput(0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setBoolOutput","params":[0,false],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * + * @param address Address of the register (0:127) + * @param value Boolean value to set (true or false) + * @return Returns 0 on success, or an error code + * + * @par Python interface prototype + * setBoolOutput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: bool) -> + * int + * + * @par Lua interface prototype + * setBoolOutput(address: number, value: boolean) -> nil + * + * @par Lua example + * setBoolOutput(0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setBoolOutput","params":[0,false],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setBoolOutput(uint32_t address, bool value); + + /** + * @ingroup RegisterControl + * \chinese + * 从一个输出寄存器中读取整数值，也可以通过现场总线进行访问。 + * 注意，它使用自己的内存空间。 + * + * @param address 寄存器地址（0:47） + * @return 寄存器中保存的整数值（-2,147,483,648 : 2,147,483,647） + * + * @note 整数输出寄存器的较低范围[0:23]保留供现场总线/PLC接口使用。 + * 较高范围[24:47]不能通过现场总线/PLC接口访问，因为它们是为外部RTDE客户端保留的。 + * + * @par Python函数原型 + * getInt32Output(self: pyaubo_sdk.RegisterControl, arg0: int) -> int + * + * @par Lua函数原型 + * getInt32Output(address: number) -> number + * + * @par Lua示例 + * Int32Output_0 = getInt32Output(0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getInt32Output","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * + * \english + * Reads the integer from one of the output registers, which can also be + * accessed by a FieldBus. Note, uses its own memory space. + * + * @param address Address of the register (0:47) + * @return The int value held by the register [-2,147,483,648 : + * 2,147,483,647] + * + * @note The lower range of the integer output registers [0:23] is reserved + * for FieldBus/PLC interface usage. The upper range [24:47] cannot be + * accessed by FieldBus/PLC interfaces, since it is reserved for external + * RTDE clients. + * + * @par Python interface prototype + * getInt32Output(self: pyaubo_sdk.RegisterControl, arg0: int) -> int + * + * @par Lua interface prototype + * getInt32Output(address: number) -> number + * + * @par Lua example + * Int32Output_0 = getInt32Output(0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getInt32Output","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int getInt32Output(uint32_t address); + + /** + * @ingroup RegisterControl + * \chinese + * + * @param address 寄存器地址（0:47） + * @param value 要设置的整数值 + * @return 返回0表示成功，其他为错误码 + * + * @par Python函数原型 + * setInt32Output(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: int) -> + * int + * + * @par Lua函数原型 + * setInt32Output(address: number, value: number) -> nil + * + * @par Lua示例 + * setInt32Output(0, 100) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setInt32Output","params":[0,100],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * + * @param address Address of the register (0:47) + * @param value Integer value to set + * @return Returns 0 on success, or an error code + * + * @par Python interface prototype + * setInt32Output(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: int) -> + * int + * + * @par Lua interface prototype + * setInt32Output(address: number, value: number) -> nil + * + * @par Lua example + * setInt32Output(0, 100) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setInt32Output","params":[0,100],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setInt32Output(uint32_t address, int value); + + /** + * @ingroup RegisterControl + * \chinese + * 从一个输出寄存器中读取浮点数，也可以通过现场总线进行访问。 + * 注意，它使用自己的内存空间。 + * + * @param address 寄存器地址（0:47） + * @return 寄存器中保存的浮点数值（float） + * + * @note 浮点数输出寄存器的较低范围[0:23]保留供现场总线/PLC接口使用。 + * 较高范围[24:47]不能通过现场总线/PLC接口访问，因为它们是为外部RTDE客户端保留的。 + * + * @par Python函数原型 + * getFloatOutput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float + * + * @par Lua函数原型 + * getFloatOutput(address: number) -> number + * + * @par Lua示例 + * FloatOutput_0 = getFloatOutput(0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getFloatOutput","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":3.3} + * \endchinese + * + * \english + * Reads the float from one of the output registers, which can also be + * accessed by a FieldBus. Note, uses its own memory space. + * + * @param address Address of the register (0:47) + * @return The value held by the register (float) + * + * @note The lower range of the float output registers [0:23] is reserved + * for FieldBus/PLC interface usage. The upper range [24:47] cannot be + * accessed by FieldBus/PLC interfaces, since it is reserved for external + * RTDE clients. + * + * @par Python interface prototype + * getFloatOutput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float + * + * @par Lua interface prototype + * getFloatOutput(address: number) -> number + * + * @par Lua example + * FloatOutput_0 = getFloatOutput(0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getFloatOutput","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":3.3} + * \endenglish + */ + float getFloatOutput(uint32_t address); + + /** + * @ingroup RegisterControl + * \chinese + * + * @param address 寄存器地址（0:47） + * @param value 要设置的浮点数值 + * @return 返回0表示成功，其他为错误码 + * + * @par Python函数原型 + * setFloatOutput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) + * -> int + * + * @par Lua函数原型 + * setFloatOutput(address: number, value: number) -> nil + * + * @par Lua示例 + * setFloatOutput(0,5.5) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setFloatOutput","params":[0,5.5],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * + * @param address Address of the register (0:47) + * @param value Float value to set + * @return Returns 0 on success, or an error code + * + * @par Python interface prototype + * setFloatOutput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) + * -> int + * + * @par Lua interface prototype + * setFloatOutput(address: number, value: number) -> nil + * + * @par Lua example + * setFloatOutput(0,5.5) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setFloatOutput","params":[0,5.5],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setFloatOutput(uint32_t address, float value); + + /** + * @ingroup RegisterControl + * \chinese + * + * 从一个输出寄存器中读取双精度浮点数。 + * + * @param address 寄存器地址 + * @return 寄存器中保存的双精度浮点数值 + * + * @par Python函数原型 + * getDoubleOutput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float + * + * @par Lua函数原型 + * getDoubleOutput(address: number) -> number + * + * @par Lua示例 + * DoubleOutput_0 = getDoubleOutput(0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getDoubleOutput","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.0} + * + * \endchinese + * \english + * + * Reads the double value from one of the output registers. + * + * @param address Address of the register + * @return The double value held by the register + * + * @par Python interface prototype + * getDoubleOutput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float + * + * @par Lua interface prototype + * getDoubleOutput(address: number) -> number + * + * @par Lua example + * DoubleOutput_0 = getDoubleOutput(0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getDoubleOutput","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.0} + * + * \endenglish + */ + double getDoubleOutput(uint32_t address); + + /** + * @ingroup RegisterControl + * \chinese + * + * @param address 寄存器地址 + * @param value 要设置的双精度浮点数值 + * @return 返回0表示成功，其他为错误码 + * + * @par Python函数原型 + * setDoubleOutput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) + * -> int + * + * @par Lua函数原型 + * setDoubleOutput(address: number, value: number) -> nil + * + * @par Lua示例 + * setDoubleOutput(0,4.4) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setDoubleOutput","params":[0,4.4],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * + * @param address Address of the register + * @param value Double value to set + * @return Returns 0 on success, or an error code + * + * @par Python interface prototype + * setDoubleOutput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) + * -> int + * + * @par Lua interface prototype + * setDoubleOutput(address: number, value: number) -> nil + * + * @par Lua example + * setDoubleOutput(0,4.4) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setDoubleOutput","params":[0,4.4],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setDoubleOutput(uint32_t address, double value); + + /** + * @ingroup RegisterControl + * \chinese + * 用于 Modbus Slave + * + * @param address + * @return + * + * @par Python函数原型 + * getInt16Register(self: pyaubo_sdk.RegisterControl, arg0: int) -> int + * + * @par Lua函数原型 + * getInt16Register(address: number) -> number + * + * @par Lua示例 + * Int16Register_0 = getInt16Register(0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getInt16Register","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Used for Modbus Slave + * + * @param address + * @return + * + * @par Python interface prototype + * getInt16Register(self: pyaubo_sdk.RegisterControl, arg0: int) -> int + * + * @par Lua interface prototype + * getInt16Register(address: number) -> number + * + * @par Lua example + * Int16Register_0 = getInt16Register(0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getInt16Register","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int16_t getInt16Register(uint32_t address); + + /** + * @ingroup RegisterControl + * \chinese + * + * @param address 寄存器地址 + * @param value 要设置的值 + * @return 返回0表示成功，其他为错误码 + * + * @par Python函数原型 + * setInt16Register(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: int) + * -> int + * + * @par Lua函数原型 + * setInt16Register(address: number, value: number) -> nil + * + * @par Lua示例 + * setInt16Register(0,4.4) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setInt16Register","params":[0,0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * + * @param address Register address + * @param value Value to set + * @return Returns 0 on success, otherwise error code + * + * @par Python interface prototype + * setInt16Register(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: int) + * -> int + * + * @par Lua interface prototype + * setInt16Register(address: number, value: number) -> nil + * + * @par Lua example + * setInt16Register(0,4.4) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setInt16Register","params":[0,0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setInt16Register(uint32_t address, int16_t value); + + /** + * @ingroup RegisterControl + * \chinese + * 获取 Int16 寄存器的某个bit的状态 + * + * @param address: Int16 寄存器地址 + * @param bit_offset: 寄存器中的bit偏移，0 ~ 15 + * @return 指定bit的状态，true表示1，false表示0或参数无效 + * + * @par Python函数原型 + * getInt16RegisterBit(self: pyaubo_sdk.RegisterControl, address: int, + * bit_offset: int) -> bool + * + * @par Lua函数原型 + * getInt16RegisterBit(address: number, bit_offset: number) -> boolean + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getInt16RegisterBit","params":[1, + * 5],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * + * \endchinese + * \english + * Get the status of a specific bit in an Int16 register + * + * @param address Int16 register address + * @param bit_offset Bit offset in the register, 0 ~ 15 + * @return Status of the specified bit, true for 1, false for 0 or invalid + * parameters + * + * @par Python interface prototype + * getInt16RegisterBit(self: pyaubo_sdk.RegisterControl, address: int, + * bit_offset: int) -> bool + * + * @par Lua interface prototype + * getInt16RegisterBit(address: number, bit_offset: number) -> boolean + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getInt16RegisterBit","params":[1, + * 5],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * + * \endenglish + */ + bool getInt16RegisterBit(uint32_t address, uint8_t bit_offset); + + /** + * @ingroup RegisterControl + * \chinese + * 设置 Int16 寄存器的某个bit的状态 + * + * @param address: Int16 寄存器地址 + * @param bit_offset: 寄存器中的bit偏移，0 ~ 15 + * @param value: 要设置的值，true表示置1，false表示清0 + * @return 成功返回0，失败返回错误码 + * + * @par Python函数原型 + * setInt16RegisterBit(self: pyaubo_sdk.RegisterControl, address: int, + * bit_offset: int, value: bool) -> int + * + * @par Lua函数原型 + * setInt16RegisterBit(address: number, bit_offset: number, value: boolean) + * -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setInt16RegisterBit","params":[1, + * 5, true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set the status of a specific bit in an Int16 register + * + * @param address Int16 register address + * @param bit_offset Bit offset in the register, 0 ~ 15 + * @param value Value to set, true to set to 1, false to clear to 0 + * @return Returns 0 on success, error code on failure + * + * @par Python interface prototype + * setInt16RegisterBit(self: pyaubo_sdk.RegisterControl, address: int, + * bit_offset: int, value: bool) -> int + * + * @par Lua interface prototype + * setInt16RegisterBit(address: number, bit_offset: number, value: boolean) + * -> number + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setInt16RegisterBit","params":[1, + * 5, true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setInt16RegisterBit(uint32_t address, uint8_t bit_offset, bool value); + + /** + * @ingroup RegisterControl + * \chinese + * 具名变量是否存在 + * + * @param key 变量名 + * @return + * + * @par Lua函数原型 + * hasNamedVariable(key: string) -> boolean + * + * @par Lua示例 + * NamedVariable = hasNamedVariable("custom") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.hasNamedVariable","params":["custom"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * + * \endchinese + * \english + * Whether the named variable exists + * + * @param key Variable name + * @return + * + * @par Lua interface prototype + * hasNamedVariable(key: string) -> boolean + * + * @par Lua example + * NamedVariable = hasNamedVariable("custom") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.hasNamedVariable","params":["custom"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * + * \endenglish + */ + bool hasNamedVariable(const std::string &key); + + /** + * @ingroup RegisterControl + * \chinese + * 获取具名变量的类型 + * + * @param key + * @return + * + * @par Lua函数原型 + * getNamedVariableType(key: string) -> string + * + * @par Lua示例 + * NamedVariableType = getNamedVariableType("custom") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getNamedVariableType","params":["custom"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"NONE"} + * + * \endchinese + * \english + * Get the type of a named variable + * + * @param key + * @return + * + * @par Lua interface prototype + * getNamedVariableType(key: string) -> string + * + * @par Lua example + * NamedVariableType = getNamedVariableType("custom") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getNamedVariableType","params":["custom"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"NONE"} + * + * \endenglish + */ + std::string getNamedVariableType(const std::string &key); + + /** + * @ingroup RegisterControl + * \chinese + * 具名变量是否更新 + * + * @param key + * @param since + * @return + * + * @par Python函数原型 + * variableUpdated(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) + * -> bool + * + * @par Lua函数原型 + * variableUpdated(key: string, since: number) -> boolean + * + * @par Lua示例 + * Variable_Updated = variableUpdated("custom" , 0) + * + * \endchinese + * + * \english + * Whether the named variable has been updated + * + * @param key + * @param since + * @return + * + * @par Python interface prototype + * variableUpdated(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) + * -> bool + * + * @par Lua interface prototype + * variableUpdated(key: string, since: number) -> boolean + * + * @par Lua example + * Variable_Updated = variableUpdated("custom" , 0) + * + * \endchinese + */ + bool variableUpdated(const std::string &key, uint64_t since); + + /** + * @ingroup RegisterControl + * \chinese + * 获取变量值 + * + * @param key + * @param default_value + * @return + * + * @par Python函数原型 + * getBool(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: bool) -> bool + * + * @par Lua函数原型 + * getBool(key: string, default_value: boolean) -> boolean + * + * @par Lua示例 + * Bool_var = getBool("custom",false) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getBool","params":["custom",false],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * + * \endchinese + * \english + * Get variable value + * + * @param key + * @param default_value + * @return + * + * @par Python interface prototype + * getBool(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: bool) -> bool + * + * @par Lua interface prototype + * getBool(key: string, default_value: boolean) -> boolean + * + * @par Lua example + * Bool_var = getBool("custom",false) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getBool","params":["custom",false],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * + * \endenglish + */ + bool getBool(const std::string &key, bool default_value); + + /** + * @ingroup RegisterControl + * \chinese + * 设置/更新变量值 + * + * @param key + * @param value + * @return + * + * @par Python函数原型 + * setBool(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: bool) -> int + * + * @par Lua函数原型 + * setBool(key: string, value: boolean) -> nil + * + * @par Lua示例 + * setBool("custom",true) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setBool","params":["custom",true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set or update the variable value + * + * @param key + * @param value + * @return Returns 0 on success, otherwise error code + * + * @par Python interface prototype + * setBool(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: bool) -> int + * + * @par Lua interface prototype + * setBool(key: string, value: boolean) -> nil + * + * @par Lua example + * setBool("custom",true) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setBool","params":["custom",true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setBool(const std::string &key, bool value); + + /** + * @ingroup RegisterControl + * \chinese + * 获取变量值 + * + * @param key + * @param default_value + * @return + * + * @par Python函数原型 + * getVecChar(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[str]) + * -> List[str] + * + * @par Lua函数原型 + * getVecChar(key: string, default_value: table) -> table + * + * @par Lua示例 + * VecChar = getVecChar("custom",{}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getVecChar","params":["custom",[]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0,1,0]} + * + * \endchinese + * \english + * Get variable value + * + * @param key + * @param default_value + * @return + * + * @par Python interface prototype + * getVecChar(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[str]) + * -> List[str] + * + * @par Lua interface prototype + * getVecChar(key: string, default_value: table) -> table + * + * @par Lua example + * VecChar = getVecChar("custom",{}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getVecChar","params":["custom",[]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0,1,0]} + * + * \endenglish + */ + std::vector getVecChar(const std::string &key, + const std::vector &default_value); + + /** + * @ingroup RegisterControl + * \chinese + * 设置/更新变量值 + * + * @param key + * @param value + * @return + * + * @par Python函数原型 + * setVecChar(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[str]) + * -> int + * + * @par Lua函数原型 + * setVecChar(key: string, value: table) -> nil + * + * @par Lua示例 + * setVecChar("custom",{0,1,0}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setVecChar","params":["custom",[0,1,0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set or update the variable value + * + * @param key + * @param value + * @return Returns 0 on success, otherwise error code + * + * @par Python interface prototype + * setVecChar(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[str]) + * -> int + * + * @par Lua interface prototype + * setVecChar(key: string, value: table) -> nil + * + * @par Lua example + * setVecChar("custom",{0,1,0}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setVecChar","params":["custom",[0,1,0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setVecChar(const std::string &key, const std::vector &value); + + /** + * @ingroup RegisterControl + * \chinese + * 获取变量值 + * + * @param key + * @param default_value + * @return + * + * @par Python函数原型 + * getInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) -> int + * + * @par Lua函数原型 + * getInt32(key: string, default_value: number) -> number + * + * @par Lua示例 + * Int32 = getInt32("custom",0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getInt32","params":["custom",0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":6} + * + * \endchinese + * \english + * Get variable value + * + * @param key + * @param default_value + * @return + * + * @par Python interface prototype + * getInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) -> int + * + * @par Lua interface prototype + * getInt32(key: string, default_value: number) -> number + * + * @par Lua example + * Int32 = getInt32("custom",0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getInt32","params":["custom",0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":6} + * + * \endenglish + */ + int getInt32(const std::string &key, int default_value); + + /** + * @ingroup RegisterControl + * \chinese + * 设置/更新变量值 + * + * @param key + * @param value + * @return + * + * @par Python函数原型 + * setInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) -> int + * + * @par Lua函数原型 + * setInt32(key: string, value: number) -> nil + * + * @par Lua示例 + * setInt32("custom",6) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setInt32","params":["custom",6],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set or update the variable value + * + * @param key + * @param value + * @return + * + * @par Python interface prototype + * setInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) -> int + * + * @par Lua interface prototype + * setInt32(key: string, value: number) -> nil + * + * @par Lua example + * setInt32("custom",6) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setInt32","params":["custom",6],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setInt32(const std::string &key, int value); + + /** + * @ingroup RegisterControl + * \chinese + * 获取变量值 + * + * @param key + * @param default_value + * @return + * + * @par Python函数原型 + * getVecInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[int]) + * -> List[int] + * + * @par Lua函数原型 + * getVecInt32(key: string, default_value: table) -> table + * + * @par Lua示例 + * VecInt32 = getVecInt32("custom",{}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getVecInt32","params":["custom",[]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[1,2,3,4]} + * + * \endchinese + * \english + * Get variable value + * + * @param key + * @param default_value + * @return + * + * @par Python interface prototype + * getVecInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[int]) + * -> List[int] + * + * @par Lua interface prototype + * getVecInt32(key: string, default_value: table) -> table + * + * @par Lua example + * VecInt32 = getVecInt32("custom",{}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getVecInt32","params":["custom",[]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[1,2,3,4]} + * + * \endenglish + */ + std::vector getVecInt32(const std::string &key, + const std::vector &default_value); + + /** + * @ingroup RegisterControl + * \chinese + * 设置/更新变量值 + * + * @param key + * @param value + * @return + * + * @par Python函数原型 + * setVecInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[int]) + * -> int + * + * @par Lua函数原型 + * setVecInt32(key: string, value: table) -> nil + * + * @par Lua示例 + * setVecInt32("custom",{1,2,3,4}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setVecInt32","params":["custom",[1,2,3,4]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set or update the variable value + * + * @param key + * @param value + * @return + * + * @par Python interface prototype + * setVecInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[int]) + * -> int + * + * @par Lua interface prototype + * setVecInt32(key: string, value: table) -> nil + * + * @par Lua example + * setVecInt32("custom",{1,2,3,4}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setVecInt32","params":["custom",[1,2,3,4]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setVecInt32(const std::string &key, const std::vector &value); + + /** + * @ingroup RegisterControl + * \chinese + * 获取变量值 + * + * @param key + * @param default_value + * @return + * + * @par Python函数原型 + * getFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> + * float + * + * @par Lua函数原型 + * getFloat(key: string, default_value: number) -> number + * + * @par Lua示例 + * var_Float = getFloat("custom",0.0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getFloat","params":["custom",0.0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":4.400000095367432} + * + * \endchinese + * \english + * Get variable value + * + * @param key + * @param default_value + * @return + * + * @par Python interface prototype + * getFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> + * float + * + * @par Lua interface prototype + * getFloat(key: string, default_value: number) -> number + * + * @par Lua example + * var_Float = getFloat("custom",0.0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getFloat","params":["custom",0.0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":4.400000095367432} + * + * \endenglish + */ + float getFloat(const std::string &key, float default_value); + + /** + * @ingroup RegisterControl + * \chinese + * 设置/更新变量值 + * + * @param key + * @param value + * @return + * + * @par Python函数原型 + * setFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> int + * + * @par Lua函数原型 + * setFloat(key: string, value: number) -> nil + * + * @par Lua示例 + * setFloat("custom",4.4) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setFloat","params":["custom",4.4],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set or update the variable value + * + * @param key + * @param value + * @return + * + * @par Python interface prototype + * setFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> int + * + * @par Lua interface prototype + * setFloat(key: string, value: number) -> nil + * + * @par Lua example + * setFloat("custom",4.4) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setFloat","params":["custom",4.4],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setFloat(const std::string &key, float value); + + /** + * @ingroup RegisterControl + * \chinese + * 获取变量值 + * + * @param key + * @param default_value + * @return + * + * @par Python函数原型 + * getVecFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: + * List[float]) -> List[float] + * + * @par Lua函数原型 + * getVecFloat(key: string, default_value: table) -> table + * + * @par Lua示例 + * VecFloat = getVecFloat("custom",{}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getVecFloat","params":["custom",[]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.10000000149011612,3.299999952316284]} + * + * \endchinese + * \english + * Get variable value + * + * @param key + * @param default_value + * @return + * + * @par Python interface prototype + * getVecFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: + * List[float]) -> List[float] + * + * @par Lua interface prototype + * getVecFloat(key: string, default_value: table) -> table + * + * @par Lua example + * VecFloat = getVecFloat("custom",{}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getVecFloat","params":["custom",[]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.10000000149011612,3.299999952316284]} + * + * \endenglish + */ + std::vector getVecFloat(const std::string &key, + const std::vector &default_value); + + /** + * @ingroup RegisterControl + * \chinese + * 设置/更新变量值 + * + * @param key + * @param value + * @return + * + * @par Python函数原型 + * setVecFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: + * List[float]) -> int + * + * @par Lua函数原型 + * setVecFloat(key: string, value: table) -> nil + * + * @par Lua示例 + * setVecFloat("custom", {0.0,0.1,3.3}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setVecFloat","params":["custom",[0.0,0.1,3.3]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set or update the variable value + * + * @param key + * @param value + * @return + * + * @par Python interface prototype + * setVecFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: + * List[float]) -> int + * + * @par Lua interface prototype + * setVecFloat(key: string, value: table) -> nil + * + * @par Lua example + * setVecFloat("custom", {0.0,0.1,3.3}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setVecFloat","params":["custom",[0.0,0.1,3.3]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setVecFloat(const std::string &key, const std::vector &value); + + /** + * @ingroup RegisterControl + * \chinese + * 获取变量值 + * + * @param key + * @param default_value + * @return + * + * @par Python函数原型 + * getDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> + * float + * + * @par Lua函数原型 + * getDouble(key: string, default_value: number) -> number + * + * @par Lua示例 + * var_Double = getDouble("custom",0.0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getDouble","params":["custom",0.0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.0} + * + * \endchinese + * \english + * Get variable value + * + * @param key + * @param default_value + * @return + * + * @par Python interface prototype + * getDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> + * float + * + * @par Lua interface prototype + * getDouble(key: string, default_value: number) -> number + * + * @par Lua example + * var_Double = getDouble("custom",0.0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getDouble","params":["custom",0.0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.0} + * + * \endenglish + */ + double getDouble(const std::string &key, double default_value); + + /** + * @ingroup RegisterControl + * \chinese + * 设置/更新变量值 + * + * @param key + * @param value + * @return + * + * @par Python函数原型 + * setDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> + * int + * + * @par Lua函数原型 + * setDouble(key: string, value: number) -> nil + * + * @par Lua示例 + * setDouble("custom",6.6) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setDouble","params":["custom",6.6],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set or update the variable value + * + * @param key + * @param value + * @return + * + * @par Python interface prototype + * setDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> + * int + * + * @par Lua interface prototype + * setDouble(key: string, value: number) -> nil + * + * @par Lua example + * setDouble("custom",6.6) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setDouble","params":["custom",6.6],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setDouble(const std::string &key, double value); + + /** + * @ingroup RegisterControl + * \chinese + * 获取变量值 + * + * @param key + * @param default_value + * @return + * + * @par Python函数原型 + * getVecDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: + * List[float]) -> List[float] + * + * @par Lua函数原型 + * getVecDouble(key: string, default_value: table) -> table + * + * @par Lua示例 + * VecDouble = getVecDouble("custom",{}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getVecDouble","params":["custom",[]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.1,0.2,0.3]} + * + * \endchinese + * \english + * Get variable value + * + * @param key + * @param default_value + * @return + * + * @par Python interface prototype + * getVecDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: + * List[float]) -> List[float] + * + * @par Lua interface prototype + * getVecDouble(key: string, default_value: table) -> table + * + * @par Lua example + * VecDouble = getVecDouble("custom",{}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getVecDouble","params":["custom",[]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.1,0.2,0.3]} + * + * \endenglish + */ + std::vector getVecDouble(const std::string &key, + const std::vector &default_value); + + /** + * @ingroup RegisterControl + * \chinese + * 设置/更新变量值 + * + * @param key + * @param value + * @return + * + * @par Python函数原型 + * setVecDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: + * List[float]) -> int + * + * @par Lua函数原型 + * setVecDouble(key: string, value: table) -> nil + * + * @par Lua示例 + * setVecDouble("custom",{0.1,0.2,0.3}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setVecDouble","params":["custom",[0.1,0.2,0.3]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set or update the variable value + * + * @param key + * @param value + * @return + * + * @par Python interface prototype + * setVecDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: + * List[float]) -> int + * + * @par Lua interface prototype + * setVecDouble(key: string, value: table) -> nil + * + * @par Lua example + * setVecDouble("custom",{0.1,0.2,0.3}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setVecDouble","params":["custom",[0.1,0.2,0.3]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setVecDouble(const std::string &key, const std::vector &value); + + /** + * @ingroup RegisterControl + * \chinese + * 获取变量值 + * + * @param key + * @param default_value + * @return + * + * @par Python函数原型 + * getString(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: str) -> str + * + * @par Lua函数原型 + * getString(key: string, default_value: string) -> string + * + * @par Lua示例 + * var_String = getString("custom","") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getString","params":["custom",""],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"test"} + * + * \endchinese + * \english + * Get variable value + * + * @param key + * @param default_value + * @return + * + * @par Python interface prototype + * getString(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: str) -> str + * + * @par Lua interface prototype + * getString(key: string, default_value: string) -> string + * + * @par Lua example + * var_String = getString("custom","") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getString","params":["custom",""],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"test"} + * + * \endenglish + */ + std::string getString(const std::string &key, + const std::string &default_value); + + /** + * @ingroup RegisterControl + * \chinese + * 设置/更新变量值 + * + * @param key + * @param value + * @return + * + * @par Python函数原型 + * setString(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: str) -> int + * + * @par Lua函数原型 + * setString(key: string, value: string) -> nil + * + * @par Lua示例 + * setString("custom","test") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.setString","params":["custom","test"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set or update the variable value + * + * @param key + * @param value + * @return Returns 0 on success, otherwise error code + * + * @par Python interface prototype + * setString(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: str) -> int + * + * @par Lua interface prototype + * setString(key: string, value: string) -> nil + * + * @par Lua example + * setString("custom","test") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.setString","params":["custom","test"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setString(const std::string &key, const std::string &value); + + /** + * @ingroup RegisterControl + * \chinese + * 清除变量 + * + * @param key + * @return + * + * @par Python函数原型 + * clearNamedVariable(self: pyaubo_sdk.RegisterControl, arg0: str) -> int + * + * @par Lua函数原型 + * clearNamedVariable(key: string) -> nil + * + * @par Lua示例 + * clearNamedVariable("custom") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.clearNamedVariable","params":["custom"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1} + * + * \endchinese + * \english + * Clear variable + * + * @param key + * @return + * + * @par Python interface prototype + * clearNamedVariable(self: pyaubo_sdk.RegisterControl, arg0: str) -> int + * + * @par Lua interface prototype + * clearNamedVariable(key: string) -> nil + * + * @par Lua example + * clearNamedVariable("custom") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.clearNamedVariable","params":["custom"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1} + * + * \endenglish + */ + int clearNamedVariable(const std::string &key); + + /** + * @ingroup RegisterControl + * \chinese + * 设置看门狗 + * + * 看门狗被触发之后控制器会执行对应的动作，并自动删除看门狗 + * + * @param key + * @param timeout 超时时间，单位秒(s)，超时时间最小为 0.1s + * @param action + * NONE (0): 无动作 + * PAUSE(1): 暂停运行时 + * STOP (2): 停止运行时/停止机器人运动 + * PROTECTIVE_STOP (3): 触发防护停止 + * @return + * \endchinese + * \english + * Set the watchdog + * + * After the watchdog is triggered, the controller will perform the + * corresponding action and automatically delete the watchdog. + * + * @param key + * @param timeout Timeout in seconds (s), minimum timeout is 0.1s + * @param action + * NONE (0): No action + * PAUSE(1): Pause runtime + * STOP (2): Stop runtime/stop robot motion + * PROTECTIVE_STOP (3): Trigger protective stop + * @return + * \endenglish + */ + int setWatchDog(const std::string &key, double timeout, int action); + + /** + * @ingroup RegisterControl + * \chinese + * 获取看门狗动作 + * + * @param key + * @return + * \endchinese + * \english + * Get the watchdog action + * + * @param key + * @return + * \endenglish + */ + int getWatchDogAction(const std::string &key); + + /** + * @ingroup RegisterControl + * \chinese + * 获取看门狗超时时间 + * + * @param key + * @return + * \endchinese + * \english + * Get the watchdog timeout value + * + * @param key + * @return + * \endenglish + */ + int getWatchDogTimeout(const std::string &key); + + /** + * @ingroup RegisterControl + * \chinese + * 添加一个新的Modbus信号以供控制器监视。不需要返回响应。 + * + * @param device_info 设备信息 + * 设备信息是RTU格式，例如："serial_port,baud,parity,data_bit,stop_bit" + * (1)serial_port参数指定串口的名称，例如，在Linux上为"/dev/ttyS0"或"/dev/ttyUSB0"，在Windows上为"\.\COM10" + * (2)baud参数指定通信的波特率，例如9600、19200、57600、115200等 + * (3)parity参数指定奇偶校验方式，N表示无校验，E表示偶校验，O表示奇校验 + * (4)data_bit参数指定数据位数，允许的值为5、6、7和8 + * (5)stop_bit参数指定停止位数，允许的值为1和2 + * + * 设备信息是TCP格式，例如："ip address,port" + * (1)ip address参数指定服务器的IP地址 + * (2)port参数指定服务器监听的端口号 + * @param slave_number 通常不使用，设置为255即可，但可以在0到255之间自由选择 + * @param signal_address + * 指定新信号应该反映的线圈或寄存器的地址。请参考Modbus单元的配置以获取此信息。 + * @param signal_type 指定要添加的信号类型。0 = 数字输入，1 = 数字输出，2 = + * 寄存器输入，3 = 寄存器输出。 + * @param signal_name + * 唯一标识信号的名词。如果提供的字符串与已添加的信号相等，则新信号将替换旧信号。字符串的长度不能超过20个字符。 + * @param sequential_mode + * 设置为True会强制Modbus客户端在发送下一个请求之前等待响应。某些fieldbus单元需要此模式。可选参数。 + * @return + * + * @par Python函数原型 + * modbusAddSignal(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int, + * arg2: int, arg3: int, arg4: str, arg5: bool) -> int + * + * @par Lua函数原型 + * modbusAddSignal(device_info: string, slave_number: number, + * signal_address: number, signal_type: number, signal_name: string, + * sequential_mode: boolean) -> nil + * + * @par Lua示例 + * modbusAddSignal("/dev/ttyRobotTool,115200,N,8,1", 1, signal_address: + * number, 264, "Modbus_0", false) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusAddSignal","params":["/dev/ttyRobotTool,115200,N,8,1",1,264,3,"Modbus_0",false],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Adds a new modbus signal for the controller to supervise. Expects no + * response. + * + * @param device_info is rtu format. + * eg,"serial_port,baud,parity,data_bit,stop_bit" + * (1)The serial_port argument specifies the name of the serial port eg. On + * Linux ,"/dev/ttyS0" or "/dev/ttyUSB0". On Windows, "\.\COM10". (2)The + * baud argument specifies the baud rate of the communication, eg. 9600, + * 19200, 57600, 115200, etc. (3)parity:N for none,E for even,O for odd. + * (4)data_bit:The data_bits argument specifies the number of bits of data, + * the allowed values are 5, 6, 7 and 8. (5)stop_bit:The stop_bits argument + * specifies the bits of stop, the allowed values are 1 and 2. + * + * device_info is tcp format.eg,"ip address,port" + * (1)The ip address parameter specifies the ip address of the server + * (2)The port parameter specifies the port number that the server is + * listening on. + * @param slave_number An integer normally not used and set to 255, but is a + * free choice between 0 and 255. + * @param signal_address An integer specifying the address of the either the + * coil or the register that this new signal should reflect. Consult the + * configuration of the modbus unit for this information. + * @param signal_type An integer specifying the type of signal to add. 0 = + * digital input, 1 = digital output, 2 = register input and 3 = register + * output. + * @param signal_name A string uniquely identifying the signal. If a string + * is supplied which is equal to an already added signal, the new signal + * will replace the old one. The length of the string cannot exceed 20 + * characters. + * @param sequential_mode Setting to True forces the modbus client to wait + * for a response before sending the next request. This mode is required by + * some fieldbus units (Optional). + * @return + * + * @par Python interface prototype + * modbusAddSignal(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int, + * arg2: int, arg3: int, arg4: str, arg5: bool) -> int + * + * @par Lua interface prototype + * modbusAddSignal(device_info: string, slave_number: number, + * signal_address: number, signal_type: number, signal_name: string, + * sequential_mode: boolean) -> nil + * + * @par Lua example + * modbusAddSignal("/dev/ttyRobotTool,115200,N,8,1", 1, signal_address: + * number, 264, "Modbus_0", false) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusAddSignal","params":["/dev/ttyRobotTool,115200,N,8,1",1,264,3,"Modbus_0",false],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int modbusAddSignal(const std::string &device_info, int slave_number, + int signal_address, int signal_type, + const std::string &signal_name, bool sequential_mode); + + /** + * @ingroup RegisterControl + * \chinese + * 为指定Modbus寄存器信号创建固定读取分组，优化连续地址的批量读取效率 + * + * 功能：根据传入的起始信号名定位到对应的16位Modbus寄存器地址， + * 并基于该起始地址和连续数量创建“不可扩展的固定分组”，该分组会被独立管理， + * 不会与其他普通分组合并或扩展，适用于需要稳定、原子化读取的连续寄存器地址段； + * 固定分组创建后，对该段地址的读取操作会严格按照分组范围执行，避免因动态分组扩展导致的读取范围变化。 + * + * @param signal_name + * 起始信号名（作为固定分组的基准信号，需为已通过modbusAddSignal创建的16位Modbus寄存器信号， + * 支持保持寄存器/输入寄存器类型，不支持数字量信号） + * @param count 固定分组包含的连续信号（寄存器）数量（大于等于1）： + * - 值为1： + * 仅包含起始信号对应的单个寄存器地址（取消包含该信号的固定分组）； + * - 值>1： + * 从起始信号地址开始的连续count个寄存器地址，需确保地址连续且不超出设备支持范围； + * + * @return 成功返回0，失败返回错误码。 + * + * @note + * 1. 该接口仅针对16位Modbus寄存器信号（signal_type为2/3）生效； + * 2. 单个固定分组的最大连续数量受设备限制（默认最大30个）； + * 3. 重复为同一信号创建固定分组会覆盖原有配置（以最后一次的count值为准）。 + * + * @par Python接口原型 + * addFixedModbusGroup(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: + * int) -> int + * + * @par Lua接口原型 + * addFixedModbusGroup(signal_name: string, count: number) -> nil + * + * @par Lua示例 + * -- 为起始信号"Modbus_0"创建包含10个连续寄存器的固定分组 + * addFixedModbusGroup("Modbus_0", 10) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.addFixedModbusGroup","params":["Modbus_0",10],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Create a fixed read group for the specified Modbus register signal to + * optimize the batch reading efficiency of continuous addresses + * + * Function: Locate the address of the corresponding 16-bit Modbus register + * according to the input start signal name, and create a "non-extensible + * fixed group" based on the start address and continuous count. This group + * will be managed independently, and will not be merged or expanded with + * other normal groups. It is suitable for continuous register address + * segments that require stable and atomic reading; After the fixed group is + * created, the read operation for this address segment will be strictly + * executed according to the group range, avoiding read range changes caused + * by dynamic group expansion. + * + * @param signal_name + * Start signal name (used as the reference signal for the fixed group, must + * be a 16-bit Modbus register signal created via modbusAddSignal, + * supporting holding register/input register types, not supporting digital + * signals) + * @param count Number of continuous signals (registers) contained in the + * fixed group (greater than or equal to 1): + * - Value = 1: Only include the single register address + * corresponding to the start signal (cancel the fixed group containing this + * signal); + * - Value > 1: Continuous count register addresses starting + * from the start signal address, ensure the addresses are continuous and do + * not exceed the device support range; + * + * @return Returns 0 on success, returns an error code on failure. + * + * @note + * 1. This interface only takes effect for 16-bit Modbus register signals + * (signal_type is 2/3); + * 2. The maximum continuous count of a single fixed group is limited by the + * device (default maximum 30); + * 3. Repeated creation of a fixed group for the same start signal will + * overwrite the original configuration (the last count value shall + * prevail). + * + * @par Python interface prototype + * addFixedModbusGroup(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: + * int) -> int + * + * @par Lua interface prototype + * addFixedModbusGroup(signal_name: string, count: number) -> nil + * + * @par Lua example + * -- Create a fixed group containing 10 consecutive registers for the start + * signal "Modbus_0" addFixedModbusGroup("Modbus_0", 10) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.addFixedModbusGroup","params":["Modbus_0",10],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int addFixedModbusGroup(const std::string &signal_name, int count); + + /** + * @ingroup RegisterControl + * \chinese + * 删除指定名称的信号。 + * + * @param signal_name 要删除的信号的名称 + * @return + * + * @par Python函数原型 + * modbusDeleteSignal(self: pyaubo_sdk.RegisterControl, arg0: str) -> int + * + * @par Lua函数原型 + * modbusDeleteSignal(signal_name: string) -> nil + * + * @par Lua示例 + * modbusDeleteSignal("Modbus_1") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusDeleteSignal","params":["Modbus_1"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Deletes the signal identified by the supplied signal name. + * + * @param signal_name A string equal to the name of the signal that should + * be deleted. + * @return + * + * @par Python interface prototype + * modbusDeleteSignal(self: pyaubo_sdk.RegisterControl, arg0: str) -> int + * + * @par Lua interface prototype + * modbusDeleteSignal(signal_name: string) -> nil + * + * @par Lua example + * modbusDeleteSignal("Modbus_1") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusDeleteSignal","params":["Modbus_1"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int modbusDeleteSignal(const std::string &signal_name); + + /** + * @ingroup RegisterControl + * \chinese + * 删除所有modbus信号 + * + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusDeleteAllSignals","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Delete all modbus signals + * + * @return + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusDeleteAllSignals","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int modbusDeleteAllSignals(); + + /** + * @ingroup RegisterControl + * \chinese + * 读取特定信号的当前值。 + * + * @param signal_name 要获取值的信号的名称 + * @return 对于数字信号：1或0。 + * 对于寄存器信号：表示为整数的寄存器值。如果值为-1，则表示该信号不存在。 + * + * @par Python函数原型 + * modbusGetSignalStatus(self: pyaubo_sdk.RegisterControl, arg0: str) -> int + * + * @par Lua函数原型 + * modbusGetSignalStatus(signal_name: string) -> number + * + * @par Lua示例 + * var0 = modbusGetSignalStatus("Modbus_0") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalStatus","params":["Modbus_0"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1} + * \endchinese + * \english + * Reads the current value of a specific signal. + * + * @param signal_name A string equal to the name of the signal for which the + * value should be gotten. + * @return An integer or a boolean. For digital signals: 1 or 0. For + * register signals: The register value expressed as an integer. If the + * value is -1, it means the signal does not exist. + * + * @par Python interface prototype + * modbusGetSignalStatus(self: pyaubo_sdk.RegisterControl, arg0: str) -> int + * + * @par Lua interface prototype + * modbusGetSignalStatus(signal_name: string) -> number + * + * @par Lua example + * var0 = modbusGetSignalStatus("Modbus_0") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalStatus","params":["Modbus_0"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1} + * \endenglish + */ + int modbusGetSignalStatus(const std::string &signal_name); + + /** + * @ingroup RegisterControl + * \chinese + * 获取所有信号的名字集合 + * + * @return 所有信号的名字集合 + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalNames","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":["Modbus_0"]} + * + * \endchinese + * \english + * Get the collection of all signal names + * + * @return Collection of all signal names + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalNames","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":["Modbus_0"]} + * + * \endenglish + */ + std::vector modbusGetSignalNames(); + + /** + * @ingroup RegisterControl + * \chinese + * 获取所有信号的类型集合 + * + * @return 所有信号的类型集合 + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalTypes","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[1,0,2,3]} + * + * \endchinese + * \english + * Get the collection of all signal types + * + * @return Collection of all signal types + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalTypes","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[1,0,2,3]} + * + * \endenglish + */ + std::vector modbusGetSignalTypes(); + + /** + * @ingroup RegisterControl + * \chinese + * 获取所有信号的数值集合 + * + * @return 所有信号的数值集合 + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalValues","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[1,1,88,33]} + * + * \endchinese + * \english + * Get the collection of all signal values + * + * @return Collection of all signal values + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalValues","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[1,1,88,33]} + * + * \endenglish + */ + std::vector modbusGetSignalValues(); + + /** + * @ingroup RegisterControl + * \chinese + * 获取所有信号的请求是否有错误(0:无错误,其他:有错误)集合 + * + * @return ModbusErrorNum + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalErrors","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[6,6,6,6]} + * + * \endchinese + * \english + * Get the error status of all signal requests (0: no error, others: error) + * as a collection + * + * @return ModbusErrorNum + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalErrors","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[6,6,6,6]} + * + * \endenglish + */ + std::vector modbusGetSignalErrors(); + + /** + * @ingroup RegisterControl + * \chinese + * 将用户指定的命令发送到指定IP地址上的Modbus单元。 + * 由于不会接收到响应，因此不能用于请求数据。 + * 用户负责提供对所提供的功能码有意义的数据。 + * 内置函数负责构建Modbus帧，因此用户不需要关心命令的长度。 + * + * @param device_info 设备信息 + * 设备信息是RTU格式，例如："serial_port,baud,parity,data_bit,stop_bit" + * (1)serial_port参数指定串口的名称，例如，在Linux上为"/dev/ttyS0"或"/dev/ttyUSB0"，在Windows上为"\.\COM10" + * (2)baud参数指定通信的波特率，例如9600、19200、57600、115200等 + * (3)parity参数指定奇偶校验方式，N表示无校验，E表示偶校验，O表示奇校验 + * (4)data_bit参数指定数据位数，允许的值为5、6、7和8 + * (5)stop_bit参数指定停止位数，允许的值为1和2 + * + * 设备信息是TCP格式，例如："ip address,port" + * (1)ip address参数指定服务器的IP地址 + * (2)port参数指定服务器监听的端口号 + * @param slave_number 指定用于自定义命令的从站号 + * @param function_code 指定自定义命令的功能码 + * + * Modbus功能码 + * MODBUS_FC_READ_COILS 0x01 + * MODBUS_FC_READ_DISCRETE_INPUTS 0x02 + * MODBUS_FC_READ_HOLDING_REGISTERS 0x03 + * MODBUS_FC_READ_INPUT_REGISTERS 0x04 + * MODBUS_FC_WRITE_SINGLE_COIL 0x05 + * MODBUS_FC_WRITE_SINGLE_REGISTER 0x06 + * MODBUS_FC_READ_EXCEPTION_STATUS 0x07 + * MODBUS_FC_WRITE_MULTIPLE_COILS 0x0F + * MODBUS_FC_WRITE_MULTIPLE_REGISTERS 0x10 + * MODBUS_FC_REPORT_SLAVE_ID 0x11 + * MODBUS_FC_MASK_WRITE_REGISTER 0x16 + * MODBUS_FC_WRITE_AND_READ_REGISTERS 0x17 + * + * @param data 必须是有效的字节值（0-255） + * @return + * + * @par Python函数原型 + * modbusSendCustomCommand(self: pyaubo_sdk.RegisterControl, arg0: str, + * arg1: int, arg2: int, arg3: List[int]) -> int + * + * @par Lua函数原型 + * modbusSendCustomCommand(device_info: string, slave_number: number, + * function_code: number, data: table) -> nil + * + * @par Lua示例 + * modbusSendCustomCommand("/dev/ttyRobotTool,115200,N,8,1", 1, 10, + * {1,2,0,2,4,0,0,0,0}) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSendCustomCommand","params":["/dev/ttyRobotTool,115200,N,8,1",1,10,[1,2,0,2,4,0,0,0,0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Sends a command specified by the user to the modbus unit located on the + * specified IP address. Cannot be used to request data, since the response + * will not be received. The user is responsible for supplying data which + * is meaningful to the supplied function code. The builtin function takes + * care of constructing the modbus frame, so the user should not be + * concerned with the length of the command. + * + * @param device_info is rtu format. + * eg,"serial_port,baud,parity,data_bit,stop_bit" + * (1)The serial_port argument specifies the name of the serial port eg. On + * Linux ,"/dev/ttyS0" or "/dev/ttyUSB0". On Windows, "\.\COM10". + * (2)The baud argument specifies the baud rate of the communication, eg. + * 9600, 19200, 57600, 115200, etc. + * (3)parity:N for none,E for even,O for odd. + * (4)data_bit:The data_bits argument specifies the number of bits of data, + * the allowed values are 5, 6, 7 and 8. + * (5)stop_bit:The stop_bits argument + * specifies the bits of stop, the allowed values are 1 and 2. + * + * device_info is tcp format.eg,"ip address,port" + * (1)The ip address parameter specifies the ip address of the server + * (2)The port parameter specifies the port number that the server is + * listening on. + * @param slave_number An integer specifying the slave number to use for + * the custom command. + * @param function_code An integer specifying the function code for the + * custom command. + * + * Modbus function codes + * MODBUS_FC_READ_COILS 0x01 + * MODBUS_FC_READ_DISCRETE_INPUTS 0x02 + * MODBUS_FC_READ_HOLDING_REGISTERS 0x03 + * MODBUS_FC_READ_INPUT_REGISTERS 0x04 + * MODBUS_FC_WRITE_SINGLE_COIL 0x05 + * MODBUS_FC_WRITE_SINGLE_REGISTER 0x06 + * MODBUS_FC_READ_EXCEPTION_STATUS 0x07 + * MODBUS_FC_WRITE_MULTIPLE_COILS 0x0F + * MODBUS_FC_WRITE_MULTIPLE_REGISTERS 0x10 + * MODBUS_FC_REPORT_SLAVE_ID 0x11 + * MODBUS_FC_MASK_WRITE_REGISTER 0x16 + * MODBUS_FC_WRITE_AND_READ_REGISTERS 0x17 + * + * @param data An array of integers in which each entry must be a valid + * byte (0-255) value. + * @return + * + * @par Python interface prototype + * modbusSendCustomCommand(self: pyaubo_sdk.RegisterControl, arg0: str, + * arg1: int, arg2: int, arg3: List[int]) -> int + * + * @par Lua interface prototype + * modbusSendCustomCommand(device_info: string, slave_number: number, + * function_code: number, data: table) -> nil + * + * @par Lua example + * modbusSendCustomCommand("/dev/ttyRobotTool,115200,N,8,1", 1, 10, + * {1,2,0,2,4,0,0,0,0}) -> nil + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSendCustomCommand","params":["/dev/ttyRobotTool,115200,N,8,1",1,10,[1,2,0,2,4,0,0,0,0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int modbusSendCustomCommand(const std::string &device_info, + int slave_number, int function_code, + const std::vector &data); + + /** + * @ingroup RegisterControl + * \chinese + * 将选择的数字输入信号设置为“default”或“freedrive” + * + * @param robot_name 连接的机器人名称 + * @param signal_name 先前被添加的数字输入信号 + * @param action 操作类型。操作可以是“default”或“freedrive” + * @return + * + * @par Python函数原型 + * modbusSetDigitalInputAction(self: pyaubo_sdk.RegisterControl, arg0: str, + * arg1: str, arg2: int) + * + * @par Lua函数原型 + * modbusSetDigitalInputAction(robot_name: string, signal_name: string, + * action: number) -> nil + * + * @par Lua示例 + * modbusSetDigitalInputAction("rob1", "Modbus_0","Handguide") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetDigitalInputAction","params":["rob1","Modbus_0","Handguide"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Sets the selected digital input signal to either a "default" or + * "freedrive" action. + * + * @param robot_name A string identifying a robot name that connected robot + * @param signal_name A string identifying a digital input signal that was + * previously added. + * @param action The type of action. The action can either be "default" or + * "freedrive". (string) + * @return + * + * @par Python interface prototype + * modbusSetDigitalInputAction(self: pyaubo_sdk.RegisterControl, arg0: str, + * arg1: str, arg2: int) + * + * @par Lua interface prototype + * modbusSetDigitalInputAction(robot_name: string, signal_name: string, + * action: number) -> nil + * + * @par Lua example + * modbusSetDigitalInputAction("rob1", "Modbus_0","Handguide") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetDigitalInputAction","params":["rob1","Modbus_0","Handguide"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int modbusSetDigitalInputAction(const std::string &robot_name, + const std::string &signal_name, + StandardInputAction action); + + /** + * @ingroup RegisterControl + * \chinese + * 设置 Modbus 信号输出动作 + * + * @param robot_name + * @param signal_name + * @param runstate + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputRunstate","params":["rob1","Modbus_0","None"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set Modbus signal output action + * + * @param robot_name + * @param signal_name + * @param runstate + * @return + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputRunstate","params":["rob1","Modbus_0","None"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int modbusSetOutputRunstate(const std::string &robot_name, + const std::string &signal_name, + StandardOutputRunState runstate); + + /** + * @ingroup RegisterControl + * \chinese + * 设置 Modbus 信号输出动作，并支持基于路点/平面/障碍物的条件阈值判断。 + * + * 详细说明：当需要根据机器人是否到达某个路点或与某个平面/障碍物的距离来触发Modbus信号时， + * 可通过本接口指定条件对象及阈值。在条件满足时会将指定的Modbus信号设置为对应的运行状态。 + * + * @param robot_name 目标机器人的名称，用于标识要监听/触发条件的机器人实例 + * @param signal_name + * 要设置的 Modbus 信号名称（需已通过 modbusAddSignal添加） + * @param runstate 输出动作状态 + * @param object_name 条件对象的名称（需为系统中已定义的唯一标识） + * @param threshold 判断阈值： + * - 对于路点：表示角度阈值，单位为弧度(rad) + * - 对于平面/障碍物：表示距离阈值，单位为米(m) + * + * @return 返回操作结果码： + * - 0: 操作成功 + * - 非0: 操作失败，返回具体错误码（参见系统错误码定义） + * + * @par Python接口原型 + * modbusSetOutputRunstate1(self: pyaubo_sdk.RegisterControl, arg0: str, + * arg1: str, arg2: str, arg3: str, arg4: float) -> int + * + * @par Lua接口原型 + * modbusSetOutputRunstate1(robot_name: string, signal_name: string, + * runstate: string, object_name: string, threshold: number) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputRunstate1","params":["rob1","Modbus_0","WaypointArrived","P1",3],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @note 使用说明： + * 1. 请确保 object_name 与 object_type 对应且已在系统中定义； + * 2. threshold 的单位依据 object_type 不同而不同， + * 务必使用正确单位以避免触发误判； + * \endchinese + * \english + * Set Modbus signal output action with optional condition checking based on + * waypoint, plane or obstacle thresholds. + * + * Detailed description: Use this API to control a Modbus output signal when + * a specified robot condition is met (for example, waypoint arrival or + * distance to a plane/obstacle). Specify an object type, name and a + * threshold value to enable conditional triggering. When the condition is + * satisfied, the given Modbus signal will be set to the requested + * runstate. + * + * @param robot_name The target robot name identifying which robot's + * conditions to monitor. + * @param signal_name The Modbus signal name to set (must be previously + * added via modbusAddSignal). + * @param runstate The desired output action. + * @param object_name Unique identifier of the condition object + * @param threshold Condition threshold: angle in radians for waypoints, or + * distance in meters for planes/obstacles + * + * @return Returns 0 on success, non-zero error code on failure. + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputRunstate1","params":["rob1","Modbus_0","WaypointArrived","P1",3],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int modbusSetOutputRunstate1(const std::string &robot_name, + const std::string &signal_name, + StandardOutputRunState runstate, + const std::string &object_name, + double threshold); + + /** + * @ingroup RegisterControl + * \chinese + * 将指定名称的输出寄存器信号设置为给定的值 + * + * @param signal_name 提前被添加的输出寄存器信号 + * @param value 必须是有效的整数，范围是 0-65535 + * @return + * + * @par Python函数原型 + * modbusSetOutputSignal(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: + * int) -> int + * + * @par Lua函数原型 + * modbusSetOutputSignal(signal_name: string, value: number) -> nil + * + * @par Lua示例 + * modbusSetOutputSignal("Modbus_0",0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputSignal","params":["Modbus_0",0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Sets the output register signal identified by the given name to the given + * value. + * + * @param signal_name A string identifying an output register signal that in + * advance has been added. + * @param value An integer which must be a valid word (0-65535) + * @return + * + * @par Python interface prototype + * modbusSetOutputSignal(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: + * int) -> int + * + * @par Lua interface prototype + * modbusSetOutputSignal(signal_name: string, value: number) -> nil + * + * @par Lua example + * modbusSetOutputSignal("Modbus_0",0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputSignal","params":["Modbus_0",0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int modbusSetOutputSignal(const std::string &signal_name, uint16_t value); + + /** + * @ingroup RegisterControl + * \chinese + * 将从指定名称开始的若干个连续输出寄存器信号设置为给定的值 + * + * @param signal_name 提前被添加的输出寄存器信号的起始名称 + * @param values 整数数组，每个元素范围是 0-65535，对应连续的多个信号 + * @return + * + * @par Python函数原型 + * modbusSetOutputSignal1(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: + * list[int]) -> int + * + * @par Lua函数原型 + * modbusSetOutputSignal1(signal_name: string, value: table) -> nil + * + * @par Lua示例 + * modbusSetOutputSignal1("Modbus_0", {0, 1, 2}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputSignal1","params":["Modbus_0",[0,1,2]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Sets multiple consecutive output register signals starting from the given + * name to the given values. + * + * @param signal_name A string identifying the starting output register + * signal that in advance has been added. + * @param values An array of integers where each element must be a valid + * word (0-65535), corresponding to multiple consecutive signals + * @return + * + * @par Python interface prototype + * modbusSetOutputSignal1(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: + * list[int]) -> int + * + * @par Lua interface prototype + * modbusSetOutputSignal1(signal_name: string, value: table) -> nil + * + * @par Lua example + * modbusSetOutputSignal1("Modbus_0", {0, 1, 2}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputSignal1","params":["Modbus_0",[0,1,2]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int modbusSetOutputSignal1(const std::string &signal_name, + const std::vector &values); + + /** + * \chinese + * 将指定名称的输出寄存器信号设置为给定的值，并且带超时判断 + * + * @param signal_name 提前被添加的输出寄存器信号 + * @param value 必须是有效的整数，范围是 0-65535 + * @param timeout 超时时间，单位秒 + * @return + * + * @par Python函数原型 + * modbusSetOutputSignalWithTimeout(self: pyaubo_sdk.RegisterControl, arg0: + * str, arg1: int, arg2: double) -> int + * + * @par Lua函数原型 + * modbusSetOutputSignalWithTimeout(signal_name: string, value: number, + * timeout: number) -> nil + * + * @par Lua示例 + * modbusSetOutputSignalWithTimeout("Modbus_0",0,0.5) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputSignalWithTimeout","params":["Modbus_0",0,0.5],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Sets the output register signal identified by the given name to the + * given, with timeout value. + * + * @param signal_name A string identifying an output register signal that in + * advance has been added. + * @param value An integer which must be a valid word (0-65535) + * @param timeout seconds + * @return + * + * @par Python interface prototype + * modbusSetOutputSignalWithTimeout(self: pyaubo_sdk.RegisterControl, arg0: + * str, arg1: int, arg2: timeout) -> int + * + * @par Lua interface prototype + * modbusSetOutputSignalWithTimeout(signal_name: string, value: number, + * timeout: number) -> nil + * + * @par Lua example + * modbusSetOutputSignalWithTimeout("Modbus_0",0,0.5) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputSignalWithTimeout","params":["Modbus_0",0,0.5],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int modbusSetOutputSignalWithTimeout(const std::string &signal_name, + uint16_t value, double timeout); + + /** + * @ingroup RegisterControl + * \chinese + * 设置modbus信号输出脉冲(仅支持线圈输出类型) + * + * @param signal_name: 提前被添加的输出寄存器信号 + * @param value: 必须是有效的整数，范围是 0-65535 + * @param duration: 信号持续时间，单位为秒 + * @return + * + * @par Python函数原型 + * modbusSetOutputSignalPulse(self: pyaubo_sdk.RegisterControl, arg0: str, + * arg1: int, arg2 double) -> int + * + * @par Lua函数原型 + * modbusSetOutputSignalPulse(signal_name: string, value: number, duration: + * number) -> nil + * + * @par Lua示例 + * modbusSetOutputSignalPulse("Modbus_0",1,0.5) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputSignalPulse","params":["Modbus_0",1,0.5],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set modbus signal output pulse (only supports coil output type) + * + * @param signal_name: A string identifying an output register signal that + * has been added in advance. + * @param value: An integer which must be a valid word (0-65535) + * @param duration: Duration of the signal, in seconds + * @return + * + * @par Python interface prototype + * modbusSetOutputSignalPulse(self: pyaubo_sdk.RegisterControl, arg0: str, + * arg1: int, arg2: double) -> int + * + * @par Lua interface prototype + * modbusSetOutputSignalPulse(signal_name: string, value: number, duration: + * number) -> nil + * + * @par Lua example + * modbusSetOutputSignalPulse("Modbus_0",1,0.5) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputSignalPulse","params":["Modbus_0",1,0.5],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int modbusSetOutputSignalPulse(const std::string &signal_name, + uint16_t value, double duration); + + /** + * @ingroup RegisterControl + * \chinese + * 设置机器人向Modbus控制器发送请求的频率，用于读取或写入信号值 + * + * @param signal_name 提前被添加的输出数字信号 + * @param update_frequency 更新频率（以赫兹为单位），范围是0-125 + * @return + * + * @par Python函数原型 + * modbusSetSignalUpdateFrequency(self: pyaubo_sdk.RegisterControl, arg0: + * str, arg1: int) -> int + * + * @par Lua函数原型 + * modbusSetSignalUpdateFrequency(signal_name: string, update_frequency: + * number) -> nil + * + * @par Lua示例 + * modbusSetSignalUpdateFrequency("Modbus_0",1) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetSignalUpdateFrequency","params":["Modbus_0",1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Sets the frequency with which the robot will send requests to the Modbus + * controller to either read or write the signal value. + * + * @param signal_name A string identifying an output digital signal that + * in advance has been added. + * @param update_frequency An integer in the range 0-125 specifying the + * update frequency in Hz. + * @return + * + * @par Python interface prototype + * modbusSetSignalUpdateFrequency(self: pyaubo_sdk.RegisterControl, arg0: + * str, arg1: int) -> int + * + * @par Lua interface prototype + * modbusSetSignalUpdateFrequency(signal_name: string, update_frequency: + * number) -> nil + * + * @par Lua example + * modbusSetSignalUpdateFrequency("Modbus_0",1) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusSetSignalUpdateFrequency","params":["Modbus_0",1],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int modbusSetSignalUpdateFrequency(const std::string &signal_name, + int update_frequency); + + /** + * @ingroup RegisterControl + * \chinese + * 获取指定 modbus 信号索引，从0开始，不能存在则返回-1 + * + * @param signal_name + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalIndex","params":["Modbus_0"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Get the index of the specified modbus signal, starting from 0. Returns -1 + * if it does not exist. + * + * @param signal_name + * @return + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalIndex","params":["Modbus_0"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int modbusGetSignalIndex(const std::string &signal_name); + + /** + * @ingroup RegisterControl + * \chinese + * 获取指定 modbus 信号的错误状态 + * + * @param signal_name + * @return 返回错误代码 ModbusErrorNum + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalError","params":["Modbus_0"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":6} + * \endchinese + * \english + * Get the error status of the specified modbus signal + * + * @param signal_name + * @return Returns error code ModbusErrorNum + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalError","params":["Modbus_0"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":6} + * \endenglish + */ + int modbusGetSignalError(const std::string &signal_name); + + /** + * @ingroup RegisterControl + * \chinese + * 获取指定 modbus 设备的连接状态 + * + * @param device_name + * 设备名是TCP格式，"ip:port", 例如："127.0.0.1:502" \n + * 设备名是RTU格式，"serial_port", 例如："/dev/ttyUSB0" \n + * + * @return + * 0: 表示设备处于连接状态 + * -1: 表示设备不存在 + * -2: 表示设备处于断开状态 + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RegisterControl.getModbusDeviceStatus","params":["172.16.26.248:502"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Get the connection status of the specified modbus device + * + * @param device_name + * Device name in TCP format: "ip:port", e.g. "127.0.0.1:502" \n + * Device name in RTU format: "serial_port", e.g. "/dev/ttyUSB0" \n + * + * @return + * 0: Device is connected + * -1: Device does not exist + * -2: Device is disconnected + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"RegisterControl.getModbusDeviceStatus","params":["172.16.26.248:502"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int getModbusDeviceStatus(const std::string &device_name); + + /** + * @ingroup RegisterControl + * \chinese + * 将某个 modbus 寄存器信号作为编码器 + * + * @param encoder_id 不能为0 + * @param signal_name modbus 信号名字，必须为寄存器类型 + * @return + * \endchinese + * \english + * Use a modbus register signal as an encoder + * + * @param encoder_id Must not be 0 + * @param signal_name Name of the modbus signal, must be of register type + * @return + * \endenglish + */ + int addModbusEncoder(int encoder_id, int range_id, + const std::string &signal_name); + + /** + * @ingroup RegisterControl + * \chinese + * 添加Int32寄存器的虚拟编码器 + * + * @param encoder_id 编码器ID + * @param range_id 范围ID + * @param key 变量名 + * @return + * \endchinese + * \english + * Add a virtual encoder for an Int32 register + * + * @param encoder_id Encoder ID + * @param range_id Range ID + * @param key Variable name + * @return + * \endenglish + */ + int addInt32RegEncoder(int encoder_id, int range_id, + const std::string &key); + + /** + * @ingroup RegisterControl + * \chinese + * 删除虚拟编码器 + * + * @param encoder_id + * @return + * \endchinese + * \english + * Delete virtual encoder + * + * @param encoder_id + * @return + * \endenglish + */ + int deleteVirtualEncoder(int encoder_id); + +protected: + void *d_; +}; +using RegisterControlPtr = std::shared_ptr; + +} // namespace common_interface +} // namespace arcs + +#endif // AUBO_SDK_REGISTER_CONTROL_INTERFACE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/force_control.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/force_control.h new file mode 100644 index 00000000..9e5db8e5 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/force_control.h @@ -0,0 +1,2624 @@ +/** + * \chinese + * @file force_control.h + * @brief 力控接口 + * + * 力控的限制 + * 当机器人处于力控模式时，以下功能不可用： + * + * • 碰撞检测（选项 613-1）\n + * • SoftMove（选项 885-1）\n + * • 跟踪功能，如输送带跟踪（选项 606-1）、光学跟踪（6601）和焊接引导（815-2）\n + * • 传感器同步或模拟同步\n + * • 世界区域（选项 608-1）\n + * • 独立轴（选项 610-1）\n + * • 路径偏移（选项 612-1）\n + * • 弧焊选项\n + * • PickMaster 选项\n + * • 关节软伺服（指令 SoftAct）\n + * • 当机器人以 MultiMove 协调模式（选项 604-1）运行时，不能激活力控。\n + * • 如果力控与 SafeMove（选项 810-2）或电子位置开关（选项 810-1）一起使用，必须使用操作安全范围功能。请参阅这些选项的相关手册。\n + * • RAPID 指令如 FCAct、FCDeact、FCConditionWaitWhile 和 FCRefStop 只能从运动任务的普通级别调用。 + * + * 应用：抛光、打磨、清洁\n + * FC Pressure\n + * 设置轨迹坐标系的 z 方向为力控轴，spring 设置为 0\n + * 在还没接触前设置输出力为 0，spring 设置为固定值（根据 vel 确定）\n + * 离开接触面：设置输出力为 0，spring 设置为固定值\n + * + * 活塞装配\n + * Forward clutch hub\n + * 设置力控终止模式 + * + * 基于末端力传感器的拖动示教\n + * spring = 0; force_ref = 0; 参考轨迹点任意 + * \endchinese + * \english + * @file force_control.h + * @brief Force control interface + * + * Force control limitations + * When the robot is force controlled, the following functionality is not accessible: + * + * • Collision Detection (option 613-1) \n + * • SoftMove (option 885-1) \n + * • Tracking functionality like Conveyor Tracking (option 606-1), Optical Tracking (6601) and Weld Guide (815-2) \n + * • Sensor Synchronization or Analog Synchronization \n + * • World Zones (option 608-1) \n + * • Independent Axes (option 610-1) \n + * • Path Offset (option 612-1) \n + * • Arc options \n + * • PickMaster options \n + * • Joint soft servo (instruction SoftAct) \n + * • Force Control cannot be activated when the robot is running in MultiMove Coordinated mode (option 604-1). \n + * • If Force Control is used together with SafeMove (option 810-2) or Electronic Position Switches (option 810-1), the function Operational Safety Range must be used. See the respective manual for these options. \n + * • RAPID instructions such as FCAct, FCDeact, FCConditionWaitWhile and FCRefStop can only be called from normal level in a motion task. + * + * Applications: polishing, grinding, cleaning \n + * FC Pressure \n + * Set the z direction of the trajectory coordinate system as the force control axis, set spring to 0 \n + * Before contact, set output force to 0, spring to a fixed value (determined by vel) \n + * Leaving the contact surface: set output force to 0, spring to a fixed value \n + * + * Piston assembly \n + * Forward clutch hub \n + * Set force control termination mode + * + * Drag teaching based on end force sensor \n + * spring = 0; force_ref = 0; reference trajectory point arbitrary + * \endenglish + */ +#ifndef AUBO_SDK_FORCE_CONTROL_INTERFACE_H +#define AUBO_SDK_FORCE_CONTROL_INTERFACE_H + +#include +#include + +#include +#include + +namespace arcs { +namespace common_interface { + +/** +* \chinese + * @defgroup ForceControl ForceControl(力控模块) + * @ingroup RobotInterface + * 力控接口抽象类 + * \endchinese + + * \english + * @defgroup ForceControl Force Control Module + * @ingroup RobotInterface + * Abstract class for force control interface + * \endenglish + */ +class ARCS_ABI_EXPORT ForceControl +{ +public: + ForceControl(); + virtual ~ForceControl(); + + /** + * @ingroup ForceControl + * \chinese + * 使能力控。 + * fcEnable 被用于使能力控。 在力控被使能的同时， + * fcEnable 用于定义力控的坐标系，并调整力和力矩的阻尼。 + * 如果在 fcEnable 中未指定坐标系， + * 则会创建一个默认的力控制坐标系，其方向与工作对象坐标系相同。 + * 所有力控制监管功能都被 fcEnable 激活。 + * + * @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 + * fcEnable(self: pyaubo_sdk.ForceControl) -> int + * + * @par Lua函数原型 + * fcEnable() -> nil + * + * @par Lua示例 + * fcEnable() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.ForceControl.fcEnable","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * + * \english + * Start force control + * + * fcEnable is used to enable Force Control. At the same time as Force + * Control is enabled, fcEnable is used to define the coordinate system + * for Force Control, and tune the force and torque damping. If a coordinate + * system is not specified in fcEnable a default force control coordinate + * system is created with the same orientation as the work object coordinate + * system. All Force Control supervisions are activated by fcEnable. + * + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * fcEnable(self: pyaubo_sdk.ForceControl) -> int + * + * @par Lua Function Prototype + * fcEnable() -> nil + * + * @par Lua example + * fcEnable() + * + * @par JSON-RPC Request example + * {"jsonrpc":"2.0","method":"rob1.ForceControl.fcEnable","params":[],"id":1} + * + * @par JSON-RPC Response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + + int fcEnable(); + + /** + * @ingroup ForceControl + * \chinese + * 失能力控。 + * fcDisable 被用于失能力控。 在成功失能力控之后，机器人将回到位置控制模式。 + * + * @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 + * fcDisable(self: pyaubo_sdk.ForceControl) -> int + * + * @par Lua函数原型 + * fcDisable() -> nil + * + * @par Lua示例 + * fcDisable() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.ForceControl.fcDisable","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * + * \english + * End force control + * + * fcDisable is used to disable Force Control. After a successful + * deactivation the robot is back in position control. + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * fcDisable(self: pyaubo_sdk.ForceControl) -> int + * + * @par Lua Function Prototype + * fcDisable() -> nil + * + * @par Lua example + * fcDisable() + * + * @par JSON-RPC Request example + * {"jsonrpc":"2.0","method":"rob1.ForceControl.fcDisable","params":[],"id":1} + * + * @par JSON-RPC Response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + + int fcDisable(); + + /** + * @ingroup ForceControl + * \chinese + * 判断力控是否被使能 + * + * @return 使能返回true，失能返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isFcEnabled(self: pyaubo_sdk.ForceControl) -> bool + * + * @par Lua函数原型 + * isFcEnabled() -> boolean + * + * @par Lua示例 + * Fc_status = isFcEnabled() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.ForceControl.isFcEnabled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * \endchinese + * + * \english + * Check if force control is enabled + * + * @return Returns true if enabled, false if disabled + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * isFcEnabled(self: pyaubo_sdk.ForceControl) -> bool + * + * @par Lua Function Prototype + * isFcEnabled() -> boolean + * + * @par Lua example + * Fc_status = isFcEnabled() + * + * @par JSON-RPC Request example + * {"jsonrpc":"2.0","method":"rob1.ForceControl.isFcEnabled","params":[],"id":1} + * + * @par JSON-RPC Response example + * {"id":1,"jsonrpc":"2.0","result":false} + * \endenglish + */ + bool isFcEnabled(); + + /** + * @ingroup ForceControl + * \chinese + * 设置力控参考(目标)值 + * + * @param feature: 参考几何特征，用于生成力控参考坐标系 + * @param compliance: 柔性轴（方向）选择 + * @param wrench: 目标力/力矩 + * @param limits: 速度限制 + * @param type: 力控参考坐标系类型 + * + * 使用说明： + * 1. 基坐标系： + * feature = {0,0,0,0,0,0} + * type = TaskFrameType::NONE + * + * 2. 法兰坐标系： + * feature = {0,0,0,0,0,0} + * type = TaskFrameType::TOOL_FORCE + * + * 3. TCP坐标系： + * feature = tcp_offset + * type = TaskFrameType::TOOL_FORCE + * + * 4. 用户坐标系（FRAME_FORCE）： + * type = TaskFrameType::FRAME_FORCE + * feature 设为用户定义的参考坐标，例如 getTcpPose() 表示以当前 TCP 坐标作为力控坐标系。 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setTargetForce(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * List[bool], arg2: List[float], arg3: List[float], arg4: + * arcs::common_interface::TaskFrameType) -> int + * + * @par Lua函数原型 + * setTargetForce(feature: table, compliance: table, wrench: table, limits: + * table, type: number) -> nil + * + * @par Lua示例 + * setTargetForce({0,0,0,0,0,0},{true,false,false,false,false,false},{10,0,0,0,0,0},{0,0,0,0,0,0},4) + * + * \endchinese + * \english + * Set force control reference (target) value + * + * @param feature: Reference geometric feature for generating force control reference frame + * @param compliance: Compliance axis (direction) selection + * @param wrench: Target force/torque + * @param limits: Velocity limits + * @param type: Force control reference frame type + * + * Usage Examples: + * 1. Base Coordinate Frame: + * feature = {0,0,0,0,0,0} + * type = TaskFrameType::NONE + * + * 2. Flange Coordinate Frame: + * feature = {0,0,0,0,0,0} + * type = TaskFrameType::TOOL_FORCE + * + * 3. TCP Coordinate Frame: + * feature = tcp_offset + * type = TaskFrameType::TOOL_FORCE + * + * 4. User Coordinate Frame (FRAME_FORCE): + * type = TaskFrameType::FRAME_FORCE + * feature should be the user-defined reference frame, + * for example, getTcpPose() means setting the force control frame to current TCP pose. + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setTargetForce(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * List[bool], arg2: List[float], arg3: List[float], arg4: + * arcs::common_interface::TaskFrameType) -> int + * + * @par Lua Function Prototype + * setTargetForce(feature: table, compliance: table, wrench: table, limits: + * table, type: number) -> nil + * + * @par Lua example + * setTargetForce({0,0,0,0,0,0},{true,false,false,false,false,false},{10,0,0,0,0,0},{0,0,0,0,0,0},4) + * + * \endenglish + */ + int setTargetForce(const std::vector &feature, + const std::vector &compliance, + const std::vector &wrench, + const std::vector &limits, + TaskFrameType type = TaskFrameType::FRAME_FORCE); + + /** + * @ingroup ForceControl + * \chinese + * 设置力控动力学模型 + * + * @param env_stiff: 环境刚度，表示为接触轴方向上的工件刚度，取值范围[0, 1]，默认为0 + * @param damp_scale: 表征阻尼水平的参数，取值范围[0, 1]，默认为0.5 + * @param stiff_scale: 表征软硬程度的参数，取值范围[0, 1]，默认为0.5 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setDynamicModel1(self: pyaubo_sdk.ForceControl, arg0: List[float], + * arg1: List[float], arg2: List[float]) -> int + * + * @par Lua函数原型 + * setDynamicModel1(env_stiff: table, damp_scale: table, stiff_scale: + * table) -> nil + * + * @par Lua示例 + * setDynamicModel1({0,0,0,0,0,0},{0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5}) + * + * \endchinese + * \english + * Set force control dynamics model + * + * @param env_stiff: Environment stiffness, representing the workpiece stiffness in the contact axis direction, range [0, 1], default 0 + * @param damp_scale: Parameter representing damping level, range [0, 1], default 0.5 + * @param stiff_scale: Parameter representing stiffness level, range [0, 1], default 0.5 + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setDynamicModel1(self: pyaubo_sdk.ForceControl, arg0: List[float], + * arg1: List[float], arg2: List[float]) -> int + * + * @par Lua Function Prototype + * setDynamicModel1(env_stiff: table, damp_scale: table, stiff_scale: + * table) -> nil + * + * @par Lua example + * setDynamicModel1({0,0,0,0,0,0},{0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5}) + * + * \endenglish + */ + int setDynamicModel1(const std::vector &env_stiff, + const std::vector &damp_scale, + const std::vector &stiff_scale); + + /** + * @ingroup ForceControl + * \chinese + * 计算力控动力学模型 + * + * @param env_stiff: 环境刚度，表示为接触轴方向上的工件刚度，取值范围[0, 1]，默认为0 + * @param damp_scale: 表征阻尼水平的参数，取值范围[0, 1]，默认为0.5 + * @param stiff_scale: 表征软硬程度的参数，取值范围[0, 1]，默认为0.5 + * + * @return 力控动力学模型MDK + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * fcCalDynamicModel(self: pyaubo_sdk.ForceControl, arg0: List[float], + * arg1: List[float], arg2: List[float]) -> Tuple[List[float], List[float], List[float]] + * + * @par Lua函数原型 + * fcCalDynamicModel(env_stiff: table, damp_scale: table, stiff_scale: table) -> table + * + * @par Lua示例 + * fc_table = fcCalDynamicModel({0,0,0,0,0,0},{0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5}) + * + * \endchinese + * \english + * Calculate force control dynamics model + * + * @param env_stiff: Environment stiffness, representing the workpiece stiffness in the contact axis direction, range [0, 1], default 0 + * @param damp_scale: Parameter representing damping level, range [0, 1], default 0.5 + * @param stiff_scale: Parameter representing stiffness level, range [0, 1], default 0.5 + * + * @return Force control dynamics model MDK + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * fcCalDynamicModel(self: pyaubo_sdk.ForceControl, arg0: List[float], + * arg1: List[float], arg2: List[float]) -> Tuple[List[float], List[float], List[float]] + * + * @par Lua Function Prototype + * fcCalDynamicModel(env_stiff: table, damp_scale: table, stiff_scale: table) -> table + * + * @par Lua example + * fc_table = fcCalDynamicModel({0,0,0,0,0,0},{0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5}) + * + * \endenglish + */ + DynamicsModel fcCalDynamicModel(const std::vector &env_stiff, + const std::vector &damp_scale, + const std::vector &stiff_scale); + + /** + * @ingroup ForceControl + * \chinese + * 设置力控搜孔场景下的动力学模型 + * + * @param damp_scale: 表征阻尼水平的参数，取值范围[0, 1]，默认为0.5 + * @param stiff_scale: 表征软硬程度的参数，取值范围[0, 1]，默认为0.5 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setDynamicModelSearch(self: pyaubo_sdk.ForceControl, arg0: List[float], + * arg1: List[float]) -> int + * + * @par Lua函数原型 + * setDynamicModelSearch(damp_scale: table, stiff_scale: table) -> nil + * + * @par Lua示例 + * setDynamicModelSearch({0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5}) + * + * \endchinese + * \english + * Set force control dynamics model for hole searching scenario + * + * @param damp_scale: Parameter representing damping level, range [0, 1], default 0.5 + * @param stiff_scale: Parameter representing stiffness level, range [0, 1], default 0.5 + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setDynamicModelSearch(self: pyaubo_sdk.ForceControl, arg0: List[float], + * arg1: List[float]) -> int + * + * @par Lua Function Prototype + * setDynamicModelSearch(damp_scale: table, stiff_scale: table) -> nil + * + * @par Lua example + * setDynamicModelSearch({0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5}) + * + * \endenglish + */ + int setDynamicModelSearch(const std::vector &damp_scale, + const std::vector &stiff_scale); + + /** + * @ingroup ForceControl + * \chinese + * 设置力控插/拔孔场景下的动力学模型 + * + * @param damp_scale: 表征阻尼水平的参数，取值范围[0, 1]，默认为0.5 + * @param stiff_scale: 表征软硬程度的参数，取值范围[0, 1]，默认为0.5 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setDynamicModelInsert(self: pyaubo_sdk.ForceControl, arg0: List[float], + * arg1: List[float]) -> int + * + * @par Lua函数原型 + * setDynamicModelInsert(damp_scale: table, stiff_scale: table) -> nil + * + * @par Lua示例 + * setDynamicModelInsert({0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5}) + * + * \endchinese + * \english + * Set force control dynamics model for insertion/extraction scenario + * + * @param damp_scale: Parameter representing damping level, range [0, 1], default 0.5 + * @param stiff_scale: Parameter representing stiffness level, range [0, 1], default 0.5 + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setDynamicModelInsert(self: pyaubo_sdk.ForceControl, arg0: List[float], + * arg1: List[float]) -> int + * + * @par Lua Function Prototype + * setDynamicModelInsert(damp_scale: table, stiff_scale: table) -> nil + * + * @par Lua example + * setDynamicModelInsert({0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5}) + * + * \endenglish + */ + int setDynamicModelInsert(const std::vector &damp_scale, + const std::vector &stiff_scale); + /** + * @ingroup ForceControl + * \chinese + * 设置力控接触场景下的动力学模型 + * + * @param env_stiff: 表征环境刚度的参数，取值范围[0, 1]，默认为0 + * @param damp_scale: 表征阻尼水平的参数，取值范围[0, 1]，默认为0.5 + * @param stiff_scale: 表征软硬程度的参数，取值范围[0, 1]，默认为0.5 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setDynamicModelContact(self: pyaubo_sdk.ForceControl, arg0: List[float], + * arg1: List[float], arg2: List[float]) -> int + * + * @par Lua函数原型 + * setDynamicModelContact(env_stiff: table, damp_scale: table, stiff_scale: + * table) -> nil + * + * @par Lua示例 + * setDynamicModelContact({0,0,0,0,0,0},{0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5}) + * + * \endchinese + * \english + * Set force control dynamics model for contact scenario + * + * @param env_stiff: Parameter representing environment stiffness, range [0, 1], default 0 + * @param damp_scale: Parameter representing damping level, range [0, 1], default 0.5 + * @param stiff_scale: Parameter representing stiffness level, range [0, 1], default 0.5 + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setDynamicModelContact(self: pyaubo_sdk.ForceControl, arg0: List[float], + * arg1: List[float], arg2: List[float]) -> int + * + * @par Lua Function Prototype + * setDynamicModelContact(env_stiff: table, damp_scale: table, stiff_scale: + * table) -> nil + * + * @par Lua example + * setDynamicModelContact({0,0,0,0,0,0},{0.5,0.5,0.5,0.5,0.5,0.5},{0.5,0.5,0.5,0.5,0.5,0.5}) + * + * \endenglish + */ + int setDynamicModelContact(const std::vector &env_stiff, + const std::vector &damp_scale, + const std::vector &stiff_scale); + + /** + * @ingroup ForceControl + * \chinese + * 设置力控动力学模型 + * + * @param m 质量参数 + * @param d 阻尼参数 + * @param k 刚度参数 + * + * 参数单位说明： + * - 质量： + * - 笛卡尔空间：单位为 kg，长度为工作空间维度（一般为6），顺序为 [x, y, z, Rx, Ry, Rz] + * - 关节空间：单位为 kg·m²，长度为机器人自由度（一般为6），顺序为 [J1, J2, J3, J4, J5, J6] + * - 阻尼： + * - 笛卡尔空间：单位为 N·s/m，顺序为 [x, y, z, Rx, Ry, Rz] + * - 关节空间：单位为 N·m·s/rad，顺序为 [J1, J2, J3, J4, J5, J6] + * - 刚度： + * - 笛卡尔空间：单位为 N/m，顺序为 [x, y, z, Rx, Ry, Rz] + * - 关节空间：单位为 N·m/rad，顺序为 [J1, J2, J3, J4, J5, J6] + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setDynamicModel(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * List[float], arg2: List[float]) -> int + * + * @par Lua函数原型 + * setDynamicModel(m: table, d: table, k: table) -> nil + * + * @par Lua示例 + * setDynamicModel({20.0, 20.0, 20.0, 10.0, 10.0, 10.0},{2000, 0, 0, 0, 0, 0},{0, 0, 0, 0, 0, 0}) + * + * \endchinese + * \english + * Set force control dynamics model + * + * @param m Mass parameters + * @param d Damping parameters + * @param k Stiffness parameters + * + * Parameter unit description: + * - Mass: + * - Cartesian space: unit is kg, length is 6, order is [x, y, z, Rx, Ry, Rz] + * - Joint space: unit is kg·m², length is 6, order is [J1, J2, J3, J4, J5, J6] + * - Damping: + * - Cartesian space: unit is N·s/m, order is [x, y, z, Rx, Ry, Rz] + * - Joint space: unit is N·m·s/rad, order is [J1, J2, J3, J4, J5, J6] + * - Stiffness: + * - Cartesian space: unit is N/m, order is [x, y, z, Rx, Ry, Rz] + * - Joint space: unit is N·m/rad, order is [J1, J2, J3, J4, J5, J6] + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setDynamicModel(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * List[float], arg2: List[float]) -> int + * + * @par Lua Function Prototype + * setDynamicModel(m: table, d: table, k: table) -> nil + * + * @par Lua example + * setDynamicModel({20.0, 20.0, 20.0, 10.0, 10.0, 10.0},{2000, 0, 0, 0, 0, 0},{0, 0, 0, 0, 0, 0}) + * + * \endenglish + */ + int setDynamicModel(const std::vector &m, + const std::vector &d, + const std::vector &k); + + /** + * @ingroup ForceControl + * \chinese + * 设置力控阈值 + * + * @param thresholds: 力控阈值 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * fcSetSensorThresholds(self: pyaubo_sdk.ForceControl, arg0: + * List[float]) -> int + * + * @par Lua函数原型 + * fcSetSensorThresholds(thresholds: table) -> nil + * + * @par Lua示例 + * fcSetSensorThresholds({1.0,1.0,1.0,0.5,0.5,0.5}) + * + * \endch + * \endchinese + * \english + * Set force control thresholds + * + * @param thresholds: Force control thresholds + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * fcSetSensorThresholds(self: pyaubo_sdk.ForceControl, arg0: + * List[float]) -> int + * + * @par Lua Function Prototype + * fcSetSensorThresholds(thresholds: table) -> nil + * + * @par Lua example + * fcSetSensorThresholds({1.0,1.0,1.0,0.5,0.5,0.5}) + * + * \endenglish + */ + int fcSetSensorThresholds(const std::vector &thresholds); + + /** + * @ingroup ForceControl + * \chinese + * 设置力控最大受力限制 + * + * @param limits: 力限制 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * fcSetSensorLimits(self: pyaubo_sdk.ForceControl, arg0: + * List[float]) -> int + * + * @par Lua函数原型 + * fcSetSensorLimits(limits: table) -> nil + * + * @par Lua示例 + * fcSetSensorLimits({200.0,200.0,200.0,50.0,50.0,50.0}) + * + * \endchinese + * \english + * Set force control maximum force limits + * + * @param limits: Force limits + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * fcSetSensorLimits(self: pyaubo_sdk.ForceControl, arg0: + * List[float]) -> int + * + * @par Lua Function Prototype + * fcSetSensorLimits(limits: table) -> nil + * + * @par Lua example + * fcSetSensorLimits({200.0,200.0,200.0,50.0,50.0,50.0}) + * + * \endenglish + */ + int fcSetSensorLimits(const std::vector &limits); + + /** + * @ingroup ForceControl + * \chinese + * 获取力控阈值 + * + * @return 力控最小力阈值 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getFcSensorThresholds(self: pyaubo_sdk.ForceControl) -> list + * + * @par Lua函数原型 + * getFcSensorThresholds() -> table + * + * @par Lua函数示例 + * Fc_Thresholds = getFcSensorThresholds() + * + * \endchinese + * \english + * Get force control thresholds + * + * @return Minimum force control thresholds + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * getFcSensorThresholds(self: pyaubo_sdk.ForceControl) -> list + * + * @par Lua Function Prototype + * getFcSensorThresholds() -> table + * + * @par Lua example + * Fc_Thresholds = getFcSensorThresholds() + * + * \endenglish + */ + std::vector getFcSensorThresholds(); + + /** + * @ingroup ForceControl + * \chinese + * 获取最大力限制 + * + * @return 力控最大力限制 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getFcSensorLimits(self: pyaubo_sdk.ForceControl) -> list + * + * @par Lua函数原型 + * getFcSensorLimits() -> table + * + * @par Lua示例 + * Fc_Limits = getFcSensorLimits() + * + * \endchinese + * \english + * Get maximum force limits + * + * @return Force control maximum force limits + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * getFcSensorLimits(self: pyaubo_sdk.ForceControl) -> list + * + * @par Lua Function Prototype + * getFcSensorLimits() -> table + * + * @par Lua example + * Fc_Limits = getFcSensorLimits() + * + * \endenglish + */ + std::vector getFcSensorLimits(); + + /** + * @ingroup ForceControl + * \chinese + * 获取力控动力学模型 + * + * @return 力控动力学模型 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getDynamicModel(self: pyaubo_sdk.ForceControl) -> Tuple[List[float], + * List[float], List[float]] + * + * @par Lua函数原型 + * getDynamicModel() -> table + * + * @par Lua示例 + * Fc_Model = getDynamicModel() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.ForceControl.getDynamicModel","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[],[20.0,20.0,20.0,5.0,5.0,5.0],[]]} + * \endchinese + * \english + * Get force control dynamics model + * + * @return Force control dynamics model + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * getDynamicModel(self: pyaubo_sdk.ForceControl) -> Tuple[List[float], + * List[float], List[float]] + * + * @par Lua Function Prototype + * getDynamicModel() -> table + * + * @par Lua example + * Fc_Model = getDynamicModel() + * + * @par JSON-RPC Request example + * {"jsonrpc":"2.0","method":"rob1.ForceControl.getDynamicModel","params":[],"id":1} + * + * @par JSON-RPC Response example + * {"id":1,"jsonrpc":"2.0","result":[[],[20.0,20.0,20.0,5.0,5.0,5.0],[]]} + * \endenglish + */ + DynamicsModel getDynamicModel(); + + /** + * @ingroup ForceControl + * \chinese + * 设置力控终止条件：力，当测量的力在设置的范围之内，力控算法将保持运行，直到设置的条件不满足，力控将退出 + * + * The condition is lateractivated by calling the instruction + * FCCondWaitWhile, which will wait and hold the program execution while the + * specified condition is true. This allows the reference force, torque and + * movement to continue until the force is outside the specified limits. + * + * A force condition is set up by defining minimum and maximum limits for + * the force in the directions of the force control coordinate system. Once + * activated with FCCondWaitWhile, the program execution will continue to + * wait while the measured force is within its specified limits. + * + * It is possible to specify that the condition is fulfilled when the force + * is outside the specified limits instead. This is done by using the switch + * argument Outside. The condition on force is specified in the force + * control coordinate system. This coordinate system is setup by the user in + * the instruction FCAct. + * + * @param min 各方向最小的力/力矩 + * @param max 各方向最大的力/力矩 + * @param outside false 在设置条件的范围之内有效 + * true 在设置条件的范围之外有效 + * @param timeout + * 时间限制，单位s(秒)，从开始力控到达该时间时，不管是否满足力控终止条件，都会终止力控 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setCondForce(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * List[float], arg2: bool, arg3: float) -> int + * + * @par Lua函数原型 + * setCondForce(min: table, max: table, outside: boolean, timeout: number) + * -> nil + * @par Lua示例 + * setCondForce({0.1,0.1,0.1,0.1,0.1,0.1},{50,50,50,5,5,5},{true,true,true,true,true,true},10) + * + * \endchinese + * \english + * Set force control termination condition: Force. When the measured force is within + * the specified range, the force control algorithm will continue to run until the set + * condition is not met, at which point force control will exit. + * + * The condition is lateractivated by calling the instruction + * FCCondWaitWhile, which will wait and hold the program execution while the + * specified condition is true. This allows the reference force, torque and + * movement to continue until the force is outside the specified limits. + * + * A force condition is set up by defining minimum and maximum limits for + * the force in the directions of the force control coordinate system. Once + * activated with FCCondWaitWhile, the program execution will continue to + * wait while the measured force is within its specified limits. + * + * It is possible to specify that the condition is fulfilled when the force + * is outside the specified limits instead. This is done by using the switch + * argument Outside. The condition on force is specified in the force + * control coordinate system. This coordinate system is setup by the user in + * the instruction FCAct. + * + * @param min Minimum force/torque in each direction + * @param max Maximum force/torque in each direction + * @param outside false: valid within the specified range + * true: valid outside the specified range + * @param timeout + * Time limit in seconds; when this time is reached from the start of force control, + * force control will terminate regardless of whether the end condition is met + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setCondForce(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * List[float], arg2: bool, arg3: float) -> int + * + * @par Lua Function Prototype + * setCondForce(min: table, max: table, outside: boolean, timeout: number) + * -> nil + * @par Lua example + * setCondForce({0.1,0.1,0.1,0.1,0.1,0.1},{50,50,50,5,5,5},{true,true,true,true,true,true},10) + * + * \endenglish + */ + int setCondForce(const std::vector &min, + const std::vector &max, bool outside, + double timeout); + + /** + * @ingroup ForceControl + * \chinese + * 设置力控终止条件：姿态，当测量的姿态在设置的范围之内，力控算法将保持运行，直到设置的条件不满足，力控将退出. + * + * setCondOrient is used to set up an end condition for the tool orientation. + * The condition is lateractivated by calling the instruction + * FCCondWaitWhile, which will wait and hold the program execution while the + * specified condition is true. This allows the reference force, torque and + * movement to continue until the orientation is outside the specified + * limits. + * + * An orientation condition is set up by defining a maximum angle and a + * maximum rotation from a reference orientation. The reference orientation + * is either defined by the current z direction of the tool, or by + * specifying an orientation in relation to the z direction of the work + * object. + * + * Once activated, the tool orientation must be within the limits (or + * outside, if the argument Outside is used). + * + * @param frame + * @param max_angle + * @param max_rot + * @param outside + * @param timeout + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setCondOrient(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * float, arg2: float, arg3: bool, arg4: float) -> int + * + * @par Lua函数原型 + * setCondOrient(frame: table, max_angle: number, max_rot: number, outside: + * boolean, timeout: number) -> nil + * + * @par Lua示例 + * setCondOrient({0.1, 0.3, 0.1, 0.3142, 0.0, 1.571},30.0,20.0,true,10.0) + * + * \endchinese + * + * \english + * setCondOrient is used to set up an end condition for the tool orientation. + * The condition will wait and hold the program execution while the + * specified condition is true. This allows the reference force, torque and + * movement to continue until the orientation is outside the specified + * limits. + * + * An orientation condition is set up by defining a maximum angle and a + * maximum rotation from a reference orientation. The reference orientation + * is either defined by the current z direction of the tool, or by + * specifying an orientation in relation to the z direction of the work + * object. + * + * Once activated, the tool orientation must be within the limits (or + * outside, if the argument Outside is used). + * + * @param frame + * @param max_angle + * @param max_rot + * @param outside + * @param timeout + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setCondOrient(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * float, arg2: float, arg3: bool, arg4: float) -> int + * + * @par Lua Function Prototype + * setCondOrient(frame: table, max_angle: number, max_rot: number, outside: + * boolean, timeout: number) -> nil + * + * @par Lua example + * setCondOrient({0.1, 0.3, 0.1, 0.3142, 0.0, 1.571},30.0,20.0,true,10.0) + * + * \endenglish + */ + int setCondOrient(const std::vector &frame, double max_angle, + double max_rot, bool outside, double timeout); + + /** + * @ingroup ForceControl + * \chinese + * 指定力控有效平面，x-y平面，z方向有效 + * + * @param plane={A,B,C,D} + * 平面表示方法 Ax +By +Cz + D = 0 + * 其中,n = (A, B, C)是平面的法向量， + * D 是将平面平移到坐标原点所需距离（所以D=0时，平面过原点） + * @param timeout + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setCondPlane(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * float) -> int + * + * @par Lua函数原型 + * setCondPlane(plane: table, timeout: number) -> nil + * + * @par Lua示例 + * setCondPlane({0.1, 0.3, 0.1, 0.3},10.0) + * + * \endchinese + * \english + * Specify a valid force control plane, x-y plane, z direction is valid + * + * @param plane={A,B,C,D} + * Plane equation: Ax + By + Cz + D = 0 + * where n = (A, B, C) is the normal vector of the plane, + * D is the distance required to move the plane to the origin (so D=0 means the plane passes through the origin) + * @param timeout + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setCondPlane(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * float) -> int + * + * @par Lua Function Prototype + * setCondPlane(plane: table, timeout: number) -> nil + * + * @par Lua example + * setCondPlane({0.1, 0.3, 0.1, 0.3},10.0) + * + * \endenglish + */ + int setCondPlane(const std::vector &plane, double timeout); + + /** + * @ingroup ForceControl + * \chinese + * 指定力控有效圆柱体，提供中心轴和圆柱半径，可以指定圆柱内部还是外部 + * + * @param axis + * @param radius + * @param outside + * @param timeout + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setCondCylinder(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * float, arg2: bool, arg3: float) -> int + * + * @par Lua函数原型 + * setCondCylinder(axis: table, radius: number, outside: boolean, timeout: + * number) -> nil + * + * @par Lua示例 + * setCondCylinder({0,1,0},10.0,true,5,0) + * + * \endchinese + * \english + * Specify a valid force control cylinder by providing the central axis and cylinder radius, and specify whether the inside or outside of the cylinder is valid. + * + * @param axis + * @param radius + * @param outside + * @param timeout + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setCondCylinder(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * float, arg2: bool, arg3: float) -> int + * + * @par Lua Function Prototype + * setCondCylinder(axis: table, radius: number, outside: boolean, timeout: + * number) -> nil + * + * @par Lua example + * setCondCylinder({0,1,0},10.0,true,5,0) + * + * \endenglish + */ + int setCondCylinder(const std::vector &axis, double radius, + bool outside, double timeout); + + /** + * @ingroup ForceControl + * \chinese + * 指定力控有效球体，提供球心和半径，可以指定球体内部还是外部 + * + * @param center + * @param radius + * @param outside + * @param timeout + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setCondSphere(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * float, arg2: bool, arg3: float) -> int + * + * @par Lua函数原型 + * setCondSphere(center: table, radius: number, outside: boolean, timeout: + * number) -> nil + * + * @par Lua示例 + * setCondSphere({0.2, 0.5, 0.1, 1.57, 0, 0},10.0,true,5,0) + * + * \endchinese + * \english + * Specify a valid force control sphere by providing the center and radius, and specify whether the inside or outside of the sphere is valid. + * + * @param center + * @param radius + * @param outside + * @param timeout + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setCondSphere(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * float, arg2: bool, arg3: float) -> int + * + * @par Lua Function Prototype + * setCondSphere(center: table, radius: number, outside: boolean, timeout: + * number) -> nil + * + * @par Lua example + * setCondSphere({0.2, 0.5, 0.1, 1.57, 0, 0},10.0,true,5,0) + * + * \endenglish + */ + int setCondSphere(const std::vector ¢er, double radius, + bool outside, double timeout); + + /** + * @ingroup ForceControl + * \chinese + * 设置TCP速度的终止条件。该条件可通过调用FCCondWaitWhile指令激活， + * 在指定条件为真时，程序将等待并保持执行。这样可以使参考力、力矩和运动继续， + * 直到速度超出指定范围。 + * + * 通过定义TCP在工作对象所有方向上的最小和最大速度限制来设置TCP速度条件。 + * 一旦通过FCCondWaitWhile激活，程序将在测量速度处于指定范围内时继续等待。 + * + * 也可以指定当速度超出指定范围时条件成立，通过使用outside参数实现。 + * TCP速度条件在工作对象坐标系中指定。 + * + * @param min 最小速度 + * @param max 最大速度 + * @param outside 是否在范围外有效 + * @param timeout 超时时间 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setCondTcpSpeed(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * List[float], arg2: bool, arg3: float) -> int + * + * @par Lua函数原型 + * setCondTcpSpeed(min: table, max: table, outside: boolean, timeout: + * number) -> nil + * + * @par Lua示例 + * setCondTcpSpeed({0.2, 0.2, 0.2, 0.2, 0.2, 0.2},{1.2, 1.2, 1.2, 1.2, 1.2, 1.2},true,5,0) + * + * \endchinese + * \english + * setCondTcpSpeed is used to setup an end condition for the TCP speed. The + * condition is later activated by calling the instruction FCCondWaitWhile, + * which will wait and hold the program execution while the specified + * condition is true. This allows the reference force, torque and movement + * to continue until the speed is outside the specified limits. + * + * A TCP speed condition is set up by defining minimum and maximum limits + * for the TCP speed in all directions of the work object. Once activated + * with FCCondWaitWhile, the program execution will continue to wait while + * the measured speed is within its specified limits. + * + * It is possible to specify that the condition is fulfilled when the speed + * is outside the specified limits instead. This is done by using the + * switch argument Outside. The condition on TCP speed is specified in the + * work object coordinate system. + * + * @param min + * @param max + * @param outside + * @param timeout + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setCondTcpSpeed(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * List[float], arg2: bool, arg3: float) -> int + * + * @par Lua Function Prototype + * setCondTcpSpeed(min: table, max: table, outside: boolean, timeout: + * number) -> nil + * + * @par Lua example + * setCondTcpSpeed({0.2, 0.2, 0.2, 0.2, 0.2, 0.2},{1.2, 1.2, 1.2, 1.2, 1.2, 1.2},true,5,0) + * + * \endenglish + */ + int setCondTcpSpeed(const std::vector &min, + const std::vector &max, bool outside, + double timeout); + + /** + * @ingroup ForceControl + * \chinese + * 力控终止条件-距离 + * + * @param distance 距离 + * @param timeout 超时时间 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * setCondDistance(distance: number, timeout: number) + * + * @par Lua示例 + * setCondDistance(0.2, 10.0) + * + * \endchinese + * \english + * Force control termination condition - distance + * + * @param distance Distance + * @param timeout Timeout + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua Function Prototype + * setCondDistance(distance: number, timeout: number) + * + * @par Lua example + * setCondDistance(0.2, 10.0) + * + * \endenglish + */ + int setCondDistance(double distance, double timeout); + + /** + * @ingroup ForceControl + * \chinese + * 高级力控终止条件 + * + * @param type 类型 + * @param args 参数 + * @param timeout 超时时间 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * setCondAdvanced(type: number, args: table, timeout: number) + * + * @par Lua示例 + * setCondAdvanced(1, {0,1,0,0,0,0},10) + * + * \endchinese + * \english + * Advanced force control termination condition + * + * @param type Type + * @param args Arguments + * @param timeout Timeout + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua Function Prototype + * setCondAdvanced(type: number, args: table, timeout: number) + * + * @par Lua example + * setCondAdvanced(1, {0,1,0,0,0,0},10) + * + * \endenglish + */ + int setCondAdvanced(const std::string &type, + const std::vector &args, double timeout); + + /** + * @ingroup ForceControl + * \chinese + * 激活力控终止条件 + * + * @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 + * setCondActive(self: pyaubo_sdk.ForceControl) -> int + * + * @par Lua函数原型 + * setCondActive() -> nil + * + * @par Lua示例 + * setCondActive() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.ForceControl.setCondActive","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Activate force control termination condition + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setCondActive(self: pyaubo_sdk.ForceControl) -> int + * + * @par Lua Function Prototype + * setCondActive() -> nil + * + * @par Lua example + * setCondActive() + * + * @par JSON-RPC Request example + * {"jsonrpc":"2.0","method":"rob1.ForceControl.setCondActive","params":[],"id":1} + * + * @par JSON-RPC Response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setCondActive(); + + /** + * @ingroup ForceControl + * \chinese + * 力控终止条件是否已经满足 + * + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isCondFullfiled(self: pyaubo_sdk.ForceControl) -> bool + * + * @par Lua函数原型 + * isCondFullfiled() -> boolean + * + * @par Lua示例 + * status = isCondFullfiled() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.ForceControl.isCondFullfiled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * \endchinese + * \english + * Check if the force control termination condition has been fulfilled + * + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * isCondFullfiled(self: pyaubo_sdk.ForceControl) -> bool + * + * @par Lua Function Prototype + * isCondFullfiled() -> boolean + * + * @par Lua example + * status = isCondFullfiled() + * + * @par JSON-RPC Request example + * {"jsonrpc":"2.0","method":"rob1.ForceControl.isCondFullfiled","params":[],"id":1} + * + * @par JSON-RPC Response example + * {"id":1,"jsonrpc":"2.0","result":false} + * \endenglish + */ + bool isCondFullfiled(); + + /** + * @ingroup ForceControl + * \chinese + * setSupvForce 用于在力控中设置力监督。监督在通过 FCAct 指令激活力控时被激活。 + * + * 力监督通过在力控坐标系的各个方向上定义最小和最大力限制来设置。 + * 一旦激活，如果力超出允许的范围，监督将停止执行。力监督在力控坐标系中指定。 + * 该坐标系由用户通过 FCAct 指令设置。 + * + * @param min 最小力限制 + * @param max 最大力限制 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setSupvForce(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * List[float]) -> int + * + * @par Lua函数原型 + * setSupvForce(min: table, max: table) -> nil + * + * @par Lua示例 + * setSupvForce({0.1 ,0.1 ,0.1 ,0.1 ,0.1 ,0.1}, {10.0 ,10.0 ,10.0 ,10.0 ,10.0 ,10.0}) + * + * \endchinese + * \english + * setSupvForce is used to set up force supervision in Force Control. The + * supervision is activated when Force Control is activated with the + * instruction FCAct. + * + * The force supervision is set up by defining minimum and maximum limits + * for the force in the directions of the force control coordinate system. + * Once activated, the supervision will stop the execution if the force is + * outside the allowed values. The force supervision is specified in the + * force control coordinate system. This coordinate system is setup by the + * user with the instruction FCAct. + * + * @param min + * @param max + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setSupvForce(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * List[float]) -> int + * + * @par Lua Function Prototype + * setSupvForce(min: table, max: table) -> nil + * + * @par Lua example + * setSupvForce({0.1 ,0.1 ,0.1 ,0.1 ,0.1 ,0.1}, {10.0 ,10.0 ,10.0 ,10.0 ,10.0 ,10.0}) + * + * \endenglish + */ + int setSupvForce(const std::vector &min, + const std::vector &max); + + /** + * @ingroup ForceControl + * \chinese + * setSupvOrient 用于设置工具姿态的监督条件。 + * 当通过 FCAct 指令激活力控时，监督条件被激活。 + * + * 姿态监督通过定义相对于参考姿态的最大角度和最大旋转来设置。 + * 参考姿态可以由工具当前的z方向定义，也可以通过指定相对于工作对象z方向的姿态来定义。 + * + * 一旦激活，工具姿态必须在限制范围内，否则监督将停止执行。 + * + * @param frame + * @param max_angle + * @param max_rot + * @param outside + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setSupvOrient(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * float, arg2: float, arg3: bool) -> int + * + * @par Lua函数原型 + * setSupvOrient(frame: table, max_angle: number, max_rot: number, + * outside: boolean) -> nil + * \endchinese + * \english + * setSupvOrient is used to set up an supervision for the tool orientation. + * The supervision is activated when Force Control is activated with the + * instruction FCAct. + * + * An orientation supervision is set up by defining a maximum angle and a + * maximum rotation from a reference orientation. The reference orientation + * is either defined by the current z direction of the tool, or by + * specifying an orientation in relation to the z direction of the work + * object. + * + * Once activated, the tool orientation must be within the limits otherwise + * the supervision will stop the execution. + * + * @param frame + * @param max_angle + * @param max_rot + * @param outside + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setSupvOrient(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * float, arg2: float, arg3: bool) -> int + * + * @par Lua Function Prototype + * setSupvOrient(frame: table, max_angle: number, max_rot: number, + * outside: boolean) -> nil + * \endenglish + */ + int setSupvOrient(const std::vector &frame, double max_angle, + double max_rot, bool outside); + + /** + * @ingroup ForceControl + * \chinese + * setSupvPosBox 用于在力控中设置位置监督。监督在通过 FCAct 指令激活力控时被激活。 + * 位置监督通过为TCP定义空间体积来设置。一旦激活，如果TCP超出该体积，监督将停止执行。 + * + * @param frame + * @param box + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setSupvPosBox(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * List[float[6]]) -> int + * + * @par Lua函数原型 + * setSupvPosBox(frame: table, box: table) -> nil + * \endchinese + * \english + * setSupvPosBox is used to set up position supervision in Force Control. + * Supervision is activated when Force Control is activated with the + * instruction FCAct. Position supervision is set up by defining a volume in + * space for the TCP. Once activated, the supervision will stop the + * execution if the TCP is outside this volume. + * + * @param frame + * @param box + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setSupvPosBox(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * List[float[6]]) -> int + * + * @par Lua Function Prototype + * setSupvPosBox(frame: table, box: table) -> nil + * \endenglish + */ + int setSupvPosBox(const std::vector &frame, const Box &box); + + /** + * @ingroup ForceControl + * \chinese + * + * @param frame + * @param cylinder + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setSupvPosCylinder(self: pyaubo_sdk.ForceControl, arg0: List[float], + * arg1: List[float[5]]) -> int + * + * @par Lua函数原型 + * setSupvPosCylinder(frame: table, cylinder: table) -> nil + * + * \endchinese + * \english + * + * @param frame + * @param cylinder + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setSupvPosCylinder(self: pyaubo_sdk.ForceControl, arg0: List[float], + * arg1: List[float[5]]) -> int + * + * @par Lua Function Prototype + * setSupvPosCylinder(frame: table, cylinder: table) -> nil + * + * \endenglish + */ + int setSupvPosCylinder(const std::vector &frame, + const Cylinder &cylinder); + + /** + * @ingroup ForceControl + * \chinese + * + * @param frame + * @param sphere + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setSupvPosSphere(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * List[float[3]]) -> int + * + * @par Lua函数原型 + * setSupvPosSphere(frame: table, sphere: table) -> nil + * + * \endchinese + * \english + * + * @param frame + * @param sphere + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setSupvPosSphere(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: + * List[float[3]]) -> int + * + * @par Lua Function Prototype + * setSupvPosSphere(frame: table, sphere: table) -> nil + * + * \endenglish + */ + int setSupvPosSphere(const std::vector &frame, + const Sphere &sphere); + + /** + * @ingroup ForceControl + * \chinese + * setSupvReoriSpeed 用于在力控中设置重新定向速度监督。监督在通过 FCAct 指令激活力控时被激活。 + * + * 重新定向速度监督通过定义工作对象坐标系轴周围重新定向速度的最小和最大限制来设置。 + * 一旦激活，如果重新定向速度的值过高，监督将停止执行。 + * + * 有两种速度监督：FCSupvReoriSpeed 和 FCSupvTCPSpeed，后者在第199页的 FCSupvTCPSpeed 部分有描述。 + * 可能需要两种监督，因为： + * - 机器人轴可以在 TCP 静止时高速旋转。 + * - 当 TCP 距离旋转轴较远时，轴的微小旋转可能导致 TCP 的高速运动。 + * + * @param speed_limit 速度限制 + * @param outside 是否在范围外有效 + * @param timeout 超时时间 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setSupvReoriSpeed(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: bool, arg2: float) -> int + * + * @par Lua函数原型 + * setSupvReoriSpeed(speed_limit: table, outside: boolean, timeout: number) -> nil + * \endchinese + * \english + * setSupvReoriSpeed is used to set up reorientation speed supervision in Force Control. The supervision is activated when Force Control is activated with the instruction FCAct. + * + * The reorientation speed supervision is set up by defining minimum and maximum limits for the reorientation speed around the axis of the work object coordinate system. Once activated, the supervision will stop the execution if the values of the reorientation speed are too high. + * + * There are two speed supervisions: FCSupvReoriSpeed and FCSupvTCPSpeed, which is described in section FCSupvTCPSpeed on page 199. + * Both supervisions may be required because: + * - A robot axis can rotate with high speed while the TCP is stationary. + * - The TCP can be far from the rotating axis and a small axis rotation may result in a high speed movement of the TCP. + * + * @param speed_limit + * @param outside + * @param timeout + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setSupvReoriSpeed(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: bool, arg2: float) -> int + * + * @par Lua Function Prototype + * setSupvReoriSpeed(speed_limit: table, outside: boolean, timeout: number) -> nil + * \endenglish + */ + int setSupvReoriSpeed(const std::vector &speed_limit, bool outside, + double timeout); + + /** + * @ingroup ForceControl + * \chinese + * setSupvTcpSpeed 用于在力控中设置TCP速度监督。监督在通过 FCAct 指令激活力控时被激活。 + * TCP速度监督通过定义工作对象坐标系各方向上的最小和最大速度限制来设置。 + * 一旦激活，如果检测到过高的TCP速度值，监督将停止执行。 + * + * 有两种速度监督：FCSupvTCPSpeed 和 FCSupvReoriSpeed，后者在第197页的 FCSupvReoriSpeed 部分有描述。 + * + * 可能需要两种监督，因为： + * - 机器人轴可以在TCP静止时高速旋转。 + * - 当TCP距离旋转轴较远时，轴的微小旋转可能导致TCP的高速运动。 + * + * @param speed_limit 速度限制 + * @param outside 是否在范围外有效 + * @param timeout 超时时间 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setSupvTcpSpeed(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: bool, arg2: float) -> int + * + * @par Lua函数原型 + * setSupvTcpSpeed(speed_limit: table, outside: boolean, timeout: number) -> nil + * \endchinese + * \english + * setSupvTcpSpeed is used to set up TCP speed supervision in Force Control. + * The supervision is activated when Force Control is activated with the + * instruction FCAct. The TCP speed supervision is set up by defining + * minimum and maximum limits for the TCP speed in the directions of the + * work object coordinate system. Once activated, the supervision will stop + * the execution if too high TCP speed values are detected. + * + * There are two speed supervisions: FCSupvTCPSpeed and FCSupvReoriSpeed, + * which is described in section FCSupvReoriSpeed on page 197. + * + * Both supervisions may be required because: + * - A robot axis can rotate with high speed while the TCP is stationary. + * - The TCP can be far from the rotating axis and a small axis rotation may + * result in a high speed movement of the TCP. + * + * @param speed_limit + * @param outside + * @param timeout + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setSupvTcpSpeed(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: bool, arg2: float) -> int + * + * @par Lua Function Prototype + * setSupvTcpSpeed(speed_limit: table, outside: boolean, timeout: number) -> nil + * \endenglish + */ + int setSupvTcpSpeed(const std::vector &speed_limit, bool outside, + double timeout); + + // 设置低通滤波器 + // --- force frame filter: 过滤测量到的力/力矩 + // +++ force loop filter: 力控输出参考速度的滤波器 + + /** + * @ingroup ForceControl + * \chinese + * 设置低通滤波器 + * + * --- force frame filter: 过滤测量到的力/力矩 + * +++ force loop filter: 力控输出参考速度的滤波器 + * + * @param cutoff_freq 截止频率 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setLpFilter(self: pyaubo_sdk.ForceControl, arg0: List[float]) -> int + * + * @par Lua函数原型 + * setLpFilter(cutoff_freq: table) -> nil + * \endchinese + * \english + * Set low-pass filter + * + * --- force frame filter: filter measured force/torque + * +++ force loop filter: filter for force control output reference speed + * + * FCSetLPFilterTune is used to change the response of force loop according to + * the description in Damping and LP-filter on page 103. + * + * @param cutoff_freq Cutoff frequency + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setLpFilter(self: pyaubo_sdk.ForceControl, arg0: List[float]) -> int + * + * @par Lua Function Prototype + * setLpFilter(cutoff_freq: table) -> nil + * \endenglish + */ + int setLpFilter(const std::vector &cutoff_freq); + + /** + * @ingroup ForceControl + * \chinese + * 重置低通滤波器 + * + * @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 + * resetLpFilter(self: pyaubo_sdk.ForceControl) -> int + * + * @par Lua函数原型 + * resetLpFilter() -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.ForceControl.resetLpFilter","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Reset low-pass filter + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * resetLpFilter(self: pyaubo_sdk.ForceControl) -> int + * + * @par Lua Function Prototype + * resetLpFilter() -> nil + * + * @par JSON-RPC Request example + * {"jsonrpc":"2.0","method":"rob1.ForceControl.resetLpFilter","params":[],"id":1} + * + * @par JSON-RPC Response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int resetLpFilter(); + + /** + * @ingroup ForceControl + * \chinese + * speedChangeEnable 用于激活 FC SpeedChange 功能，并设置期望的参考力和恢复行为。 + * 当 FC SpeedChange 功能被激活时，机器人速度会根据测量信号与参考值的接近程度自动降低或提高。 + * + * @param ref_force 参考力 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * speedChangeEnable(self: pyaubo_sdk.ForceControl, arg0: float) -> int + * + * @par Lua函数原型 + * speedChangeEnable(ref_force: number) -> nil + * \endchinese + * \english + * The speedChangeEnable is used to activate FC SpeedChange function with desired + * reference and recover behavior. When FC SpeedChange function is active, + * the robot speed will be reduced/increased in order to keep the measured + * signal close to the reference. + * + * @param ref_force + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * speedChangeEnable(self: pyaubo_sdk.ForceControl, arg0: float) -> int + * + * @par Lua Function Prototype + * speedChangeEnable(ref_force: number) -> nil + * \endenglish + */ + int speedChangeEnable(double ref_force); + + /** + * @ingroup ForceControl + * \chinese + * 停用 FC SpeedChange 功能。 + * + * @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 + * speedChangeDisable(self: pyaubo_sdk.ForceControl) -> int + * + * @par Lua函数原型 + * speedChangeDisable() -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.ForceControl.speedChangeDisable","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Deactivate FC SpeedChange function. + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * speedChangeDisable(self: pyaubo_sdk.ForceControl) -> int + * + * @par Lua Function Prototype + * speedChangeDisable() -> nil + * + * @par JSON-RPC Request example + * {"jsonrpc":"2.0","method":"rob1.ForceControl.speedChangeDisable","params":[],"id":1} + * + * @par JSON-RPC Response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int speedChangeDisable(); + + /** + * @ingroup ForceControl + * \chinese + * speedChangeTune 用于将 FC SpeedChange 系统参数设置为新值。 + * + * @param speed_levels 速度级别 + * @param speed_ratio_min 最小速度比例 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * speedChangeTune(self: pyaubo_sdk.ForceControl, arg0: int, arg1: float) -> int + * + * @par Lua函数原型 + * speedChangeTune(speed_levels: number, speed_ratio_min: number) -> nil + * \endchinese + * \english + * speedChangeTune is used to set FC SpeedChange system parameters to a new value. + * + * @param speed_levels + * @param speed_ratio_min + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * speedChangeTune(self: pyaubo_sdk.ForceControl, arg0: int, arg1: float) -> int + * + * @par Lua Function Prototype + * speedChangeTune(speed_levels: number, speed_ratio_min: number) -> nil + * \endenglish + */ + int speedChangeTune(int speed_levels, double speed_ratio_min); + + /* Defines how many Newtons are required to make the robot move 1 m/s. The + higher the value, the less responsive the robot gets. + The damping can be tuned (as a percentage of the system parameter values) + by the RAPID instruction FCAct. */ + // 设置阻尼系数，阻尼的系统参数需要通过配置文件设置 + // [damping_fx, damping_fy, damping_fz, damping_tx, damping_ty, damping_tz] + // A value between min and 10,000,000 Ns/m. + // A value between minimum and 10,000,000 Nms/rad. + + /** + * @ingroup ForceControl + * \chinese + * setDamping 用于在力控坐标系中调整阻尼。可调参数包括扭矩x方向到扭矩z方向的阻尼（见第255页）以及力x方向到力z方向的阻尼（见第254页）。 + * + * 阻尼可以通过配置文件或FCAct指令设置。不同之处在于本指令可在力控激活时使用。FCSetDampingTune调整的是FCAct指令设置的实际值，而不是配置文件中的值。 + * + * @param damping 阻尼参数 + * @param ramp_time 斜坡时间 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setDamping(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: float) -> int + * + * @par Lua函数原型 + * setDamping(damping: table, ramp_time: number) -> nil + * \endchinese + * \english + * setDamping is used to tune the damping in the force control coordinate systems. The parameters tuned are those described in Damping in Torque x Direction - Damping in Torque z Direction on page 255 and Damping in Force x Direction - Damping in Force z Direction on page 254. + * + * Damping can be set in the configuration file or by the instruction FCAct. The difference is that this instruction can be used when force control is active. FCSetDampingTune tunes the actual values set by the instruction FCAct, not the value in the configuration file. + * + * @param damping + * @param ramp_time + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * setDamping(self: pyaubo_sdk.ForceControl, arg0: List[float], arg1: float) -> int + * + * @par Lua Function Prototype + * setDamping(damping: table, ramp_time: number) -> nil + * \endenglish + */ + int setDamping(const std::vector &damping, double ramp_time); + + /** + * @ingroup ForceControl + * \chinese + * 重置阻尼参数 + * + * @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 + * resetDamping(self: pyaubo_sdk.ForceControl) -> int + * + * @par Lua函数原型 + * resetDamping() -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.ForceControl.resetDamping","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Reset damping parameters + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python Function Prototype + * resetDamping(self: pyaubo_sdk.ForceControl) -> int + * + * @par Lua Function Prototype + * resetDamping() -> nil + * + * @par JSON-RPC Request example + * {"jsonrpc":"2.0","method":"rob1.ForceControl.resetDamping","params":[],"id":1} + * + * @par JSON-RPC Response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int resetDamping(); + + /** + * @ingroup ForceControl + * \chinese + * 启用软浮动功能。 + * + * @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 JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.ForceControl.softFloatEnable","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Enable soft float function. + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC Request example + * {"jsonrpc":"2.0","method":"rob1.ForceControl.softFloatEnable","params":[],"id":1} + * + * @par JSON-RPC Response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int softFloatEnable(); + + /** + * @ingroup ForceControl + * \chinese + * 停用软浮动功能。 + * + * @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 JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.ForceControl.softFloatDisable","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":-1} + * \endchinese + * \english + * Disable soft float function. + * + * @return Return 0 if succeeded; return error code if failed + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC Request example + * {"jsonrpc":"2.0","method":"rob1.ForceControl.softFloatDisable","params":[],"id":1} + * + * @par JSON-RPC Response example + * {"id":1,"jsonrpc":"2.0","result":-1} + * \endenglish + */ + int softFloatDisable(); + + /** + * @ingroup ForceControl + * \chinese + * 返回是否开启了软浮动 + * + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.ForceControl.isSoftFloatEnabled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * \endchinese + * \english + * Returns whether soft float is enabled + * + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC Request example + * {"jsonrpc":"2.0","method":"rob1.ForceControl.isSoftFloatEnabled","params":[],"id":1} + * + * @par JSON-RPC Response example + * {"id":1,"jsonrpc":"2.0","result":false} + * \endenglish + */ + bool isSoftFloatEnabled(); + + /** + * @ingroup ForceControl + * \chinese + * 设置软浮动参数 + * + * @param joint_softfloat 是否在关节空间启用软浮动 + * @param select 选择哪些自由度启用软浮动 + * @param stiff_percent 刚度百分比 + * @param stiff_damp_ratio 刚度阻尼比 + * @param force_threshold 力阈值 + * @param force_limit 力限制 + * @return 返回0表示成功，其他为错误码 + * \endchinese + * \english + * Set soft float parameters + * + * @param joint_softfloat Whether to enable soft float in joint space + * @param select Select which degrees of freedom to enable soft float + * @param stiff_percent Stiffness percentage + * @param stiff_damp_ratio Stiffness damping ratio + * @param force_threshold Force threshold + * @param force_limit Force limit + * @return Return 0 if succeeded, otherwise error code + * \endenglish + */ + int setSoftFloatParams(bool joint_space, const std::vector &select, + const std::vector &stiff_percent, + const std::vector &stiff_damp_ratio, + const std::vector &force_threshold, + const std::vector &force_limit); + + /** + * @ingroup ForceControl + * \chinese + * 检测工具和外部物体的接触 + * + * @param direction + * 预期的接触方向，如果所有的元素为0，表示检测所有方向的接触 + * @return + * 返回从当前点回退到碰撞开始点的周期步数，如果返回值为0，表示没有接触 + * \endchinese + * \english + * Detect contact between the tool and external objects + * + * @param direction + * Expected contact direction. If all elements are 0, detect contact in all directions. + * @return + * Returns the number of cycle steps back from the current point to the collision start point. If the return value is 0, no contact is detected. + * \endenglish + */ + int toolContact(const std::vector &direction); + + /** + * @ingroup ForceControl + * \chinese + * @brief 获取历史关节角度 + * + * 根据给定的周期步数，从关节状态历史中回退指定数量的周期，获取当时的关节角度数据。 + * + * @param steps + * 需要回退的周期数（单位：控制周期数），值越大表示获取越早的历史数据 + * @return std::vector + * 对应时间点的各关节角度（单位：弧度） + * \endchinese + * \english + * @brief Get historical joint positions + * + * According to the given number of cycle steps, go back the specified number of cycles from the joint state history to obtain the joint position data at that time. + * + * @param steps + * Number of cycles to go back (unit: control cycles), the larger the value, the earlier the historical data is obtained + * @return std::vector + * Joint positions (unit: radians) at the corresponding time point + * \endenglish + */ + std::vector getActualJointPositionsHistory(int steps); + +protected: + void *d_{ nullptr }; +}; +using ForceControlPtr = std::shared_ptr; +} // namespace common_interface +} // namespace arcs + +#endif // AUBO_SDK_FORCE_CONTROL_INTERFACE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/io_control.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/io_control.h new file mode 100644 index 00000000..c309f2ba --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/io_control.h @@ -0,0 +1,6079 @@ +/** @file io_control.h + * @brief IO控制接口 + */ +#ifndef AUBO_SDK_IO_CONTROL_INTERFACE_H +#define AUBO_SDK_IO_CONTROL_INTERFACE_H + +#include +#include +#include + +#include +#include + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * @defgroup IoControl IoControl (IO输入输出控制) + * @ingroup RobotInterface + * \endchinese + * + * \english + * @defgroup IoControl IO Input/Output Control + * @ingroup RobotInterface + * \endenglish + * + * \chinese + * 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 + * + * 1. 获取各种IO的数量 \n + * 2. 配置IO的输入输出功能 \n + * 3. 可配置IO的配置 \n + * 4. 模拟IO的输入输出范围设置、读取 + * + * 标准数字输入输出：控制柜IO面板上的标准IO \n + * 工具端数字输入输出：通过工具末端航插暴露的数字IO \n + * 可配置输入输出：可以配置为安全IO或者普通数字IO \n + * \endchinese + * \english + * 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. + * + * 1. Get the number of various IOs \n + * 2. Configure IO input/output functions \n + * 3. Configuration of configurable IOs \n + * 4. Set and read the input/output range of analog IOs + * + * Standard digital input/output: Standard IOs on the control cabinet IO panel + * \n Tool digital input/output: Digital IOs exposed via the tool-end connector + * \n Configurable input/output: Can be configured as safety IO or general + * digital IO \n \endenglish + */ +class ARCS_ABI_EXPORT IoControl +{ +public: + IoControl(); + virtual ~IoControl(); + + /** + * @ingroup IoControl + * \chinese + * 获取标准数字输入数量 + * + * @return 标准数字输入数量 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getStandardDigitalInputNum(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua函数原型 + * getStandardDigitalInputNum() -> number + * + * @par Lua示例 + * num = getStandardDigitalInputNum() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalInputNum","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":16} + * + * \endchinese + * \english + * Get the number of standard digital inputs. + * + * @return Number of standard digital inputs. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getStandardDigitalInputNum(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua function prototype + * getStandardDigitalInputNum() -> number + * + * @par Lua example + * num = getStandardDigitalInputNum() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalInputNum","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":16} + * + * \endenglish + */ + int getStandardDigitalInputNum(); + + /** + * @ingroup IoControl + * \chinese + * 获取工具端数字IO数量(包括数字输入和数字输出) + * + * @return 工具端数字IO数量(包括数字输入和数字输出) + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getToolDigitalInputNum(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua函数原型 + * getToolDigitalInputNum() -> number + * + * @par Lua示例 + * num = getStandardDigitalInputNum() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalInputNum","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":4} + * + * \endchinese + * \english + * Get the number of tool digital IOs (including digital inputs and + * outputs). + * + * @return Number of tool digital IOs (including digital inputs and + * outputs). + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getToolDigitalInputNum(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua function prototype + * getToolDigitalInputNum() -> number + * + * @par Lua example + * num = getStandardDigitalInputNum() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalInputNum","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":4} + * + * \endenglish + */ + int getToolDigitalInputNum(); + + /** + * @ingroup IoControl + * \chinese + * 获取可配置数字输入数量 + * + * @return 可配置数字输入数量 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getConfigurableDigitalInputNum(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua函数原型 + * getConfigurableDigitalInputNum() -> number + * + * @par Lua示例 + * num = getConfigurableDigitalInputNum() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalInputNum","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 inputs. + * + * @return Number of configurable digital inputs. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getConfigurableDigitalInputNum(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua function prototype + * getConfigurableDigitalInputNum() -> number + * + * @par Lua example + * num = getConfigurableDigitalInputNum() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalInputNum","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":16} + * + * \endenglish + */ + int getConfigurableDigitalInputNum(); + + /** + * @ingroup IoControl + * \chinese + * 获取标准数字输出数量 + * + * @return 标准数字输出数量 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getStandardDigitalOutputNum(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua函数原型 + * getStandardDigitalOutputNum() -> number + * + * @par Lua示例 + * num = getStandardDigitalOutputNum() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalOutputNum","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":8} + * + * \endchinese + * \english + * Get the number of standard digital outputs. + * + * @return Number of standard digital outputs. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getStandardDigitalOutputNum(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua function prototype + * getStandardDigitalOutputNum() -> number + * + * @par Lua example + * num = getStandardDigitalOutputNum() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalOutputNum","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":8} + * + * \endenglish + */ + int getStandardDigitalOutputNum(); + + /** + * @ingroup IoControl + * \chinese + * 获取工具端数字IO数量(包括数字输入和数字输出) + * + * @return 工具端数字IO数量(包括数字输入和数字输出) + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getToolDigitalOutputNum(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua函数原型 + * getToolDigitalOutputNum() -> number + * + * @par Lua示例 + * num = getToolDigitalOutputNum() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalOutputNum","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":4} + * + * \endchinese + * \english + * Get the number of tool digital IOs (including digital inputs and + * outputs). + * + * @return Number of tool digital IOs (including digital inputs and + * outputs). + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getToolDigitalOutputNum(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua function prototype + * getToolDigitalOutputNum() -> number + * + * @par Lua example + * num = getToolDigitalOutputNum() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalOutputNum","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":4} + * + * \endenglish + */ + int getToolDigitalOutputNum(); + + /** + * @ingroup IoControl + * \chinese + * 设置指定的工具端数字IO为输入或输出 + * + * 工具端数字IO比较特殊，IO可以配置为输入或者输出 + * + * @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 input: 表示指定IO是否为输入。 + * input 为true时，设置指定IO为输入，否则为输出 + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setToolIoInput(self: pyaubo_sdk.IoControl, arg0: int, arg1: bool) -> int + * + * @par Lua函数原型 + * setToolIoInput(index: number, input: boolean) -> nil + * + * @par Lua示例 + * setToolIoInput(0,true) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.setToolIoInput","params":[0,true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set the specified tool digital IO as input or output. + * + * Tool digital IOs are special and can be configured as input or output. + * + * @param index: Indicates the IO pin, starting from 0. + * For example, 0 means the first pin. + * @param input: Indicates whether the specified IO is input. + * If input is true, set the IO as input; otherwise, set as output. + * @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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \chinese + * 设置数字输出的状态选择，并支持基于路点/平面/障碍物的条件阈值判断。 + * + * 详细说明：当需要根据机器人是否到达某个路点或与某个平面/障碍物的距离来触发数字输出时， + * 可通过本接口指定条件对象及阈值。在条件满足时会将指定的数字输出设置为对应的运行状态。 + * + * @param io_type + * 数字输出类型（0=标准数字输出、1=工具数字输出、2=可配置数字输出），用整数表示 + * @param index 输出口的索引，管脚编号从0开始 + * @param runstate 输出动作状态 + * @param object_name 条件对象的名称 + * @param threshold + * 判断阈值：对路点为角度阈值，单位为弧度(rad)，对平面/障碍物为距离阈值，单位为米(m) + * + * @return 返回操作结果码：0 表示成功，非0 表示失败 + * + * @par Python函数原型 + * setDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int, arg1: + * int, arg2: arcs::common_interface::StandardOutputRunState, arg3: str="", + * arg4: float=0.0) -> int + * + * @par Lua函数原型 + * setDigitalOutputRunstate(io_type: number, index: number, runstate: + * number, object_name: string="", threshold: number=0.0) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.setDigitalOutputRunstate","params":[1,0,"WaypointArrived","P1",3],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set digital output runstate with optional condition checking based on + * waypoint, plane or obstacle thresholds. + * + * Use this API to control a digital output when a specified condition is + * met (for example, waypoint arrival or distance to a plane/obstacle). + * Specify an object type, name and a threshold value to enable conditional + * triggering. When the condition is satisfied, the given digital output + * will be set to the requested runstate. + * + * @param io_type Numeric IO type (e.g. 0=standard, 1=tool, 2=configurable) + * @param index IO pin index starting from 0 + * @param runstate The desired output action + * @param object_name Unique identifier of the condition object (optional) + * @param threshold Condition threshold: angle in radians for waypoints, + * or distance in meters for planes/obstacles (optional) + * + * @return Returns 0 on success, non-zero error code on failure. + * \endenglish + */ + int setDigitalOutputRunstate(int io_type, int index, + StandardOutputRunState runstate, + const std::string &object_name, + double threshold); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \chinese + * 获取指定类型数字输出状态选择。 + * + * 用于查询不同类型的数字输出（标准数字输出、工具端数字输出、可配置数字输出）的 + * 当前运行状态选择（例如 WaypointArrived 等）, + * 一般跟 setDigitalOutputRunstate 一起使用。 + * + * @param io_type + * 数字输出类型（0=标准数字输出、1=工具数字输出、2=可配置数字输出） + * @param index 输出口的索引，管脚编号从0开始 + * @return 返回对应的 `StandardOutputRunState` 枚举值 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int, arg1: + * int) -> arcs::common_interface::StandardOutputRunState + * + * @par Lua函数原型 + * getDigitalOutputRunstate(io_type: number, index: number) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.getDigitalOutputRunstate","params":[1,0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"None"} + * \endchinese + * \english + * Get the current runstate of a digital output of the specified type. + * + * Use this API to query the runstate selection (for example None, + * Handguiding, WaypointArrived) of different digital output types + * (standard, tool, configurable). + * + * @param io_type Numeric IO type (0=standard, 1=tool, 2=configurable) + * @param index IO pin index starting from 0 + * @return Returns the corresponding `StandardOutputRunState` enum value + * + * @throws arcs::common_interface::AuboException + * \endenglish + */ + StandardOutputRunState getDigitalOutputRunstate(int io_type, int index); + + /** + * @ingroup IoControl + * \chinese + * 新增一条 DIO Cross Connection 逻辑规则。 + * + * 支持 digital/bool 类 DIO 信号和虚拟 DO 信号。规则添加成功后立即生效； + * DI 只能作为 actor 被读取，不能作为 result 写入。actor_inverts 表示各 + * actor 读取原始 bool 值后是否取反参与运算，不改变 IO 的硬件方向。 + * + * result_type 和 actor_types 使用同一套数字类型。作为 result 时表示输出侧， + * 作为 actor 时表示输入侧或可读的虚拟 DO： + * - 0：标准数字 IO，result 表示标准 DO，actor 表示标准 DI。 + * - 1：工具数字 IO，result 表示工具 DO，actor 表示工具 DI。 + * - 2：可配置数字 IO，result 表示可配置 DO，actor 表示可配置 DI。 + * - 3：虚拟 DO，不占用真实 DO 口，可作为级联中间结果；作为 result 时写入 + * 虚拟 DO，作为 actor 时读取虚拟 DO。 + * + * operator_type 由控制器实现解释，建议统一为 0=FWD、1=NOT、2=AND、 + * 3=OR。FWD/NOT 必须恰好 1 个 actor，AND/OR 必须为 2-5 个 actor。 + * actor_types、actor_pins、actor_inverts 长度必须一致。 + * + * 限制： + * - Cross Connection 规则总数最大 300。 + * - 规则 id 最大 32 个字符，且不能重复。 + * - 虚拟 DO 级联深度最大 20。 + * - 不允许形成闭环依赖。 + * - 不允许多个规则写同一个 result，包括真实 DO 和虚拟 DO。 + * - 虚拟 DO actor 必须由前序规则生成，读取未定义虚拟 DO 应返回失败。 + * - 虚拟 DO pin/index 只要求非负，不占用真实 DO 口。 + * - 已被 Cross Connection 写入的真实 DO 不应再配置 runstate；后续手动 + * set/pulse 该 DO 时应拒绝并提示该 DO 已被对应 Cross Connection 占用。 + * + * @param id 规则唯一 ID + * @param operator_type 逻辑运算类型 + * @param result_type 结果信号类型，必须是可写输出类类型或虚拟 DO + * @param result_pin 结果信号 pin/index；虚拟 DO 使用虚拟信号 index + * @param actor_types actor 信号类型列表，可读取 DI 或虚拟 DO + * @param actor_pins actor 信号 pin/index 列表；虚拟 DO 使用虚拟信号 index + * @param actor_inverts actor 极性列表 + * @return 成功返回0；失败返回错误码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * addCrossConnection(self: pyaubo_sdk.IoControl, arg0: str, arg1: int, + * arg2: int, arg3: int, arg4: List[int], arg5: List[int], + * arg6: List[bool]) -> int + * + * @par Lua函数原型 + * addCrossConnection(id: string, operator_type: number, + * result_type: number, result_pin: number, actor_types: table, + * actor_pins: table, actor_inverts: table) -> number + * + * @par Lua示例 + * addCrossConnection("start_permit", 2, 0, 0, {0, 0}, {3, 4}, + * {false, true}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.addCrossConnection","params":["start_permit",2,0,0,[0,0],[3,4],[false,true]],"id":1} + * + * @par JSON-RPC虚拟 DO 级联示例 + * 先生成中间信号 VirtualDO[0] = DI[0] AND NOT DI[1]，再输出 + * DO[0] = VirtualDO[0] OR DI[2]： + * {"jsonrpc":"2.0","method":"rob1.IoControl.clearCrossConnections","params":[],"id":10} + * {"jsonrpc":"2.0","method":"rob1.IoControl.addCrossConnection","params":["v0_di0_and_not_di1",2,3,0,[0,0],[0,1],[false,true]],"id":11} + * {"jsonrpc":"2.0","method":"rob1.IoControl.addCrossConnection","params":["v0_or_di2_to_do0",3,0,0,[3,0],[0,2],[false,false]],"id":12} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Add a DIO Cross Connection logic rule. + * + * Supports digital/bool DIO signals and virtual DO signals. The rule takes + * effect immediately after it is added successfully. DI signals may only be + * read as actors and cannot be written as results. actor_inverts tells the + * controller whether to invert each actor's raw bool value before + * evaluating the rule; it does not change the hardware IO direction. + * + * result_type and actor_types use the same numeric type set. As a result, + * the value denotes the output side; as an actor, it denotes the input side + * or a readable virtual DO: + * - 0: Standard digital IO. result means standard DO, actor means standard + * DI. + * - 1: Tool digital IO. result means tool DO, actor means tool DI. + * - 2: Configurable digital IO. result means configurable DO, actor means + * configurable DI. + * - 3: Virtual DO. It does not occupy a real DO pin and can be used as an + * intermediate result for cascaded rules. As a result it writes the + * virtual DO; as an actor it reads the virtual DO. + * + * operator_type is interpreted by the controller implementation; the + * recommended mapping is 0=FWD, 1=NOT, 2=AND, 3=OR. FWD/NOT require exactly + * one actor, and AND/OR require 2 to 5 actors. actor_types, actor_pins, and + * actor_inverts must have the same length. + * + * Limits: + * - Up to 300 Cross Connection rules are allowed. + * - A rule id can contain up to 32 characters and must be unique. + * - Virtual DO cascade depth is limited to 20. + * - Cyclic dependencies are not allowed. + * - Multiple rules cannot write the same result, including real DO and + * virtual DO results. + * - A virtual DO actor must be produced by an earlier rule; reading an + * undefined virtual DO should fail. + * - A virtual DO pin/index only needs to be non-negative and does not + * occupy a real DO pin. + * - A real DO written by Cross Connection should not also have a runstate + * configured. Later manual set/pulse calls to that DO should be rejected + * with a message that names the owning Cross Connection. + * + * @param id Unique rule ID + * @param operator_type Logic operator type + * @param result_type Result signal type; must be writable output type or + * virtual DO + * @param result_pin Result signal pin/index; virtual DO uses virtual signal + * index + * @param actor_types Actor signal type list; may read DI or virtual DO + * @param actor_pins Actor signal pin/index list; virtual DO uses virtual + * signal index + * @param actor_inverts Actor polarity list + * @return Returns 0 on success, non-zero error code on failure. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * addCrossConnection(self: pyaubo_sdk.IoControl, arg0: str, arg1: int, + * arg2: int, arg3: int, arg4: List[int], arg5: List[int], + * arg6: List[bool]) -> int + * + * @par Lua function prototype + * addCrossConnection(id: string, operator_type: number, + * result_type: number, result_pin: number, actor_types: table, + * actor_pins: table, actor_inverts: table) -> number + * + * @par Lua example + * addCrossConnection("start_permit", 2, 0, 0, {0, 0}, {3, 4}, + * {false, true}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.addCrossConnection","params":["start_permit",2,0,0,[0,0],[3,4],[false,true]],"id":1} + * + * @par JSON-RPC virtual DO cascade example + * First generate the intermediate signal VirtualDO[0] = DI[0] AND NOT + * DI[1], then drive DO[0] = VirtualDO[0] OR DI[2]: + * {"jsonrpc":"2.0","method":"rob1.IoControl.clearCrossConnections","params":[],"id":10} + * {"jsonrpc":"2.0","method":"rob1.IoControl.addCrossConnection","params":["v0_di0_and_not_di1",2,3,0,[0,0],[0,1],[false,true]],"id":11} + * {"jsonrpc":"2.0","method":"rob1.IoControl.addCrossConnection","params":["v0_or_di2_to_do0",3,0,0,[3,0],[0,2],[false,false]],"id":12} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int addCrossConnection(const std::string &id, int operator_type, + int result_type, int result_pin, + const std::vector &actor_types, + const std::vector &actor_pins, + const std::vector &actor_inverts); + + /** + * @ingroup IoControl + * \chinese + * 删除一条 DIO Cross Connection 逻辑规则。 + * + * @param id 规则唯一 ID + * @return 成功返回0；失败返回错误码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * deleteCrossConnection(self: pyaubo_sdk.IoControl, arg0: str) -> int + * + * @par Lua函数原型 + * deleteCrossConnection(id: string) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.deleteCrossConnection","params":["start_permit"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Delete a DIO Cross Connection logic rule. + * + * @param id Unique rule ID + * @return Returns 0 on success, non-zero error code on failure. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * deleteCrossConnection(self: pyaubo_sdk.IoControl, arg0: str) -> int + * + * @par Lua function prototype + * deleteCrossConnection(id: string) -> number + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.deleteCrossConnection","params":["start_permit"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int deleteCrossConnection(const std::string &id); + + /** + * @ingroup IoControl + * \chinese + * 清空所有 DIO Cross Connection 逻辑规则。 + * + * 该接口只清空规则，不清空或重置真实数字输出值。 + * + * @return 成功返回0；失败返回错误码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * clearCrossConnections(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua函数原型 + * clearCrossConnections() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.clearCrossConnections","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Clear all DIO Cross Connection logic rules. + * + * This only clears rules. It does not clear or reset real digital output + * values. + * + * @return Returns 0 on success, non-zero error code on failure. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * clearCrossConnections(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua function prototype + * clearCrossConnections() -> number + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.clearCrossConnections","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int clearCrossConnections(); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \chinese + * 设置所有数字输出急停后状态为默认（不做改变） + * + * @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 + * setDigitalOutputAfterEStopDefault(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua函数原型 + * setDigitalOutputAfterEStopDefault() -> nil + * + * @par Lua示例 + * setDigitalOutputAfterEStopDefault() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.setDigitalOutputAfterEStopDefault","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set all digital output states after emergency stop to default(no change) + * + * @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 + * setDigitalOutputAfterEStopDefault(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua function prototype + * setDigitalOutputAfterEStopDefault() -> nil + * + * @par Lua example + * setDigitalOutputAfterEStopDefault() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.setDigitalOutputAfterEStopDefault","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setDigitalOutputAfterEStopDefault(); + + /** + * @ingroup IoControl + * \chinese + * 设置所有模拟输出急停后状态为默认（不做改变） + * + * @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 + * setAnalogOutputAfterEStopDefault(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua函数原型 + * setAnalogOutputAfterEStopDefault() -> nil + * + * @par Lua示例 + * setAnalogOutputAfterEStopDefault() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.setAnalogOutputAfterEStopDefault","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set all analog output states after emergency stop to default(no change) + * + * @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 + * setAnalogOutputAfterEStopDefault(self: pyaubo_sdk.IoControl) -> int + * + * @par Lua function prototype + * setAnalogOutputAfterEStopDefault() -> nil + * + * @par Lua example + * setAnalogOutputAfterEStopDefault() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.setAnalogOutputAfterEStopDefault","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setAnalogOutputAfterEStopDefault(); + + /** + * @ingroup IoControl + * \chinese + * 设置标准数字输出急停后的输出值 + * + * @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 + * setStandardDigitalOutputAfterEStop(self: pyaubo_sdk.IoControl, arg0: int, + * arg1: bool) -> int + * + * @par Lua函数原型 + * setStandardDigitalOutputAfterEStop(index: number, value: boolean) -> nil + * + * @par Lua示例 + * setStandardDigitalOutputAfterEStop(0,true) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalOutputAfterEStop","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 after emergency stop + * + * @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 + * setStandardDigitalOutputAfterEStop(self: pyaubo_sdk.IoControl, arg0: int, + * arg1: bool) -> int + * + * @par Lua function prototype + * setStandardDigitalOutputAfterEStop(index: number, value: boolean) -> nil + * + * @par Lua example + * setStandardDigitalOutputAfterEStop(0,true) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalOutputAfterEStop","params":[0,true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setStandardDigitalOutputAfterEStop(int index, bool value); + + /** + * @ingroup IoControl + * \chinese + * 设置可配置数字输出急停后的输出值 + * + * @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 + * setConfigurableDigitalOutputAfterEStop(self: pyaubo_sdk.IoControl, arg0: + * int, arg1: bool) -> int + * + * @par Lua函数原型 + * setConfigurableDigitalOutputAfterEStop(index: number, value: boolean) -> + * nil + * + * @par Lua示例 + * setConfigurableDigitalOutputAfterEStop(0,true) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalOutputAfterEStop","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 configurable digital output after emergency stop + * + * @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 + * setConfigurableDigitalOutputAfterEStop(self: pyaubo_sdk.IoControl, arg0: + * int, arg1: bool) -> int + * + * @par Lua function prototype + * setConfigurableDigitalOutputAfterEStop(index: number, value: boolean) -> + * nil + * + * @par Lua example + * setConfigurableDigitalOutputAfterEStop(0,true) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalOutputAfterEStop","params":[0,true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setConfigurableDigitalOutputAfterEStop(int index, bool value); + + /** + * @ingroup IoControl + * \chinese + * 设置标准模拟输出急停后的输出值 + * + * @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。 + * @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 + * setStandardAnalogOutputAfterEStop(self: pyaubo_sdk.IoControl, arg0: int, + * arg1: float) -> int + * + * @par Lua函数原型 + * setStandardAnalogOutputAfterEStop(index: number, value: number) -> nil + * + * @par Lua示例 + * setStandardAnalogOutputAfterEStop(0,5.4) + * + * \endchinese + * \english + * Set the value of standard analog output after emergency stop + * + * @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 + * setStandardAnalogOutputAfterEStop(self: pyaubo_sdk.IoControl, arg0: int, + * arg1: float) -> int + * + * @par Lua function prototype + * setStandardAnalogOutputAfterEStop(index: number, value: number) -> nil + * + * @par Lua example + * setStandardAnalogOutputAfterEStop(0,5.4) + * + * \endenglish + */ + int setStandardAnalogOutputAfterEStop(int index, double value); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \chinese + * 注册组数字输出 + * + * 注册一个按名称访问的数字输出组。 + * `indexes[0]` 对应 bit0，`indexes[1]` 对应 bit1，以此类推。 + * + * @param name: 组名称。 + * @param io_type: IO类型，0表示Standard，1表示Tool，2表示Configurable。 + * @param indexes: 组成员对应的数字输出索引列表。 + * + * @return 成功返回0；失败返回错误码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * addGroupOutput(self: pyaubo_sdk.IoControl, arg0: str, arg1: int, arg2: + * List[int]) -> int + * + * @par Lua函数原型 + * addGroupOutput(name: string, io_type: number, indexes: table) -> nil + * + * @par Lua示例 + * addGroupOutput("go_state", 0, {4,5,6,7}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.addGroupOutput","params":["go_state",0,[4,5,6,7]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Register a grouped digital output. + * + * Registers a named digital output group. `indexes[0]` maps to bit0, + * `indexes[1]` maps to bit1, and so on. + * + * @param name: Group name. + * @param io_type: IO type. 0 means Standard, 1 means Tool, and 2 means + * Configurable. + * @param indexes: Index list of digital outputs in the group. + * + * @return Returns 0 on success; error code on failure. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * addGroupOutput(self: pyaubo_sdk.IoControl, arg0: str, arg1: int, arg2: + * List[int]) -> int + * + * @par Lua function prototype + * addGroupOutput(name: string, io_type: number, indexes: table) -> nil + * + * @par Lua example + * addGroupOutput("go_state", 0, {4,5,6,7}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.addGroupOutput","params":["go_state",0,[4,5,6,7]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int addGroupOutput(const std::string &name, int io_type, + const std::vector &indexes); + + /** + * @ingroup IoControl + * \chinese + * 删除组数字输出 + * + * @param name: 组名称。 + * + * @return 成功返回0；失败返回错误码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * deleteGroupOutput(self: pyaubo_sdk.IoControl, arg0: str) -> int + * + * @par Lua函数原型 + * deleteGroupOutput(name: string) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.deleteGroupOutput","params":["go_state"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Delete a grouped digital output. + * + * @param name: Group name. + * + * @return Returns 0 on success; error code on failure. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * deleteGroupOutput(self: pyaubo_sdk.IoControl, arg0: str) -> int + * + * @par Lua function prototype + * deleteGroupOutput(name: string) -> nil + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.deleteGroupOutput","params":["go_state"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int deleteGroupOutput(const std::string &name); + + /** + * @ingroup IoControl + * \chinese + * 设置组数字输出值 + * + * 按名称查找组数字输出后，将 `value` 按位拆分写入对应组成员。 + * + * @param name: 组名称。 + * @param value: 需要写入组数字输出的整数值。 + * + * @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 + * setGroupOutput(self: pyaubo_sdk.IoControl, arg0: str, arg1: int) -> int + * + * @par Lua函数原型 + * setGroupOutput(name: string, value: number) -> nil + * + * @par Lua示例 + * setGroupOutput("go_state", 13) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.setGroupOutput","params":["go_state",13],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set the grouped digital output value. + * + * Looks up the named grouped digital output and writes `value` to the + * group's members bit by bit. + * + * @param name: Group name. + * @param value: Integer value to write to the grouped digital output. + * + * @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 + * setGroupOutput(self: pyaubo_sdk.IoControl, arg0: str, arg1: int) -> int + * + * @par Lua function prototype + * setGroupOutput(name: string, value: number) -> nil + * + * @par Lua example + * setGroupOutput("go_state", 13) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.setGroupOutput","params":["go_state",13],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setGroupOutput(const std::string &name, uint32_t value); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \chinese + * 注册组数字输入 + * + * 注册一个按名称访问的数字输入组。 + * `indexes[0]` 对应 bit0，`indexes[1]` 对应 bit1，以此类推。 + * + * @param name: 组名称。 + * @param io_type: IO类型，0表示Standard，1表示Tool，2表示Configurable。 + * @param indexes: 组成员对应的数字输入索引列表。 + * + * @return 成功返回0；失败返回错误码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * addGroupInput(self: pyaubo_sdk.IoControl, arg0: str, arg1: int, arg2: + * List[int]) -> int + * + * @par Lua函数原型 + * addGroupInput(name: string, io_type: number, indexes: table) -> nil + * + * @par Lua示例 + * addGroupInput("gi_state", 0, {0,1,2,3}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.addGroupInput","params":["gi_state",0,[0,1,2,3]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Register a grouped digital input. + * + * Registers a named digital input group. `indexes[0]` maps to bit0, + * `indexes[1]` maps to bit1, and so on. + * + * @param name: Group name. + * @param io_type: IO type. 0 means Standard, 1 means Tool, and 2 means + * Configurable. + * @param indexes: Index list of digital inputs in the group. + * + * @return Returns 0 on success; error code on failure. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * addGroupInput(self: pyaubo_sdk.IoControl, arg0: str, arg1: int, arg2: + * List[int]) -> int + * + * @par Lua function prototype + * addGroupInput(name: string, io_type: number, indexes: table) -> nil + * + * @par Lua example + * addGroupInput("gi_state", 0, {0,1,2,3}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.addGroupInput","params":["gi_state",0,[0,1,2,3]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int addGroupInput(const std::string &name, int io_type, + const std::vector &indexes); + + /** + * @ingroup IoControl + * \chinese + * 删除组数字输入 + * + * @param name: 组名称。 + * + * @return 成功返回0；失败返回错误码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * deleteGroupInput(self: pyaubo_sdk.IoControl, arg0: str) -> int + * + * @par Lua函数原型 + * deleteGroupInput(name: string) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.deleteGroupInput","params":["gi_state"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Delete a grouped digital input. + * + * @param name: Group name. + * + * @return Returns 0 on success; error code on failure. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * deleteGroupInput(self: pyaubo_sdk.IoControl, arg0: str) -> int + * + * @par Lua function prototype + * deleteGroupInput(name: string) -> nil + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.deleteGroupInput","params":["gi_state"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int deleteGroupInput(const std::string &name); + + /** + * @ingroup IoControl + * \chinese + * 获取组数字输入值 + * + * 按名称查找组数字输入后，读取对应组成员并按位拼装返回整数值。 + * + * @param name: 组名称。 + * + * @return 返回组数字输入的组合值。 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getGroupInput(self: pyaubo_sdk.IoControl, arg0: str) -> int + * + * @par Lua函数原型 + * getGroupInput(name: string) -> number + * + * @par Lua示例 + * value = getGroupInput("gi_state") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.getGroupInput","params":["gi_state"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":13} + * + * \endchinese + * \english + * Get the grouped digital input value. + * + * Looks up the named grouped digital input, reads the group's members, and + * combines them into an integer value. + * + * @param name: Group name. + * + * @return Returns the combined grouped digital input value. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getGroupInput(self: pyaubo_sdk.IoControl, arg0: str) -> int + * + * @par Lua function prototype + * getGroupInput(name: string) -> number + * + * @par Lua example + * value = getGroupInput("gi_state") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.getGroupInput","params":["gi_state"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":13} + * + * \endenglish + */ + uint32_t getGroupInput(const std::string &name); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \chinese + * 获取组数字输出值 + * + * 按名称查找组数字输出后，读取对应组成员并按位拼装返回整数值。 + * + * @param name: 组名称。 + * + * @return 返回组数字输出的组合值。 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getGroupOutput(self: pyaubo_sdk.IoControl, arg0: str) -> int + * + * @par Lua函数原型 + * getGroupOutput(name: string) -> number + * + * @par Lua示例 + * value = getGroupOutput("go_state") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.getGroupOutput","params":["go_state"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":13} + * + * \endchinese + * \english + * Get the grouped digital output value. + * + * Looks up the named grouped digital output, reads the group's members, + * and combines them into an integer value. + * + * @param name: Group name. + * + * @return Returns the combined grouped digital output value. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getGroupOutput(self: pyaubo_sdk.IoControl, arg0: str) -> int + * + * @par Lua function prototype + * getGroupOutput(name: string) -> number + * + * @par Lua example + * value = getGroupOutput("go_state") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.getGroupOutput","params":["go_state"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":13} + * + * \endenglish + */ + uint32_t getGroupOutput(const std::string &name); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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(); + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \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(); + + /** + * @ingroup IoControl + * \chinese + * 新增或更新一个干涉区(按 id upsert)。 + * + * @param zone 干涉区配置(几何盒 + 各区独立 IO 绑定), 按 id upsert(同 id 覆盖、 + * 新 id 追加); 各字段含义(id/enabled/outside/base_vertex/opposite_vertex/margin/ + * tool_radius/brake_margin/occupied_do_index/occupied_active_high/permit_di_index/ + * permit_active_high)见 WorldZone 结构体。enabled=true 时校验几何/余量: + * brake_margin>0、盒不退化、outside 内缩后体积>0 + * @return 成功返回 AUBO_OK(0); 校验失败或占用 DO 与交叉连接冲突返回 + * -AUBO_INVL_ARGUMENT(-5) + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setWorldZone(self: pyaubo_sdk.IoControl, arg0: + * WorldZone) -> int + * + * @par Lua函数原型 + * setWorldZone(zone: table) -> number + * + * @par Lua示例 + * zone = { id = 1, enabled = true, outside = false, + * base_vertex = {0.3, -0.2, 0.1}, opposite_vertex = {0.8, 0.4, 0.7}, + * margin = 0.02, tool_radius = 0.05, brake_margin = 0.1, + * occupied_do_index = 0, occupied_active_high = true, + * permit_di_index = 0, permit_active_high = true } + * ret = setWorldZone(zone) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.setWorldZone","params":[{"id":1,"enabled":true,"outside":false,"base_vertex":[0.3,-0.2,0.1],"opposite_vertex":[0.8,0.4,0.7],"margin":0.02,"tool_radius":0.05,"brake_margin":0.1,"occupied_do_index":0,"occupied_active_high":true,"permit_di_index":0,"permit_active_high":true}],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Add or update an world zone (upsert by id). + * + * @param zone Zone config (geometry box + per-zone IO bindings), upserted by + * id (same id overwrites, new id appends); see the WorldZone struct for the + * meaning of each field (id/enabled/outside/base_vertex/opposite_vertex/margin/ + * tool_radius/brake_margin/occupied_do_index/occupied_active_high/ + * permit_di_index/permit_active_high). When enabled=true the geometry/margins + * are validated: brake_margin>0, box not degenerate, outside shrink volume>0. + * @return AUBO_OK (0) on success; -AUBO_INVL_ARGUMENT (-5) on validation + * failure or occupied-DO conflict with a cross connection. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setWorldZone(self: pyaubo_sdk.IoControl, arg0: + * WorldZone) -> int + * + * @par Lua function prototype + * setWorldZone(zone: table) -> number + * + * @par Lua example + * zone = { id = 1, enabled = true, outside = false, + * base_vertex = {0.3, -0.2, 0.1}, opposite_vertex = {0.8, 0.4, 0.7}, + * margin = 0.02, tool_radius = 0.05, brake_margin = 0.1, + * occupied_do_index = 0, occupied_active_high = true, + * permit_di_index = 0, permit_active_high = true } + * ret = setWorldZone(zone) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.setWorldZone","params":[{"id":1,"enabled":true,"outside":false,"base_vertex":[0.3,-0.2,0.1],"opposite_vertex":[0.8,0.4,0.7],"margin":0.02,"tool_radius":0.05,"brake_margin":0.1,"occupied_do_index":0,"occupied_active_high":true,"permit_di_index":0,"permit_active_high":true}],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setWorldZone(const WorldZone &zone); + + /** + * @ingroup IoControl + * \chinese + * 删除指定 id 的干涉区。 + * + * @param id 要删除的干涉区 id(setWorldZone 时指定的唯一标识) + * @return 成功返回 AUBO_OK(0); 无此 id 返回 -AUBO_INVL_ARGUMENT(-5) + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * deleteWorldZone(self: pyaubo_sdk.IoControl, arg0: int) -> int + * + * @par Lua函数原型 + * deleteWorldZone(id: number) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.deleteWorldZone","params":[1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Delete the world zone with the given id. + * + * @param id Id of the zone to delete (the unique key set in setWorldZone) + * @return AUBO_OK (0) on success; -AUBO_INVL_ARGUMENT (-5) if the id does + * not exist. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * deleteWorldZone(self: pyaubo_sdk.IoControl, arg0: int) -> int + * + * @par Lua function prototype + * deleteWorldZone(id: number) -> number + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.deleteWorldZone","params":[1],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int deleteWorldZone(int id); + + /** + * @ingroup IoControl + * \chinese + * 启用/停用指定 id 的干涉区。 + * + * @param id 目标干涉区 id + * @param enabled true=启用(启用前校验几何/余量, 不合法则失败)/false=停用(仅翻 enable 位) + * @return 成功返回 AUBO_OK(0); 无此 id 或启用时校验失败返回 + * -AUBO_INVL_ARGUMENT(-5) + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * enableWorldZone(self: pyaubo_sdk.IoControl, arg0: int, arg1: + * bool) -> int + * + * @par Lua函数原型 + * enableWorldZone(id: number, enabled: boolean) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.enableWorldZone","params":[1,true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Enable or disable the world zone with the given id. + * + * @param id Id of the target zone + * @param enabled true=enable (geometry/margins validated first; invalid -> + * fail) / false=disable (just flips the enable flag) + * @return AUBO_OK (0) on success; -AUBO_INVL_ARGUMENT (-5) if id not found + * or enable validation fails. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * enableWorldZone(self: pyaubo_sdk.IoControl, arg0: int, arg1: + * bool) -> int + * + * @par Lua function prototype + * enableWorldZone(id: number, enabled: boolean) -> number + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.enableWorldZone","params":[1,true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int enableWorldZone(int id, bool enabled); + + /** + * @ingroup IoControl + * \chinese + * 读取所有干涉区配置。 + * + * @return 干涉区配置列表 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getWorldZones(self: pyaubo_sdk.IoControl) -> + * List[WorldZone] + * + * @par Lua函数原型 + * getWorldZones() -> table + * + * @par Lua示例 + * zones = getWorldZones() + * first_zone_id = zones[1].id + * first_base_x = zones[1].base_vertex[1] + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.getWorldZones","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[{"id":1,"enabled":true,"outside":false,"base_vertex":[0.3,-0.2,0.1],"opposite_vertex":[0.8,0.4,0.7],"margin":0.02,"tool_radius":0.05,"brake_margin":0.1,"occupied_do_index":0,"occupied_active_high":true,"permit_di_index":0,"permit_active_high":true}]} + * + * \endchinese + * \english + * Get all world zone configurations. + * + * @return List of zone configurations. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getWorldZones(self: pyaubo_sdk.IoControl) -> + * List[WorldZone] + * + * @par Lua function prototype + * getWorldZones() -> table + * + * @par Lua example + * zones = getWorldZones() + * first_zone_id = zones[1].id + * first_base_x = zones[1].base_vertex[1] + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.getWorldZones","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[{"id":1,"enabled":true,"outside":false,"base_vertex":[0.3,-0.2,0.1],"opposite_vertex":[0.8,0.4,0.7],"margin":0.02,"tool_radius":0.05,"brake_margin":0.1,"occupied_do_index":0,"occupied_active_high":true,"permit_di_index":0,"permit_active_high":true}]} + * + * \endenglish + */ + std::vector getWorldZones(); + + /** + * @ingroup IoControl + * \chinese + * 读取干涉区聚合运行状态(只读)。 + * + * @return 运行状态(占用/保持/阻塞/阻塞区 id; 各区 permit 独立, 看 blocking_ids 定位) + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getWorldZoneState(self: pyaubo_sdk.IoControl) -> + * WorldZoneState + * + * @par Lua函数原型 + * getWorldZoneState() -> table + * + * @par Lua示例 + * state = getWorldZoneState() + * occupied = state.any_occupied + * first_blocking_id = state.blocking_ids[1] + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.IoControl.getWorldZoneState","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":{"any_occupied":false,"holding":true,"blocking":true,"blocking_ids":[1]}} + * + * \endchinese + * \english + * Get the aggregated world zone runtime state (read-only). + * + * @return Runtime state (occupied/holding/blocking/blocking zone ids; + * each zone's permit is independent, see blocking_ids). + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getWorldZoneState(self: pyaubo_sdk.IoControl) -> + * WorldZoneState + * + * @par Lua function prototype + * getWorldZoneState() -> table + * + * @par Lua example + * state = getWorldZoneState() + * occupied = state.any_occupied + * first_blocking_id = state.blocking_ids[1] + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.IoControl.getWorldZoneState","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":{"any_occupied":false,"holding":true,"blocking":true,"blocking_ids":[1]}} + * + * \endenglish + */ + WorldZoneState getWorldZoneState(); + +protected: + void *d_; +}; +using IoControlPtr = std::shared_ptr; +} // namespace common_interface +} // namespace arcs + +#endif // AUBO_SDK_IO_CONTROL_INTERFACE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/motion_control.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/motion_control.h new file mode 100644 index 00000000..0ff393d8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/motion_control.h @@ -0,0 +1,6966 @@ +/** @file motion_control.h + * \~chinese @brief 运动控制接口 + * \~english @brief Motion control interface + */ +#ifndef AUBO_SDK_MOTION_CONTROL_INTERFACE_H +#define AUBO_SDK_MOTION_CONTROL_INTERFACE_H + +#include +#include +#include + +#include +#include + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * pathBuffer类型 + * + * 机器人运动被编程为位姿到位姿的运动，即从当前位置移动到新位置。两点之间的路径由机器人自动计算。 + * \endchinese + * \english + * + * pathBuffer Type + * + * The robot movements are programmed as pose-to-pose movements, that is move + * from the current position to a new position. The path between these two + * positions is then automatically calculated by the robot. + * \endenglish + */ + +enum PathBufferType +{ + PathBuffer_TOPPRA = 1, ///< \~chinese 1: toppra 时间最优路径规划 \~english + ///< 1: toppra time optimal path planning + PathBuffer_CubicSpline = + 2, ///< \~chinese 2: cubic_spline(录制的轨迹) \~english 2: cubic_spline + ///< (recorded trajectory) + + /// \~chinese 3: 关节B样条插值，最少三个点 \~english 3: Joint B-spline + /// interpolation, at least three points + /// \~chinese 废弃，建议用5替代，现在实际是关节空间 CUBIC_SPLINE \~english + /// Deprecated, use 5 instead, currently it is joint space CUBIC_SPLINE + PathBuffer_JointSpline = 3, + + /// \~chinese 4:关节B样条插值，最少三个点，但是传入的是笛卡尔空间位姿 + /// \~english 4: Joint B-spline interpolation, at least three points, but + /// the input is Cartesian space pose 废弃，建议用6替代，现在实际是关节空间 + /// CUBIC_SPLINE + PathBuffer_JointSplineC = 4, + + ///< \~chinese 5: 关节B样条插值，最少三个点 \~english 5: Joint B-spline + ///< interpolation, at least three points + PathBuffer_JointBSpline = 5, + + /// \~chinese 6:关节B样条插值，最少三个点，但是传入的是笛卡尔空间位姿 + /// \~english 6: Joint B-spline interpolation, at least three points, but + /// the input is Cartesian space pose + PathBuffer_JointBSplineC = 6, +}; + +/** + * \chinese + * @defgroup MotionControl MotionControl (运动规划与控制) + * @ingroup RobotInterface + * \endchinese + * + * \english + * @defgroup MotionControl Motion Planning and Control + * @ingroup RobotInterface + * \endenglish + * MotionControl + */ +class ARCS_ABI_EXPORT MotionControl +{ +public: + MotionControl(); + virtual ~MotionControl(); + + /** + * @ingroup MotionControl + * \chinese + * 获取等效半径，单位 m + * moveLine/moveCircle时，末端姿态旋转的角度等效到末端位置移动 + * 可以通过 setEqradius 设置，默认为1 + * + * @return 返回等效半径 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getEqradius(self: pyaubo_sdk.MotionControl) -> float + * + * @par Lua函数原型 + * getEqradius() -> number + * + * @par Lua 示例 + * num = getEqradius() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getEqradius","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1.0} + * \endchinese + * \english + * Get the equivalent radius, in meters. + * When using moveLine/moveCircle, the rotation angle of the end effector's + * pose is converted to an equivalent end position movement. Can be set via + * setEqradius, default is 1. + * + * @return Returns the equivalent radius. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getEqradius(self: pyaubo_sdk.MotionControl) -> float + * + * @par Lua function prototype + * getEqradius() -> number + * + * @par Lua example + * num = getEqradius() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getEqradius","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1.0} + * \endenglish + */ + double getEqradius(); + + /** + * @ingroup MotionControl + * \chinese + * 设置等效半径，单位 m + * moveLine/moveCircle时，末端姿态旋转的角度等效到末端位置移动，数值越大，姿态旋转速度越快 + * + * @param eqradius 0表示只规划移动，姿态旋转跟随移动 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setEqradius","params":[0.8],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par Python函数原型 + * setEqradius(self: pyaubo_sdk.MotionControl, arg0: float) -> int + * + * @par Lua函数原型 + * setEqradius(eqradius: number) -> number + * + * @par Lua示例 + * num = setEqradius(1) + * + * \endchinese + * \english + * Set the equivalent radius, in meters. + * When using moveLine/moveCircle, the rotation angle of the end effector's + * pose is converted to an equivalent end position movement. The larger the + * value, the faster the posture rotation speed. + * + * @param eqradius 0 means only plan the movement, and the posture rotation + * follows the movement. + * + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setEqradius","params":[0.8],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par Python function prototype + * setEqradius(self: pyaubo_sdk.MotionControl, arg0: float) -> int + * + * @par Lua function prototype + * setEqradius(eqradius: number) -> number + * + * @par Lua example + * num = setEqradius(1) + * + * \endenglish + */ + int setEqradius(double eqradius); + + /** + * @ingroup MotionControl + * \chinese + * 动态调整机器人运行速度和加速度比例 (0., 1.] + * + * @param fraction 机器人运行速度和加速度比例 + * @return 成功返回0; 失败返回错误码 + * AUBO_INVL_ARGUMENT + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setSpeedFraction(self: pyaubo_sdk.MotionControl, arg0: float) -> int + * + * @par Lua函数原型 + * setSpeedFraction(fraction: number) -> nil + * + * @par Lua示例 + * setSpeedFraction(0.5) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setSpeedFraction","params":[0.8],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Dynamically adjust the robot's speed and acceleration ratio (0., 1.] + * + * @param fraction The ratio of robot speed and acceleration + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_INVL_ARGUMENT + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setSpeedFraction(self: pyaubo_sdk.MotionControl, arg0: float) -> int + * + * @par Lua function prototype + * setSpeedFraction(fraction: number) -> nil + * + * @par Lua example + * setSpeedFraction(0.5) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setSpeedFraction","params":[0.8],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setSpeedFraction(double fraction); + + /** + * @ingroup MotionControl + * \chinese + * 获取速度和加速度比例，默认为 1 + * 可以通过 setSpeedFraction 接口设置 + * + * @return 返回速度和加速度比例 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getSpeedFraction(self: pyaubo_sdk.MotionControl) -> float + * + * @par Lua函数原型 + * getSpeedFraction() -> number + * + * @par Lua示例 + * num = getSpeedFraction() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getSpeedFraction","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1.0} + * \endchinese + * \english + * Get the speed and acceleration ratio, default is 1. + * Can be set via setSpeedFraction interface. + * + * @return Returns the speed and acceleration ratio. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getSpeedFraction(self: pyaubo_sdk.MotionControl) -> float + * + * @par Lua function prototype + * getSpeedFraction() -> number + * + * @par Lua example + * num = getSpeedFraction() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getSpeedFraction","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1.0} + * \endenglish + */ + double getSpeedFraction(); + + /** + * @ingroup MotionControl + * \chinese + * 速度比例设置临界区，使能之后速度比例被强制设定为1. , + * 失能之后恢复之前的速度比例 + * + * @param enable + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * speedFractionCritical() -> int + * + * @par Lua示例 + * speedFractionCritical(true) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.speedFractionCritical","params":[true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Speed fraction critical section. When enabled, the speed fraction is + * forced to 1. When disabled, the previous speed fraction is restored. + * + * @param enable + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * speedFractionCritical() -> int + * + * @par Lua example + * speedFractionCritical(true) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.speedFractionCritical","params":[true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int speedFractionCritical(bool enable); + + /** + * @ingroup MotionControl + * \chinese + * 速度比例设置临界区，使能之后速度比例被强制设定为当前生效的比例, + * 失能之后恢复之前的速度比例 + * + * @param enable + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * speedFractionCritical1() -> int + * + * @par Lua示例 + * speedFractionCritical1(true) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.speedFractionCritical1","params":[true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Speed fraction critical section. When enabled, the speed fraction is + * forced to the currently effective speed fraction. When disabled, the + * previous speed fraction is restored. + * + * @param enable + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * speedFractionCritical1() -> int + * + * @par Lua example + * speedFractionCritical1(true) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.speedFractionCritical1","params":[true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int speedFractionCritical1(bool enable); + + /** + * @ingroup MotionControl + * \chinese + * 是否处于速度比例设置临界区 + * + * @return 处于速度比例设置临界区返回 true; 反之返回 false + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * isSpeedFractionCritical() -> bool + * + * @par Lua示例 + * status = isSpeedFractionCritical() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isSpeedFractionCritical","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * \endchinese + * \english + * Whether it is in the speed fraction critical section + * + * @return Returns true if in the speed fraction critical section; otherwise + * returns false + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * isSpeedFractionCritical() -> bool + * + * @par Lua example + * status = isSpeedFractionCritical() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isSpeedFractionCritical","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * \endenglish + */ + bool isSpeedFractionCritical(); + + /** + * @ingroup MotionControl + * \chinese + * 是否处交融区 + * + * @return 处交融区返回 true; 反之返回 false + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * isBlending() -> bool + * + * @par Lua示例 + * status = isBlending() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isBlending","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * \endchinese + * \english + * Whether it is in the blending area + * + * @return Returns true if in the blending area; otherwise returns false + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * isBlending() -> bool + * + * @par Lua example + * status = isBlending() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isBlending","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * \endenglish + */ + bool isBlending(); + + /** + * @ingroup MotionControl + * \chinese + * 设置偏移的最大速度和最大加速度 + * 仅对pathOffsetSet中 type=1 有效 + * @param v 最大速度 + * @param a 最大加速度 + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * pathOffsetLimits(self: pyaubo_sdk.MotionControl, arg0: float, arg1: + * float) -> int + * + * @par Lua函数原型 + * pathOffsetLimits(v: number, a: number) -> nil + * + * @par Lua示例 + * pathOffsetLimits(1.5,2.5) + * + * \endchinese + * \english + * Set the maximum speed and maximum acceleration for offset. + * Only valid when type=1 in pathOffsetSet. + * @param v Maximum speed + * @param a Maximum acceleration + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathOffsetLimits(self: pyaubo_sdk.MotionControl, arg0: float, arg1: + * float) -> int + * + * @par Lua function prototype + * pathOffsetLimits(v: number, a: number) -> nil + * + * @par Lua example + * pathOffsetLimits(1.5,2.5) + * + * \endenglish + */ + int pathOffsetLimits(double v, double a); + + /** + * @ingroup MotionControl + * \chinese + * 设置偏移的参考坐标系 + * 仅对pathOffsetSet中 type=1 有效 + * @param ref_coord 参考坐标系 0-基坐标系 1-TCP + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * pathOffsetCoordinate(self: pyaubo_sdk.MotionControl, arg0: int) -> float + * + * @par Lua函数原型 + * pathOffsetCoordinate(ref_coord: number) -> number + * + * @par Lua示例 + * num = pathOffsetCoordinate(0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathOffsetCoordinate","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set the reference coordinate system for offset. + * Only valid when type=1 in pathOffsetSet. + * @param ref_coord Reference coordinate system: 0-base coordinate, 1-TCP + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathOffsetCoordinate(self: pyaubo_sdk.MotionControl, arg0: int) -> float + * + * @par Lua function prototype + * pathOffsetCoordinate(ref_coord: number) -> number + * + * @par Lua example + * num = pathOffsetCoordinate(0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathOffsetCoordinate","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int pathOffsetCoordinate(int ref_coord); + + /** + * @ingroup MotionControl + * \chinese + * 路径偏移使能 + * + * @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 + * pathOffsetEnable(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua函数原型 + * pathOffsetEnable() -> number + * + * @par Lua示例 + * num = pathOffsetEnable() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathOffsetEnable","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Enable path offset + * + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathOffsetEnable(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua function prototype + * pathOffsetEnable() -> number + * + * @par Lua example + * num = pathOffsetEnable() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathOffsetEnable","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int pathOffsetEnable(); + + /** + * @ingroup MotionControl + * \chinese + * 设置路径偏移 + * + * @param offset 在各方向的位姿偏移 + * @param type 运动类型 0-位置规划 1-速度规划 + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * pathOffsetSet(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * int) -> int + * + * @par Lua函数原型 + * pathOffsetSet(offset: table, type: number) -> nil + * + * @par Lua 示例 + * pathOffsetSet({ 0, 0, 0.1, 0, 0, 0 }, 0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathOffsetSet","params":[[0,0,0.01,0,0,0],0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set path offset + * + * @param offset Pose offset in each direction + * @param type Motion type 0-position planning 1-velocity planning + * @return Returns 0 on success; otherwise returns error code + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathOffsetSet(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * int) -> int + * + * @par Lua function prototype + * pathOffsetSet(offset: table, type: number) -> nil + * + * @par Lua example + * pathOffsetSet({ 0, 0, 0.1, 0, 0, 0 }, 0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathOffsetSet","params":[[0,0,0.01,0,0,0],0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int pathOffsetSet(const std::vector &offset, int type = 0); + + /** + * @ingroup MotionControl + * \chinese + * 路径偏移失能 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * pathOffsetDisable(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua函数原型 + * pathOffsetDisable() -> nil + * + * @par Lua示例 + * pathOffsetDisable() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathOffsetDisable","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Disable path offset + * + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathOffsetDisable(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua function prototype + * pathOffsetDisable() -> nil + * + * @par Lua example + * pathOffsetDisable() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathOffsetDisable","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int pathOffsetDisable(); + + /** + * @ingroup MotionControl + * \chinese + * @brief 监控轨迹偏移范围 + * @param min: 沿坐标轴负方向最大偏移量 + * @param max: 沿坐标轴正方向最大偏移量 + * @param strategy: 达到最大偏移量后监控策略 + * 　　　　0-禁用监控 + * 　　　　1-饱和限制，即维持最大姿态 + * 　　　　2-保护停止 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * pathOffsetSupv(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * List[float], arg2: int) -> int + * + * @par Lua函数原型 + * pathOffsetSupv(min: table, max: table, strategy: number) -> number + * + * @par Lua示例 + * num = pathOffsetSupv({0,0,-0.2,0,0,0},{0,0,0.5,0,0,0},0) + * + * \endchinese + * \english + * @brief Monitor trajectory offset range + * @param min: Maximum offset in the negative direction of the coordinate + * axis + * @param max: Maximum offset in the positive direction of the coordinate + * axis + * @param strategy: Monitoring strategy after reaching the maximum offset + * 　　　　0 - Disable monitoring + * 　　　　1 - Saturation limit, i.e., maintain maximum pose + * 　　　　2 - Protective stop + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathOffsetSupv(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * List[float], arg2: int) -> int + * + * @par Lua function prototype + * pathOffsetSupv(min: table, max: table, strategy: number) -> number + * + * @par Lua example + * num = pathOffsetSupv({0,0,-0.2,0,0,0},{0,0,0.5,0,0,0},0) + * + * \endenglish + */ + int pathOffsetSupv(const std::vector &min, + const std::vector &max, int strategy); + + /** + * @ingroup MotionControl + * \chinese + * 关节偏移使能 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * jointOffsetEnable(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua函数原型 + * jointOffsetEnable() -> nil + * + * @par Lua示例 + * jointOffsetEnable() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.jointOffsetEnable","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Enable joint offset + * + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * jointOffsetEnable(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua function prototype + * jointOffsetEnable() -> nil + * + * @par Lua example + * jointOffsetEnable() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.jointOffsetEnable","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int jointOffsetEnable(); + + /** + * @ingroup MotionControl + * \chinese + * 设置关节偏移 + * + * @param offset 在各关节的位姿偏移 + * @param type + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * jointOffsetSet(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * int) -> int + * + * @par Lua函数原型 + * jointOffsetSet(offset: table, type: number) -> nil + * + * @par Lua示例 + * jointOffsetSet({0.1,0,0,0,0,0},1) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.jointOffsetSet","params":[[0.1,0,0,0,0],1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set joint offset + * + * @param offset Pose offset for each joint + * @param type + * @return Returns 0 on success; otherwise returns error code + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * jointOffsetSet(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * int) -> int + * + * @par Lua function prototype + * jointOffsetSet(offset: table, type: number) -> nil + * + * @par Lua example + * jointOffsetSet({0.1,0,0,0,0,0},1) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.jointOffsetSet","params":[[0.1,0,0,0,0],1],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int jointOffsetSet(const std::vector &offset, int type = 1); + + /** + * @ingroup MotionControl + * \chinese + * 关节偏移失能 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * jointOffsetDisable(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua函数原型 + * jointOffsetDisable() -> nil + * + * @par Lua示例 + * jointOffsetDisable() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.jointOffsetDisable","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Disable joint offset + * + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * jointOffsetDisable(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua function prototype + * jointOffsetDisable() -> nil + * + * @par Lua example + * jointOffsetDisable() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.jointOffsetDisable","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int jointOffsetDisable(); + + /** + * @ingroup MotionControl + * \chinese + * 获取已经入队的指令段(INST)数量，运动指令包括 + * moveJoint/moveLine/moveCircle 等运动指令以及 setPayload 等配置指令 + * + * 指令一般会在接口宏定义里面用 _INST 指示, 比如 moveJoint + * _INST(MotionControl, 5, moveJoint, q, a, v, blend_radius, duration) + * + * @return 已经入队的指令段数量 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getQueueSize(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua函数原型 + * getQueueSize() -> number + * + * @par Lua示例 + * num = getQueueSize() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getQueueSize","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Get the number of enqueued instruction segments (INST), including motion + * instructions such as moveJoint/moveLine/moveCircle and configuration + * instructions such as setPayload. + * + * Instructions are generally indicated with _INST in macro definitions, for + * example: _INST(MotionControl, 5, moveJoint, q, a, v, blend_radius, + * duration) + * + * @return The number of enqueued instruction segments. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getQueueSize(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua function prototype + * getQueueSize() -> number + * + * @par Lua example + * num = getQueueSize() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getQueueSize","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int getQueueSize(); + + /** + * @ingroup MotionControl + * \chinese + * 获取已经入队的运动规划插补点数量 + * + * @return 已经入队的运动规划插补点数量 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getTrajectoryQueueSize(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua函数原型 + * getTrajectoryQueueSize() -> number + * + * @par Lua示例 + * num = getTrajectoryQueueSize() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getTrajectoryQueueSize","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Get the number of enqueued motion planning interpolation points + * + * @return The number of enqueued motion planning interpolation points + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getTrajectoryQueueSize(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua function prototype + * getTrajectoryQueueSize() -> number + * + * @par Lua example + * num = getTrajectoryQueueSize() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getTrajectoryQueueSize","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int getTrajectoryQueueSize(); + + /** + * @ingroup MotionControl + * \chinese + * 获取当前正在插补的运动指令段的ID + * + * @return 当前正在插补的运动指令段的ID + * @retval -1 表示轨迹队列为空 \n + * 像movePathBuffer运动中的buffer或者规划器(moveJoint和moveLine等)里的队列都属于轨迹队列 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getExecId(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua函数原型 + * getExecId() -> number + * + * @par Lua示例 + * num = getExecId() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getExecId","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":-1} + * + * \endchinese + * \english + * Get the ID of the currently interpolating motion instruction segment. + * + * @return The ID of the currently interpolating motion instruction segment. + * @retval -1 Indicates the trajectory queue is empty. \n + * Both the buffer in movePathBuffer motion and the queue in the planner + * (such as moveJoint and moveLine) belong to the trajectory queue. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getExecId(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua function prototype + * getExecId() -> number + * + * @par Lua example + * num = getExecId() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getExecId","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":-1} + * + * \endenglish + */ + int getExecId(); + + /** + * @ingroup MotionControl + * \chinese + * 获取指定ID的运动指令段的预期执行时间 + * + * @param id 运动指令段ID + * @return 返回预期执行时间 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getDuration(self: pyaubo_sdk.MotionControl, arg0: int) -> float + * + * @par Lua函数原型 + * getDuration(id: number) -> number + * + * @par Lua示例 + * num = getDuration(16) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getDuration","params":[16],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.0} + * + * \endchinese + * \english + * Get the expected execution duration of the motion segment with the + * specified ID. + * + * @param id Motion segment ID + * @return Returns the expected execution duration + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getDuration(self: pyaubo_sdk.MotionControl, arg0: int) -> float + * + * @par Lua function prototype + * getDuration(id: number) -> number + * + * @par Lua example + * num = getDuration(16) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getDuration","params":[16],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.0} + * + * \endenglish + */ + double getDuration(int id); + + /** + * @ingroup MotionControl + * \chinese + * 获取指定ID的运动指令段的剩余执行时间 + * + * @param id 运动指令段ID + * @return 返回剩余执行时间 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getMotionLeftTime(self: pyaubo_sdk.MotionControl, arg0: int) -> float + * + * @par Lua函数原型 + * getMotionLeftTime(id: number) -> number + * + * @par Lua示例 + * num = getMotionLeftTime(16) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getMotionLeftTime","params":[16],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.0} + * \endchinese + * \english + * Get the remaining execution time of the motion segment with the specified + * ID. + * + * @param id Motion segment ID + * @return Returns the remaining execution time + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getMotionLeftTime(self: pyaubo_sdk.MotionControl, arg0: int) -> float + * + * @par Lua function prototype + * getMotionLeftTime(id: number) -> number + * + * @par Lua example + * num = getMotionLeftTime(16) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getMotionLeftTime","params":[16],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.0} + * \endenglish + */ + double getMotionLeftTime(int id); + + /** + * @ingroup MotionControl + * \chinese + * StopMove 用于临时停止机器人和外部轴的运动以及相关工艺进程。如果调用 + * StartMove 指令，则运动和工艺进程将恢复。 + * + * 该指令可用于中断处理程序中，在发生中断时临时停止机器人。 + * + * @param quick true: 以最快速度在路径上停止机器人。未指定 quick + * 参数时，机器人将在路径上停止，但制动距离较长（与普通程序停止相同）。 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * StopMove(quick: bool,all_tasks: bool) -> number + * + * @par Lua示例 + * num = StopMove(true,true) + * + * \endchinese + * \english + * StopMove is used to stop robot and external axes movements and any + * belonging process temporarily. If the instruction StartMove is given then + * the movement and process resumes. + * + * This instruction can, for example, be used in a trap routine to stop the + * robot temporarily when an interrupt occurs. + * + * @param quick true: Stops the robot on the path as fast as possible. + * Without the optional parameter \Quick, the robot stops on the path, but + * the braking distance is longer (same as for normal Program Stop). + * + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * StopMove(quick: bool,all_tasks: bool) -> number + * + * @par Lua example + * num = StopMove(true,true) + * + * \endenglish + */ + int stopMove(bool quick, bool all_tasks); + + /** + * @ingroup MotionControl + * \chinese + * StartMove 用于在以下情况下恢复机器人、外部轴的运动以及相关工艺进程： + * • 通过 StopMove 指令停止后。 + * • 执行 StorePath ... RestoPath 序列后。 + * • 发生异步运动错误（如 ERR_PATH_STOP）或特定工艺错误并在 ERROR + * 处理器中处理后。 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * startMove() -> number + * + * @par Lua示例 + * num = startMove() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.startMove","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * StartMove is used to resume robot, external axes movement and belonging + * process after the movement has been stopped + * + * • by the instruction StopMove. + * • after execution of StorePath ... RestoPath sequence. + * • after asynchronously raised movements errors, such as ERR_PATH_STOP or + * specific process error after handling in the ERROR handler. + * + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * startMove() -> number + * + * @par Lua example + * num = startMove() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.startMove","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int startMove(); + + /** + * @ingroup MotionControl + * \chinese + * storePath + * + * @param keep_sync + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * storePath(keep_sync: bool) -> number + * + * @par Lua示例 + * num = storePath() + * + * \endchinese + * \english + * storePath + * + * @param keep_sync + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * storePath(keep_sync: bool) -> number + * + * @par Lua example + * num = storePath() + * + * \endenglish + */ + int storePath(bool keep_sync); + + /** + * @ingroup MotionControl + * \chinese + * ClearPath (清除路径) 清除当前运动路径层级（基础层级或 StorePath + * 层级）上的所有运动路径。 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * clearPath() -> number + * + * @par Lua示例 + * num = clearPath() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.clearPath","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * ClearPath clears the whole motion path on the current motion path level + * (base level or StorePath level). + * + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * clearPath() -> number + * + * @par Lua example + * num = clearPath() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.clearPath","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int clearPath(); + + /** + * @ingroup MotionControl + * \chinese + * restoPath + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * restoPath() -> number + * + * @par Lua示例 + * num = restoPath() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.restoPath","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * restoPath + * + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * restoPath() -> number + * + * @par Lua example + * num restoPath() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.restoPath","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int restoPath(); + + /** + * @ingroup MotionControl + * \chinese + * 获取当前运动指令段的执行进度 + * + * @return 返回执行进度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getProgress(self: pyaubo_sdk.MotionControl) -> float + * + * @par Lua函数原型 + * getProgress() -> number + * + * @par Lua示例 + * num = getProgress() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getProgress","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.0} + * + * \endchinese + * \english + * Get the execution progress of the current motion instruction segment. + * + * @return Returns the execution progress. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getProgress(self: pyaubo_sdk.MotionControl) -> float + * + * @par Lua function prototype + * getProgress() -> number + * + * @par Lua example + * num = getProgress() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getProgress","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.0} + * + * \endenglish + */ + double getProgress(); + + /** + * @ingroup MotionControl + * \chinese + * 当工件安装在另外一台机器人的末端或者外部轴上时，指定其名字和安装位置 + * + * @note 暂未实现 + * + * @param module_name 控制模块名字 + * @param mounting_pose 抓取的相对位置， + * 如果是机器人，则相对于机器人末端中心点（非TCP点） + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setWorkObjectHold(self: pyaubo_sdk.MotionControl, arg0: str, arg1: + * List[float]) -> int + * + * @par Lua函数原型 + * setWorkObjectHold(module_name: string, mounting_pose: table) -> nil + * + * @par Lua示例 + * setWorkObjectHold("object",{0.2,0.1,-0.4,3.14,0,-1.57}) + * + * \endchinese + * \english + * Specify the name and mounting position when the workpiece is installed on + * the end of another robot or external axis. + * + * @note Not implemented yet + * + * @param module_name Name of the control module + * @param mounting_pose Relative position of the grasp, + * if it is a robot, it is relative to the robot's end center point (not the + * TCP point) + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setWorkObjectHold(self: pyaubo_sdk.MotionControl, arg0: str, arg1: + * List[float]) -> int + * + * @par Lua function prototype + * setWorkObjectHold(module_name: string, mounting_pose: table) -> nil + * + * @par Lua example + * setWorkObjectHold("object",{0.2,0.1,-0.4,3.14,0,-1.57}) + * + * \endenglish + */ + int setWorkObjectHold(const std::string &module_name, + const std::vector &mounting_pose); + + /** + * @ingroup MotionControl + * \chinese + * 获取工件安装信息 + * + * @note 暂未实现 + * + * @return 返回一个包含控制模块名字和安装位姿的元组 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getWorkObjectHold(self: pyaubo_sdk.MotionControl) -> Tuple[str, + * List[float]] + * + * @par Lua函数原型 + * getWorkObjectHold() -> table + * + * @par Lua示例 + * Object_table = getWorkObjectHold() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getWorkObjectHold","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":["",[]]} + * \endchinese + * \english + * getWorkObjectHold + * + * @note Not implemented yet + * + * @return Returns a tuple containing the control module name and mounting + * pose + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getWorkObjectHold(self: pyaubo_sdk.MotionControl) -> Tuple[str, + * List[float]] + * + * @par Lua function prototype + * getWorkObjectHold() -> table + * + * @par Lua example + * Object_table = getWorkObjectHold() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getWorkObjectHold","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":["",[]]} + * \endenglish + */ + std::tuple> getWorkObjectHold(); + + /** + * @ingroup MotionControl + * \chinese + * @note 获取暂停点关节位置 + * + * 常用于运行工程时发生碰撞后继续运动过程中(先通过resumeMoveJoint或resumeMoveLine运动到暂停位置,再恢复工程) + * + * @return 暂停关节位置 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getPauseJointPositions(self: pyaubo_sdk.MotionControl) -> List[float] + * + * @par Lua函数原型 + * getPauseJointPositions() -> table + * + * @par Lua示例 + * JointPositions = getPauseJointPositions() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getPauseJointPositions","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[8.2321e-13,-0.200999,1.33999,0.334999,1.206,-6.39383e-12]} + * \endchinese + * \english + * @note Get the joint positions at the pause point. + * + * Commonly used during process recovery after a collision occurs (first + * move to the pause position using resumeMoveJoint or resumeMoveLine, then + * resume the process). + * + * @return Pause joint positions + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getPauseJointPositions(self: pyaubo_sdk.MotionControl) -> List[float] + * + * @par Lua function prototype + * getPauseJointPositions() -> table + * + * @par Lua example + * JointPositions = getPauseJointPositions() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getPauseJointPositions","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[8.2321e-13,-0.200999,1.33999,0.334999,1.206,-6.39383e-12]} + * \endenglish + */ + std::vector getPauseJointPositions(); + + /** + * @ingroup MotionControl + * \chinese + * 设置继续运动参数 + * + * @param q 继续运动起始位置 + * @param move_type 0:关节空间 1：笛卡尔空间 + * @param blend_radius 交融半径 + * @param qdmax 关节运动最大速度(6维度数据) + * @param qddmax 关节运动最大加速度(6维度数据) + * @param vmax 直线运动最大线速度,角速度(2维度数据) + * @param amax 直线运动最大线加速度，角加速度(2维度数据) + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setResumeStartPoint(self: pyaubo_sdk.MotionControl, + * arg0：List[float],arg1: int， arg2: float，arg3: List[float], arg4: + * List[float],arg5:float,arg5:float) -> int + * + * @par Lua函数原型 + * setResumeStartPoint(q : table, move_type: number,blend_radius: + * number, qdmax: table, qddmax: + * table,vmax:number,amax:number) -> nilr + * + * @par Lua示例 + * setResumeStartPoint({0,0,0,0,0,0},1,1,{0,0,0,0,0,0},{0,0,0,0,0,0},{1,1},{1,1}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setResumeStartPoint","params":[[0,0,0,0,0,0],1,1,[0,0,0,0,0,0],[0,0,0,0,0,0],1,1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set resume motion parameters + * + * @param q Resume start position + * @param move_type 0: Joint space, 1: Cartesian space + * @param blend_radius Blend radius + * @param qdmax Maximum joint speed (6 elements) + * @param qddmax Maximum joint acceleration (6 elements) + * @param vmax Maximum linear and angular speed for linear motion (2 + * elements) + * @param amax Maximum linear and angular acceleration for linear motion (2 + * elements) + * @return Returns 0 on success; otherwise returns error code + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setResumeStartPoint(self: pyaubo_sdk.MotionControl, + * arg0: List[float], arg1: int, arg2: float, arg3: List[float], arg4: + * List[float], arg5: float, arg6: float) -> int + * + * @par Lua function prototype + * setResumeStartPoint(q: table, move_type: number, blend_radius: + * number, qdmax: table, qddmax: + * table, vmax: number, amax: number) -> nil + * + * @par Lua example + * setResumeStartPoint({0,0,0,0,0,0},1,1,{0,0,0,0,0,0},{0,0,0,0,0,0},{1,1},{1,1}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setResumeStartPoint","params":[[0,0,0,0,0,0],1,1,[0,0,0,0,0,0],[0,0,0,0,0,0],1,1],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setResumeStartPoint(const std::vector &q, int move_type, + double blend_radius, + const std::vector &qdmax, + const std::vector &qddmax, + const std::vector &vmax, + const std::vector &amax); + /** + * @ingroup MotionControl + * \chinese + * 获取继续运动模式 + * + * @return 0:继续运动起始点为暂停点 1:继续运动起始点为指定点 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getResumeMode(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua函数原型 + * getResumeMode() -> int + * + * @par Lua示例 + * num = getResumeMode() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getResumeMode","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * + * \endchinese + * \english + * Get resume motion mode + * + * @return 0: Resume start point is the pause point; 1: Resume start point + * is the specified point + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getResumeMode(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua function prototype + * getResumeMode() -> int + * + * @par Lua example + * num = getResumeMode() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getResumeMode","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * + * \endenglish + */ + int getResumeMode(); + + /** + * @ingroup MotionControl + * \chinese + * 设置伺服模式 + * 使用 setServoModeSelect 替代 + * + * @param enable 是否使能 + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setServoMode(self: pyaubo_sdk.MotionControl, arg0: bool) -> int + * + * @par Lua函数原型 + * setServoMode(enable: boolean) -> nil + * + * @par Lua示例 + * setServoMode(true) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setServoMode","params":[true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set servo mode + * Use setServoModeSelect instead + * + * @param enable Whether to enable + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setServoMode(self: pyaubo_sdk.MotionControl, arg0: bool) -> int + * + * @par Lua function prototype + * setServoMode(enable: boolean) -> nil + * + * @par Lua example + * setServoMode(true) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setServoMode","params":[true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + ARCS_DEPRECATED int setServoMode(bool enable); + + /** + * @ingroup MotionControl + * \chinese + * 判断伺服模式是否使能 + * 使用 getServoModeSelect 替代 + * + * @return 已使能返回true，反之则返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isServoModeEnabled(self: pyaubo_sdk.MotionControl) -> bool + * + * @par Lua函数原型 + * isServoModeEnabled() -> boolean + * + * @par Lua示例 + * Servo_status = isServoModeEnabled() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isServoModeEnabled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * + * \endchinese + * \english + * Determine whether the servo mode is enabled. + * Use getServoModeSelect instead. + * + * @return Returns true if enabled, otherwise returns false. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isServoModeEnabled(self: pyaubo_sdk.MotionControl) -> bool + * + * @par Lua function prototype + * isServoModeEnabled() -> boolean + * + * @par Lua example + * Servo_status = isServoModeEnabled() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isServoModeEnabled","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * + * \endenglish + */ + ARCS_DEPRECATED bool isServoModeEnabled(); + + /** + * @ingroup MotionControl + * \chinese + * 设置伺服运动模式 + * + * @param mode + * 0-退出伺服模式 + * 1-(截断式)规划伺服模式 + * 2-透传模式(直接下发) + * 3-透传模式(缓存) + * 4-1ms透传模式(缓存) + * 5-规划伺服模式 + * 6-(截断式)规划伺服模式, 可以叠加力控 + * 7-规划伺服模式，可以叠加力控 + * 伺服模式1添加路点后，会实时调整目标点和规划路线(当前的目标点被更新后，不能保证达到之前设定的目标点) + * 伺服模式5添加路点后，能保证经过所有目标点 + * @return + * + * @par Lua函数原型 + * setServoModeSelect(0) -> nil + * + * @par Lua示例 + * setServoModeSelect(0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setServoModeSelect","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set servo motion mode + * + * @param mode + * 0 - Exit servo mode + * 1 - Planning servo mode + * 2 - Transparent mode (direct send) + * 3 - Transparent mode (buffered) + * @return + * + * @par Lua function prototype + * setServoModeSelect(0) -> nil + * + * @par Lua example + * setServoModeSelect(0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setServoModeSelect","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setServoModeSelect(int mode); + + /** + * @ingroup MotionControl + * \chinese + * 获取伺服运动模式 + * + * @return + * + * @par Lua函数原型 + * getServoModeSelect() -> number + * + * @par Lua示例 + * num = getServoModeSelect() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getServoModeSelect","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Get the servo motion mode + * + * @return + * + * @par Lua function prototype + * getServoModeSelect() -> number + * + * @par Lua example + * num = getServoModeSelect() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getServoModeSelect","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int getServoModeSelect(); + + /** + * @ingroup MotionControl + * \chinese + * 关节空间伺服 + * + * 目前可用参数只有 q 和 t; + * @param q 关节角, 单位 rad, + * @param a 加速度, 单位 rad/s^2, + * @param v 速度，单位 rad/s, + * @param t 运行时间，单位 s \n + * t 值越大,机器臂运动越慢,反之，运动越快; + * 该参数最优值为连续调用 servoJoint 接口的间隔时间。 + * @param lookahead_time 前瞻时间，单位 s \n + * 指定机器臂开始减速前要运动的时长，用前瞻时间来平滑轨迹[0.03, 0.2], + * 当 lookahead_time 小于一个控制周期时，越小则超调量越大, + * 该参数最优值为一个控制周期。 + * @param gain 比例增益 + * 跟踪目标位置的比例增益[100, 200], + * 用于控制运动的顺滑性和精度, + * 比例增益越大，到达目标位置的时间越长，超调量越小。 + * + * @retval 0 成功 + * @retval AUBO_BAD_STATE(1) 当前安全模式处于非 + * Normal、ReducedMode、Recovery 状态 + * @retval AUBO_QUEUE_FULL(2) 规划队列已满 + * @retval AUBO_BUSY(3) 上一条指令正在执行中 + * @retval -AUBO_BAD_STATE(-1) + * 可能的原因包括但不限于：线程已分离、线程被终止、task_id + * 未找到，或者当前机器人模式非 Running + * @retval -AUBO_TIMEOUT(-4) 调用接口超时 + * @retval -AUBO_INVL_ARGUMENT(-5) + * 轨迹位置超限、速度超限或相邻点角度差超限(±15°) + * @retval -AUBO_REQUEST_IGNORE(-13) 当前处于非 servo 模式 + * @retval -AUBO_POS_BOUND_ERR(-18) 关节位置超出机器人最大限制 + * @retval -AUBO_TRAJ_SELF_COLLISION(-22) 轨迹存在自碰撞风险 + * @retval -AUBO_ALGORITHM_PLAN_FAILED(-30) 轨迹规划失败 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * servoJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float, arg3: float, arg4: float, arg5: float) -> int + * + * @par Lua函数原型 + * servoJoint(q: table, a: number, v: number, t: number, lookahead_time: + * number, gain: number) -> nil + * + * @par Lua示例 + * servoJoint({0,0,0,0,0,0},0,0,10,0,0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.servoJoint","params":[[0,0,0,0,0,0],0,0,10,0,0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":-13} + * + * \endchinese + * \english + * Joint space servo + * + * Currently only q and t parameters are available; + * @param q Joint angles, unit: rad + * @param a Acceleration, unit: rad/s^2 + * @param v Velocity, unit: rad/s + * @param t Execution time, unit: s \n + * The larger the t value, the slower the robot moves, and vice versa; + * The optimal value for this parameter is the interval time for continuous + * calls to the servoJoint interface. + * @param lookahead_time Lookahead time, unit: s \n + * Specifies the duration to move before the robot starts to decelerate, + * used to smooth the trajectory [0.03, 0.2]. When lookahead_time is less + * than one control cycle, the smaller it is, the greater the overshoot. The + * optimal value for this parameter is one control cycle. + * @param gain Proportional gain + * Proportional gain for tracking the target position [100, 200], + * used to control the smoothness and accuracy of the motion. + * The larger the proportional gain, the longer it takes to reach the target + * position, and the smaller the overshoot. + * + * @retval 0 Success + * @retval AUBO_BAD_STATE(1) The current safety mode is not Normal, + * ReducedMode, or Recovery + * @retval AUBO_QUEUE_FULL(2) Planning queue is full + * @retval AUBO_BUSY(3) The previous instruction is being executed + * @retval -AUBO_BAD_STATE(-1) + * Possible reasons include but are not limited to: thread has been + * detached, thread terminated, task_id not found, or the current robot mode + * is not Running + * @retval -AUBO_TIMEOUT(-4) Interface call timeout + * @retval -AUBO_INVL_ARGUMENT(-5) Trajectory position out of range, + * velocity out of range, or adjacent points angle difference exceeded(±15°) + * @retval -AUBO_REQUEST_IGNORE(-13) Not in servo mode + * @retval -AUBO_POS_BOUND_ERR(-18) Joint position exceeds robot maximum + * limits + * @retval -AUBO_TRAJ_SELF_COLLISION(-22) Trajectory has self-collision risk + * @retval -AUBO_ALGORITHM_PLAN_FAILED(-30) Trajectory planning failed + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * servoJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float, arg3: float, arg4: float, arg5: float) -> int + * + * @par Lua function prototype + * servoJoint(q: table, a: number, v: number, t: number, lookahead_time: + * number, gain: number) -> nil + * + * @par Lua example + * servoJoint({0,0,0,0,0,0},0,0,10,0,0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.servoJoint","params":[[0,0,0,0,0,0],0,0,10,0,0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":-13} + * + * \endenglish + */ + int servoJoint(const std::vector &q, double a, double v, double t, + double lookahead_time, double gain); + + /** + * @ingroup MotionControl + * \chinese + * 笛卡尔空间伺服 + * + * 目前可用参数只有 pose 和 t; + * @param pose 位姿, 单位 m, + * @param a 加速度, 单位 m/s^2, + * @param v 速度，单位 m/s, + * @param t 运行时间，单位 s \n + * t 值越大,机器臂运动越慢,反之，运动越快; + * 该参数最优值为连续调用 servoCartesian 接口的间隔时间。 + * @param lookahead_time 前瞻时间，单位 s \n + * 指定机器臂开始减速前要运动的时长，用前瞻时间来平滑轨迹[0.03, 0.2], + * 当 lookahead_time 小于一个控制周期时，越小则超调量越大, + * 该参数最优值为一个控制周期。 + * @param gain 比例增益 + * 跟踪目标位置的比例增益[100, 200], + * 用于控制运动的顺滑性和精度, + * 比例增益越大，到达目标位置的时间越长，超调量越小。 + * + * @retval 0 成功 + * @retval AUBO_BAD_STATE(1) 当前安全模式处于非 + * Normal、ReducedMode、Recovery 状态 + * @retval AUBO_QUEUE_FULL(2) 规划队列已满 + * @retval AUBO_BUSY(3) 上一条指令正在执行中 + * @retval -AUBO_BAD_STATE(-1) + * 可能的原因包括但不限于：线程已分离、线程被终止、task_id + * 未找到，或者当前机器人模式非 Running + * @retval -AUBO_TIMEOUT(-4) 调用接口超时 + * @retval -AUBO_INVL_ARGUMENT(-5) 轨迹位置超限或速度超限 + * @retval -AUBO_REQUEST_IGNORE(-13) 当前处于非 servo 模式 + * @retval -AUBO_IK_NO_CONVERGE(-23) 逆解计算不收敛，计算出错; + * @retval -AUBO_IK_OUT_OF_RANGE(-24) 逆解计算超出机器人最大限制; + * @retval AUBO_IK_CONFIG_DISMATCH(-25) 逆解输入配置存在错误; + * @retval -AUBO_IK_JACOBIAN_FAILED(-26) 逆解雅可比矩阵计算失败; + * @retval -AUBO_IK_NO_SOLU(-27) 目标点存在解析解，但均不满足选解条件; + * @retval -AUBO_IK_UNKOWN_ERROR(-28) 逆解返回未知类型错误; + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * servoCartesian(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float, arg3: float, arg4: float, arg5: float) -> int + * + * @par Lua函数原型 + * servoCartesian(pose: table, a: number, v: number, t: number, + * lookahead_time: number, gain: number) -> nil + * + * @par Lua示例 + * servoCartesian({0.58712,-0.15775,0.48703,2.76,0.344,1.432},0,0,10,0,0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.servoCartesian","params":[[0.58712,-0.15775,0.48703,2.76,0.344,1.432],0,0,10,0,0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":-13} + * \endchinese + * \english + * Cartesian space servo + * + * Currently, only pose and t parameters are available; + * @param pose Pose, unit: m + * @param a Acceleration, unit: m/s^2 + * @param v Velocity, unit: m/s + * @param t Execution time, unit: s \n + * The larger the t value, the slower the robot moves, and vice versa; + * The optimal value for this parameter is the interval time for continuous + * calls to the servoCartesian interface. + * @param lookahead_time Lookahead time, unit: s \n + * Specifies the duration to move before the robot starts to decelerate, + * used to smooth the trajectory [0.03, 0.2]. When lookahead_time is less + * than one control cycle, the smaller it is, the greater the overshoot. The + * optimal value for this parameter is one control cycle. + * @param gain Proportional gain + * Proportional gain for tracking the target position [100, 200], + * used to control the smoothness and accuracy of the motion, + * The larger the proportional gain, the longer it takes to reach the target + * position, and the smaller the overshoot. + * + * @retval 0 Success + * @retval AUBO_BAD_STATE(1) The current safety mode is not Normal, + * ReducedMode, or Recovery + * @retval AUBO_QUEUE_FULL(2) Planning queue is full + * @retval AUBO_BUSY(3) The previous instruction is being executed + * @retval -AUBO_BAD_STATE(-1) + * Possible reasons include but are not limited to: thread has been + * detached, thread terminated, task_id not found, or the current robot mode + * is not Running + * @retval -AUBO_TIMEOUT(-4) Interface call timeout + * @retval -AUBO_INVL_ARGUMENT(-5) Trajectory position or velocity out of + * range + * @retval -AUBO_REQUEST_IGNORE(-13) Not in servo mode + * @retval -AUBO_IK_NO_CONVERGE(-23) Inverse kinematics calculation does not + * converge, calculation error; + * @retval -AUBO_IK_OUT_OF_RANGE(-24) Inverse kinematics calculation exceeds + * robot maximum limits; + * @retval AUBO_IK_CONFIG_DISMATCH(-25) Inverse kinematics input + * configuration error; + * @retval -AUBO_IK_JACOBIAN_FAILED(-26) Inverse kinematics Jacobian + * calculation failed; + * @retval -AUBO_IK_NO_SOLU(-27) Analytical solution exists for the target + * point, but none meet the selection criteria; + * @retval -AUBO_IK_UNKOWN_ERROR(-28) Inverse kinematics returned an unknown + * error type; + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * servoCartesian(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float, arg3: float, arg4: float, arg5: float) -> int + * + * @par Lua function prototype + * servoCartesian(pose: table, a: number, v: number, t: number, + * lookahead_time: number, gain: number) -> nil + * + * @par Lua example + * servoCartesian({0.58712,-0.15775,0.48703,2.76,0.344,1.432},0,0,10,0,0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.servoCartesian","params":[[0.58712,-0.15775,0.48703,2.76,0.344,1.432],0,0,10,0,0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":-13} + * \endenglish + */ + int servoCartesian(const std::vector &pose, double a, double v, + double t, double lookahead_time, double gain); + + /** + * @ingroup MotionControl + * \chinese + * 伺服运动（带外部轴），用于执行离线轨迹、透传用户规划轨迹等 + * + * @param q + * @param extq + * @param t + * @param smooth_scale + * @param delay_sacle + * @return + * \endchinese + * \english + * Servo motion (with external axes), used for executing offline + * trajectories, pass-through user planned trajectories, etc. + * + * @param q + * @param extq + * @param t + * @param smooth_scale + * @param delay_sacle + * @return + * \endenglish + */ + int servoJointWithAxes(const std::vector &q, + const std::vector &extq, double a, double v, + double t, double lookahead_time, double gain); + + int servoJointWithAxisGroup(const std::vector &q, double a, + double v, double t, double lookahead_time, + double gain, const std::string &group_name, + const std::vector &extq); + + /** + * @ingroup MotionControl + * \chinese + * 伺服运动（带外部轴），用于执行离线轨迹、透传用户规划轨迹等 + * 与 servoJointWithAxes 区别在于接收笛卡尔空间位姿而不是关节角度 + * (由软件内部直接做逆解) + * + * @param pose + * @param extq + * @param t + * @param smooth_scale + * @param delay_sacle + * @return + * \endchinese + * \english + * Servo motion (with external axes), used for executing offline + * trajectories, pass-through user planned trajectories, etc. The difference + * from servoJointWithAxes is that it receives Cartesian poses instead of + * joint angles (inverse kinematics is performed internally by the + * software). + * + * @param pose + * @param extq + * @param t + * @param smooth_scale + * @param delay_sacle + * @return + * \endenglish + */ + int servoCartesianWithAxes(const std::vector &pose, + const std::vector &extq, double a, + double v, double t, double lookahead_time, + double gain); + + int servoCartesianWithAxisGroup(const std::vector &pose, double a, + double v, double t, double lookahead_time, + double gain, const std::string &group_name, + const std::vector &extq); + + /** + * @ingroup MotionControl + * \chinese + * 跟踪运动，用于执行离线轨迹、透传用户规划轨迹等 + * + * @param q + * @param smooth_scale + * @param delay_sacle + * @return + * + * @par Lua函数原型 + * trackJoint(q: table,t: number,smooth_scale: number,delay_sacle: number) + * -> nil + * + * @par Lua示例 + * trackJoint({0,0,0,0,0,0},0.01,0.5,1) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.trackJoint","params":[[0,0,0,0,0,0],0.01,0.5,1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Tracking motion, used for executing offline trajectories or passing + * through user-planned trajectories, etc. + * + * @param q + * @param smooth_scale + * @param delay_sacle + * @return + * + * @par Lua function prototype + * trackJoint(q: table,t: number,smooth_scale: number,delay_sacle: number) + * -> nil + * + * @par Lua example + * trackJoint({0,0,0,0,0,0},0.01,0.5,1) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.trackJoint","params":[[0,0,0,0,0,0],0.01,0.5,1],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int trackJoint(const std::vector &q, double t, double smooth_scale, + double delay_sacle); + + /** + * @ingroup MotionControl + * \chinese + * 跟踪运动，用于执行离线轨迹、透传用户规划轨迹等 + * 与 trackJoint 区别在于接收笛卡尔空间位姿而不是关节角度 + * (由软件内部直接做逆解) + * + * @param pose + * @param t + * @param smooth_scale + * @param delay_sacle + * @return + * + * @par Lua函数原型 + * trackCartesian(pose: table,t: number,smooth_scale: number,delay_sacle: + * number) -> nil + * + * @par Lua示例 + * trackCartesian({0.58712,-0.15775,0.48703,2.76,0.344,1.432},0.01,0.5,1) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.trackCartesian","params":[[0.58712,-0.15775,0.48703,2.76,0.344,1.432],0.01,0.5,1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Tracking motion, used for executing offline trajectories or passing + * through user-planned trajectories, etc. The difference from trackJoint is + * that it receives Cartesian poses instead of joint angles (inverse + * kinematics is performed internally by the software). + * + * @param pose + * @param t + * @param smooth_scale + * @param delay_sacle + * @return + * + * @par Lua function prototype + * trackCartesian(pose: table,t: number,smooth_scale: number,delay_sacle: + * number) -> nil + * + * @par Lua example + * trackCartesian({0.58712,-0.15775,0.48703,2.76,0.344,1.432},0.01,0.5,1) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.trackCartesian","params":[[0.58712,-0.15775,0.48703,2.76,0.344,1.432],0.01,0.5,1],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int trackCartesian(const std::vector &pose, double t, + double smooth_scale, double delay_sacle); + + /** + * @ingroup MotionControl + * \chinese + * 关节空间跟随 + * + * @note 暂未实现 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * followJoint(self: pyaubo_sdk.MotionControl, arg0: List[float]) -> int + * + * @par Lua函数原型 + * followJoint(q: table) -> nil + * + * @par Lua示例 + * followJoint({0,0,0,0,0,0}) + * + * \endchinese + * \english + * Joint space following + * + * @note Not implemented yet + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * followJoint(self: pyaubo_sdk.MotionControl, arg0: List[float]) -> int + * + * @par Lua function prototype + * followJoint(q: table) -> nil + * + * @par Lua example + * followJoint({0,0,0,0,0,0}) + * + * \endenglish + */ + int followJoint(const std::vector &q); + + /** + * @ingroup MotionControl + * \chinese + * 笛卡尔空间跟随 + * + * @note 暂未实现 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * followLine(self: pyaubo_sdk.MotionControl, arg0: List[float]) -> int + * + * @par Lua函数原型 + * followLine(pose: table) -> nil + * + * @par Lua示例 + * followLine({0.58712,-0.15775,0.48703,2.76,0.344,1.432}) + * + * \endchinese + * \english + * Cartesian space following + * + * @note Not implemented yet + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * followLine(self: pyaubo_sdk.MotionControl, arg0: List[float]) -> int + * + * @par Lua function prototype + * followLine(pose: table) -> nil + * + * @par Lua example + * followLine({0.58712,-0.15775,0.48703,2.76,0.344,1.432}) + * + * \endenglish + */ + int followLine(const std::vector &pose); + + /** + * @ingroup MotionControl + * \chinese + * 关节空间速度跟随 + * + * 当机械臂还没达到目标速度的时候，给一个新的目标速度，机械臂会立刻达到新的目标速度 + * + * @param qd 目标关节速度, 单位 rad/s + * @param a 主轴的加速度, 单位 rad/s^2 + * @param t 函数返回所需要的时间, 单位 s \n + * 如果 t = 0，当达到目标速度的时候，函数将返回； + * 反之，则经过 t 时间后，函数返回，不管是否达到目标速度。\n + * 如果没有达到目标速度，会减速到零。 + * 如果达到了目标速度就是按照目标速度匀速运动。 + * @retval 0 成功 + * @retval AUBO_BAD_STATE(1) 当前安全模式处于非 + * Normal、ReducedMode、Recovery 状态 + * @retval AUBO_BUSY(3) 上一条指令正在执行中 + * @retval -AUBO_BAD_STATE(-1) + * 可能的原因包括但不限于：线程已分离、线程被终止、task_id + * 未找到，或者当前机器人模式非 Running + * @retval -AUBO_TIMEOUT(-4) 调用接口超时 + * @retval -AUBO_INVL_ARGUMENT(-5) 参数数组qd的长度小于当前机器臂的自由度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * speedJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float) -> int + * + * @par Lua函数原型 + * speedJoint(qd: table, a: number, t: number) -> nil + * + * @par Lua示例 + * speedJoint({0.2,0,0,0,0,0}, 1.5,10) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.speedJoint","params":[[0.2,0,0,0,0,0],1.5,100],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Joint space velocity following + * + * When the robot arm has not yet reached the target velocity, giving a new + * target velocity will cause the robot arm to immediately reach the new + * target velocity. + * + * @param qd Target joint velocity, unit: rad/s + * @param a Main axis acceleration, unit: rad/s^2 + * @param t Time required for the function to return, unit: s \n + * If t = 0, the function returns when the target velocity is reached; + * otherwise, the function returns after t seconds, regardless of whether + * the target velocity is reached.\n If the target velocity is not reached, + * it will decelerate to zero. If the target velocity is reached, it will + * move at a constant speed. + * @retval 0 Success + * @retval AUBO_BAD_STATE(1) The current safety mode is not Normal, + * ReducedMode, or Recovery + * @retval AUBO_BUSY(3) The previous instruction is being executed + * @retval -AUBO_BAD_STATE(-1) + * Possible reasons include but are not limited to: thread has been + * detached, thread terminated, task_id not found, or the current robot mode + * is not Running + * @retval -AUBO_TIMEOUT(-4) Interface call timeout + * @retval -AUBO_INVL_ARGUMENT(-5) The length of the qd array is less than + * the degrees of freedom of the current robot arm + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * speedJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float) -> int + * + * @par Lua function prototype + * speedJoint(qd: table, a: number, t: number) -> nil + * + * @par Lua example + * speedJoint({0.2,0,0,0,0,0}, 1.5,10) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.speedJoint","params":[[0.2,0,0,0,0,0],1.5,100],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int speedJoint(const std::vector &qd, double a, double t); + + /** + * @ingroup MotionControl + * \chinese + * 机械臂与外部轴组关节空间速度跟随。 + * + * @param qd 机械臂目标关节速度，单位 rad/s + * @param a 加速度，单位 rad/s^2 + * @param t 函数返回所需要的时间，单位 s + * @param group_name 外部轴组名称 + * @param axis_qd 外部轴目标速度 + * @return 成功返回0；失败返回错误码 + * \endchinese + * \english + * Joint-space velocity following with an external axis group. + * + * @param qd Robot target joint velocity, unit: rad/s + * @param a Acceleration, unit: rad/s^2 + * @param t Time required for the function to return, unit: s + * @param group_name External axis group name + * @param axis_qd External axis target velocity + * @return Returns 0 on success; otherwise returns error code + * \endenglish + */ + int speedJointWithAxisGroup(const std::vector &qd, double a, + double t, const std::string &group_name, + const std::vector &axis_qd); + + /** + * @ingroup MotionControl + * \chinese + * 关节空间速度跟随(机械臂运行工程时发生碰撞,通过此接口移动到安全位置) + * + * 当机械臂还没达到目标速度的时候，给一个新的目标速度，机械臂会立刻达到新的目标速度 + * + * @param qd 目标关节速度, 单位 rad/s + * @param a 主轴的加速度, 单位 rad/s^2 + * @param t 函数返回所需要的时间, 单位 s + * 如果 t = 0，当达到目标速度的时候，函数将返回； + * 反之，则经过 t 时间后，函数返回，不管是否达到目标速度。 + * 如果没有达到目标速度，会减速到零。 + * 如果达到了目标速度就是按照目标速度匀速运动。 + * @return 成功返回0; 失败返回错误码 + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * resumeSpeedJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float) -> int + * + * @par Lua函数原型 + * resumeSpeedJoint(q: table, a: number, t: number) -> nil + * + * @par Lua示例 + * resumeSpeedJoint({0.2,0,0,0,0,0},1.5,10) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.resumeSpeedJoint","params":[[0.2,0,0,0,0,0],1.5,100],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":-1} + * \endchinese + * \english + * Joint space velocity following (used to move to a safe position after a + * collision during process execution) + * + * When the robot arm has not yet reached the target velocity, giving a new + * target velocity will cause the robot arm to immediately reach the new + * target velocity. + * + * @param qd Target joint velocity, unit: rad/s + * @param a Main axis acceleration, unit: rad/s^2 + * @param t Time required for the function to return, unit: s + * If t = 0, the function returns when the target velocity is reached; + * otherwise, the function returns after t seconds, regardless of whether + * the target velocity is reached. If the target velocity is not reached, it + * will decelerate to zero. If the target velocity is reached, it will move + * at a constant speed. + * @return Returns 0 on success; otherwise returns error code + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * resumeSpeedJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float) -> int + * + * @par Lua function prototype + * resumeSpeedJoint(q: table, a: number, t: number) -> nil + * + * @par Lua example + * resumeSpeedJoint({0.2,0,0,0,0,0},1.5,10) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.resumeSpeedJoint","params":[[0.2,0,0,0,0,0],1.5,100],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":-1} + * \endenglish + */ + int resumeSpeedJoint(const std::vector &qd, double a, double t); + + /** + * @ingroup MotionControl + * \chinese + * 笛卡尔空间速度跟随 + * + * 当机械臂还没达到目标速度的时候，给一个新的目标速度，机械臂会立刻达到新的目标速度 + * + * @param xd 工具速度, 单位 m/s + * @param a 工具位置加速度, 单位 m/s^2 + * @param t 函数返回所需要的时间, 单位 s \n + * 如果 t = 0，当达到目标速度的时候，函数将返回； + * 反之，则经过 t 时间后，函数返回，不管是否达到目标速度。 + * 如果没有达到目标速度，会减速到零。 + * 如果达到了目标速度就是按照目标速度匀速运动。 + * @retval 0 成功 + * @retval AUBO_BAD_STATE(1) 当前安全模式处于非 + * Normal、ReducedMode、Recovery 状态 + * @retval AUBO_BUSY(3) 上一条指令正在执行中 + * @retval -AUBO_BAD_STATE(-1) + * 可能的原因包括但不限于：线程已分离、线程被终止、task_id + * 未找到，或者当前机器人模式非 Running + * @retval -AUBO_TIMEOUT(-4) 调用接口超时 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * speedLine(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, + * arg2: float) -> int + * + * @par Lua函数原型 + * speedLine(pose: table, a: number, t: number) -> nil + * + * @par Lua示例 + * speedLine({0.25,0,0,0,0,0},1.2,100) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.speedLine","params":[[0.25,0,0,0,0,0],1.2,100],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Cartesian space velocity following + * + * When the robot arm has not yet reached the target velocity, giving a new + * target velocity will cause the robot arm to immediately reach the new + * target velocity. + * + * @param xd Tool velocity, unit: m/s + * @param a Tool position acceleration, unit: m/s^2 + * @param t Time required for the function to return, unit: s \n + * If t = 0, the function returns when the target velocity is reached; + * otherwise, the function returns after t seconds, regardless of whether + * the target velocity is reached. If the target velocity is not reached, it + * will decelerate to zero. If the target velocity is reached, it will move + * at a constant speed. + * @retval 0 Success + * @retval AUBO_BAD_STATE(1) The current safety mode is not Normal, + * ReducedMode, or Recovery + * @retval AUBO_BUSY(3) The previous instruction is being executed + * @retval -AUBO_BAD_STATE(-1) + * Possible reasons include but are not limited to: thread has been + * detached, thread terminated, task_id not found, or the current robot mode + * is not Running + * @retval -AUBO_TIMEOUT(-4) Interface call timeout + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * speedLine(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, + * arg2: float) -> int + * + * @par Lua function prototype + * speedLine(pose: table, a: number, t: number) -> nil + * + * @par Lua example + * speedLine({0.25,0,0,0,0,0},1.2,100) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.speedLine","params":[[0.25,0,0,0,0,0],1.2,100],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int speedLine(const std::vector &xd, double a, double t); + + /** + * @ingroup MotionControl + * \chinese + * 笛卡尔空间速度跟随(机械臂运行工程时发生碰撞,通过此接口移动到安全位置) + * + * 当机械臂还没达到目标速度的时候，给一个新的目标速度，机械臂会立刻达到新的目标速度 + * + * @param xd 工具速度, 单位 m/s + * @param a 工具位置加速度, 单位 m/s^2 + * @param t 函数返回所需要的时间, 单位 s \n + * 如果 t = 0，当达到目标速度的时候，函数将返回； + * 反之，则经过 t 时间后，函数返回，不管是否达到目标速度。 + * 如果没有达到目标速度，会减速到零。 + * 如果达到了目标速度就是按照目标速度匀速运动。 + * @return 成功返回0; 失败返回错误码 + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * resumeSpeedLine(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float) -> int + * + * @par Lua函数原型 + * resumeSpeedLine(pose: table, a: number, t: number) -> nil + * + * @par Lua示例 + * resumeSpeedLine({0.25,0,0,0,0,0},1.2,100) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.resumeSpeedLine","params":[[0.25,0,0,0,0,0],1.2,100],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":-1} + * \endchinese + * \english + * Cartesian space velocity following (used to move to a safe position after + * a collision during process execution) + * + * When the robot arm has not yet reached the target velocity, giving a new + * target velocity will cause the robot arm to immediately reach the new + * target velocity. + * + * @param xd Tool velocity, unit: m/s + * @param a Tool position acceleration, unit: m/s^2 + * @param t Time required for the function to return, unit: s \n + * If t = 0, the function returns when the target velocity is reached; + * otherwise, the function returns after t seconds, regardless of whether + * the target velocity is reached. If the target velocity is not reached, it + * will decelerate to zero. If the target velocity is reached, it will move + * at a constant speed. + * @return Returns 0 on success; otherwise returns error code + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * resumeSpeedLine(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float) -> int + * + * @par Lua function prototype + * resumeSpeedLine(pose: table, a: number, t: number) -> nil + * + * @par Lua example + * resumeSpeedLine({0.25,0,0,0,0,0},1.2,100) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.resumeSpeedLine","params":[[0.25,0,0,0,0,0],1.2,100],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":-1} + * \endenglish + */ + int resumeSpeedLine(const std::vector &xd, double a, double t); + + /** + * @ingroup MotionControl + * \chinese + * 在关节空间做样条插值 + * + * @param q 关节角度，如果传入参数维度为0，表示样条运动结束 + * @param a 加速度, 单位 rad/s^2, + * 最大值可通过RobotConfig类中的接口getJointMaxAccelerations()来获取 + * @param v 速度， 单位 rad/s, + * 最大值可通过RobotConfig类中的接口getJointMaxSpeeds()来获取 + * @param duration + * @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 + * moveSpline(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float, arg3: float) -> int + * + * @par Lua函数原型 + * moveSpline(q: table, a: number, v: number, duration: number) -> nil + * + * @par Lua示例 + * moveSpline({-2.05177,-0.400292, 1.19625, 0.0285152, 1.57033, + * -2.28774},1.3,1.0,0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.moveSpline","params":[[0,0,0,0,0,0],1,1,0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Perform spline interpolation in joint space + * + * @param q Joint angles. If the input vector is of size 0, it indicates the + * end of the spline motion. + * @param a Acceleration, unit: rad/s^2. The maximum value can be obtained + * via RobotConfig::getJointMaxAccelerations(). + * @param v Velocity, unit: rad/s. The maximum value can be obtained via + * RobotConfig::getJointMaxSpeeds(). + * @param duration + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * moveSpline(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float, arg3: float) -> int + * + * @par Lua function prototype + * moveSpline(q: table, a: number, v: number, duration: number) -> nil + * + * @par Lua example + * moveSpline({-2.05177,-0.400292, 1.19625, 0.0285152, 1.57033, + * -2.28774},1.3,1.0,0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.moveSpline","params":[[0,0,0,0,0,0],1,1,0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int moveSpline(const std::vector &q, double a, double v, + double duration); + + /** + * @ingroup MotionControl + * \chinese + * 添加关节运动 + * + * @param q 关节角, 单位 rad + * @param a 加速度, 单位 rad/s^2, + * 最大值可通过RobotConfig类中的接口getJointMaxAccelerations()来获取 + * @param v 速度， 单位 rad/s, + * 最大值可通过RobotConfig类中的接口getJointMaxSpeeds()来获取 + * @param blend_radius 交融半径, 单位 m + * @param duration 运行时间，单位 s \n + * 通常当给定了速度和加速度，便能够确定轨迹的运行时间。 + * 如果想延长轨迹的运行时间，便要设置 duration 这个参数。 + * duration 可以延长轨迹运动的时间，但是不能缩短轨迹时间。\n + * 当 duration = 0的时候， + * 表示不指定运行时间，即没有明确完成运动的时间，将根据速度与加速度计算运行时间。 + * 如果duration不等于0，a 和 v 的值将被忽略。 + * @retval 0 成功 + * @retval AUBO_BAD_STATE(1) 当前安全模式处于非 + * Normal、ReducedMode、Recovery 状态 + * @retval AUBO_QUEUE_FULL(2) 规划队列已满 + * @retval AUBO_BUSY(3) 上一条指令正在执行中 + * @retval -AUBO_BAD_STATE(-1) + * 可能的原因包括但不限于：线程已分离、线程被终止、task_id + * 未找到，或者当前机器人模式非 Running + * @retval -AUBO_TIMEOUT(-4) 调用接口超时 + * @retval -AUBO_INVL_ARGUMENT(-5) 参数数组q的长度小于当前机器臂的自由度 + * @retval AUBO_REQUEST_IGNORE(13) 参数数组q的长度太短且无需在该点停留 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * moveJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, + * arg2: float, arg3: float, arg4: float) -> int + * + * @par Lua函数原型 + * moveJoint(q: table, a: number, v: number, blend_radius: number, duration: + * number) -> nil + * + * @par Lua示例 + * moveJoint({-2.05177,-0.400292, 1.19625, 0.0285152, 1.57033, + * -2.28774},0.3,0.3,0,0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.moveJoint","params":[[-2.05177, + * -0.400292, 1.19625, 0.0285152, 1.57033, -2.28774],0.3,0.3,0,0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Add joint motion + * + * @param q Joint angles, unit: rad + * @param a Acceleration, unit: rad/s^2, + * The maximum value can be obtained via + * RobotConfig::getJointMaxAccelerations() + * @param v Velocity, unit: rad/s, + * The maximum value can be obtained via RobotConfig::getJointMaxSpeeds() + * @param blend_radius Blend radius, unit: m + * @param duration Execution time, unit: s \n + * Normally, when speed and acceleration are given, the trajectory duration + * can be determined. If you want to extend the trajectory duration, set the + * duration parameter. Duration can extend the trajectory time, but cannot + * shorten it.\n When duration = 0, it means the execution time is not + * specified, and the time will be calculated based on speed and + * acceleration. If duration is not 0, a and v values will be ignored. + * @retval 0 Success + * @retval AUBO_BAD_STATE(1) The current safety mode is not Normal, + * ReducedMode, or Recovery + * @retval AUBO_QUEUE_FULL(2) Planning queue is full + * @retval AUBO_BUSY(3) The previous instruction is being executed + * @retval -AUBO_BAD_STATE(-1) + * Possible reasons include but are not limited to: thread has been + * detached, thread terminated, task_id not found, or the current robot mode + * is not Running + * @retval -AUBO_TIMEOUT(-4) Interface call timeout + * @retval -AUBO_INVL_ARGUMENT(-5) The length of q is less than the degrees + * of freedom of the current robot arm + * @retval AUBO_REQUEST_IGNORE(13) The length of q is too short and there is + * no need to stop at that point + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * moveJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, + * arg2: float, arg3: float, arg4: float) -> int + * + * @par Lua function prototype + * moveJoint(q: table, a: number, v: number, blend_radius: number, duration: + * number) -> nil + * + * @par Lua example + * moveJoint({-2.05177,-0.400292, 1.19625, 0.0285152, 1.57033, + * -2.28774},0.3,0.3,0,0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.moveJoint","params":[[-2.05177, + * -0.400292, 1.19625, 0.0285152, 1.57033, -2.28774],0.3,0.3,0,0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int moveJoint(const std::vector &q, double a, double v, + double blend_radius, double duration); + + /** + * @ingroup MotionControl + * \chinese + * 机器人与外部轴同步运动 + * + * @param group_name + * @param q + * @param a + * @param v + * @param blend_radius + * @param duration + * @return + * \endchinese + * \english + * Synchronous motion of robot and external axes + * + * @param group_name + * @param q + * @param a + * @param v + * @param blend_radius + * @param duration + * @return + * \endenglish + */ + int moveJointWithAxisGroup(const std::vector &q, double a, double v, + double blend_radius, double duration, + const std::string &group_name, + const std::vector &extq); + + /** + * @ingroup MotionControl + * \chinese + * 通过关节运动移动到暂停点的位置 + * + * @param q 关节角, 单位 rad + * @param a 加速度, 单位 rad/s^2 + * @param v 速度， 单位 rad/s + * @param duration 运行时间，单位 s \n + * 通常当给定了速度和加速度，便能够确定轨迹的运行时间。 + * 如果想延长轨迹的运行时间，便要设置 duration 这个参数。 + * duration 可以延长轨迹运动的时间，但是不能缩短轨迹时间。\n + * 当 duration = 0的时候， + * 表示不指定运行时间，即没有明确完成运动的时间，将根据速度与加速度计算运行时间。 + * 如果duration不等于0，a 和 v 的值将被忽略。 + * @return 成功返回0；失败返回错误码 + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * resumeMoveJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float, arg3: float) -> int + * + * @par Lua函数原型 + * resumeMoveJoint(q: table, a: number, v: number, duration: number) -> nil + * + * @par Lua示例 + * resumeMoveJoint({-2.05177,-0.400292, 1.19625, 0.0285152, 1.57033, + * -2.28774},1.3,1.0,0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.resumeMoveJoint","params":[[-2.05177, + * -0.400292, 1.19625, 0.0285152, 1.57033, -2.28774],0.3,0.3,0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":-1} + * \endchinese + * \english + * Move to the pause point using joint motion. + * + * @param q Joint angles, unit: rad + * @param a Acceleration, unit: rad/s^2 + * @param v Velocity, unit: rad/s + * @param duration Execution time, unit: s \n + * Normally, when speed and acceleration are given, the trajectory duration + * can be determined. If you want to extend the trajectory duration, set the + * duration parameter. Duration can extend the trajectory time, but cannot + * shorten it.\n When duration = 0, it means the execution time is not + * specified, and the time will be calculated based on speed and + * acceleration. If duration is not 0, a and v values will be ignored. + * @return Returns 0 on success; otherwise returns error code + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * resumeMoveJoint(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float, arg3: float) -> int + * + * @par Lua function prototype + * resumeMoveJoint(q: table, a: number, v: number, duration: number) -> nil + * + * @par Lua example + * resumeMoveJoint({-2.05177,-0.400292, 1.19625, 0.0285152, 1.57033, + * -2.28774},1.3,1.0,0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.resumeMoveJoint","params":[[-2.05177, + * -0.400292, 1.19625, 0.0285152, 1.57033, -2.28774],0.3,0.3,0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":-1} + * \endenglish + */ + int resumeMoveJoint(const std::vector &q, double a, double v, + double duration); + + /** + * @ingroup MotionControl + * \chinese + * 添加直线运动 + * + * @param pose 目标位姿 + * @param a 加速度(如果位置变化小于1mm,姿态变化大于 1e-4 + * rad,此加速度会被作为角加速度,单位 rad/s^2.否则为线加速度,单位 m/s^2) + * 最大值可通过RobotConfig类中的接口getTcpMaxAccelerations()来获取 + * @param v 速度(如果位置变化小于1mm,姿态变化大于 1e-4 + * rad,此速度会被作为角速度,单位 rad/s.否则为线速度,单位 m/s) + * 最大值可通过RobotConfig类中的接口getTcpMaxSpeeds()来获取 + * @param blend_radius 交融半径，单位 m，值介于0.001和1之间 + * @param duration 运行时间，单位 s \n + * 通常当给定了速度和加速度，便能够确定轨迹的运行时间。 + * 如果想延长轨迹的运行时间，便要设置 duration 这个参数。 + * duration 可以延长轨迹运动的时间，但是不能缩短轨迹时间。\n + * 当 duration = 0的时候， + * 表示不指定运行时间，即没有明确完成运动的时间，将根据速度与加速度计算运行时间。 + * 如果duration不等于0，a 和 v 的值将被忽略。 + * @retval 0 成功 + * @retval AUBO_BAD_STATE(1) 当前安全模式处于非 + * Normal、ReducedMode、Recovery 状态 + * @retval AUBO_QUEUE_FULL(2) 轨迹队列已满 + * @retval AUBO_BUSY(3) 上一条指令正在执行中 + * @retval -AUBO_BAD_STATE(-1) + * 可能的原因包括但不限于：线程已分离、线程被终止、task_id + * 未找到，或者当前机器人模式非 Running + * @retval -AUBO_TIMEOUT(-4) 调用接口超时 + * @retval -AUBO_INVL_ARGUMENT(-5) 参数数组 pose + * 的长度小于当前机器臂的自由度 + * @retval AUBO_REQUEST_IGNORE(13) 参数数组 pose + * 路径长度太短且无需在该点停留 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * moveLine(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, + * arg2: float, arg3: float, arg4: float) -> int + * + * @par Lua函数原型 + * moveLine(pose: table, a: number, v: number, blend_radius: number, + * duration: number) -> nil + * + * @par Lua示例 + * moveLine({0.58815,0.0532,0.62391,2.46,0.479,1.619},1.3,1.0,0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.moveLine","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],1.2,0.25,0,0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Add linear motion + * + * @param pose Target pose + * @param a Acceleration (if the position change is less than 1mm and the + * posture change is greater than 1e-4 rad, this acceleration is treated as + * angular acceleration in rad/s^2; otherwise, as linear acceleration in + * m/s^2). The maximum value can be obtained via + * RobotConfig::getTcpMaxAccelerations(). + * @param v Velocity (if the position change is less than 1mm and the + * posture change is greater than 1e-4 rad, this velocity is treated as + * angular velocity in rad/s; otherwise, as linear velocity in m/s). The + * maximum value can be obtained via RobotConfig::getTcpMaxSpeeds(). + * @param blend_radius Blend radius, unit: m, value between 0.001 and 1 + * @param duration Execution time, unit: s \n + * Normally, when speed and acceleration are given, the trajectory duration + * can be determined. If you want to extend the trajectory duration, set the + * duration parameter. Duration can extend the trajectory time, but cannot + * shorten it.\n When duration = 0, it means the execution time is not + * specified, and the time will be calculated based on speed and + * acceleration. If duration is not 0, a and v values will be ignored. + * @retval 0 Success + * @retval AUBO_BAD_STATE(1) The current safety mode is not Normal, + * ReducedMode, or Recovery + * @retval AUBO_QUEUE_FULL(2) Trajectory queue is full + * @retval AUBO_BUSY(3) The previous instruction is being executed + * @retval -AUBO_BAD_STATE(-1) Possible reasons include but are not limited + * to: thread has been detached, thread terminated, task_id not found, or + * the current robot mode is not Running + * @retval -AUBO_TIMEOUT(-4) Interface call timeout + * @retval -AUBO_INVL_ARGUMENT(-5) The length of the pose array is less than + * the degrees of freedom of the current robot arm + * @retval AUBO_REQUEST_IGNORE(13) The length of the pose array is too short + * and there is no need to stop at that point + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * moveLine(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: float, + * arg2: float, arg3: float, arg4: float) -> int + * + * @par Lua function prototype + * moveLine(pose: table, a: number, v: number, blend_radius: number, + * duration: number) -> nil + * + * @par Lua example + * moveLine({0.58815,0.0532,0.62391,2.46,0.479,1.619},1.3,1.0,0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.moveLine","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],1.2,0.25,0,0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int moveLine(const std::vector &pose, double a, double v, + double blend_radius, double duration); + + /** + * @ingroup MotionControl + * \chinese + * 直线运动与外部轴同步运动 + * + * @param group_name 外部轴组名称 + * @param pose 目标位姿 + * @param a 加速度 + * @param v 速度 + * @param blend_radius 交融半径 + * @param duration 运行时间 + * @return + * \endchinese + * \english + * Linear motion synchronized with external axes + * + * @param group_name Name of the external axis group + * @param pose Target pose + * @param a Acceleration + * @param v Velocity + * @param blend_radius Blend radius + * @param duration Execution time + * @return + * \endenglish + */ + int moveLineWithAxisGroup(const std::vector &pose, double a, + double v, double blend_radius, double duration, + const std::string &group_name, + const std::vector &extq); + + /** + * @ingroup MotionControl + * \chinese + * 添加工艺运动 + * + * @param pose + * @param a + * @param v + * @param blend_radius + * @return 成功返回0；失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * moveProcess(pose: table, a: number, v: number, blend_radius: number, + * duration: number) -> nil + * + * @par Lua示例 + * moveProcess({0.58815,0.0532,0.62391,2.46,0.479,1.619},1.2,0.25,0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.moveProcess","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],1.2,0.25,0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Add process motion + * + * @param pose + * @param a + * @param v + * @param blend_radius + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * moveProcess(pose: table, a: number, v: number, blend_radius: number, + * duration: number) -> nil + * + * @par Lua example + * moveProcess({0.58815,0.0532,0.62391,2.46,0.479,1.619},1.2,0.25,0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.moveProcess","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],1.2,0.25,0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int moveProcess(const std::vector &pose, double a, double v, + double blend_radius); + + /** + * @ingroup MotionControl + * \chinese + * 通过直线运动移动到暂停点的位置 + * + * @param pose 目标位姿 + * @param a 加速度, 单位 m/s^2 + * @param v 速度, 单位 m/s + * @param duration 运行时间，单位 s \n + * 通常当给定了速度和加速度，便能够确定轨迹的运行时间。 + * 如果想延长轨迹的运行时间，便要设置 duration 这个参数。 + * duration 可以延长轨迹运动的时间，但是不能缩短轨迹时间。\n + * 当 duration = 0的时候， + * 表示不指定运行时间，即没有明确完成运动的时间，将根据速度与加速度计算运行时间。 + * 如果duration不等于0，a 和 v 的值将被忽略。 + * @return 成功返回0；失败返回错误码 + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * resumeMoveLine(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float, arg3: float) -> int + * + * @par Lua函数原型 + * resumeMoveLine(pose: table, a: number, v: number,duration: number) -> nil + * + * @par Lua示例 + * resumeMoveLine({0.58815,0.0532,0.62391,2.46,0.479,1.619},1.2,0.25,0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.resumeMoveLine","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],1.2,0.25,0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Move to the pause point using linear motion. + * + * @param pose Target pose + * @param a Acceleration, unit: m/s^2 + * @param v Velocity, unit: m/s + * @param duration Execution time, unit: s \n + * Normally, when speed and acceleration are given, the trajectory duration + * can be determined. If you want to extend the trajectory duration, set the + * duration parameter. Duration can extend the trajectory time, but cannot + * shorten it.\n When duration = 0, it means the execution time is not + * specified, and the time will be calculated based on speed and + * acceleration. If duration is not 0, a and v values will be ignored. + * @return Returns 0 on success; otherwise returns error code + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * resumeMoveLine(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float, arg3: float) -> int + * + * @par Lua function prototype + * resumeMoveLine(pose: table, a: number, v: number, duration: number) -> + * nil + * + * @par Lua example + * resumeMoveLine({0.58815,0.0532,0.62391,2.46,0.479,1.619},1.2,0.25,0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.resumeMoveLine","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],1.2,0.25,0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int resumeMoveLine(const std::vector &pose, double a, double v, + double duration); + + /** + * @ingroup MotionControl + * \chinese + * 添加圆弧运动 + * + * @todo 可以由多段圆弧组成圆周运动 + * + * @param via_pose 圆弧运动途中点的位姿 + * @param end_pose 圆弧运动结束点的位姿 + * @param a 加速度(如果via_pose与上一个路点位置变化小于1mm,姿态变化大于 1e-4 + * rad, 此加速度会被作为角加速度,单位 rad/s^2.否则为线加速度,单位 m/s^2) + * @param v 速度(如果via_pose与上一个路点位置变化小于1mm, 姿态变化大于 1e-4 + * rad, 此速度会被作为角速度, 单位 rad / s.否则为线速度, 单位 m / s) + * @param blend_radius 交融半径，单位: m + * @param duration 运行时间，单位: s \n + * 通常当给定了速度和加速度，便能够确定轨迹的运行时间。 + * 如果想延长轨迹的运行时间，便要设置 duration 这个参数。 + * duration 可以延长轨迹运动的时间，但是不能缩短轨迹时间。\n + * 当 duration = 0 的时候， + * 表示不指定运行时间，即没有明确完成运动的时间，将根据速度与加速度计算运行时间。 + * 如果duration不等于0，a 和 v 的值将被忽略。 + * @return 成功返回0；失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * moveCircle(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * List[float], arg2: float, arg3: float, arg4: float, arg5: float) -> int + * + * @par Lua函数原型 + * moveCircle(via_pose: table, end_pose: table, a: number, v: number, + * blend_radius: number, duration: number) -> nil + * + * @par Lua示例 + * moveCircle({0.440164,-0.00249391,0.398658,2.45651,0,1.5708},{0.440164,0.166256,0.297599,2.45651,0,1.5708},1.2,0.25,0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.moveCircle","params":[[0.440164,-0.00249391,0.398658,2.45651,0,1.5708],[0.440164,0.166256,0.297599,2.45651,0,1.5708],1.2,0.25,0,0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Add circular arc motion + * + * @todo Can be composed of multiple arcs to form a circular motion + * + * @param via_pose The pose of the via point during the arc motion + * @param end_pose The pose of the end point of the arc motion + * @param a Acceleration (if the position change between via_pose and the + * previous waypoint is less than 1mm and the posture change is greater than + * 1e-4 rad, this acceleration is treated as angular acceleration in + * rad/s^2; otherwise, as linear acceleration in m/s^2) + * @param v Velocity (if the position change between via_pose and the + * previous waypoint is less than 1mm and the posture change is greater than + * 1e-4 rad, this velocity is treated as angular velocity in rad/s; + * otherwise, as linear velocity in m/s) + * @param blend_radius Blend radius, unit: m + * @param duration Execution time, unit: s \n + * Normally, when speed and acceleration are given, the trajectory duration + * can be determined. If you want to extend the trajectory duration, set the + * duration parameter. Duration can extend the trajectory time, but cannot + * shorten it.\n When duration = 0, it means the execution time is not + * specified, and the time will be calculated based on speed and + * acceleration. If duration is not 0, a and v values will be ignored. + * @return Returns 0 on success; otherwise returns error code + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * moveCircle(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * List[float], arg2: float, arg3: float, arg4: float, arg5: float) -> int + * + * @par Lua function prototype + * moveCircle(via_pose: table, end_pose: table, a: number, v: number, + * blend_radius: number, duration: number) -> nil + * + * @par Lua example + * moveCircle({0.440164,-0.00249391,0.398658,2.45651,0,1.5708},{0.440164,0.166256,0.297599,2.45651,0,1.5708},1.2,0.25,0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.moveCircle","params":[[0.440164,-0.00249391,0.398658,2.45651,0,1.5708],[0.440164,0.166256,0.297599,2.45651,0,1.5708],1.2,0.25,0,0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int moveCircle(const std::vector &via_pose, + const std::vector &end_pose, double a, double v, + double blend_radius, double duration); + + /** + * @ingroup MotionControl + * \chinese + * moveCircle 与外部轴同步运动 + * + * @param group_name 外部轴组名称 + * @param via_pose 圆弧运动途中点的位姿 + * @param end_pose 圆弧运动结束点的位姿 + * @param a 加速度 + * @param v 速度 + * @param blend_radius 交融半径 + * @param duration 运行时间 + * @return + * \endchinese + * \english + * moveCircle with external axes synchronized motion + * + * @param group_name Name of the external axis group + * @param via_pose The pose of the via point during the arc motion + * @param end_pose The pose of the end point of the arc motion + * @param a Acceleration + * @param v Velocity + * @param blend_radius Blend radius + * @param duration Execution time + * @return + * \endenglish + */ + int moveCircleWithAxisGroup(const std::vector &via_pose, + const std::vector &end_pose, double a, + double v, double blend_radius, double duration, + const std::string &group_name, + const std::vector &extq); + + /** + * @ingroup MotionControl + * \chinese + * 设置圆弧路径模式 + * + * @param mode 模式 \n + * 0:工具姿态相对于圆弧路径点坐标系保持不变 \n + * 1:姿态线性变化,绕着空间定轴转动,从起始点姿态变化到目标点姿态 \n + * 2:从起点姿态开始经过中间点姿态,变化到目标点姿态 + * @return 成功返回0；失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setCirclePathMode(self: pyaubo_sdk.MotionControl, arg0: int) -> int + * + * @par Lua函数原型 + * setCirclePathMode(mode: number) -> nil + * + * @par Lua示例 + * setCirclePathMode(1) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setCirclePathMode","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set circle path mode + * + * @param mode Mode \n + * 0: Tool orientation remains unchanged relative to the arc path point + * coordinate system \n 1: Orientation changes linearly, rotating around a + * fixed axis in space, from the start orientation to the target orientation + * \n 2: Orientation changes from the start orientation, through the via + * point orientation, to the target orientation + * @return Returns 0 on success; otherwise returns an error code + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setCirclePathMode(self: pyaubo_sdk.MotionControl, arg0: int) -> int + * + * @par Lua function prototype + * setCirclePathMode(mode: number) -> nil + * + * @par Lua example + * setCirclePathMode(1) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setCirclePathMode","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setCirclePathMode(int mode); + + /** + * @ingroup MotionControl + * \chinese + * 高级圆弧或者圆周运动 + * + * @param param 圆周运动参数 + * @return 成功返回0；失败返回错误码 + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * moveCircle2(self: pyaubo_sdk.MotionControl, arg0: + * arcs::common_interface::CircleParameters) -> int + * + * @par Lua函数原型 + * moveCircle2(param: table) -> nil + * + * @par Lua示例 + * moveCircle2({0.440164,-0.00249391,0.398658,2.45651,0,1.570},{0.440164,0.166256,0.297599,2.45651,0,1.5708},1.2,0.25,0,0,0,0,0,0) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.moveCircle2","params":[{"pose_via":[0.440164,-0.00249391,0.398658,2.45651,0,1.570], + * "pose_to":[0.440164,0.166256,0.297599,2.45651,0,1.5708],"a":1.2,"v":0.25,"blend_radius":0,"duration":0,"helix":0, + * "spiral":0,"direction":0,"loop_times":0}],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Advanced arc or circular motion + * + * @param param Circular motion parameters + * @return Returns 0 on success; otherwise returns an error code: + * AUBO_BAD_STATE + * AUBO_BUSY + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * moveCircle2(self: pyaubo_sdk.MotionControl, arg0: + * arcs::common_interface::CircleParameters) -> int + * + * @par Lua function prototype + * moveCircle2(param: table) -> nil + * + * @par Lua example + * moveCircle2({0.440164,-0.00249391,0.398658,2.45651,0,1.570},{0.440164,0.166256,0.297599,2.45651,0,1.5708},1.2,0.25,0,0,0,0,0,0) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.moveCircle2","params":[{"pose_via":[0.440164,-0.00249391,0.398658,2.45651,0,1.570], + * "pose_to":[0.440164,0.166256,0.297599,2.45651,0,1.5708],"a":1.2,"v":0.25,"blend_radius":0,"duration":0,"helix":0, + * "spiral":0,"direction":0,"loop_times":0}],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int moveCircle2(const CircleParameters ¶m); + + /** + * @ingroup MotionControl + * \chinese + * 新建一个路径点缓存 + * + * @param name 指定路径的名字 + * @param type 路径的类型 \n + * 1: toppra 时间最优路径规划 \n + * 2: cubic_spline(录制的轨迹) \n + * 3: 关节B样条插值，最少三个点 + * @param size 缓存区大小 + * @return 新建成功返回 AUBO_OK(0) + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * pathBufferAlloc(self: pyaubo_sdk.MotionControl, arg0: str, arg1: int, + * arg2: int) -> int + * + * @par Lua函数原型 + * pathBufferAlloc(name: string, type: number, size: number) -> nil + * + * @par Lua示例 + * pathBufferAlloc("traje_name",5,100) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferAlloc","params":["rec",2,3],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Create a new path point buffer + * + * @param name Name of the path + * @param type Type of the path \n + * 1: toppra time-optimal path planning \n + * 2: cubic_spline (recorded trajectory) \n + * 3: Joint B-spline interpolation, at least three points + * @param size Buffer size + * @return Returns AUBO_OK(0) on success + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathBufferAlloc(self: pyaubo_sdk.MotionControl, arg0: str, arg1: int, + * arg2: int) -> int + * + * @par Lua function prototype + * pathBufferAlloc(name: string, type: number, size: number) -> nil + * + * @par Lua exmaple + * pathBufferAlloc("traje_name",5,100) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferAlloc","params":["rec",2,3],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int pathBufferAlloc(const std::string &name, int type, int size); + + /** + * @ingroup MotionControl + * \chinese + * 向路径缓存添加路点 + * + * @param name 路径缓存的名字 + * @param waypoints 路点 + * @return 成功返回0；失败返回错误码 + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * pathBufferAppend(self: pyaubo_sdk.MotionControl, arg0: str, arg1: + * List[List[float]]) -> int + * + * @par Lua函数原型 + * pathBufferAppend(name: string, waypoints: table) -> nil + * + * @par Lua示例 + * pathBufferAppend("traje_name",{{-0.000000,0.000009,-0.000001,0.000002,0.000002,0.000000},{-0.000001,0.000010,-0.000002,0.000000,0.000003,0.000002}}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferAppend","params":["rec",[[-0.000000,0.000009,-0.000001,0.000002,0.000002,0.000000],[-0.000001,0.000010,-0.000002,0.000000,0.000003,0.000002]]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Add waypoints to the path buffer + * + * @param name Name of the path buffer + * @param waypoints Waypoints + * @return Returns 0 on success; otherwise returns an error code + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathBufferAppend(self: pyaubo_sdk.MotionControl, arg0: str, arg1: + * List[List[float]]) -> int + * + * @par Lua function prototype + * pathBufferAppend(name: string, waypoints: table) -> nil + * + * @par Lua example + * pathBufferAppend("traje_name",{{-0.000000,0.000009,-0.000001,0.000002,0.000002,0.000000},{-0.000001,0.000010,-0.000002,0.000000,0.000003,0.000002}}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferAppend","params":["rec",[[-0.000000,0.000009,-0.000001,0.000002,0.000002,0.000000],[-0.000001,0.000010,-0.000002,0.000000,0.000003,0.000002]]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int pathBufferAppend(const std::string &name, + const std::vector> &waypoints); + + /** + * @ingroup MotionControl + * \chinese + * 计算、优化等耗时操作，传入的参数相同时不会重新计算 + * + * @param name 通过pathBufferAlloc新建的路径点缓存的名字 + * @param a 关节加速度限制,需要和机器人自由度大小相同,单位 rad/s^2 + * @param v 关节速度限制,需要和机器人自由度大小相同,单位 rad/s + * @param t 时间 \n + * pathBufferAlloc 这个接口分配内存的时候要指定类型， + * 根据pathBufferAlloc这个接口的类型:\n + * 类型为1时,表示运动持续时间\n + * 类型为2时,表示采样时间间隔\n + * 类型为3时:t表示运动持续时间\n + * 若 t=0,　则由使用软件内部默认的时间(推荐使用)\n + * 若 t!=0, t需要设置为　路径点数*相邻点时间间隔(points * + * interval,interval >= 0.01) + * @return 成功返回0；失败返回错误码 + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * pathBufferEval(self: pyaubo_sdk.MotionControl, arg0: str, arg1: + * List[float], arg2: List[float], arg3: float) -> int + * + * @par Lua函数原型 + * pathBufferEval(name: string, a: table, v: table, t: number) -> nil + * + * @par Lua示例 + * pathBufferEval("traje_name",{1,1,1,1,1,1},{1,1,1,1,1,1},0.02) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferEval","params":["rec",[1,1,1,1,1,1],[1,1,1,1,1,1],0.02],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Perform computation and optimization (time-consuming operations). If the + * input parameters are the same, the calculation will not be repeated. + * + * @param name Name of the path point buffer created by pathBufferAlloc + * @param a Joint acceleration limits, must match the robot DOF, unit: + * rad/s^2 + * @param v Joint velocity limits, must match the robot DOF, unit: rad/s + * @param t Time \n + * When allocating memory with pathBufferAlloc, the type must be specified. + * According to the type in pathBufferAlloc:\n + * Type 1: t means motion duration\n + * Type 2: t means sampling interval\n + * Type 3: t means motion duration\n + * If t=0, the internal default time is used (recommended)\n + * If t!=0, t should be set to number_of_points * + * interval_between_points (interval >= 0.01) + * @return Returns 0 on success; otherwise returns an error code + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathBufferEval(self: pyaubo_sdk.MotionControl, arg0: str, arg1: + * List[float], arg2: List[float], arg3: float) -> int + * + * @par Lua function prototype + * pathBufferEval(name: string, a: table, v: table, t: number) -> nil + * + * @par Lua example + * pathBufferEval("traje_name",{1,1,1,1,1,1},{1,1,1,1,1,1},0.02) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferEval","params":["rec",[1,1,1,1,1,1],[1,1,1,1,1,1],0.02],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int pathBufferEval(const std::string &name, const std::vector &a, + const std::vector &v, double t); + + /** + * @ingroup MotionControl + * \chinese + * 指定名字的buffer是否有效 + * + * buffer需要满足三个条件有效: \n + * 1、buffer存在，已经分配过内存 \n + * 2、传进buffer的点要大于等于buffer的大小 \n + * 3、要执行一次pathBufferEval + * + * @param name buffer的名字 + * @return 有效返回true; 无效返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * pathBufferValid(self: pyaubo_sdk.MotionControl, arg0: str) -> bool + * + * @par Lua函数原型 + * pathBufferValid(name: string) -> boolean + * + * @par Lua示例 + * buffer_status = pathBufferValid("traje_name") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferValid","params":["rec"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * \endchinese + * \english + * Whether the buffer with the specified name is valid + * + * The buffer must meet three conditions to be valid: \n + * 1. The buffer exists and memory has been allocated \n + * 2. The number of points passed into the buffer must be greater than or + * equal to the buffer size \n + * 3. pathBufferEval must be executed once + * + * @param name Name of the buffer + * @return Returns true if valid; false otherwise + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathBufferValid(self: pyaubo_sdk.MotionControl, arg0: str) -> bool + * + * @par Lua function prototype + * pathBufferValid(name: string) -> boolean + * + * @par Lua example + * buffer_status = pathBufferValid("traje_name") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferValid","params":["rec"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * \endenglish + */ + bool pathBufferValid(const std::string &name); + + /** + * @ingroup MotionControl + * \chinese + * 释放路径缓存 + * + * @param name 缓存路径的名字 + * @return 成功返回0；失败返回错误码 + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * pathBufferFree(self: pyaubo_sdk.MotionControl, arg0: str) -> int + * + * @par Lua函数原型 + * pathBufferFree(name: string) -> nil + * + * @par Lua示例 + * pathBufferFree("traje_name") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferFree","params":["rec"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":-5} + * + * \endchinese + * \english + * Release path buffer + * + * @param name Name of the path buffer + * @return Returns 0 on success; otherwise returns an error code + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathBufferFree(self: pyaubo_sdk.MotionControl, arg0: str) -> int + * + * @par Lua function prototype + * pathBufferFree(name: string) -> nil + * + * @par Lua example + * pathBufferFree("traje_name") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferFree","params":["rec"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":-5} + * + * \endenglish + */ + int pathBufferFree(const std::string &name); + + /** + * @ingroup MotionControl + * \chinese + * 关节空间路径滤波器 + * + * @brief pathBufferFilter + * + * @param name 缓存路径的名称 + * @param order　滤波器阶数(一般取2) + * @param fd　截止频率，越小越光滑，但是延迟会大(一般取3-20) + * @param fs　离散数据的采样频率(一般取20-500) + * + * @return 成功返回0 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * pathBufferFilter(self: pyaubo_sdk.MotionControl, arg0: str, arg1: int, + * arg2: float, arg3: float) -> int + * + * @par Lua函数原型 + * pathBufferFilter(name: string, order: number, fd: number, fs:number) -> + * nil + * + * @par Lua示例 + * pathBufferFilter("traje_name",2,5,125) + * + * \endchinese + * \english + * Joint space path filter + * + * @brief pathBufferFilter + * + * @param name Name of the path buffer + * @param order Filter order (usually 2) + * @param fd Cutoff frequency, the smaller the smoother but with more delay + * (usually 3-20) + * @param fs Sampling frequency of discrete data (usually 20-500) + * + * @return Returns 0 on success + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathBufferFilter(self: pyaubo_sdk.MotionControl, arg0: str, arg1: int, + * arg2: float, arg3: float) -> int + * + * @par Lua function prototype + * pathBufferFilter(name: string, order: number, fd: number, fs:number) -> + * nil + * + * @par Lua example + * pathBufferFilter("traje_name",2,5,125) + * + * \endenglish + */ + int pathBufferFilter(const std::string &name, int order, double fd, + double fs); + + /** + * @ingroup MotionControl + * \chinese + * 列出所有缓存路径的名字 + * + * @return 返回所有缓存路径的名字 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * pathBufferList(self: pyaubo_sdk.MotionControl) -> List[str] + * + * @par Lua函数原型 + * pathBufferList() -> table + * + * @par Lua示例 + * Buffer_table = pathBufferList() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferList","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[]} + * + * \endchinese + * \english + * List all cached path names + * + * @return Returns all cached path names + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathBufferList(self: pyaubo_sdk.MotionControl) -> List[str] + * + * @par Lua function prototype + * pathBufferList() -> table + * + * @par Lua example + * Buffer_table = pathBufferList() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.pathBufferList","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[]} + * + * \endenglish + */ + std::vector pathBufferList(); + + /** + * @ingroup MotionControl + * \chinese + * 执行缓存的路径 + * + * @param name 缓存路径的名字 + * @return 成功返回0；失败返回错误码 + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * movePathBuffer(self: pyaubo_sdk.MotionControl, arg0: str) -> int + * + * @par Lua函数原型 + * movePathBuffer(name: string) -> nil + * + * @par Lua示例 + * movePathBuffer("traje_name") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.movePathBuffer","params":["rec"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Execute the cached path + * + * @param name Name of the cached path + * @return Returns 0 on success; otherwise returns an error code + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * movePathBuffer(self: pyaubo_sdk.MotionControl, arg0: str) -> int + * + * @par Lua function prototype + * movePathBuffer(name: string) -> nil + * + * @par Lua example + * movePathBuffer("traje_name") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.movePathBuffer","params":["rec"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int movePathBuffer(const std::string &name); + + /** + * @ingroup MotionControl + * \chinese + * 相贯线接口 + * + * @param pose 由三个示教位姿组成(首先需要运动到起始点,起始点的要求:过主圆柱 + * 柱体轴心且与子圆柱体轴线平行的平面与子圆柱体在底部的交点) + * p1:过子圆柱体轴线且与大圆柱体轴线平行的平面,与小圆柱体在左侧顶部的交点 + * p2:过子圆柱体轴线且与大圆柱体轴线平行的平面,与大圆柱体在左侧底部的交点 + * p3:过子圆柱体轴线且与大圆柱体轴线平行的平面,与大圆柱体在右侧底部的交点 + * @param v 速度 + * @param a 加速度 + * @param main_pipe_radius 主圆柱体半径 + * @param sub_pipe_radius 子圆柱体半径 + * @param normal_distance 两圆柱体轴线距离 + * @param normal_alpha 两圆柱体轴线的夹角 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * moveIntersection(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float, arg3: float, arg4: float, arg5: float, arg6: float) + * -> int + * + * @par Lua函数原型 + * moveIntersection(poses: table, a: number, v: number, + * main_pipe_radius: number, sub_pipe_radius: number, normal_distance: + * number, normal_alpha: number) -> nil \endchinese \english Intersection + * interface + * + * @param poses Consists of three taught poses (first, move to the starting + * point. The starting point requirement: the intersection of the plane + * passing through the main cylinder axis and parallel to the sub-cylinder + * axis with the sub-cylinder at the bottom) p1: Intersection of the plane + * passing through the sub-cylinder axis and parallel to the main cylinder + * axis with the sub-cylinder at the left top p2: Intersection of the plane + * passing through the sub-cylinder axis and parallel to the main cylinder + * axis with the main cylinder at the left bottom p3: Intersection of the + * plane passing through the sub-cylinder axis and parallel to the main + * cylinder axis with the main cylinder at the right bottom + * @param v Velocity + * @param a Acceleration + * @param main_pipe_radius Main cylinder radius + * @param sub_pipe_radius Sub cylinder radius + * @param normal_distance Distance between the two cylinder axes + * @param normal_alpha Angle between the two cylinder axes + * + * @return Returns 0 on success; otherwise returns an error code + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * moveIntersection(self: pyaubo_sdk.MotionControl, arg0: List[float], arg1: + * float, arg2: float, arg3: float, arg4: float, arg5: float, arg6: float) + * -> int + * + * @par Lua function prototype + * moveIntersection(poses: table, a: number, v: number, + * main_pipe_radius: number, sub_pipe_radius: number, normal_distance: + * number, normal_alpha: number) -> nil \endenglish + */ + int moveIntersection(const std::vector> &poses, + double a, double v, double main_pipe_radius, + double sub_pipe_radius, double normal_distance, + double normal_alpha); + /** + * @ingroup MotionControl + * \chinese + * 关节空间停止运动 + * + * @param acc 关节加速度，单位: rad/s^2 + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * stopJoint(self: pyaubo_sdk.MotionControl, arg0: float) -> int + * + * @par Lua函数原型 + * stopJoint(acc: number) -> nil + * + * @par Lua示例 + * stopJoint(2) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.stopJoint","params":[31],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Stop motion in joint space + * + * @param acc Joint acceleration, unit: rad/s^2 + * @return Returns 0 on success; otherwise returns an error code + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * stopJoint(self: pyaubo_sdk.MotionControl, arg0: float) -> int + * + * @par Lua function prototype + * stopJoint(acc: number) -> nil + * + * @par Lua example + * stopJoint(2) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.stopJoint","params":[31],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int stopJoint(double acc); + + /** + * @ingroup MotionControl + * \chinese + * 关节空间停止运动(机械臂运行工程时发生碰撞,通过resumeSpeedJoint接口移动到安全位置后需要停止时调用此接口) + * + * @param acc 关节加速度，单位: rad/s^2 + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * resumeStopJoint(self: pyaubo_sdk.MotionControl, arg0: float) -> int + * + * @par Lua函数原型 + * resumeStopJoint(acc: number) -> nil + * + * @par Lua示例 + * resumeStopJoint(31) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.resumeStopJoint","params":[31],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":-1} + * + * \endchinese + * \english + * Stop motion in joint space (used after moving to a safe position via + * resumeSpeedJoint following a collision during process execution) + * + * @param acc Joint acceleration, unit: rad/s^2 + * @return Returns 0 on success; otherwise returns an error code + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * resumeStopJoint(self: pyaubo_sdk.MotionControl, arg0: float) -> int + * + * @par Lua function prototype + * resumeStopJoint(acc: number) -> nil + * + * @par Lua example + * resumeStopJoint(31) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.resumeStopJoint","params":[31],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":-1} + * + * \endenglish + */ + int resumeStopJoint(double acc); + + /** + * @ingroup MotionControl + * \chinese + * 停止 moveLine/moveCircle 等在笛卡尔空间的运动 + * + * @param acc 工具加速度, 单位: m/s^2 + * @param acc_rot + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * stopLine(self: pyaubo_sdk.MotionControl, arg0: float, arg1: float) -> int + * + * @par Lua函数原型 + * stopLine(acc: number, acc_rot: number) -> nil + * + * @par Lua示例 + * stopLine(10,10) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.stopLine","params":[10,10],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Stop motions in Cartesian space such as moveLine/moveCircle. + * + * @param acc Tool acceleration, unit: m/s^2 + * @param acc_rot + * @return Returns 0 on success; otherwise returns an error code + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * stopLine(self: pyaubo_sdk.MotionControl, arg0: float, arg1: float) -> int + * + * @par Lua function prototype + * stopLine(acc: number, acc_rot: number) -> nil + * + * @par Lua example + * stopLine(10,10) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.stopLine","params":[10,10],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int stopLine(double acc, double acc_rot); + + /** + * @ingroup MotionControl + * \chinese + * 笛卡尔空间停止运动(机械臂运行工程时发生碰撞,通过resumeSpeedLine接口移动到安全位置后需要停止时调用此接口) + * + * @param acc 位置加速度, 单位: m/s^2 + * @param acc_rot 姿态加速度，单位: rad/s^2 + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * resumeStopLine(self: pyaubo_sdk.MotionControl, arg0: float, arg1: float) + * -> int + * + * @par Lua函数原型 + * resumeStopLine(acc: number, acc_rot: number) -> nil + * + * @par Lua示例 + * resumeStopLine(10,10) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.resumeStopLine","params":[10,10],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":-1} + * + * \endchinese + * \english + * Stop motion in Cartesian space (used after moving to a safe position via + * resumeSpeedLine following a collision during process execution) + * + * @param acc Position acceleration, unit: m/s^2 + * @param acc_rot Orientation acceleration, unit: rad/s^2 + * @return Returns 0 on success; otherwise returns an error code + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * resumeStopLine(self: pyaubo_sdk.MotionControl, arg0: float, arg1: float) + * -> int + * + * @par Lua function prototype + * resumeStopLine(acc: number, acc_rot: number) -> nil + * + * @par Lua example + * resumeStopLine(10,10) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.resumeStopLine","params":[10,10],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":-1} + * + * \endenglish + */ + int resumeStopLine(double acc, double acc_rot); + + /** + * @ingroup MotionControl + * \chinese + * + * \warning 调用 weaveStart 前，需提前开启 RuntimeMachine 规划器 start。 + * + * 开始摆动：在 weaveStart 与 weaveEnd 之间的 + * moveLine/moveCircle/moveProcess 根据 params 执行摆动。 + * + * @param params Json 字符串。 + * + * @par 自 v0.29 起的字段 + * - "type": —— 波形类型："SINE" | + * "SPIRAL" | "TRIANGLE" | "TRAPEZOIDAL"（区分大小写）。 + * - "step": —— + * 相邻摆动采样的弧长步长，单位 m。 + * - "amplitude": [,] —— 摆弧幅度左右侧，单位 m。 + * - "hold_distance": [,] —— + * 在幅度峰值处沿路径的停留距离，单位 m。 + * - "hold_time": [,] —— + * 在幅度峰值处的停留时间，单位 s。 + * - "angle": —— + * 叠加方向与法平面的夹角，单位 rad。 + * - "direction": —— + * 起始摆动方向：0=上方，1=下方。 + * - "movep_uniform_vel": —— moveProcess + * 匀速规划，布尔量。 + * + * @par 自 v0.31 起 + * - 与 v0.29 相同。 + * + * @par 自 v0.32 起新增/变更 + * - "angle": [,] ——运动叠加方向与法平面的夹角，单位 rad。 + * - "frequency": —— 摆动频率，单位 Hz（范围[0.1, 5]）。 + * - "ori_weave_range": [,,] —— 姿态摆动范围 + * [x,y,z]，单位 rad；常与阿基米德螺旋用于力控搜孔。 + * - "ori_weave_frequency": [,,] —— 姿态摆动频率 + * [x,y,z]，单位 m^-1（按路径弧长计；范围 [0, 1]）。 + * - "adjust_cycle_num": —— + * 动态调节频率/幅值的过渡段数量。 + * - "azimuth": —— 摆焊波形方位角，单位 rad。 + * - "ridge_height": —— 中心上升高度，单位 m。 + * + * \warning 可使用关系 **frequency = vel / step** 与外部速度 vel 关联（vel + * 单位 m·s^-1）。 + * \warning **hold_time** 仅在 **SINE**下可用，且可左右不对称。 + * \warning "hold_distance"/"hold_time" 互斥，仅一个生效 + * + * \note + * - 数组约定："amplitude"/"hold_distance"/"hold_time" 为 + * [left,right]；"ori_weave_*" 为姿态 [x,y,z]。 + * - 所有角度均为弧度（rad）。 + * + * @return 成功返回0; 失败返回错误码 + * - AUBO_BUSY + * - AUBO_BAD_STATE + * - -AUBO_INVL_ARGUMENT + * - -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par 示例 v0.29/v0.31 + * \code{.json} + * params = { + * "type": "SINE", + * "step": 0.005, + * "amplitude": [0.01, 0.01], + * "hold_distance": [0.001, 0.001], + * "hold_time": [0, 0], + * "angle": 0, + * "direction": 0, + * "movep_uniform_vel": false + * } + * \endcode + * + * @par 示例 v0.32 + * \code{.json} + * params = { + * "type" : "SINE", // "SINE" "SPIRAL" "TRIANGLE" "SAWTOOTH" "CRESCENT" + * "step" : 0.0, // 可用 frequency = vel / step（vel: m·s^-1） + * "frequency" : 0.0, // [0.1, 5] Hz + * "amplitude" : [0.01, 0.01], // m + * "hold_distance" : [0.001, 0.001], // m + * "hold_time" : [0, 0], // s（仅 SINE） + * "angle" : [0, 0], // rad + * "direction" : 0, + * "ori_weave_range" : [0.001, 0.001, 0.001], // rad + * "ori_weave_frequency": [0.001, 0.001, 0.001], // m^-1 + * "adjust_cycle_num": 0, + * "azimuth" : 0, // rad + * "ridge_height" : 0 // m + * } + * \endcode + * + * @par Python 函数原型 + * \code{.py} + * weaveStart(self: pyaubo_sdk.MotionControl, arg0: str) -> int + * \endcode + * + * @par Python 示例 + * \code{.py} + * robot_name = rpc_cli.getRobotNames()[0] + * robot_interface = rpc_cli.getRobotInterface(robot_name) + * robot_interface.getMotionControl().weaveStart(params) + * \endcode + * + * @par Lua 函数原型 + * \code{.lua} + * weaveStart(params: string) -> nil + * \endcode + * + * @par Lua 示例（v0.29/0.31） + * \code{.lua} + * weaveStart("{\"type\":\"SINE\",\"step\":0.005,\"amplitude\":[0.01,0.01],\"hold_distance\":[0.001,0.001],\"hold_time\":[0,0],\"angle\":0,\"direction\":0,\"movep_uniform_vel\":false}") + * \endcode + * + * @par Lua 示例（v0.32） + * \code{.lua} + * weaveStart("{\"type\":\"SINE\",\"step\":0.0,\"frequency\":2.0,\"amplitude\":[0.01,0.01],\"hold_distance\":[0.001,0.001],\"hold_time\":[0,0],\"angle\":0,\"direction\":0,\"ori_weave_range\":[0.001,0.001,0.001],\"ori_weave_frequency\":[0.001,0.001,0.001],\"adjust_cycle_num\":0,\"azimuth\":0,\"ridge_height\":0}") + * \endcode + * + * @par JSON-RPC 请求示例（v0.29/0.31） + * \code{.json} + * {"jsonrpc":"2.0","method":"rob1.MotionControl.weaveStart","params":["{\"type\":\"SINE\",\"step\":0.005,\"amplitude\":[0.01,0.01],\"hold_distance\":[0.001,0.001],\"hold_time\":[0,0],\"angle\":0,\"direction\":0,\"movep_uniform_vel\":false}"],"id":1} + * \endcode + * + * @par JSON-RPC 请求示例（v0.32） + * \code{.json} + * {"jsonrpc":"2.0","method":"rob1.MotionControl.weaveStart","params":["{\"type\":\"SINE\",\"step\":0.0,\"frequency\":2.0,\"amplitude\":[0.01,0.01],\"hold_distance\":[0.001,0.001],\"hold_time\":[0,0],\"angle\":0,\"direction\":0,\"ori_weave_range\":[0.001,0.001,0.001],\"ori_weave_frequency\":[0.001,0.001,0.001],\"adjust_cycle_num\":0,\"azimuth\":0,\"ridge_height\":0}"],"id":1} + * \endcode + * + * @par JSON-RPC 响应示例 + * \code{.json} + * {"id":1,"jsonrpc":"2.0","result":0} + * \endcode + * \endchinese + * + * \english + * Start weaving: between weaveStart and weaveEnd, + * moveLine/moveCircle/moveProcess follows params. + * + * \warning Start RuntimeMachine before calling weaveStart. + * + * @param params Json string. + * + * @par Since v0.29 + * - "type": — Waveform: "SINE" | "SPIRAL" + * | "TRIANGLE" | "TRAPEZOIDAL" (case-sensitive). + * - "step": — Arc-length sampling step, + * m. + * - "amplitude": [,] — Left/right weave amplitude, + * m. + * - "hold_distance": [,] — Dwell distance at peak + * amplitude along path, m. + * - "hold_time": [,] — Dwell time at peak + * amplitude, s. + * - "angle": — Angle to normal plane, rad. + * - "direction": — Initial direction: 0=above + * path, 1=below path. + * - "movep_uniform_vel": — Uniform-velocity planning + * (boolean value). + * + * @par Since v0.31 + * - Same as v0.29. + * + * @par New/changed in v0.32 + * - "frequency": — Weave frequency, Hz (range + * [0.1, 5]). + * - "ori_weave_range": [,,] — Attitude weave + * range [x,y,z], rad; often used with Archimedean spiral for force-guided + * hole finding. + * - "ori_weave_frequency": [,,] — Attitude weave + * frequency [x,y,z], m^-1 (per unit arc; range [0, 1]). + * - "adjust_cycle_num": — Number of transition + * cycles. + * - "azimuth": — Waveform azimuth, rad. + * - "ridge_height": — Center raise height, m. + * + * \warning **hold_time** is supported for **SINE** only and may be + * asymmetric. \warning You may relate **frequency = vel / step** when an + * external path speed vel (m·s^-1) is available. + * + * \note + * - Two-element arrays are [left,right]; three-element arrays are attitude + * [x,y,z]. + * - All angles are in radians (rad). + * + * @return Returns 0 on success; otherwise returns an error code: + * - AUBO_BUSY + * - AUBO_BAD_STATE + * - -AUBO_INVL_ARGUMENT + * - -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Example v0.29/v0.31 + * \code{.json} + * params = { + * "type": "SINE", + * "step": 0.005, + * "amplitude": [0.01, 0.01], + * "hold_distance": [0.001, 0.001], + * "hold_time": [0, 0], + * "angle": 0, + * "direction": 0, + * "movep_uniform_vel": false + * } + * \endcode + * + * @par Example v0.32 + * \code{.json} + * params = { + * "type" : "SINE", // "SINE" "SPIRAL" "TRIANGLE" "TRAPEZOIDAL" + * "step" : 0.0, // frequency = vel / step (vel: m·s^-1) + * "frequency" : 0.0, // [0.1, 5] Hz + * "amplitude" : [0.01, 0.01], // m + * "hold_distance" : [0.001, 0.001], // m + * "hold_time" : [0, 0], // s (SINE only) + * "angle" : 0, // rad + * "direction" : 0, + * "ori_weave_range" : [0.001, 0.001, 0.001], // rad + * "ori_weave_frequency": [0.001, 0.001, 0.001], // m^-1 + * "adjust_cycle_num": 0, + * "azimuth" : 0, // rad + * "ridge_height" : 0 // m + * } + * \endcode + * + * @par Python function prototype + * \code{.py} + * weaveStart(self: pyaubo_sdk.MotionControl, arg0: str) -> int + * \endcode + * + * @par Python example + * \code{.py} + * robot_name = rpc_cli.getRobotNames()[0] + * robot_interface = rpc_cli.getRobotInterface(robot_name) + * robot_interface.getMotionControl().weaveStart(params) + * \endcode + * + * @par Lua function prototype + * \code{.lua} + * weaveStart(params: string) -> nil + * \endcode + * + * @par Lua example (v0.29/0.31) + * \code{.lua} + * weaveStart("{\"type\":\"SINE\",\"step\":0.005,\"amplitude\":[0.01,0.01],\"hold_distance\":[0.001,0.001],\"hold_time\":[0,0],\"angle\":0,\"direction\":0,\"movep_uniform_vel\":false}") + * \endcode + * + * @par Lua example (v0.32) + * \code{.lua} + * weaveStart("{\"type\":\"SINE\",\"step\":0.0,\"frequency\":2.0,\"amplitude\":[0.01,0.01],\"hold_distance\":[0.001,0.001],\"hold_time\":[0,0],\"angle\":0,\"direction\":0,\"ori_weave_range\":[0.001,0.001,0.001],\"ori_weave_frequency\":[0.001,0.001,0.001],\"adjust_cycle_num\":0,\"azimuth\":0,\"ridge_height\":0}") + * \endcode + * + * @par JSON-RPC request example (v0.29/0.31) + * \code{.json} + * {"jsonrpc":"2.0","method":"rob1.MotionControl.weaveStart","params":["{\"type\":\"SINE\",\"step\":0.005,\"amplitude\":[0.01,0.01],\"hold_distance\":[0.001,0.001],\"hold_time\":[0,0],\"angle\":0,\"direction\":0,\"movep_uniform_vel\":false}"],"id":1} + * \endcode + * + * @par JSON-RPC request example (v0.32) + * \code{.json} + * {"jsonrpc":"2.0","method":"rob1.MotionControl.weaveStart","params":["{\"type\":\"SINE\",\"step\":0.0,\"frequency\":2.0,\"amplitude\":[0.01,0.01],\"hold_distance\":[0.001,0.001],\"hold_time\":[0,0],\"angle\":0,\"direction\":0,\"ori_weave_range\":[0.001,0.001,0.001],\"ori_weave_frequency\":[0.001,0.001,0.001],\"adjust_cycle_num\":0,\"azimuth\":0,\"ridge_height\":0}"],"id":1} + * \endcode + * + * @par JSON-RPC response example + * \code{.json} + * {"id":1,"jsonrpc":"2.0","result":0} + * \endcode + * \endenglish + */ + int weaveStart(const std::string ¶ms); + + /** + * @ingroup MotionControl + * \chinese + * 结束摆动 + * + * @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 JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.weaveEnd","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * End weaving + * + * @return Returns 0 on success; otherwise returns an error code + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.weaveEnd","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int weaveEnd(); + + /** + * @ingroup MotionControl + * \chinese + * 设置未来路径上点的采样时间间隔 + * + * @param sample_time 采样时间间隔 单位: m/s^2 + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * \endchinese + * \english + * Set the sampling interval for points on the future path + * + * @param sample_time Sampling interval, unit: m/s^2 + * @return Returns 0 on success; otherwise returns an error code + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * \endenglish + */ + int setFuturePointSamplePeriod(double sample_time); + + /** + * @ingroup MotionControl + * \chinese + * 获取未来路径上的轨迹点 + * + * @return 路点(100ms * 10) + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getFuturePathPointsJoint","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[]} + * + * \endchinese + * \english + * Get trajectory points on the future path + * + * @return Waypoints (100ms * 10) + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getFuturePathPointsJoint","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[]} + * + * \endenglish + */ + std::vector> getFuturePathPointsJoint(); + + /** + * @ingroup MotionControl + * \chinese + * 设置传送带编码器参数 + * + * @param encoder_id 预留 + * @param tick_per_meter + * 线性传送带===>一米的脉冲值 + * 环形传送带===>一圈的脉冲值 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setConveyorTrackEncoder(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua函数原型 + * setConveyorTrackEncoder(encoder_id: bumber,tick_per_meter: number) -> int + * + * @par Lua示例 + * num = setConveyorTrackEncoder(1,40000) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackEncoder","params":[1,40000],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set conveyor encoder parameters + * + * @param encoder_id Reserved + * @param tick_per_meter + * Linear conveyor: pulses per meter + * Circular conveyor: pulses per revolution + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setConveyorTrackEncoder(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua function prototype + * setConveyorTrackEncoder(encoder_id: bumber,tick_per_meter: number) -> int + * + * @par Lua example + * num = setConveyorTrackEncoder(1,40000) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackEncoder","params":[1,40000],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setConveyorTrackEncoder(int encoder_id, int tick_per_meter); + /** + * @ingroup MotionControl + * \chinese + * 圆形传送带跟随 + * + * @note 暂未实现 + * + * @param encoder_id + * 0-集成传感器 + * @param rotate_tool + * @return + * + * @throws arcs::common_interface::AuboException + * \endchinese + * \english + * Circular conveyor tracking + * + * @note Not implemented yet + * + * @param encoder_id + * 0 - integrated sensor + * @param rotate_tool + * @return + * + * @throws arcs::common_interface::AuboException + * \endenglish + */ + int conveyorTrackCircle(int encoder_id, const std::vector ¢er, + bool rotate_tool); + + /** + * @ingroup MotionControl + * \chinese + * 线性传送带跟随 + * + * @param encoder_id 预留 + * @param direction 传送带相对机器人基坐标系的移动方向 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * conveyorTrackLine(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua函数原型 + * conveyorTrackLine -> int + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackLine","params":[1,[1.0,0.0,0.0,0.0,0.0,0.0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Linear conveyor tracking + * + * @param encoder_id Reserved + * @param direction The movement direction of the conveyor relative to the + * robot base coordinate system + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * conveyorTrackLine(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua function prototype + * conveyorTrackLine -> int + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackLine","params":[1,[1.0,0.0,0.0,0.0,0.0,0.0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int conveyorTrackLine(int encoder_id, const std::vector &direction); + + /** + * @ingroup MotionControl + * \chinese + * 终止传送带跟随 + * + * @param encoder_id 预留 + * @param a 预留 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * conveyorTrackStop(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua函数原型 + * conveyorTrackStop -> int + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackStop","params":[0,1.0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Stop conveyor tracking + * + * @param encoder_id Reserved + * @param a Reserved + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * conveyorTrackStop(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua function prototype + * conveyorTrackStop -> int + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackStop","params":[0,1.0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int conveyorTrackStop(int encoder_id, double a); + + /** + * @ingroup MotionControl + * \chinese + * 切换传送带追踪物品 + * 如果当前物品正在处于跟踪状态，则将该物品出队，不再跟踪，返回true + * 如果没有物品正在处于跟踪状态，返回false + * + * @return + * + * @throws arcs::common_interface::AuboException + * + * @param encoder_id 预留 + * + * @par Python函数原型 + * conveyorTrackSwitch(self: pyaubo_sdk.MotionControl) -> bool + * + * @par Lua函数原型 + * conveyorTrackSwitch() -> boolean + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackSwitch","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * + * \endchinese + * \english + * Switch conveyor tracking item. + * If the current item is being tracked, it will be dequeued and no longer + * tracked, returning true. If no item is currently being tracked, returns + * false. + * + * @return + * + * @throws arcs::common_interface::AuboException + * + * @param encoder_id Reserved + * + * @par Python function prototype + * conveyorTrackSwitch(self: pyaubo_sdk.MotionControl) -> bool + * + * @par Lua function prototype + * conveyorTrackSwitch() -> boolean + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackSwitch","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * + * \endenglish + */ + bool conveyorTrackSwitch(int encoder_id); + + /** + * @ingroup MotionControl + * \chinese + * 传送带上是否有物品可以跟踪 + * @param encoder_id 预留 + * @return + * 如果队列第一个物品为跟踪状态，返回true + * 如果队列第一个物品不为跟踪状态，则对队列中其余物品进行是否在启动窗口内的判断 + * 超出启动窗口则出队，直到有物品处于启动窗口内，使其变为跟踪状态返回true， + * 队列中没有一个物品在启动窗口内返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * hasItemOnConveyorToTrack(self: pyaubo_sdk.MotionControl) -> bool + * + * @par Lua函数原型 + * hasItemOnConveyorToTrack() -> boolean + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.hasItemOnConveyorToTrack","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":{true}} + * \endchinese + * \english + * Whether there is an item on the conveyor that can be tracked + * @param encoder_id Reserved + * @return + * If the first item in the queue is in tracking state, returns true. + * If the first item is not in tracking state, checks the rest of the queue + * for items within the start window. Items outside the start window are + * dequeued until an item is found within the window, which is then set to + * tracking state and returns true. If no item in the queue is within the + * start window, returns false. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * hasItemOnConveyorToTrack(self: pyaubo_sdk.MotionControl) -> bool + * + * @par Lua function prototype + * hasItemOnConveyorToTrack() -> boolean + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.hasItemOnConveyorToTrack","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":{true}} + * \endenglish + */ + bool hasItemOnConveyorToTrack(int encoder_id); + + /** + * @ingroup MotionControl + * \chinese + * 增加传送带队列 + * + * @param encoder_id 预留 + * @param item_id 物品ID + * @param offset 当前物品点位相对于模板物品点位的偏移值 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * conveyorTrackCreatItem(self: pyaubo_sdk.MotionControl, arg0: int, + * arg1:int, arg2: List[float]) -> int + * + * @par Lua函数原型 + * conveyorTrackCreatItem(encoder_id: number, item_id: number, offset: + * table) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackCreatItem","params":[0,2, + * {0.0,0.0,0.0,0.0,0.0,0.0}],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.0} + * \endchinese + * \english + * Add an item to the conveyor queue + * + * @param encoder_id Reserved + * @param item_id Item ID + * @param offset Offset of the current item position relative to the + * template item position + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * conveyorTrackCreatItem(self: pyaubo_sdk.MotionControl, arg0: int, + * arg1:int, arg2: List[float]) -> int + * + * @par Lua function prototype + * conveyorTrackCreatItem(encoder_id: number, item_id: number, offset: + * table) -> number + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackCreatItem","params":[0,2, + * {0.0,0.0,0.0,0.0,0.0,0.0}],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.0} + * \endenglish + */ + int conveyorTrackCreatItem(int encoder_id, int item_id, + const std::vector &offset); + /** + * @ingroup MotionControl + * \chinese + * 设置传送带跟踪的补偿值 + * + * @param encoder_id 预留 + * @param comp 传送带补偿值 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setConveyorTrackCompensate(self: pyaubo_sdk.MotionControl, arg0: int, + * arg1: float) -> int + * + * @par Lua函数原型 + * setConveyorTrackCompensate(comp: number) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackCompensate","params":[0, + * 0.1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set the compensation value for conveyor tracking + * + * @param encoder_id Reserved + * @param comp Conveyor compensation value + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setConveyorTrackCompensate(self: pyaubo_sdk.MotionControl, arg0: int, + * arg1: float) -> int + * + * @par Lua function prototype + * setConveyorTrackCompensate(comp: number) -> number + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackCompensate","params":[0, + * 0.1],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setConveyorTrackCompensate(int encoder_id, double comp); + + /** + * @ingroup MotionControl + * \chinese + * 判断传送带与机械臂之间是否达到相对静止 + * + * @param encoder_id 预留 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isConveyorTrackSync(self: pyaubo_sdk.MotionControl, arg0: int) -> bool + * + * @par Lua函数原型 + * isConveyorTrackSync(encoder_id: number) -> bool + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isConveyorTrackSync","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * + * \endchinese + * \english + * Determine whether the conveyor and the robot arm have reached relative + * rest + * + * @param encoder_id Reserved + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isConveyorTrackSync(self: pyaubo_sdk.MotionControl, arg0: int) -> bool + * + * @par Lua function prototype + * isConveyorTrackSync(encoder_id: number) -> bool + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isConveyorTrackSync","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * + * \endenglish + */ + bool isConveyorTrackSync(int encoder_id); + + /** + * @ingroup MotionControl + * \chinese + * 设置传送带跟踪的最大距离限制 + * + * @param encoder_id 预留 + * @param limit + * 传送带跟踪的最大距离限制,单位：米 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setConveyorTrackLimit(self: pyaubo_sdk.MotionControl, arg0: int, arg1: + * double) -> int + * + * @par Lua函数原型 + * setConveyorTrackLimit(encoder_id: number, limit: number) -> int + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackLimit","params":[0, + * 1.5],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set the maximum distance limit for conveyor tracking + * + * @param encoder_id Reserved + * @param limit + * Maximum distance limit for conveyor tracking, unit: meter + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setConveyorTrackLimit(self: pyaubo_sdk.MotionControl, arg0: int, arg1: + * double) -> int + * + * @par Lua function prototype + * setConveyorTrackLimit(encoder_id: number, limit: number) -> int + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackLimit","params":[0, + * 1.5],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setConveyorTrackLimit(int encoder_id, double limit); + + /** + * @ingroup MotionControl + * \chinese + * 设置传送带跟踪的启动窗口 + * + * @param encoder_id 预留 + * @param min_window + * 启动窗口的起始位置,单位：米 + * @param max_window + * 启动窗口的结束位置,单位：米 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setConveyorTrackStartWindow(self: pyaubo_sdk.MotionControl, arg0: int, + * arg1: double, arg2: double) -> int + * + * @par Lua函数原型 + * setConveyorTrackStartWindow(encoder_id: number, min_window: number, + * max_window: number) -> int + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackStartWindow","params":[0, + * 0.2, 1.0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set the start window for conveyor tracking + * + * @param encoder_id Reserved + * @param min_window + * Start position of the window, unit: meter + * @param max_window + * End position of the window, unit: meter + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setConveyorTrackStartWindow(self: pyaubo_sdk.MotionControl, arg0: int, + * arg1: double, arg2: double) -> int + * + * @par Lua function prototype + * setConveyorTrackStartWindow(encoder_id: number, min_window: number, + * max_window: number) -> int + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackStartWindow","params":[0, + * 0.2, 1.0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setConveyorTrackStartWindow(int encoder_id, double window_min, + double window_max); + + /** + * @ingroup MotionControl + * \chinese + * 设置传送带示教位置到同步开关之间的距离 + * + * @param encoder_id 预留 + * @param offset + * 传送带示教位置到同步开关之间的距离,单位：米 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setConveyorTrackSensorOffset(self: pyaubo_sdk.MotionControl, arg0: int, + * arg1: double) -> int + * + * @par Lua函数原型 + * setConveyorTrackSensorOffset(encoder_id: number, offset: number) -> int + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackSensorOffset","params":[0, + * 0.2],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set the distance from the conveyor teaching position to the sync switch + * + * @param encoder_id Reserved + * @param offset + * Distance from the conveyor teaching position to the sync switch, unit: + * meter + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setConveyorTrackSensorOffset(self: pyaubo_sdk.MotionControl, arg0: int, + * arg1: double) -> int + * + * @par Lua function prototype + * setConveyorTrackSensorOffset(encoder_id: number, offset: number) -> int + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackSensorOffset","params":[0, + * 0.2],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setConveyorTrackSensorOffset(int encoder_id, double offset); + + /** + * @ingroup MotionControl + * \chinese + * 设置传送带同步分离，用于过滤掉同步开关中不需要的信号 + * + * @param encoder_id 预留 + * @param distance + * 从出现一个同步信号后到把一个新的同步信号接受为一个有效对象前走的最短距离,单位：米 + * @param time + * 从出现一个同步信号后到把一个新的同步信号接受为一个有效对象前走的最短时间,单位：秒 + * + * distance和time设置数值大于0即为生效 + * 当distance与time同时设置时，优先生效distance + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setConveyorTrackSyncSeparation(self: pyaubo_sdk.MotionControl, arg0: int, + * arg1: double, arg2: double) -> int + * + * @par Lua函数原型 + * setConveyorTrackSyncSeparation(encoder_id: number, distance: number, + * time: number) -> int + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackSyncSeparation","params":[0, + * 0.05, 0.2],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set conveyor sync separation, used to filter out unwanted signals from + * the sync switch. + * + * @param encoder_id Reserved + * @param distance + * The minimum distance to travel after a sync signal appears before + * accepting a new sync signal as a valid object, unit: meter + * @param time + * The minimum time to elapse after a sync signal appears before accepting a + * new sync signal as a valid object, unit: second + * + * If distance and time are both set greater than 0, the setting takes + * effect. If both distance and time are set, distance takes precedence. + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setConveyorTrackSyncSeparation(self: pyaubo_sdk.MotionControl, arg0: int, + * arg1: double, arg2: double) -> int + * + * @par Lua function prototype + * setConveyorTrackSyncSeparation(encoder_id: number, distance: number, + * time: number) -> int + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackSyncSeparation","params":[0, + * 0.05, 0.2],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setConveyorTrackSyncSeparation(int encoder_id, double distance, + double time); + + /** + * @ingroup MotionControl + * \chinese + * 设置传送带运行速度阈值，用于过滤掉编码器突变值导致的位置突变 + * + * @param encoder_id 预留 + * @param threshold + * 传送带运行时期望容许的最大速度(默认为0.2),单位：米/秒 + * + * + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setConveyorTrackVelThreshold(self: pyaubo_sdk.MotionControl, arg0: int, + * arg1: double) -> int + * + * @par Lua函数原型 + * setConveyorTrackVelThreshold(encoder_id: number, threshold: number) -> + * int + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackVelThreshold","params":[0, + * 0.2],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set the conveyor velocity threshold used to suppress position jumps + * caused by abnormal encoder spikes. + * + * @param encoder_id Reserved + * @param threshold + * The maximum allowable conveyor speed during operation, unit: + * meter/second. Default: 0.2 m/s. + * + * @return + * 0 on success; otherwise a non-zero error code. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setConveyorTrackVelThreshold(self: pyaubo_sdk.MotionControl, arg0: int, + * arg1: double) -> int + * + * @par Lua function prototype + * setConveyorTrackVelThreshold(encoder_id: number, threshold: number) -> + * int + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorTrackVelThreshold","params":[0, + * 0.2],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setConveyorTrackVelThreshold(int encoder_id, double threshold); + + /** + * \chinese + * 传送带上工件的移动距离是否超过最大限值 + * + * @param encoder_id 预留 + * @return + * true : 移动距离超过了最大限值 + * false : 移动距离没有超过了最大限值 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isConveyorTrackExceed(self: pyaubo_sdk.MotionControl, arg0: int) -> bool + * + * @par Lua函数原型 + * isConveyorTrackExceed(encoder_id: number) -> bool + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isConveyorTrackExceed","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * \endchinese + * \english + * Whether the workpiece on the conveyor has moved beyond the maximum limit + * + * @param encoder_id Reserved + * @return + * true : The movement distance exceeds the maximum limit + * false : The movement distance does not exceed the maximum limit + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isConveyorTrackExceed(self: pyaubo_sdk.MotionControl, arg0: int) -> bool + * + * @par Lua function prototype + * isConveyorTrackExceed(encoder_id: number) -> bool + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isConveyorTrackExceed","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * \endenglish + */ + bool isConveyorTrackExceed(int encoder_id); + + /** + * @ingroup MotionControl + * \chinese + * 清空传动带队列中的所有对象 + * + * @param encoder_id 预留 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * conveyorTrackClearItems(self: pyaubo_sdk.MotionControl, arg0: int) -> int + * + * @par Lua函数原型 + * conveyorTrackClearItems(encoder_id: number) -> int + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackClearItems","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Clear all items in the conveyor queue + * + * @param encoder_id Reserved + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * conveyorTrackClearItems(self: pyaubo_sdk.MotionControl, arg0: int) -> int + * + * @par Lua function prototype + * conveyorTrackClearItems(encoder_id: number) -> int + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.conveyorTrackClearItems","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int conveyorTrackClearItems(int encoder_id); + + /** + * @ingroup MotionControl + * \chinese + * 设置传动带x(encoder_id)来料检测IO + * + * @param encoder_id 传送带id + * @param io_type 触发IO类型 + * @param io_index 触发IO索引 + * @param trig_edge 触发沿 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setConveyorItemTrigIO(self: pyaubo_sdk.MotionControl, arg0: int, arg1: + * int, arg2: int, arg3: bool) -> int + * + * @par Lua函数原型 + * setConveyorItemTrigIO(encoder_id: number, io_type: number, io_index: + * number, trig_edge:bool) -> int + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorItemTrigIO","params":[0, + * 0, 1, true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set incoming material detection IO for conveyor x (encoder_id) + * + * @param encoder_id conveyor id + * @param io_type trig IO type + * @param io_index trig IO index + * @param trig_edge trig IO edge + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setConveyorItemTrigIO(self: pyaubo_sdk.MotionControl, arg0: int, arg1: + * int, arg2: int, arg3: bool) -> int + * + * @par Lua function prototype + * setConveyorItemTrigIO(encoder_id: number, io_type: number, io_index: + * number, trig_edge:bool) -> int + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setConveyorItemTrigIO","params":[0, + * 0, 1, true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setConveyorItemTrigIO(int encoder_id, RobotIOType io_type, int io_index, + bool trig_edge); + + /** + * @ingroup MotionControl + * \chinese + * 获取传送带队列的编码器值 + * + * @param encoder_id 预留 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getConveyorTrackQueue(self: pyaubo_sdk.MotionControl, arg0: int) -> + * List[int] + * @par Lua函数原型 + * getConveyorTrackQueue(encoder_id: number) -> table + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getConveyorTrackQueue","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":{[-500,-200,150,-50]}} + * \endchinese + * \english + * Get encoder values of the conveyor queue + * + * @param encoder_id Reserved + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getConveyorTrackQueue(self: pyaubo_sdk.MotionControl, arg0: int) -> + * List[int] + * @par Lua function prototype + * getConveyorTrackQueue(encoder_id: number) -> table + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getConveyorTrackQueue","params":[0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":{[-500,-200,150,-50]}} + * \endenglish + */ + std::vector getConveyorTrackQueue(int encoder_id); + /** + * \chinese + * 获取下一个跟踪的传送带物品的id + * + * @param encoder_id 预留 + * @return + * 返回物品id，没有next item返回 -1 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getConveyorTrackNextItem(self: pyaubo_sdk.MotionControl, arg0: int) -> + * int + * @par Lua函数原型 + * getConveyorTrackNextItem(encoder_id: number) -> int + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getConveyorTrackNextItem","params":[0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":{10}} + * \endchinese + * \english + * Get the ID of the next item on the conveyor to be tracked + * + * @param encoder_id Reserved + * @return + * Returns the item ID; returns -1 if there is no next item + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getConveyorTrackNextItem(self: pyaubo_sdk.MotionControl, arg0: int) -> + * int + * @par Lua function prototype + * getConveyorTrackNextItem(encoder_id: number) -> int + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getConveyorTrackNextItem","params":[0],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":{10}} + * \endenglish + */ + + int getConveyorTrackNextItem(int encoder_id); + + /** + * @ingroup MotionControl + * \chinese + * 螺旋线运动 + * + * @param param 封装的参数 + * @param blend_radius + * @param v + * @param a + * @param t + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.moveSpiral", + * "params":[{"spiral":0.005,"helix":0.005,"angle":18.84,"plane":0,"frame":[0,0,0,0,0,0]},0,0.25,1.2,0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Spiral motion + * + * @param param Encapsulated parameters + * @param blend_radius + * @param v + * @param a + * @param t + * @return Returns 0 on success; otherwise returns an error code + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.moveSpiral", + * "params":[{"spiral":0.005,"helix":0.005,"angle":18.84,"plane":0,"frame":[0,0,0,0,0,0]},0,0.25,1.2,0],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int moveSpiral(const SpiralParameters ¶m, double blend_radius, double v, + double a, double t); + + /** + * @ingroup MotionControl + * \chinese + * 获取前瞻段数 + * + * @return 返回前瞻段数 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getLookAheadSize(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua函数原型 + * getLookAheadSize() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getLookAheadSize","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1} + * + * \endchinese + * \english + * Get look-ahead segment size + * + * @return Returns the look-ahead segment size + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getLookAheadSize(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua function prototype + * getLookAheadSize() -> number + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getLookAheadSize","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1} + * + * \endenglish + */ + int getLookAheadSize(); + + /** + * @ingroup MotionControl + * \chinese + * 设置前瞻段数 + * 1.对于有较高速度平稳性要求的任务,如数控加工,涂胶,焊接等匀速需求,较长的前瞻段数可以提供更优的速度规划,产生的运动会更加平滑; + * 2.对于快速响应的抓取类任务,更倾向于较短的前瞻段数,以提高反应速度,但可能因为进给的路径不够及时导致速度波动很大. + * + * @return 成功返回0 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setLookAheadSize(self: pyaubo_sdk.MotionControl, arg0: int) -> int + * + * @par Lua函数原型 + * setLookAheadSize(eqradius: number) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setLookAheadSize","params":[1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set look-ahead segment size + * 1. For tasks requiring high speed smoothness, such as CNC machining, + * gluing, welding, etc., a longer look-ahead segment size can provide + * better speed planning and smoother motion. + * 2. For fast-response tasks such as picking, a shorter look-ahead segment + * size is preferred to improve response speed, but may cause large speed + * fluctuations due to insufficiently timely path feeding. + * + * @return Returns 0 on success + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setLookAheadSize(self: pyaubo_sdk.MotionControl, arg0: int) -> int + * + * @par Lua function prototype + * setLookAheadSize(eqradius: number) -> number + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setLookAheadSize","params":[1],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setLookAheadSize(int size); + + /** + * @ingroup MotionControl + * \chinese + * 更新摆动过程中的频率和振幅 + * + * @param params Json字符串用于定义摆动参数 + * { + * "frequency": , + * "amplitude": {,} + * } + * + * @return 成功返回0 + * + * @throws arcs::common_interface::AuboException + * \endchinese + * \english + * Update frequency and amplitude during weaving process + * + * @param params Json string used to define weaving parameters + * { + * "frequency": , + * "amplitude": {,} + * } + * + * @return Returns 0 on success + * + * @throws arcs::common_interface::AuboException + * \endenglish + */ + int weaveUpdateParameters(const std::string ¶ms); + + /** + * @ingroup MotionControl + * \chinese + * 设置关节电流环刚度系数 + * + * @param stiffness 各个关节刚度系数，百分比。[0 -> 1]，值越大，表现为越硬。 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * enableJointSoftServo(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> + * int + * + * @par Lua函数原型 + * enableJointSoftServo(stiffness: table) -> int + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.enableJointSoftServo","params":[[0.0,0.0,0.0,0.0,0.0,0.0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set joint current loop stiffness coefficient + * + * @param stiffness Stiffness coefficient for each joint, as a percentage [0 + * -> 1]. The larger the value, the stiffer the joint. + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * enableJointSoftServo(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> + * int + * + * @par Lua function prototype + * enableJointSoftServo(stiffness: table) -> int + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.enableJointSoftServo","params":[[0.0,0.0,0.0,0.0,0.0,0.0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int enableJointSoftServo(const std::vector &stiffness); + + /** + * @ingroup MotionControl + * \chinese + * 关闭关节电流环刚度系数 + * + * @return 返回0表示成功，其他为错误码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * disableJointSoftServo(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua函数原型 + * disableJointSoftServo() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.disableJointSoftServo","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1} + * \endchinese + * \english + * Disable joint current loop stiffness coefficient + * + * @return Returns 0 on success, otherwise error code + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * disableJointSoftServo(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua function prototype + * disableJointSoftServo() -> number + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.disableJointSoftServo","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1} + * \endenglish + */ + int disableJointSoftServo(); + + /** + * @ingroup MotionControl + * \chinese + * 判断关节电流环刚度系数是否使能 + * + * @return 已使能返回true，反之则返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isJointSoftServoEnabled(self: pyaubo_sdk.MotionControl) -> bool + * + * @par Lua函数原型 + * isJointSoftServoEnabled() -> boolean + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isJointSoftServoEnabled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1} + * \endchinese + * \english + * Determine whether the joint current loop stiffness coefficient is + * enabled. + * + * @return Returns true if enabled, otherwise returns false. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isJointSoftServoEnabled(self: pyaubo_sdk.MotionControl) -> bool + * + * @par Lua function prototype + * isJointSoftServoEnabled() -> boolean + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isJointSoftServoEnabled","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1} + * \endenglish + */ + bool isJointSoftServoEnabled(); + + /** + * @ingroup MotionControl + * \chinese + * 打开振动抑制 + * + * @param omega 振动抑制频率,长度一般为笛卡尔维度或关节自由度.为0时关闭抑制 + * \n + * @param zeta 振动抑制阻尼比,长度一般为笛卡尔维度或关节自由度.为0时关闭抑制 + * \n + * @param level + * 振动抑制等级(1~3),等级越高抑制效果越明显响应速度相应变慢.等级0关闭振动抑制 + * \n + * @retval 0 成功 + * @retval AUBO_BAD_STATE(1) 当前安全模式处于非 + * Normal、ReducedMode、Recovery 状态 + * @retval AUBO_QUEUE_FULL(2) 规划队列已满 + * @retval AUBO_BUSY(3) 上一条指令正在执行中 + * @retval -AUBO_BAD_STATE(-1) + * 可能的原因包括但不限于：线程已分离、线程被终止、task_id + * 未找到，或者当前机器人模式非 Running + * @retval -AUBO_TIMEOUT(-4) 调用接口超时 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * enableVibrationSuppress(self: pyaubo_sdk.MotionControl, arg0: + * list[float], arg1: list[float], arg2: int) -> int + * + * @par Lua函数原型 + * enableVibrationSuppress(omega: table, zeta: table, level: number) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.enableVibrationSuppress","params":[[0.5,0.5,0.5,0.5,0.5,0.5],[0.5,0.5,0.5,0.5,0.5,0.5],2],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + */ + int enableVibrationSuppress(const std::vector &omega, + const std::vector &zeta, int level); + /** + * @ingroup MotionControl + * \chinese + * 关闭振动抑制 + * + * @return 已使能返回true，反之则返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * disbaleVibrationSuppress(self: pyaubo_sdk.MotionControl) -> int + * + * @par Lua函数原型 + * disbaleVibrationSuppress() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.disbaleVibrationSuppress","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1} + * \endchinese + */ + int disbaleVibrationSuppress(); + + /** + * @ingroup MotionControl + * \chinese + * 设置时间最优算法 默认关闭 + * + * @param enable + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * setTimeOptimalEnable() -> bool + * + * @par Lua示例 + * setTimeOptimalEnable(true) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setTimeOptimalEnable","params":[true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * + * @param enable + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * setTimeOptimalEnable() -> number + * + * @par Lua example + * setTimeOptimalEnable(true) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setTimeOptimalEnable","params":[true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setTimeOptimalEnable(bool enable); + + /** + * @ingroup MotionControl + * \chinese + * 获取时间最优算法状态： + * true - 开启 + * false - 关闭 + * + * @return 返回时间最优算法状态 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isTimeOptimalEnabled(self: pyaubo_sdk.MotionControl) -> float + * + * @par Lua函数原型 + * isTimeOptimalEnabled() -> number + * + * @par Lua 示例 + * num = isTimeOptimalEnabled() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isTimeOptimalEnabled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1.0} + * \endchinese + * \english + * Get the time optimal algorithm state: + * true - enable + * false - disable + * + * @return Returns the time optimal algorithm state + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isTimeOptimalEnabled(self: pyaubo_sdk.MotionControl) -> bool + * + * @par Lua function prototype + * isTimeOptimalEnabled() -> boolean + * + * @par Lua example + * flag = isTimeOptimalEnabled() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isTimeOptimalEnabled","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * \endenglish + */ + bool isTimeOptimalEnabled(); + + /** + * @ingroup MotionControl + * \chinese + * 获取是否支持时间最优算法： + * true - 支持 + * false - 不支持 + * + * @return 返回是否支持时间最优算法 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isTimeOptimalEnabled(self: pyaubo_sdk.MotionControl) -> bool + * + * @par Lua函数原型 + * isSupportedTimeOptimal() -> boolean + * + * @par Lua 示例 + * num = isSupportedTimeOptimal() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isSupportedTimeOptimal","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1.0} + * \endchinese + * \english + * Check whether the time optimal algorithm is supported + * true - supported + * false - not supported + * + * @return Return whether the time-optimal algorithm is supported + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isSupportedTimeOptimal(self: pyaubo_sdk.MotionControl) -> bool + * + * @par Lua function prototype + * isSupportedTimeOptimal() -> boolean + * + * @par Lua example + * flag = isSupportedTimeOptimal() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isSupportedTimeOptimal","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * \endenglish + */ + bool isSupportedTimeOptimal(); + + /** + * @ingroup MotionControl + * \chinese + * 设置TCP最大线速度 + * + * @param v TCP最大线速度值，单位为m/s（米/秒） + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * setTcpMaxLinearVelocity(number) -> number + * + * @par Lua示例 + * setTcpMaxLinearVelocity(0.5) -- 设置TCP最大线速度为0.5米/秒 + * + * @par Python函数原型 + * setTcpMaxLinearVelocity(v: float) -> int + * + * @par Python示例 + * setTcpMaxLinearVelocity(0.5) -- 设置TCP最大线速度为0.5米/秒 + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setTcpMaxLinearVelocity","params":[0.5],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set TCP maximum linear velocity + * + * @param v TCP maximum linear velocity value, unit is m/s + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * setTcpMaxLinearVelocity(number) -> number + * + * @par Lua example + * setTcpMaxLinearVelocity(0.5) -- Set TCP maximum linear velocity to 0.5 + * meters per second + * + * @par Python function prototype + * setTcpMaxLinearVelocity(v: float) -> int + * + * @par Python example + * setTcpMaxLinearVelocity(0.5) -- Set TCP maximum linear velocity to 0.5 + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setTcpMaxLinearVelocity","params":[0.5],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setTcpMaxLinearVelocity(double v); + + /** + * @ingroup MotionControl + * \chinese + * 获取TCP最大线速度 + * + * @return 当前TCP最大线速度值，单位为m/s（米/秒） + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * getTcpMaxLinearVelocity() -> number + * + * @par Lua示例 + * local v = getTcpMaxLinearVelocity() -- 获取TCP最大线速度 + * + * @par Python函数原型 + * getTcpMaxLinearVelocity() -> float + * + * @par Python示例 + * v = getTcpMaxLinearVelocity() # 获取TCP最大线速度 + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getTcpMaxLinearVelocity","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.5} + * \endchinese + * \english + * Get TCP maximum linear velocity + * + * @return Current TCP maximum linear velocity value, unit is m/s + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * getTcpMaxLinearVelocity() -> number + * + * @par Lua example + * local v = getTcpMaxLinearVelocity() -- Get TCP maximum linear velocity + * + * @par Python function prototype + * getTcpMaxLinearVelocity() -> float + * + * @par Python example + * v = getTcpMaxLinearVelocity() # Get TCP maximum linear velocity + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getTcpMaxLinearVelocity","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.5} + * \endenglish + */ + double getTcpMaxLinearVelocity(); + + /** + * @ingroup MotionControl + * \chinese + * 重置 TCP 最大线速度 + * + * 清除通过 setTcpMaxLinearVelocity 接口设置的 TCP 最大线速度覆盖值 + * + * @return 成功返回 0；失败返回错误码 + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * resetTcpMaxLinearVelocity() -> number + * + * @par Lua示例 + * resetTcpMaxLinearVelocity() -- 重置 TCP 最大线速度为安全配置中的值 + * + * @par Python函数原型 + * resetTcpMaxLinearVelocity() -> int + * + * @par Python示例 + * resetTcpMaxLinearVelocity() -- 重置 TCP 最大线速度为安全配置中的值 + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.resetTcpMaxLinearVelocity","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * + * \english + * Reset TCP maximum linear velocity + * + * Clear the TCP maximum linear velocity override set by + * setTcpMaxLinearVelocity + * + * @return Returns 0 on success; error code on failure. + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * resetTcpMaxLinearVelocity() -> number + * + * @par Lua example + * resetTcpMaxLinearVelocity() -- Reset TCP maximum linear velocity to + * the value in the safety configuration + * + * @par Python function prototype + * resetTcpMaxLinearVelocity() -> int + * + * @par Python example + * resetTcpMaxLinearVelocity() -- Reset TCP maximum linear velocity + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.resetTcpMaxLinearVelocity","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int resetTcpMaxLinearVelocity(); + + /** + * @ingroup MotionControl + * \chinese + * 设置轨迹终止点（以当前轨迹段为界） + * + * 显式指定以当前正在执行的轨迹段为边界，终止后续轨迹段的交融（blending）。 + * 当前轨迹段将完整执行完毕，但不会与后续轨迹进行速度或位置上的平滑过渡， + * 后续轨迹段将被视为新的独立轨迹起点。 + * + * 该接口不会触发急停，也不会中断当前轨迹段的执行，仅影响轨迹段之间的交融行为。 + * + * @return 成功返回 0；失败返回错误码 + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * setEndPath() -> number + * + * @par Lua示例 + * setEndPath() -- 以当前轨迹段为界，终止后续轨迹交融 + * + * @par Python函数原型 + * setEndPath() -> int + * + * @par Python示例 + * setEndPath() # 以当前轨迹段为界，终止后续轨迹交融 + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setEndPath","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * + * \english + * Set end path (terminate blending at current trajectory segment) + * + * Explicitly specifies the currently executing trajectory segment as the + * boundary at which trajectory blending is terminated. The current + * trajectory segment will be executed completely, but no velocity or + * position blending will be applied with subsequent trajectory segments. + * + * This interface does not trigger an emergency stop and does not interrupt + * the execution of the current trajectory segment. It only affects the + * blending behavior between trajectory segments. + * + * @return Returns 0 on success; error code on failure. + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * setEndPath() -> number + * + * @par Lua example + * setEndPath() -- Terminate trajectory blending at the current segment + * + * @par Python function prototype + * setEndPath() -> int + * + * @par Python example + * setEndPath() # Terminate trajectory blending at the current segment + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setEndPath","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setEndPath(); + + /** + * @ingroup MotionControl + * \chinese + * 获取当前摆焊轨迹点方向 + * + * 获取机器人当前执行轨迹点在摆焊（Weave）运动中的方向状态， + * 用于指示该点位于摆焊坐标系 Y 轴的正半轴或负半轴区域。 + * + * 当机器人正在执行摆焊轨迹时，该接口返回当前摆焊点所属的摆动方向， + * 可用于判断摆焊运动处于正向摆动阶段或反向摆动阶段。 + * + * 当机器人未执行摆焊轨迹时，该接口返回 0。 + * + * 该接口为状态查询接口，不会影响当前轨迹执行，也不会改变机器人运动状态。 + * + * @return 返回当前摆焊方向，对应 WeaveDirection 枚举值： + * - 0 : NONE 当前未执行摆焊轨迹 + * - 1 : POSITIVE 当前位于摆焊坐标系 Y 轴正半轴区域 + * - 2 : NEGATIVE 当前位于摆焊坐标系 Y 轴负半轴区域 + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * getWeaveDirection() -> number + * + * @par Lua示例 + * local dir = getWeaveDirection() + * if dir == 1 then + * -- 正方向摆动 + * elseif dir == 2 then + * -- 负方向摆动 + * end + * + * @par Python函数原型 + * getWeaveDirection() -> int + * + * @par Python示例 + * dir = getWeaveDirection() + * if dir == 1: + * # positive direction + * pass + * elif dir == 2: + * # negative direction + * pass + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getWeaveDirection","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1} + * + * \endchinese + * + * \english + * Get current weave trajectory direction + * + * Retrieves the directional state of the current trajectory point during + * weave motion, indicating whether the point is located on the positive or + * negative side of the weave coordinate system Y-axis. + * + * When no weave trajectory is active, this interface returns 0. + * + * This is a state query interface and does not affect trajectory execution + * or robot motion. + * + * @return Returns current weave direction corresponding to WeaveDirection + * enum: + * - 0 : NONE No active weave trajectory + * - 1 : POSITIVE Positive Y-axis side + * - 2 : NEGATIVE Negative Y-axis side + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * getWeaveDirection() -> number + * + * @par Lua example + * local dir = getWeaveDirection() + * + * @par Python function prototype + * getWeaveDirection() -> int + * + * @par Python example + * dir = getWeaveDirection() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getWeaveDirection","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1} + * + * \endenglish + */ + int getWeaveDirection(); + + /** + * @ingroup MotionControl + * \chinese + * 获取是否开启融合半径自适应增大功能 + * + * @return true-开启，false-关闭 + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * isAdaptiveBlendRadiusEnabled() -> bool + * + * @par Lua示例 + * local ret = isAdaptiveBlendRadiusEnabled() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isAdaptiveBlendRadiusEnabled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * \endchinese + * \english + * Get whether adaptive blend radius increase is enabled + * + * @return true - enabled, false - disabled + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * isAdaptiveBlendRadiusEnabled() -> bool + * + * @par Lua example + * local ret = isAdaptiveBlendRadiusEnabled() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isAdaptiveBlendRadiusEnabled","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * \endenglish + */ + bool isAdaptiveBlendRadiusEnabled(); + + /** + * @ingroup MotionControl + * \chinese + * 设置是否开启融合半径自适应增大功能，默认关闭 + * + * @param enable true-开启，false-关闭 + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * setAdaptiveBlendRadiusEnable() -> number + * + * @par Lua示例 + * setAdaptiveBlendRadiusEnable(true) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setAdaptiveBlendRadiusEnable","params":[true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Enable or disable adaptive blend radius increase function, disabled by + * default + * + * @param enable true - enable, false - disable + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * setAdaptiveBlendRadiusEnable() -> number + * + * @par Lua example + * setAdaptiveBlendRadiusEnable(true) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.MotionControl.setAdaptiveBlendRadiusEnable","params":[true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setAdaptiveBlendRadiusEnable(bool enable); + +protected: + void *d_; +}; +using MotionControlPtr = std::shared_ptr; +} // namespace common_interface +} // namespace arcs + +#endif // AUBO_SDK_MOTION_CONTROL_INTERFACE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/robot_algorithm.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/robot_algorithm.h new file mode 100644 index 00000000..99d51c33 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/robot_algorithm.h @@ -0,0 +1,2372 @@ +/** @file robot_algorithm.h + * @brief 机器人算法相关的对外接口 + */ +#ifndef AUBO_SDK_ROBOT_ALGORITHM_INTERFACE_H +#define AUBO_SDK_ROBOT_ALGORITHM_INTERFACE_H + +#include +#include +#include +#include + +#include +#include + +namespace arcs { +namespace common_interface { + +// clang-format off + +/** + * \chinese + * @defgroup RobotAlgorithm RobotAlgorithm (机器人算法工具) + * @ingroup RobotInterface + * \endchinese + * + * \english + * @defgroup RobotAlgorithm Robot Algorithm Tool + * @ingroup RobotInterface + * \endenglish + * + * \chinese + * 机器人算法相关的对外接口 + * \endchinese + * \english + * Interfaces related to robot algorithms + * \endenglish + */ +class ARCS_ABI_EXPORT RobotAlgorithm +{ +public: + RobotAlgorithm(); + virtual ~RobotAlgorithm(); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 力传感器标定算法(三点标定法) + * + * @param force 力数据 + * @param q 关节角度 + * @return 标定结果 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * calibrateTcpForceSensor(self: pyaubo_sdk.RobotAlgorithm, arg0: + * List[List[float]], arg1: List[List[float]]) -> Tuple[List[float], + * List[float], float, List[float]] + * + * @par Lua函数原型 + * calibrateTcpForceSensor(force: table, q: table) -> table + * + * @par Lua示例 + * cal_table = calibrateTcpForceSensor({10.0,10.0,10.0,-1.2,-1.2,-1.2}, {3.083,1.227,1.098,0.670,-1.870,-0.397}) + * + * \endchinese + * \english + * Force sensor calibration algorithm (three-point calibration method) + * + * @param force Force data + * @param q Joint angles + * @return Calibration result + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * calibrateTcpForceSensor(self: pyaubo_sdk.RobotAlgorithm, arg0: + * List[List[float]], arg1: List[List[float]]) -> Tuple[List[float], + * List[float], float, List[float]] + * + * @par Lua function prototype + * calibrateTcpForceSensor(force: table, q: table) -> table + * + * @par Lua example + * cal_table = calibrateTcpForceSensor({10.0,10.0,10.0,-1.2,-1.2,-1.2}, {3.083,1.227,1.098,0.670,-1.870,-0.397}) + * + * \endenglish + */ + ForceSensorCalibResult calibrateTcpForceSensor( + const std::vector> &forces, + const std::vector> &poses); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 力传感器标定算法(三点标定法) + * @param forces + * @param poses + * @return force_offset, com, mass, angle error + * + * @throws arcs::common_interface::AuboException + * \endchinese + * \english + * Force sensor calibration algorithm (three-point calibration method) + * @param forces + * @param poses + * @return force_offset, com, mass, angle error + * + * @throws arcs::common_interface::AuboException + * \endenglish + */ + ForceSensorCalibResultWithError calibrateTcpForceSensor2( + const std::vector> &forces, + const std::vector> &poses); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 力传感器偏置标定算法 + * + * @param force 力数据 + * @param poses 位姿 + * @param mass 质量, 单位: kg + * @param cog 重心, 单位: m, 形式为(CoGx, CoGy, CoGz) + * @return 标定结果 + * + * @throws arcs::common_interface::AuboException + * \endchinese + * \english + * Force sensor offset calibration algorithm + * + * @param forces Force data + * @param poses + * @param m Mass, unit: kg + * @param cog Center of gravity, unit: m, format (CoGx, CoGy, CoGz) + * @return Calibration result + * + * @throws arcs::common_interface::AuboException + * \endenglish + */ + ResultWithErrno calibrateTcpForceSensor3( + const std::vector> &forces, + const std::vector> &poses, const double &mass, + const std::vector&cog); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 基于电流的负载辨识算法接口 + * + * 需要采集空载时运行激励轨迹的位置、速度、电流以及带负载时运行激励轨迹的位置、速度、电流 + * + * @param data_file_no_payload + * 空载时运行激励轨迹各关节数据的文件路径（.csv格式），共18列，依次为6个关节位置、6个关节速度、6个关节电流 + * @param data_file_with_payload + * 带负载运行激励轨迹各关节数据的文件路径（.csv格式），共18列，依次为6个关节位置、6个关节速度、6个关节电流 + * @return 辨识的结果 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * payloadIdentify(self: pyaubo_sdk.RobotAlgorithm, arg0: List[List[float]], + * arg1: List[List[float]]) -> Tuple[List[float], List[float], float, + * List[float]] + * + * @par Lua函数原型 + * payloadIdentify(data_with_payload: table, data_with_payload: table) -> + * table + * \endchinese + * \english + * Payload identification algorithm interface based on current + * + * Requires collecting position, velocity, and current data when running the excitation trajectory without load, as well as with load. + * + * @param data_file_no_payload + * File path of joint data when running the excitation trajectory without load (.csv format), 18 columns in total: 6 joint positions, 6 joint velocities, 6 joint currents + * @param data_file_with_payload + * File path of joint data when running the excitation trajectory with load (.csv format), 18 columns in total: 6 joint positions, 6 joint velocities, 6 joint currents + * @return Identification result + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * payloadIdentify(self: pyaubo_sdk.RobotAlgorithm, arg0: List[List[float]], + * arg1: List[List[float]]) -> Tuple[List[float], List[float], float, + * List[float]] + * + * @par Lua function prototype + * payloadIdentify(data_with_payload: table, data_with_payload: table) -> + * table + * \endenglish + */ + int payloadIdentify(const std::string &data_file_no_payload, + const std::string &data_file_with_payload); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 新版基于电流的负载辨识算法接口 + * + * 需要采集带载时运行最少三个点的位置、速度、加速度、电流、温度、末端传感器数据、底座数据 + * + * @param data + * 带负载的各关节数据的文件路径（.csv格式），共42列，末端传感器数据、底座数据默认为0 + * @return 辨识的结果 + * \endchinese + * \english + * New version of payload identification algorithm interface based on current + * + * Requires collecting at least three points of position, velocity, acceleration, current, temperature, end sensor data, and base data when running with load + * + * @param data + * File path of joint data with load (.csv format), 42 columns in total, end sensor data and base data default to 0 + * @return Identification result + * \endenglish + */ + int payloadIdentify1(const std::string &file_name); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 负载辨识是否计算完成 + * @return 完成返回0; 正在进行中返回1; 计算失败返回<0; + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.payloadCalculateFinished","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Whether payload identification calculation is finished + * @return 0 if finished; 1 if in progress; <0 if failed; + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.payloadCalculateFinished","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int payloadCalculateFinished(); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 获取负载辨识结果 + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.getPayloadIdentifyResult","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,[],[],[]]} + * + * \endchinese + * \english + * Get the result of payload identification + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.getPayloadIdentifyResult","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,[],[],[]]} + * + * \endenglish + */ + Payload getPayloadIdentifyResult(); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 关节摩擦力模型辨识算法接口 + * + * @param q 关节角度 + * @param qd 关节速度 + * @param qdd 关节加速度 + * @param temp 关节温度 + * @return 是否辨识成功 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * frictionModelIdentify(self: pyaubo_sdk.RobotAlgorithm, arg0: + * List[List[float]], arg1: List[List[float]], arg2: List[List[float]], + * arg3: List[List[float]]) -> bool + * + * @par Lua函数原型 + * frictionModelIdentify(q: table, qd: table, qdd: table, temp: table) -> + * boolean + * + * @par Lua示例 + * Identify_result = frictionModelIdentify({3.083,1.227,1.098,0.670,-1.870,-0.397}, + * {10.0,10.0,10.0,10.0,10.0,10.0},{20.0,20.0,20.0,20.0,20.0,20.0},{30.0,30.0,30.0,30.0,30.0,30.0}) + * + * \endchinese + * \english + * Joint friction model identification algorithm interface + * + * @param q Joint positions + * @param qd Joint velocities + * @param qdd Joint accelerations + * @param temp Joint temperatures + * @return Whether identification succeeded + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * frictionModelIdentify(self: pyaubo_sdk.RobotAlgorithm, arg0: + * List[List[float]], arg1: List[List[float]], arg2: List[List[float]], + * arg3: List[List[float]]) -> bool + * + * @par Lua function prototype + * frictionModelIdentify(q: table, qd: table, qdd: table, temp: table) -> + * boolean + * + * @par Lua example + * Identify_result = frictionModelIdentify({3.083,1.227,1.098,0.670,-1.870,-0.397}, + * {10.0,10.0,10.0,10.0,10.0,10.0},{20.0,20.0,20.0,20.0,20.0,20.0},{30.0,30.0,30.0,30.0,30.0,30.0}) + * + * \endenglish + */ + bool frictionModelIdentify(const std::vector> &q, + const std::vector> &qd, + const std::vector> &qdd, + const std::vector> &temp); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 工件坐标系标定算法接口(需要在调用之前正确的设置机器人的TCP偏移) + * 输入多组关节角度和标定类型，输出工件坐标系位姿(相对于机器人基坐标系) + * + * @param q 关节角度 + * @param type 标定类型 + * @return 计算结果(工件坐标系位姿)以及错误代码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * calibWorkpieceCoordinatePara(self: pyaubo_sdk.RobotAlgorithm, arg0: + * List[List[float]], arg1: int) -> Tuple[List[float], int] + * + * @par Lua函数原型 + * calibWorkpieceCoordinatePara(q: table, type: number) -> table, number + * + * @par Lua示例 + * coord_pose,coord_num = calibWorkpieceCoordinatePara({3.083,1.227,1.098,0.670,-1.870,-0.397},1) + * + * \endchinese + * \english + * Workpiece coordinate calibration algorithm interface (requires correct TCP offset set before calling) + * Input multiple sets of joint angles and calibration type, output workpiece coordinate pose (relative to robot base) + * + * @param q Joint angles + * @param type Calibration type + * @return Calculation result (workpiece coordinate pose) and error code + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * calibWorkpieceCoordinatePara(self: pyaubo_sdk.RobotAlgorithm, arg0: + * List[List[float]], arg1: int) -> Tuple[List[float], int] + * + * @par Lua function prototype + * calibWorkpieceCoordinatePara(q: table, type: number) -> table, number + * + * @par Lua example + * coord_pose,coord_num = calibWorkpieceCoordinatePara({3.083,1.227,1.098,0.670,-1.870,-0.397},1) + * + * \endenglish + */ + ResultWithErrno calibWorkpieceCoordinatePara( + const std::vector> &q, int type); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 动力学正解 + * + * @param q 关节角 + * @param torqs + * @return 计算结果以及错误代码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * forwardDynamics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: + * List[float]) -> Tuple[List[float], int] + * + * @par Lua函数原型 + * forwardDynamics(q: table, torqs: table) -> table, number + * + * @par Lua示例 + * Dynamics, fk_result = forwardDynamics({3.083,1.227,1.098,0.670,-1.870,-0.397},{0.0,0.0,0.0,0.0,0.0,0.0}) + * + * \endchinese + * \english + * Forward dynamics + * + * @param q Joint angles + * @param torqs + * @return Calculation result and error code + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * forwardDynamics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: + * List[float]) -> Tuple[List[float], int] + * + * @par Lua function prototype + * forwardDynamics(q: table, torqs: table) -> table, number + * + * @par Lua example + * Dynamics, fk_result = forwardDynamics({3.083,1.227,1.098,0.670,-1.870,-0.397},{0.0,0.0,0.0,0.0,0.0,0.0}) + * + * \endenglish + */ + ResultWithErrno forwardDynamics(const std::vector &q, + const std::vector &torqs); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 动力学正解，基于给定的TCP偏移 + * + * @param q 关节角 + * @param torqs + * @param tcp_offset TCP偏移 + * @return 计算结果以及错误代码，同forwardDynamics + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * forwardDynamics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: + * List[float], arg2: List[float]) -> Tuple[List[float], int] + * + * @par Lua函数原型 + * forwardDynamics1(q: table, torqs: table, tcp_offset: table) -> table, number + * + * @par Lua示例 + * Dynamics, fk_result = forwardDynamics1({3.083,1.227,1.098,0.670,-1.870,-0.397},{0.0,0.0,0.0,0.0,0.0,0.0},{0.0,0.13201,0.03879,0,0,0}) + * + * \endchinese + * \english + * Forward dynamics based on the given TCP offset + * + * @param q Joint angles + * @param torqs + * @param tcp_offset TCP offset + * @return Calculation result and error code, same as forwardDynamics + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * forwardDynamics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: + * List[float], arg2: List[float]) -> Tuple[List[float], int] + * + * @par Lua function prototype + * forwardDynamics1(q: table, torqs: table, tcp_offset: table) -> table, number + * + * @par Lua example + * Dynamics, fk_result = forwardDynamics1({3.083,1.227,1.098,0.670,-1.870,-0.397},{0.0,0.0,0.0,0.0,0.0,0.0},{0.0,0.13201,0.03879,0,0,0}) + * + * \endenglish + */ + ResultWithErrno forwardDynamics1(const std::vector &q, + const std::vector &torqs, + const std::vector &tcp_offset); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 运动学正解, 基于激活的TCP偏移(最近的通过 setTcpOffset 设置的参数) + * 输入关节角度，输出TCP位姿 + * + * @param q 关节角 + * @return TCP位姿和正解结果是否有效 + * 返回值的第一个参数为正解结果，第二个为正解错误码，错误码返回值列表如下 + * 0 - 成功 + * -1 - 机械臂状态不对(未初始化完成，可尝试再次调用) + * -5 - 输入的关节角无效(维度错误) + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * forwardKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float]) -> + * Tuple[List[float], int] + * + * @par Lua函数原型 + * forwardKinematics(q: table) -> table, number + * + * @par Lua示例 + * pose, fk_result = forwardKinematics({3.083,1.227,1.098,0.670,-1.870,-0.397}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematics","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[0.7137448715395925,0.08416057568819092,0.6707994191515292,2.4599818776908724,0.4789772388601265,1.6189630435878408],0]} + * \endchinese + * \english + * Forward kinematics, based on the activated TCP offset (the most recently set via setTcpOffset) + * Input joint angles, output TCP pose + * + * @param q Joint angles + * @return TCP pose and whether the result is valid + * The first parameter of the return value is the forward kinematics result, the second is the error code. Error codes are as follows: + * 0 - Success + * -1 - The status of the robot is incorrect (not initialized yet, you can try calling it again) + * -5 - The input joint angles is invalid (dimension error) + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * forwardKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float]) -> + * Tuple[List[float], int] + * + * @par Lua function prototype + * forwardKinematics(q: table) -> table, number + * + * @par Lua example + * pose, fk_result = forwardKinematics({3.083,1.227,1.098,0.670,-1.870,-0.397}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematics","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[[0.7137448715395925,0.08416057568819092,0.6707994191515292,2.4599818776908724,0.4789772388601265,1.6189630435878408],0]} + * \endenglish + */ + ResultWithErrno forwardKinematics(const std::vector &q); + /** + * @ingroup RobotAlgorithm + * \chinese + * 外部轴轴组协同正解。 + * + * @param q 机械臂关节角 + * @param axis_q 外部轴关节位置 + * @return TCP 在工件坐标系下的位姿和正解结果是否有效 + * \endchinese + * \english + * Coordinated forward kinematics with an external axis group. + * + * @param q Robot joint angles + * @param axis_q External axis joint positions + * @return TCP pose in workpiece frame and whether the result is valid + * \endenglish + */ + ResultWithErrno forwardKinematicsWithAxisGroup( + const std::vector &q, const std::vector &axis_q); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 运动学正解 + * 输入关节角度，输出TCP位姿 + * @param q 关节角 + * @param tcp_offset tcp偏移 + * @return TCP位姿和正解结果是否有效 + * 返回值的第一个参数为正解结果，第二个为正解错误码，错误码返回值列表如下 + * 0 - 成功 + * -1 - 机械臂状态不对(未初始化完成，可尝试再次调用) + * -5 - 输入的关节角或tcp偏移无效(维度错误) + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * forwardKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], + * arg1: List[float]) -> Tuple[List[float], int] + * + * @par Lua函数原型 + * forwardKinematics1(q: table, tcp_offset: table) -> table, number + * + * @par Lua示例 + * pose, fk_result = forwardKinematics1({3.083,1.227,1.098,0.670,-1.870,-0.397},{0.0,0.13201,0.03879,0,0,0}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematics1","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],[0.0, + * 0.13201,0.03879,0,0,0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[0.7137636726659518,0.0837705432006433,0.6710022027216355,2.459981877690872,0.4789772388601267,1.6189630435878408],0]} + * + * @since 0.24.1 + * \endchinese + * \english + * Forward kinematics + * Input joint angles, output TCP pose + * + * @param q Joint angles + * @param tcp_offset TCP offset + * @return TCP pose and whether the result is valid + * The first parameter of the return value is the forward kinematics result, the second is the error code. Error codes are as follows: + * 0 - Success + * -1 - The status of the robot is incorrect (not initialized yet, you can try calling it again) + * -5 - The input joint angles or tcp offset is invalid (dimension error) + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * forwardKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], + * arg1: List[float]) -> Tuple[List[float], int] + * + * @par Lua function prototype + * forwardKinematics1(q: table, tcp_offset: table) -> table, number + * + * @par Lua example + * pose, fk_result = forwardKinematics1({3.083,1.227,1.098,0.670,-1.870,-0.397},{0.0,0.13201,0.03879,0,0,0}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematics1","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],[0.0, + * 0.13201,0.03879,0,0,0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[[0.7137636726659518,0.0837705432006433,0.6710022027216355,2.459981877690872,0.4789772388601267,1.6189630435878408],0]} + * + * @since 0.24.1 + * \endenglish + */ + ResultWithErrno forwardKinematics1(const std::vector &q, + const std::vector &tcp_offset); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 运动学正解(忽略 TCP 偏移值) + * + * @param q 关节角 + * @return 法兰盘中心位姿和正解结果是否有效 + * 返回值的第一个参数为正解结果，第二个为正解错误码，错误码返回值列表如下 + * 0 - 成功 + * -1 - 机械臂状态不对(未初始化完成，可尝试再次调用) + * -5 - 输入的关节角无效(维度错误) + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * forwardToolKinematics(q: table) -> table, number + * + * @par Lua示例 + * pose, fk_result = forwardToolKinematics({3.083,1.227,1.098,0.670,-1.870,-0.397}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardToolKinematics","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[0.5881351149440136,0.05323734739426938,0.623922550656701,2.4599818776908724,0.4789772388601265,1.6189630435878408],0]} + * \endchinese + * \english + * Forward kinematics (ignoring TCP offset) + * + * @param q Joint angles + * @return Flange center pose and whether the result is valid + * The first parameter of the return value is the forward kinematics result, the second is the error code. Error codes are as follows: + * 0 - Success + * -1 - The status of the robot is incorrect (not initialized yet, you can try calling it again) + * -5 - The input joint angles is invalid (dimension error) + * + * @par Lua function prototype + * forwardToolKinematics(q: table) -> table, number + * + * @par Lua example + * pose, fk_result = forwardToolKinematics({3.083,1.227,1.098,0.670,-1.870,-0.397}) + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardToolKinematics","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[[0.5881351149440136,0.05323734739426938,0.623922550656701,2.4599818776908724,0.4789772388601265,1.6189630435878408],0]} + * \endenglish + */ + ResultWithErrno forwardToolKinematics(const std::vector &q); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 运动学正解, 基于激活的TCP偏移(最近的通过 setTcpOffset 设置的参数) + * 输入关节角度，输出各连杆位姿 + * + * @param q 关节角 + * @return 各个连杆位姿和正解结果是否有效 + * 返回值的第一个参数为正解结果，第二个为正解错误码，错误码返回值列表如下 + * 0 - 成功 + * -1 - 机械臂状态不对(未初始化完成，可尝试再次调用) + * -5 - 输入的关节角无效(维度错误) + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * forwardKinematicsAll(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float]) -> + * Tuple[List[List[float]], int] + * + * @par Lua函数原型 + * forwardKinematicsAll(q: table) -> table, number + * + * @par Lua示例 + * poses, fk_result = forwardKinematicsAll({3.083,1.227,1.098,0.670,-1.870,-0.397}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematicsAll","params":{"q":[-7.32945e-11,-0.261799,1.74533,0.436332,1.5708,-2.14136e-10]},"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[[0.0010004,0.0,0.122,0.0,0.0,3.141592653589793], + * [0.0010003999910823934,-0.12166795404953117,0.12205392567412496,1.5690838552993878,-1.3089969602251492,0.0016541204887245322], + * [0.10659809449330016,-0.12166124765791932,0.5161518260534821,-1.5718540206872664,0.43633111081725523,-0.002370419930605744], + * [0.4482255342315581,-0.1226390142692,0.3568490758201224,-0.000788980482890453,1.5665204619271216,-1.5719618592940798], + * [0.5519603828181741,-0.12282266347465487,0.35639753697117343,1.5707938201843654,0.0042721909279596635,1.569044569428874], + * [0.5513243939877184,-0.12401224959696328,0.2615193425222568,-3.1349118101994096,0.004272190926529066,1.569044569643007], + * [0.7494883076798231,-0.025647479212994567,-0.04023458911333461,-3.1349118101994096,0.004272190926529066,1.569044569643007]],0]} + * \endchinese + * \english + * Forward kinematics, based on the activated TCP offset (the most recently set via setTcpOffset) + * Input joint angles, output links poses + * + * @param q Joint angles + * @return links poses and whether the result is valid + * The first parameter of the return value is the forward kinematics result, the second is the error code. Error codes are as follows: + * 0 - Success + * -1 - The status of the robot is incorrect (not initialized yet, you can try calling it again) + * -5 - The input joint angles is invalid (dimension error) + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * forwardKinematicsAll(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float]) -> + * Tuple[List[List[float]], int] + * + * @par Lua function prototype + * forwardKinematicsAll(q: table) -> table, number + * + * @par Lua example + * pose, fk_result = forwardKinematicsAll({3.083,1.227,1.098,0.670,-1.870,-0.397}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.forwardKinematicsAll","params":{"q":[-7.32945e-11,-0.261799,1.74533,0.436332,1.5708,-2.14136e-10]},"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[[[0.0010004,0.0,0.122,0.0,0.0,3.141592653589793], + * [0.0010003999910823934,-0.12166795404953117,0.12205392567412496,1.5690838552993878,-1.3089969602251492,0.0016541204887245322], + * [0.10659809449330016,-0.12166124765791932,0.5161518260534821,-1.5718540206872664,0.43633111081725523,-0.002370419930605744], + * [0.4482255342315581,-0.1226390142692,0.3568490758201224,-0.000788980482890453,1.5665204619271216,-1.5719618592940798], + * [0.5519603828181741,-0.12282266347465487,0.35639753697117343,1.5707938201843654,0.0042721909279596635,1.569044569428874], + * [0.5513243939877184,-0.12401224959696328,0.2615193425222568,-3.1349118101994096,0.004272190926529066,1.569044569643007], + * [0.7494883076798231,-0.025647479212994567,-0.04023458911333461,-3.1349118101994096,0.004272190926529066,1.569044569643007]],0]} + * \endenglish + */ + ResultWithErrno1 forwardKinematicsAll(const std::vector &q); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 运动学逆解 + * 输入TCP位姿和参考关节角度，输出关节角度 + * + * @param qnear 参考关节角 + * @param pose TCP位姿 + * @return 关节角和逆解结果是否有效 + * 返回值的第一个参数为逆解结果，第二个为逆解错误码，错误码返回列表如下 + * 0 - 成功 + * -1 - 机械臂状态不对(未初始化完成，可尝试再次调用) + * -5 - 输入的参考关节角或TCP位姿无效(维度错误) + * -23 - 逆解计算不收敛，计算出错 + * -24 - 逆解计算超出机器人最大限制 + * -25 - 逆解输入配置存在错误 + * -26 - 逆解雅可比矩阵计算失败 + * -27 - 目标点存在解析解，但均不满足选解条件 + * -28 - 逆解返回未知类型错误 + * 若错误码非0,则返回值的第一个参数为输入参考关节角qnear + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * inverseKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], + * arg1: List[float]) -> Tuple[List[float], int] + * + * @par Lua函数原型 + * inverseKinematics(qnear: table, pose: table) -> table, int + * + * @par Lua示例 + * joint,ik_result = inverseKinematics({0,0,0,0,0,0},{0.81665,-0.20419,0.43873,-3.135,0.004,1.569}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematics","params":[[0,0,0,0,0,0],[0.71374,0.08417,0.6708,2.46,0.479,1.619]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],0]} + * \endchinese + * \english + * Inverse kinematics + * Input TCP pose and reference joint angles, output joint angles + * + * @param qnear Reference joint angles + * @param pose TCP pose + * @return Joint angles and whether the inverse kinematics result is valid + * The first parameter of the return value is the inverse kinematics result, the second is the error code. Error codes are as follows: + * 0 - Success + * -1 - The status of the robot is incorrect (not initialized yet, you can try calling it again) + * -5 - The input reference joint angles or tcp pose is invalid (dimension error) + * -23 - Inverse kinematics calculation does not converge, calculation error + * -24 - Inverse kinematics calculation exceeds robot limits + * -25 - Inverse kinematics input configuration error + * -26 - Inverse kinematics Jacobian calculation failed + * -27 - Analytical solution exists but none satisfy the selection criteria + * -28 - Unknown error in inverse kinematics + * If the error code is not 0, the first parameter of the return value is the input reference joint angles qnear + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * inverseKinematics(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], + * arg1: List[float]) -> Tuple[List[float], int] + * + * @par Lua function prototype + * inverseKinematics(qnear: table, pose: table) -> table, int + * + * @par Lua example + * joint,ik_result = inverseKinematics({0,0,0,0,0,0},{0.81665,-0.20419,0.43873,-3.135,0.004,1.569}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematics","params":[[0,0,0,0,0,0],[0.71374,0.08417,0.6708,2.46,0.479,1.619]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],0]} + * \endenglish + */ + ResultWithErrno inverseKinematics(const std::vector &qnear, + const std::vector &pose); + /** + * @ingroup RobotAlgorithm + * \chinese + * 外部轴轴组协同逆解。 + * + * @param qnear 机械臂参考关节角 + * @param axis_q 外部轴关节位置 + * @param pose TCP 在工件坐标系下的目标位姿 + * @return 机械臂关节角和逆解结果是否有效 + * \endchinese + * \english + * Coordinated inverse kinematics with an external axis group. + * + * @param qnear Robot reference joint angles + * @param axis_q External axis joint positions + * @param pose Target TCP pose in workpiece frame + * @return Robot joint angles and whether the result is valid + * \endenglish + */ + ResultWithErrno inverseKinematicsWithAxisGroup( + const std::vector &qnear, const std::vector &axis_q, + const std::vector &pose); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 运动学逆解 + * 输入TCP位姿和参考关节角度，输出关节角度 + * + * @param qnear 参考关节角 + * @param pose TCP位姿 + * @param tcp_offset TCP偏移 + * @return 关节角和逆解结果是否有效，同 inverseKinematics + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * inverseKinematics1(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], + * arg1: List[float], arg2: List[float]) -> Tuple[List[float], int] + * + * @par Lua函数原型 + * inverseKinematics1(qnear: table, pose: table, tcp_offset: table) -> table, int + * + * @par Lua示例 + * joint,ik_result = inverseKinematics1({0,0,0,0,0,0},{0.81665,-0.20419,0.43873,-3.135,0.004,1.569},{0.04,-0.035,0.1,0,0,0}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematics1","params":[[0,0,0,0,0,0],[0.71374,0.08417,0.6708,2.46,0.479,1.619],[0.0, + * 0.13201,0.03879,0,0,0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[3.084454549595208,1.2278265883747776,1.0986586440159576,0.6708221281915528,-1.8712459848518375,-0.3965111476861782],0]} + * \endchinese + * \english + * Inverse kinematics + * Input TCP pose and reference joint angles, output joint angles + * + * @param qnear Reference joint angles + * @param pose TCP pose + * @param tcp_offset TCP offset + * @return Joint angles and whether the result is valid, same as inverseKinematics + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * inverseKinematics1(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], + * arg1: List[float], arg2: List[float]) -> Tuple[List[float], int] + * + * @par Lua function prototype + * inverseKinematics1(qnear: table, pose: table, tcp_offset: table) -> table, int + * + * @par Lua example + * joint,ik_result = inverseKinematics1({0,0,0,0,0,0},{0.81665,-0.20419,0.43873,-3.135,0.004,1.569},{0.04,-0.035,0.1,0,0,0}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematics1","params":[[0,0,0,0,0,0],[0.71374,0.08417,0.6708,2.46,0.479,1.619],[0.0, + * 0.13201,0.03879,0,0,0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[[3.084454549595208,1.2278265883747776,1.0986586440159576,0.6708221281915528,-1.8712459848518375,-0.3965111476861782],0]} + * \endenglish + */ + ResultWithErrno inverseKinematics1(const std::vector &qnear, + const std::vector &pose, + const std::vector &tcp_offset); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 同构型最小关节变化逆解 + * 按照 qnear 的机械臂构型计算目标 TCP 位姿逆解，并在同构型逆解中选择相对 qnear 关节变化最小的一组 + * 基于激活的 TCP 偏移(最近的通过 setTcpOffset 设置的参数) + * + * @param qnear 参考关节角 + * @param pose TCP位姿，基于激活的 TCP 偏移(最近的通过 setTcpOffset 设置的参数) + * @return 关节角和逆解结果是否有效 + * 返回值的第一个参数为逆解结果，第二个为逆解错误码，错误码返回列表如下 + * 0 - 成功 + * -1 - 机械臂状态不对(未初始化完成，可尝试再次调用) + * -5 - 输入的参考关节角或TCP位姿无效(维度错误) + * -23 - 逆解计算不收敛，计算出错 + * -24 - 逆解计算超出机器人最大限制 + * -25 - 逆解输入配置存在错误 + * -26 - 逆解雅可比矩阵计算失败 + * -27 - 目标点存在解析解，但均不满足同构型最小关节变化选解条件 + * -28 - 逆解返回未知类型错误 + * 若错误码非0,则返回值的第一个参数为输入参考关节角qnear + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * inverseKinematics2(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], + * arg1: List[float]) -> Tuple[List[float], int] + * + * @par Lua函数原型 + * inverseKinematics2(qnear: table, pose: table) -> table, int + * + * @par Lua示例 + * joint,ik_result = inverseKinematics2({0,0,0,0,0,0},{0.81665,-0.20419,0.43873,-3.135,0.004,1.569}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematics2","params":[[0,0,0,0,0,0],[0.71374,0.08417,0.6708,2.46,0.479,1.619]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],0]} + * \endchinese + * \english + * Inverse kinematics with the same robot configuration and minimum joint change + * Calculate the inverse kinematics solution for the target TCP pose according to the robot configuration of qnear, and select the solution with the minimum joint change relative to qnear among solutions with the same configuration. + * This interface is based on the activated TCP offset, which is the latest parameter set by setTcpOffset. + * + * @param qnear Reference joint angles + * @param pose TCP pose, based on the activated TCP offset, which is the latest parameter set by setTcpOffset + * @return Joint angles and whether the result is valid + * The first parameter of the return value is the inverse kinematics result, the second is the error code. Error codes are as follows: + * 0 - Success + * -1 - The status of the robot is incorrect (not initialized yet, you can try calling it again) + * -5 - The input reference joint angles or tcp pose is invalid (dimension error) + * -23 - Inverse kinematics calculation does not converge, calculation error + * -24 - Inverse kinematics calculation exceeds robot limits + * -25 - Inverse kinematics input configuration error + * -26 - Inverse kinematics Jacobian calculation failed + * -27 - Analytical solution exists but none satisfy the same-configuration minimum-joint-change selection criteria + * -28 - Unknown error in inverse kinematics + * If the error code is not 0, the first parameter of the return value is the input reference joint angles qnear + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * inverseKinematics2(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], + * arg1: List[float]) -> Tuple[List[float], int] + * + * @par Lua function prototype + * inverseKinematics2(qnear: table, pose: table) -> table, int + * + * @par Lua example + * joint,ik_result = inverseKinematics2({0,0,0,0,0,0},{0.81665,-0.20419,0.43873,-3.135,0.004,1.569}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematics2","params":[[0,0,0,0,0,0],[0.71374,0.08417,0.6708,2.46,0.479,1.619]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627],0]} + * \endenglish + */ + ResultWithErrno inverseKinematics2(const std::vector &qnear, + const std::vector &pose); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 求出所有的逆解, 基于激活的 TCP 偏移 + * + * @param pose TCP位姿 + * @return 关节角和逆解结果是否有效 + * 返回的错误码同inverseKinematics + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematicsAll","params":[[0.71374,0.08417,0.6708,2.46,0.479,1.619]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627], + * [3.081056801097411,0.17985038037652645,-1.0991717292664145,-0.4806460200109001,-1.869182975312333,-0.402066016835411], + * [0.4090095277807992,-0.1623365054641728,1.081775890307679,0.26993250263224805,0.9738255833642309,0.000572556627720845], + * [0.4116449425067969,-1.1931664523907126,-1.0822709833775688,-0.8665964106161371,0.9732141569888207,0.006484919654891586]],0]} + * \endchinese + * \english + * Solve all inverse kinematics solutions based on the activated TCP offset + * + * @param pose TCP pose + * @return Joint angles and whether the result is valid + * The returned error code is the same as inverseKinematics + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematicsAll","params":[[0.71374,0.08417,0.6708,2.46,0.479,1.619]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627], + * [3.081056801097411,0.17985038037652645,-1.0991717292664145,-0.4806460200109001,-1.869182975312333,-0.402066016835411], + * [0.4090095277807992,-0.1623365054641728,1.081775890307679,0.26993250263224805,0.9738255833642309,0.000572556627720845], + * [0.4116449425067969,-1.1931664523907126,-1.0822709833775688,-0.8665964106161371,0.9732141569888207,0.006484919654891586]],0]} + * \endenglish + */ + ResultWithErrno1 inverseKinematicsAll(const std::vector &pose); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 求出所有的逆解, 基于提供的 TCP 偏移 + * + * @param pose TCP位姿 + * @param tcp_offset TCP偏移 + * @return 关节角和逆解结果是否有效，同 inverseKinematicsAll + * 返回的错误码同inverseKinematics + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematicsAll1","params":[[0.71374,0.08417,0.6708,2.46,0.479,1.619],[0.0, + * 0.13201,0.03879,0,0,0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[[3.084454549595208,1.2278265883747776,1.0986586440159576,0.6708221281915528,-1.8712459848518375,-0.3965111476861782], + * [3.0818224058231602,0.17980369843203092,-1.0997576631122077,-0.48102131527371267,-1.8697135490338517,-0.40149459722060593], + * [0.40972960018231047,-0.16226026285489026,1.0823403816496,0.2700204411869427,0.9734251963887868,0.0012903686498106507], + * [0.41236549588802296,-1.193621392918341,-1.0828346680836718,-0.8671097369314354,0.972815367289568,0.007206851371073478]],0]} + * \endchinese + * \english + * Solve all inverse kinematics solutions based on the provided TCP offset + * + * @param pose TCP pose + * @param tcp_offset TCP offset + * @return Joint angles and whether the result is valid, same as inverseKinematicsAll + * The returned error code is the same as inverseKinematics + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseKinematicsAll1","params":[[0.71374,0.08417,0.6708,2.46,0.479,1.619],[0.0, + * 0.13201,0.03879,0,0,0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[[[3.084454549595208,1.2278265883747776,1.0986586440159576,0.6708221281915528,-1.8712459848518375,-0.3965111476861782], + * [3.0818224058231602,0.17980369843203092,-1.0997576631122077,-0.48102131527371267,-1.8697135490338517,-0.40149459722060593], + * [0.40972960018231047,-0.16226026285489026,1.0823403816496,0.2700204411869427,0.9734251963887868,0.0012903686498106507], + * [0.41236549588802296,-1.193621392918341,-1.0828346680836718,-0.8671097369314354,0.972815367289568,0.007206851371073478]],0]} + * \endenglish + */ + ResultWithErrno1 inverseKinematicsAll1( + const std::vector &pose, const std::vector &tcp_offset); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 运动学逆解(忽略 TCP 偏移值) + * + * @param qnear 参考关节角 + * @param pose 法兰盘中心的位姿 + * @return 关节角和逆解结果是否有效 + * 返回值的第一个参数为逆解结果，第二个为逆解错误码，错误码返回列表如下 + * 0 - 成功 + * -1 - 机械臂状态不对(未初始化完成，可尝试再次调用) + * -5 - 输入的参考关节角或位姿无效(维度错误) + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * inverseToolKinematics(qnear: table, pose: table) -> table, int + * + * @par Lua示例 + * joint, ik_result = inverseToolKinematics({0,0,0,0,0,0},{0.58815,0.0532,0.62391,2.46,0.479,1.619}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseToolKinematics","params":[[0,0,0,0,0,0],[0.58815,0.0532,0.62391,2.46,0.479,1.619]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[3.083609363838651,1.22736129158332,1.098095443698268,0.6705395395487186,-1.8706605026855632,-0.39714507002376465],0]} + * \endchinese + * \english + * Inverse kinematics (ignoring TCP offset) + * + * @param qnear Reference joint angles + * @param pose Flange center pose + * @return Joint angles and whether the result is valid + * The first parameter of the return value is the inverse kinematics result, the second is the error code. Error codes are as follows: + * 0 - Success + * -1 - The status of the robot is incorrect (not initialized yet, you can try calling it again) + * -5 - The input reference joint angles or pose is invalid (dimension error) + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * inverseToolKinematics(qnear: table, pose: table) -> table, int + * + * @par Lua example + * joint, ik_result = inverseToolKinematics({0,0,0,0,0,0},{0.58815,0.0532,0.62391,2.46,0.479,1.619}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseToolKinematics","params":[[0,0,0,0,0,0],[0.58815,0.0532,0.62391,2.46,0.479,1.619]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[[3.083609363838651,1.22736129158332,1.098095443698268,0.6705395395487186,-1.8706605026855632,-0.39714507002376465],0]} + * \endenglish + */ + ResultWithErrno inverseToolKinematics(const std::vector &qnear, + const std::vector &pose); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 运动学逆解(忽略 TCP 偏移值) + * + * @param qnear 参考关节角 + * @param pose 法兰盘中心的位姿 + * @return 关节角和逆解结果是否有效 + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseToolKinematicsAll","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[[3.083609363838651,1.22736129158332,1.098095443698268,0.6705395395487186,-1.8706605026855632,-0.39714507002376465], + * [3.0809781797426523,0.17987122696706134,-1.0991932793263717,-0.4807053707530958,-1.8691282890274434,-0.40212516672751814], + * [0.40892195618737215,-0.16235398607358653,1.081812753177426,0.27003586475871766,0.9738744130114284,0.00048462518316674287], + * [0.41155633414333076,-1.1932173012004512,-1.082306542045813,-0.8665312056504818,0.9732632365861417,0.0063958311601771175]],0]} + * \endchinese + * \english + * Inverse kinematics (ignoring TCP offset) + * + * @param qnear Reference joint angles + * @param pose Flange center pose + * @return Joint angles and whether the result is valid + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.inverseToolKinematicsAll","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[[[3.083609363838651,1.22736129158332,1.098095443698268,0.6705395395487186,-1.8706605026855632,-0.39714507002376465], + * [3.0809781797426523,0.17987122696706134,-1.0991932793263717,-0.4807053707530958,-1.8691282890274434,-0.40212516672751814], + * [0.40892195618737215,-0.16235398607358653,1.081812753177426,0.27003586475871766,0.9738744130114284,0.00048462518316674287], + * [0.41155633414333076,-1.1932173012004512,-1.082306542045813,-0.8665312056504818,0.9732632365861417,0.0063958311601771175]],0]} + * \endenglish + */ + ResultWithErrno1 inverseToolKinematicsAll(const std::vector &pose); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 根据输入的关节角计算并返回对应的机械臂构型 + * + * 机械臂构型由三个维度的状态组合而成，各维度定义如下： + * - 肩部方向：LEFT(肩部朝左) / RIGHT(肩部朝右) + * - 肘部方向：UP(肘部朝上) / DOWN(肘部朝下) + * - 腕部状态：FLIP(腕部翻转) / NOFLIP(腕部不翻转) + * + * 三个维度两两组合共形成8种基础构型（L/R + U/D + F/N），该接口会根据输入的关节角解析出当前对应的构型类型， + * 并返回其枚举值对应的整数形式及错误码（注：接口返回的是组合构型值，如LUF对应0，而非单独的LEFT/UP/FLIP枚举值）。 + * + * @param q 输入的关节角数组，6轴机械臂为6个元素，单位：弧度(rad) + * @return 机械臂构型结果及错误码（类型为ResultWithErrno3，即std::tuple）： + * - 第一个int：机械臂构型枚举(RobotConfiguration)对应的整数值，取值范围及含义： + * -1 (NONE) - 无效构型 + * 0 (LUF) - LEFT+UP+FLIP（左肩、肘上、腕翻转） + * 1 (LUN) - LEFT+UP+NOFLIP（左肩、肘上、腕不翻转） + * 2 (LDF) - LEFT+DOWN+FLIP（左肩、肘下、腕翻转） + * 3 (LDN) - LEFT+DOWN+NOFLIP（左肩、肘下、腕不翻转） + * 4 (RUF) - RIGHT+UP+FLIP（右肩、肘上、腕翻转） + * 5 (RUN) - RIGHT+UP+NOFLIP（右肩、肘上、腕不翻转） + * 6 (RDF) - RIGHT+DOWN+FLIP（右肩、肘下、腕翻转） + * 7 (RDN) - RIGHT+DOWN+NOFLIP（右肩、肘下、腕不翻转） + * - 第二个int：错误码，错误码含义如下： + * 0 - 成功：构型计算完成，返回有效构型值 + * -1 - 机械臂状态异常：未初始化完成，可尝试重新初始化后调用 + * -5 - 输入参数无效：关节角数组维度错误（非6个元素）或数值超出合理范围 + * + * @throws arcs::common_interface::AuboException 输入参数非法（如空数组、元素数量错误）时抛出 + * + * @par Python函数原型 + * getRobotConfiguration(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float]) -> Tuple[int, int] + * + * @par Lua函数原型 + * getRobotConfiguration(q: table) -> number, number + * + * @par Lua示例 + * -- 输入6轴关节角（单位：rad），获取构型及错误码 + * local joint_angles = {3.083,1.227,1.098,0.670,-1.870,-0.397} + * local config_val, err_code = getRobotConfiguration(joint_angles) + * if err_code == 0 then + * print("机械臂构型值：", config_val) -- 示例输出：4（对应RUF，右肩、肘上、腕翻转） + * else + * print("获取构型失败，错误码：", err_code) + * end + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.getRobotConfiguration","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[4,0]} + * \endchinese + * \english + * Calculate and return the corresponding robot configuration based on input joint angles + * + * The robot configuration consists of three dimensions of states, with the following definitions for each dimension: + * - Shoulder direction: LEFT (Shoulder to the left) / RIGHT (Shoulder to the right) + * - Elbow direction: UP (Elbow up) / DOWN (Elbow down) + * - Wrist state: FLIP (Wrist flipped) / NOFLIP (Wrist not flipped) + * + * The combination of the three dimensions forms 8 basic configurations (L/R + U/D + F/N). This interface parses the current + * configuration type from the input joint angles and returns its integer value corresponding to the RobotConfiguration enumeration + * and an error code (Note: The interface returns combined configuration values, e.g., LUF corresponds to 0, not the individual + * enumeration values of LEFT/UP/FLIP). + * + * @param q Input joint angle array, 6 elements for 6-axis robot, unit: radians (rad) + * @return Robot configuration result and error code (type: ResultWithErrno3, i.e., std::tuple): + * - First int: Integer value corresponding to the RobotConfiguration enumeration, value range and meanings: + * -1 (NONE) - Invalid configuration + * 0 (LUF) - LEFT+UP+FLIP (Left shoulder, elbow up, wrist flipped) + * 1 (LUN) - LEFT+UP+NOFLIP (Left shoulder, elbow up, wrist not flipped) + * 2 (LDF) - LEFT+DOWN+FLIP (Left shoulder, elbow down, wrist flipped) + * 3 (LDN) - LEFT+DOWN+NOFLIP (Left shoulder, elbow down, wrist not flipped) + * 4 (RUF) - RIGHT+UP+FLIP (Right shoulder, elbow up, wrist flipped) + * 5 (RUN) - RIGHT+UP+NOFLIP (Right shoulder, elbow up, wrist not flipped) + * 6 (RDF) - RIGHT+DOWN+FLIP (Right shoulder, elbow down, wrist flipped) + * 7 (RDN) - RIGHT+DOWN+NOFLIP (Right shoulder, elbow down, wrist not flipped) + * - Second int: Error code with the following meanings: + * 0 - Success: Configuration calculation completed, valid configuration value returned + * -1 - Abnormal robot state: Not initialized completely, try reinitializing before calling + * -5 - Invalid input parameters: Incorrect dimension of joint angle array (not 6 elements) or values out of reasonable range + * + * @throws arcs::common_interface::AuboException Thrown when input parameters are illegal (e.g., empty array, wrong number of elements) + * + * @par Python function prototype + * getRobotConfiguration(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float]) -> Tuple[int, int] + * + * @par Lua function prototype + * getRobotConfiguration(q: table) -> number, number + * + * @par Lua example + * -- Input 6-axis joint angles (unit: rad) to get configuration and error code + * local joint_angles = {3.083,1.227,1.098,0.670,-1.870,-0.397} + * local config_val, err_code = getRobotConfiguration(joint_angles) + * if err_code == 0 then + * print("Robot configuration value: ", config_val) -- Example output: 4 (corresponding to RUF, Right shoulder, elbow up, wrist flipped) + * else + * print("Failed to get configuration, error code: ", err_code) + * end + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.getRobotConfiguration","params":[[3.083688522170976,1.2273215976885394,1.098072739631141,0.6705738810610149,-1.870715392248607,-0.39708546603119627]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[4,0]} + * \endenglish + */ + ResultWithErrno3 getRobotConfiguration(const std::vector& q); + + /** + * \chinese + * 求解movej之间的轨迹点 + * + * @param q1 movej的起点 + * @param r1 在q1处的交融半径 + * @param q2 movej的终点 + * @param r2 在q2处的交融半径 + * @param d 采样距离 + * @return q1~q2 之间笛卡尔空间离散轨迹点(x,y,z,rx,ry,rz)集合 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * pathMovej(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: + * float, arg2: List[float], arg3: float, arg4: float) -> List[List[float]] + * + * @par Lua函数原型 + * pathMovej(q1: table, r1: number, q2: table, r2: number, d: number) -> + * table, number + * + * @par Lua示例 + * path , num = pathMovej({0.0,-0.2618,1.7453,0.4364,1.5711,0.0},0.25,{0.3234,-0.5405,1.5403,0.5881,1.2962,0.7435},0.03,0.2) + * + * \endchinese + * \english + * Solve the trajectory points between movej + * + * @param q1 Start point of movej + * @param r1 Blend radius at q1 + * @param q2 End point of movej + * @param r2 Blend radius at q2 + * @param d Sampling distance + * @return Discrete trajectory points (x, y, z, rx, ry, rz) between q1 and q2 in Cartesian space + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathMovej(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], arg1: + * float, arg2: List[float], arg3: float, arg4: float) -> List[List[float]] + * + * @par Lua function prototype + * pathMovej(q1: table, r1: number, q2: table, r2: number, d: number) -> + * table, number + * + * @par Lua example + * path , num = pathMovej({0.0,-0.2618,1.7453,0.4364,1.5711,0.0},0.25,{0.3234,-0.5405,1.5403,0.5881,1.2962,0.7435},0.03,0.2) + * + * \endenglish + */ + std::vector> pathMovej(const std::vector &q1, + double r1, + const std::vector &q2, + double r2, double d); + /** + * @ingroup RobotAlgorithm + * \chinese + * 计算机械臂末端的雅克比矩阵 + * + * @param q 关节角 + * @param base_or_end 参考坐标系为基坐标系（或者末端坐标系） + * true: 在 base 下描述 + * false: 在 末端坐标系 下描述 + * @return 雅克比矩阵是否有效 + * 返回值的第一个参数为该构型下对应的雅克比矩阵，第二个为逆解错误码 + * 此接口的错误码返回值在0.28.1-rc.21 0.29.0-alpha.25版本之后做了修改。 + * 此前逆解错误时返回 30082 ，修改后错误码返回列表如下 + * 0 - 成功 + * -23 - 逆解计算不收敛，计算出错 + * -24 - 逆解计算超出机器人最大限制 + * -25 - 逆解输入配置存在错误 + * -26 - 逆解雅可比矩阵计算失败 + * -27 - 目标点存在解析解，但均不满足选解条件 + * -28 - 逆解返回未知类型错误 + * 若错误码非0,则返回值的第一个参数为输入参考关节角qnear + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * calJacobian(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], + * arg1: bool) -> Tuple[List[float], int] + * + * @par Lua函数原型 + * calJacobian(q: table, base_or_end: boolean) -> table + * + * @par Lua示例 + * calJ_result = calJacobian({0.58815,0.0532,0.62391,2.46,0.479,1.619},true) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.calcJacobian","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[[0.20822779551242535,-0.5409416184208162,0.2019786999613013,0.061264982268770196,-0.026269884327316487, + * 0.10131708699859962,0.26388933410019777,-0.36074292664199115,0.1346954733416397,0.04085636647597124,-0.07244204452918337,0.0708466286633346, + * 0.0,0.10401808481666497,-0.12571344758923886,-0.07741290545882097,0.18818543519232858,0.04628646442706299,0.0,0.5548228314607867, + * -0.5548228314607868,0.5548228314607868,-0.7901273140338193,0.37230961532208007,0.0,-0.8319685244586092,0.8319685244586091,-0.8319685244586091, + * -0.5269197820578843,-0.8184088260676008,1.0,3.749399456654644e-33,-6.512048180336603e-18,1.0956823467534067e-16,-0.31313634553301894, + * 0.43771285536682175],0]} + * \endchinese + * \english + * Calculate the Jacobian matrix at the robot end-effector + * + * @param q Joint angles + * @param base_or_end Reference frame: base (or end-effector) + * true: described in base frame + * false: described in end-effector frame + * @return Whether the Jacobian matrix is valid + * The first parameter of the return value is the Jacobian matrix for this configuration, the second is the error code. + * The error code list was updated after versions 0.28.1-rc.21 and 0.29.0-alpha.25. + * Previously, inverse kinematics errors returned 30082. The updated error codes are: + * 0 - Success + * -23 - Inverse kinematics calculation does not converge, calculation error + * -24 - Inverse kinematics calculation exceeds robot limits + * -25 - Inverse kinematics input configuration error + * -26 - Inverse kinematics Jacobian calculation failed + * -27 - Analytical solution exists but none satisfy the selection criteria + * -28 - Unknown error in inverse kinematics + * If the error code is not 0, the first parameter of the return value is the input reference joint angles qnear + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * calJacobian(self: pyaubo_sdk.RobotAlgorithm, arg0: List[float], + * arg1: bool) -> Tuple[List[float], int] + * + * @par Lua function prototype + * calJacobian(q: table, base_or_end: boolean) -> table + * + * @par Lua example + * calJ_result = calJacobian({0.58815,0.0532,0.62391,2.46,0.479,1.619},true) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.calcJacobian","params":[[0.58815,0.0532,0.62391,2.46,0.479,1.619],true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[[0.20822779551242535,-0.5409416184208162,0.2019786999613013,0.061264982268770196,-0.026269884327316487, + * 0.10131708699859962,0.26388933410019777,-0.36074292664199115,0.1346954733416397,0.04085636647597124,-0.07244204452918337,0.0708466286633346, + * 0.0,0.10401808481666497,-0.12571344758923886,-0.07741290545882097,0.18818543519232858,0.04628646442706299,0.0,0.5548228314607867, + * -0.5548228314607868,0.5548228314607868,-0.7901273140338193,0.37230961532208007,0.0,-0.8319685244586092,0.8319685244586091,-0.8319685244586091, + * -0.5269197820578843,-0.8184088260676008,1.0,3.749399456654644e-33,-6.512048180336603e-18,1.0956823467534067e-16,-0.31313634553301894, + * 0.43771285536682175],0]} + * \endenglish + */ + ResultWithErrno calcJacobian(const std::vector &q, + bool base_or_end); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 求解交融的轨迹点 + * + * @param type + * 0-movej 和 movej + * 1-movej 和 movel + * 2-movel 和 movej + * 3-movel 和 movel + * @param q_start 交融前路径的起点 + * @param q_via 交融点 + * @param q_to 交融后路径的终点 + * @param r 在q_via处的交融半径 + * @param d 采样距离 + * @return q_via处的交融段笛卡尔空间离散轨迹点(x,y,z)集合 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * pathBlend3Points(self: pyaubo_sdk.RobotAlgorithm, arg0: int, arg1: + * List[float], arg2: List[float], arg3: List[float], arg4: float, arg5: + * float) -> List[List[float]] + * + * @par Lua函数原型 + * pathBlend3Points(type: number, q_start: table, q_via: table, q_to: table, + * r: number, d: number) -> table, number + * + * @par Lua示例 + * q_via , num = pathBlend3Points(1,{0.58815,0.0532,0.62391,2.46,0.479,1.619},{0.0,-0.2618,1.7453,0.4364,1.5711,0.0}, + * {0.3234,-0.5405,1.5403,0.5881,1.2962,0.7435},0.25,0.02) + * + * \endchinese + * \english + * Solve the blended trajectory points + * + * @param type + * 0-movej and movej + * 1-movej and movel + * 2-movel and movej + * 3-movel and movel + * @param q_start Start point before blending + * @param q_via Blending point + * @param q_to End point after blending + * @param r Blend radius at q_via + * @param d Sampling distance + * @return Discrete trajectory points (x, y, z) of the blend segment at q_via in Cartesian space + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * pathBlend3Points(self: pyaubo_sdk.RobotAlgorithm, arg0: int, arg1: + * List[float], arg2: List[float], arg3: List[float], arg4: float, arg5: + * float) -> List[List[float]] + * + * @par Lua function prototype + * pathBlend3Points(type: number, q_start: table, q_via: table, q_to: table, + * r: number, d: number) -> table, number + * + * @par Lua example + * q_via , num = pathBlend3Points(1,{0.58815,0.0532,0.62391,2.46,0.479,1.619},{0.0,-0.2618,1.7453,0.4364,1.5711,0.0}, + * {0.3234,-0.5405,1.5403,0.5881,1.2962,0.7435},0.25,0.02) + * + * \endenglish + */ + std::vector> pathBlend3Points( + int type, const std::vector &q_start, + const std::vector &q_via, const std::vector &q_to, + double r, double d); + + /** + * \chinese + * 计算交融段轨迹点及笛卡尔速度预览结果。 + * + * @param type + * 0-movej和movej + * 1-movej和movel + * 2-movel和movej + * 3-movel和movel + * @param q_start 交融前路径的起点 + * @param q_via 交融点 + * @param q_to 交融后路径的终点 + * @param r 在q_via处的交融半径 + * @param d 采样距离 + * @return 交融段笛卡尔位姿和速度预览结果集合，每行格式为 + * [x,y,z,rx,ry,rz,vx,vy,vz,wx,wy,wz] + * + * \endchinese + * \english + * Solve blended trajectory points with Cartesian velocity preview. + * + * @param type + * 0-movej and movej + * 1-movej and movel + * 2-movel and movej + * 3-movel and movel + * @param q_start Start point before blending + * @param q_via Blending point + * @param q_to End point after blending + * @param r Blend radius at q_via + * @param d Sampling distance + * @return Cartesian pose and velocity preview points of the blend segment. + * Each row is [x,y,z,rx,ry,rz,vx,vy,vz,wx,wy,wz]. + * + * \endenglish + */ + std::vector> pathBlend3Points1( + int type, const std::vector &q_start, + const std::vector &q_via, const std::vector &q_to, + double r, double d); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 生成用于负载辨识的激励轨迹 + * 此接口内部调用pathBufferAppend + * 将离线轨迹存入buffer中，后续可通过movePathBuffer运行离线轨迹 + * @param name 轨迹名字 + * @param traj_conf 各关节轨迹的限制条件 + * traj_conf.move_axis: 运动的轴 + * 由于实际用户现场可能不希望在负载辨识时控制机械臂多关节大幅度运动，故最好选用traj_conf.move_axis=LoadIdentifyMoveAxis::Joint_4_6; + * traj_conf.init_joint: + * 运动初始关节角,为了避免关节5接近零位时的奇异问题，应设置traj_conf.init_joint[4]的绝对值不小于0.3(rad)，接近1.57(rad)为宜。其余关节的关节角可任意设置 + * traj_conf.lower_joint_bound, traj_conf.upper_joint_bound: + * 关节角上下限,维度应与config.move_axis维度保持一致,推荐设置upper_joint_bound为2，lower_joint_bound为-2 + * config.max_velocity, config.max_acceleration: + * 关节角速度角加速度限制,维度应与config.move_axis维度保持一致,出于安全和驱动器跟随性能的考虑,推荐设置max_velocity=3,max_acceleration=5 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * \endchinese + * \english + * Generate excitation trajectory for payload identification + * This interface internally calls pathBufferAppend + * The offline trajectory is stored in the buffer, and can be executed later via movePathBuffer + * @param name Trajectory name + * @param traj_conf Joint trajectory constraints + * traj_conf.move_axis: Moving axes + * Since users may not want large multi-joint movements during payload identification, it is recommended to use traj_conf.move_axis=LoadIdentifyMoveAxis::Joint_4_6; + * traj_conf.init_joint: + * Initial joint angles. To avoid singularity issues near joint 5 zero position, set abs(traj_conf.init_joint[4]) >= 0.3(rad), preferably close to 1.57(rad). Other joints can be set arbitrarily. + * traj_conf.lower_joint_bound, traj_conf.upper_joint_bound: + * Joint angle limits, dimensions should match config.move_axis. Recommended: upper_joint_bound=2, lower_joint_bound=-2 + * config.max_velocity, config.max_acceleration: + * Joint velocity and acceleration limits, dimensions should match config.move_axis. For safety and driver performance, recommended: max_velocity=3, max_acceleration=5 + * + * @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 + * \endenglish + */ + int generatePayloadIdentifyTraj(const std::string &name, + const TrajConfig &traj_conf); + /** + * @ingroup RobotAlgorithm + * \chinese + * 负载辨识轨迹是否生成完成 + * + * @return 完成返回0; 正在进行中返回1; 计算失败返回<0; + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.payloadIdentifyTrajGenFinished","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Whether payload identification trajectory generation is finished + * + * @return 0 if finished; 1 if in progress; <0 if failed; + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.payloadIdentifyTrajGenFinished","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int payloadIdentifyTrajGenFinished(); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 求解 moveS 的轨迹点 + * + * @brief pathMoveS + * @param qs 样条轨迹生成点集合 + * @param d 采样距离 + * @return + * + * @throws arcs::common_interface::AuboException + * \endchinese + * \english + * Solve the trajectory points for moveS + * + * @brief pathMoveS + * @param qs Spline trajectory generation point set + * @param d Sampling distance + * @return + * + * @throws arcs::common_interface::AuboException + * \endenglish + */ + std::vector> pathMoveS( + const std::vector> &qs, double d); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 振动抑制参数辨识算法接口 + * + * @param q 当前关节角度 + * @param qd 当前关节速度 + * @param target_q 目标关节角度 + * @param target_qd 关节速度 + * @param target_qdd 关节加速度 + * @param tool_offset 工具TCP信息 + * @param omega 振动频率 + * @param zeta 振动阻尼比 + * @return 振动抑制参数和是否辨识成功 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * calibVibrationParams(self: pyaubo_sdk.RobotAlgorithm, arg0: + * List[List[float]], arg1: List[List[float]], arg2: List[List[float]], arg3: List[List[float]], + * arg4: List[List[float]], arg5: List[float]) -> list[list[float]],int + * + * @par Lua函数原型 + * calibVibrationParams(q: table,qd: table, target_q: table, target_qd: table, + * target_qdd: table, tool_offset: table, omega: table, zeta: table) -> table,number + * \endchinese + */ + ResultWithErrno1 calibVibrationParams(const std::vector> &q, + const std::vector> &qd, + const std::vector> &target_q, + const std::vector> &target_qd, + const std::vector> &target_qdd, + const std::vector &tool_offset); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 振动抑制参数辨识算法接口1 + * + * @param record_cache_name 目标缓存名称 + * @param tool_offset 工具TCP信息 + * @return 振动抑制参数和是否辨识成功 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * calibVibrationParams(self: pyaubo_sdk.RobotAlgorithm, arg0: + * string, arg1: List[float]) -> list[list[float]],int + * + * @par Lua函数原型 + * calibVibrationParams(record_cache_name: string, tool_offset: table) -> table,number + * \endchinese + */ + ResultWithErrno1 calibVibrationParams1(const std::string &record_cache_name, const std::vector &tool_offset); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 判断是否需要重新辨识振动参数 + * + * @param param1 参考参数（如上一次辨识结果） + * @param param2 当前参数（如新测量结果） + * @param threshold 变化阈值（0~1），超过则需重新辨识 + * @return >0 需要重新辨识，=0 不需要，<0 出错 + * + * @par Lua函数原型 + * needVibrationRecalib(param1: table, param2: table, threshold: number) -> number + * + * @par JSON-RPC示例 + * {"jsonrpc":"2.0","method":"VibrationController.needVibrationRecalib", + * "params":[param1_obj, param2_obj, 0.1],"id":1} + * \endchinese + */ + int needVibrationRecalib(const VibrationRecalibrationParameter ¶m1, + const VibrationRecalibrationParameter ¶m2, + double threshold); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 添加立方体碰撞对象 + * + * 该接口用于向当前机器人算法场景中添加一个命名的立方体碰撞对象组。 + * + * @param name 碰撞对象唯一标识 + * @param link_name 碰撞对象挂载的参考 link 名称。常用名称包括： + * `world`、`base_link`、`shoulder_Link`、`upperArm_Link`、 + * `foreArm_Link`、`wrist1_Link`、`wrist2_Link`、`wrist3_Link`、 + * `end_effector` + * @param sizes 立方体尺寸列表。每个元素格式为 + * `[length, width, height]`，单位：m + * @param poses 碰撞对象位姿列表。每个元素表示相对参考 link 的位姿， + * 格式为 `[x, y, z, rx, ry, rz]` + * @return 0 表示成功，非 0 表示失败 + * + * @par Lua函数原型 + * addCollisionBox(name, link_name, sizes, poses) -> integer + * + * @par Lua示例 + * -- 添加挂载到 world 的环境碰撞体 + * addCollisionBox("env_box", "world", + * {{0.4, 0.4, 0.2}}, + * {{0.6, 0.0, 0.1, 0.0, 0.0, 0.0}}) + * + * -- 添加挂载到 end_effector 的末端碰撞体 + * addCollisionBox("tool_box", "end_effector", + * {{0.1, 0.08, 0.06}}, + * {{0.0, 0.0, 0.05, 0.0, 0.0, 0.0}}) + * + * @par Python函数原型 + * addCollisionBox(name: str, link_name: str, sizes: list[list[float]], + * poses: list[list[float]]) -> int + * + * @par Python示例 + * # 添加挂载到 world 的环境碰撞体 + * robot_algorithm.addCollisionBox( + * "env_box", "world", + * [[0.4, 0.4, 0.2]], + * [[0.6, 0.0, 0.1, 0.0, 0.0, 0.0]] + * ) + * + * # 添加挂载到 end_effector 的末端碰撞体 + * robot_algorithm.addCollisionBox( + * "tool_box", "end_effector", + * [[0.1, 0.08, 0.06]], + * [[0.0, 0.0, 0.05, 0.0, 0.0, 0.0]] + * ) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.addCollisionBox", + * "params":["env_box","world",[[0.4,0.4,0.2]], + * [[0.6,0.0,0.1,0.0,0.0,0.0]]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * + * \english + * Add a box collision object + * + * This interface adds a named group of box collision objects into the + * current robot algorithm scene. + * + * @param name Unique identifier of the collision object + * @param link_name Name of the reference link the collision object is + * attached to. Common names include: `world`, `base_link`, + * `shoulder_Link`, `upperArm_Link`, `foreArm_Link`, `wrist1_Link`, + * `wrist2_Link`, `wrist3_Link`, and `end_effector` + * @param sizes List of box sizes. Each element is in the format + * `[length, width, height]`, unit: m + * @param poses List of collision object poses. Each element is a pose + * relative to the reference link in the format `[x, y, z, rx, ry, rz]` + * @return 0 on success, non-zero on failure + * + * @par Lua function prototype + * addCollisionBox(name, link_name, sizes, poses) -> integer + * + * @par Lua example + * -- Add an environment collision box attached to world + * addCollisionBox("env_box", "world", + * {{0.4, 0.4, 0.2}}, + * {{0.6, 0.0, 0.1, 0.0, 0.0, 0.0}}) + * + * -- Add a tool collision box attached to end_effector + * addCollisionBox("tool_box", "end_effector", + * {{0.1, 0.08, 0.06}}, + * {{0.0, 0.0, 0.05, 0.0, 0.0, 0.0}}) + * + * @par Python function prototype + * addCollisionBox(name: str, link_name: str, sizes: list[list[float]], + * poses: list[list[float]]) -> int + * + * @par Python example + * # Add an environment collision box attached to world + * robot_algorithm.addCollisionBox( + * "env_box", "world", + * [[0.4, 0.4, 0.2]], + * [[0.6, 0.0, 0.1, 0.0, 0.0, 0.0]] + * ) + * + * # Add a tool collision box attached to end_effector + * robot_algorithm.addCollisionBox( + * "tool_box", "end_effector", + * [[0.1, 0.08, 0.06]], + * [[0.0, 0.0, 0.05, 0.0, 0.0, 0.0]] + * ) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.addCollisionBox", + * "params":["env_box","world",[[0.4,0.4,0.2]], + * [[0.6,0.0,0.1,0.0,0.0,0.0]]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int addCollisionBox(const std::string &name, + const std::string &link_name, + const std::vector> &sizes, + const std::vector> &poses); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 删除指定的碰撞对象 + * + * @param name 需要删除的碰撞对象名称 + * @return 0 表示成功，非 0 表示失败 + * + * @par Lua函数原型 + * removeCollisionObject(name) -> integer + * + * @par Lua示例 + * removeCollisionObject("tool_box") + * + * @par Python函数原型 + * removeCollisionObject(name: str) -> int + * + * @par Python示例 + * robot_algorithm.removeCollisionObject("tool_box") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.removeCollisionObject", + * "params":["tool_box"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * + * \english + * Remove a collision object by name + * + * @param name Name of the collision object to remove + * @return 0 on success, non-zero on failure + * + * @par Lua function prototype + * removeCollisionObject(name) -> integer + * + * @par Lua example + * removeCollisionObject("tool_box") + * + * @par Python function prototype + * removeCollisionObject(name: str) -> int + * + * @par Python example + * robot_algorithm.removeCollisionObject("tool_box") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.removeCollisionObject", + * "params":["tool_box"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int removeCollisionObject(const std::string &name); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 验证机器人运动路径从起点到终点的可达性，不启用外部碰撞检测。 + * + * 该接口保留用于兼容旧版 SDK、Lua、JSON-RPC 和 ROS 服务调用。 + * + * @param type 路径类型标识，用于指定起点和终点的数据类型： + * 0 - 起点：关节角，终点：关节角 + * 1 - 起点：位姿，终点：位姿 + * @param start 路径起点数据 + * @param r1 起点交融半径，单位：m（米） + * @param end 路径终点数据 + * @param r2 终点交融半径，单位：m（米） + * @param d 路径采样间隔，单位：m（米），间隔越小验证精度越高，但耗时越长 + * @return 路径可达性结果码 + * + * \endchinese + * + * \english + * Validate the reachability of the robot's motion path from start point to + * end point without external collision checks. + * + * This interface is kept for compatibility with existing SDK, Lua, + * JSON-RPC, and ROS service calls. + * + * @param type Path type identifier, used to specify the data types of + * start and end: + * 0 - Start: Joint angles, End: Joint angles + * 1 - Start: Pose, End: Pose + * @param start Start point data of the path + * @param r1 Start point blending radius, unit: m (meters) + * @param end End point data of the path + * @param r2 End point blending radius, unit: m (meters) + * @param d Path sampling interval, unit: m (meters). A smaller interval + * improves validation accuracy but takes more time. + * @return Path reachability result code + * + * \endenglish + */ + int validatePath(int type, const std::vector &start, double r1, + const std::vector &end, double r2, double d); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 验证机器人运动路径从起点到终点的可达性，可选择是否启用外部碰撞检测。 + * + * 该接口通过采样的方式验证指定路径是否存在超限、自碰撞、外部碰撞、 + * 奇异等不可达情况，支持关节角<->关节角、位姿<->位姿两种路径类型验证。 + * + * @param type 路径类型标识，用于指定起点和终点的数据类型： + * 0 - 起点：关节角，终点：关节角 + * 1 - 起点：位姿，终点：位姿 + * @param start 路径起点数据 + * @param r1 起点交融半径，单位：m（米） + * @param end 路径终点数据 + * @param r2 终点交融半径，单位：m（米） + * @param d 路径采样间隔，单位：m（米），间隔越小验证精度越高，但耗时越长 + * @param check_external_collision 是否启用外部碰撞检测： + * false - 保持原有路径可达性与自碰撞校验 + * true - 在原有校验基础上增加与外部对象的碰撞检测 + * @return 路径可达性结果码： + * 0 - 可达：路径无异常，可正常运动 + * -18 - 路径中存在关节超限/笛卡尔空间超限 + * -21 - 轨迹生成失败 + * -22 - 路径中机器人本体发生自碰撞 + * -24 - 路径中经过机器人奇异位形 + * -27 - 目标点有解但超出关节限位 + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * validatePath1(type, start, r1, end, r2, d, check_external_collision) -> number + * + * @par Lua示例 + * local result = + * validatePath1(0, start_joint, 0.01, end_joint, 0.01, 0.05, true) + * + * @par Python函数原型 + * validatePath1(type: int, start: list[float], r1: float, end: list[float], + * r2: float, d: float, check_external_collision: bool) -> int + * + * @par Python示例 + * result = validatePath1(1, start_joint, 0.01, end_pose, 0.01, 0.05, True) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.validatePath1","params":[0, + * [0.0,0.0,1.57,0.0,1.57,0.0], 0.01, [0.52,0.0,1.57,0.0,1.57,0.0], 0.01, + * 0.05, true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * + * \english + * Validate the reachability of the robot's motion path from start point to + * end point, with optional external collision checks. + * + * This interface verifies whether the specified path has unreachable + * conditions such as out-of-limit, self-collision, collision with external + * objects, singularity, etc., by sampling. It supports two path type + * validations: Joint-Joint and Pose-Pose. + * + * @param type Path type identifier, used to specify the data types of + * start and end: + * 0 - Start: Joint angles, End: Joint angles + * 1 - Start: Pose, End: Pose + * @param start Start point data of the path + * @param r1 Start point blending radius, unit: m (meters) + * @param end End point data of the path + * @param r2 End point blending radius, unit: m (meters) + * @param d Path sampling interval, unit: m (meters). A smaller interval + * improves validation accuracy but takes more time. + * @param check_external_collision Whether to enable external collision + * checks: + * false - Keep the original reachability and self-collision checks + * true - Add collision checks against external objects + * + * @return Path reachability result code: + * 0 - Reachable: Path is normal, movement is possible + * -18 - Joint/Cartesian space limits exceeded in the path + * -21 - Trajectory generation failed + * -22 - Self-collision of the robot body in the path + * -24 - Path passing through robot singular configuration + * -27 - The target point has a solution but exceeds joint limits + * + * @throws arcs::common_interface::AuboException Thrown when parameters are + * invalid. + * + * @par Lua function prototype + * validatePath1(type, start, r1, end, r2, d, check_external_collision) -> integer + * + * @par Lua example + * result = validatePath1(0, start_joint, 0.01, end_joint, 0.01, 0.05, true) + * + * @par Python function prototype + * validatePath1(type: int, start: list[float], r1: float, end: list[float], + * r2: float, d: float, check_external_collision: bool) -> int + * + * @par Python example + * result = validatePath1(1, start_joint, 0.01, end_pose, 0.01, 0.005, True) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotAlgorithm.validatePath1","params":[0, + * [0.0,0.0,1.57,0.0,1.57,0.0], 0.01, [0.52,0.0,1.57,0.0,1.57,0.0], 0.01, + * 0.005, true],"id":1} + * + * @par JSON-RPC response example {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int validatePath1(int type, const std::vector &start, double r1, + const std::vector &end, double r2, double d, + bool check_external_collision); + + /** + * @ingroup RobotAlgorithm + * \chinese + * 标定远端特征坐标系的位置和姿态在基坐标系的描述 + * + * 通过三点法标定远端特征坐标系的位置和姿态，并返回该远端坐标系在基坐标系下的描述。 + * 三个标定点的含义由姿态标定方法 type 决定。 + * + * 标定类型 type 说明： + * 0 - oxy 原点 -> X轴正方向 -> XY平面（Y轴正方向） + * 1 - oxz 原点 -> X轴正方向 -> XZ平面（Z轴正方向） + * 2 - oyz 原点 -> Y轴正方向 -> YZ平面（Z轴正方向） + * 3 - oyx 原点 -> Y轴正方向 -> YX平面（X轴正方向） + * 4 - ozx 原点 -> Z轴正方向 -> ZX平面（X轴正方向） + * 5 - ozy 原点 -> Z轴正方向 -> ZY平面（Y轴正方向） + * + * 以标定类型 type = 0（O_X_XY / oxy）为例说明三点含义： + * 1) 运动到远端特征坐标系原点，记录末端在基坐标系下的位姿 → pose[0] + * 2) 沿远端坐标系 X 轴正方向移动一段距离，记录末端位姿 → pose[1] + * 3) 在远端坐标系 XY 平面内移动一段距离（确定Y轴方向），记录末端位姿 → pose[2] + * + * @param pose 输入：三个标定点处，末端坐标系在基坐标系下的位姿集合 + * 每个位姿格式：[x, y, z, rx, ry, rz] + * @param type 输入：姿态标定类型（0~5），决定三点的几何含义 + * @return 计算结果：包含远端特征坐标系在基坐标系下的位姿 + 错误码 + * 错误码 < 0 表示标定失败；>= 0 表示标定成功 + * + * @par Lua 函数原型 + * calibRemoteFeatureFrame(pose: table, type: number) -> table, number + * + * @par Lua 示例 + * local p1 = {0.55462, 0.06219, 0.37175, -3.142, 0.0, 1.580} + * local p2 = {0.63746, 0.11805, 0.37175, -3.142, 0.0, 1.580} + * local p3 = {0.40441, 0.28489, 0.37174, -3.142, 0.0, 1.580} + * local points = {p1, p2, p3} + * local type = 0 + * local remote_pose, ret = calibRemoteFeatureFrame(points, type) + * + * \endchinese + * + * \english + * Calibrate the pose of the remote feature frame in the base frame + * + * Calibrate the position and orientation of a remote feature frame using three points, + * and return the pose of the remote feature frame represented in the base frame. + * The definition of the three calibration points is determined by the calibration type. + * + * Calibration Type (type): + * 0 - oxy Origin -> Positive X -> XY plane (Positive Y) + * 1 - oxz Origin -> Positive X -> XZ plane (Positive Z) + * 2 - oyz Origin -> Positive Y -> YZ plane (Positive Z) + * 3 - oyx Origin -> Positive Y -> YX plane (Positive X) + * 4 - ozx Origin -> Positive Z -> ZX plane (Positive X) + * 5 - ozy Origin -> Positive Z -> ZY plane (Positive Y) + * + * Take type = 0 (O_X_XY / oxy) as an example: + * 1) Move to the origin of the remote feature frame, record end-effector pose → pose[0] + * 2) Move along positive X of the remote frame, record end-effector pose → pose[1] + * 3) Move within XY plane of the remote frame, record end-effector pose → pose[2] + * + * @param pose Input: Three poses of the end-effector frame in the base frame + * Each pose format: [x, y, z, rx, ry, rz] + * @param type Input: Calibration type (0~5), defines the geometry of the three points + * @return Result: Contains the remote feature frame pose in base frame + error code + * Error code < 0: calibration failed; >= 0: calibration succeeded + * + * @par Lua prototype + * calibRemoteFeatureFrame(pose: table, type: number) -> table, number + * + * @par Lua example + * local p1 = {0.55462, 0.06219, 0.37175, -3.142, 0.0, 1.580} + * local p2 = {0.63746, 0.11805, 0.37175, -3.142, 0.0, 1.580} + * local p3 = {0.40441, 0.28489, 0.37174, -3.142, 0.0, 1.580} + * local points = {p1, p2, p3} + * local type = 0 + * local remote_pose, ret = calibRemoteFeatureFrame(points, type) + * + * \endenglish + */ + ResultWithErrno calibRemoteFeatureFrame(const std::vector>& pose, int type); + + /** + * @ingroup RobotAlgorithm + * \chinese + * @brief 标定末端特征坐标系相对于法兰坐标系的姿态 + * + * 通过三点法标定末端特征坐标系的姿态，求解其在**法兰坐标系**下的旋转矩阵。 + * 标定过程中需保持**末端特征坐标系姿态固定不变**，仅改变位置。 + * 三个标定点的几何含义由 type 标定类型决定。 + * + * 标定类型 type 说明： + * 0 - oxy 原点 -> X轴正方向 -> XY平面（Y轴正方向） + * 1 - oxz 原点 -> X轴正方向 -> XZ平面（Z轴正方向） + * 2 - oyz 原点 -> Y轴正方向 -> YZ平面（Z轴正方向） + * 3 - oyx 原点 -> Y轴正方向 -> YX平面（X轴正方向） + * 4 - ozx 原点 -> Z轴正方向 -> ZX平面（X轴正方向） + * 5 - ozy 原点 -> Z轴正方向 -> ZY平面（Y轴正方向） + * + * 以标定类型 type = 0（O_X_XY / oxy）为例说明操作步骤： + * 1) 移动到末端特征坐标系原点，保持姿态固定，记录法兰在基坐标系下位姿 → pose[0] + * 2) 保持姿态固定，沿末端特征坐标系 X 轴正方向移动，记录法兰位姿 → pose[1] + * 3) 保持姿态固定，沿末端特征坐标系 XY 平面移动，记录法兰位姿 → pose[2] + * + * @param pose 输入：3个位姿，每个位姿是法兰在基坐标系下的描述 [x,y,z,rx,ry,rz] + * @param type 输入：姿态标定类型（0~5），定义三点几何关系 + * @return ResultWithErrno 包含： + * - 标定结果：末端特征坐标系在法兰坐标系下的姿态旋转矩阵 + * - 错误码：<0 标定失败，>=0 标定成功 + * + * @par Lua 函数原型 + * calibEndFeatureOriInFlange(pose: table, type: number) -> table, number + * + * \endchinese + * + * \english + * @brief Calibrate the orientation of the end feature frame relative to the flange frame + * + * Calibrate the orientation of the end feature frame using three points, + * and compute its rotation matrix with respect to the **flange frame**. + * The orientation of the end feature frame must remain **fixed** during calibration. + * + * Calibration Type (type): + * 0 - oxy Origin -> Positive X -> XY plane (Positive Y) + * 1 - oxz Origin -> Positive X -> XZ plane (Positive Z) + * 2 - oyz Origin -> Positive Y -> YZ plane (Positive Z) + * 3 - oyx Origin -> Positive Y -> YX plane (Positive X) + * 4 - ozx Origin -> Positive Z -> ZX plane (Positive X) + * 5 - ozy Origin -> Positive Z -> ZY plane (Positive Y) + * + * Example for type = 0 (O_X_XY / oxy): + * 1) Move to origin of end feature frame, record flange pose in base → pose[0] + * 2) Keep orientation fixed, move along +X of end feature frame, record flange pose → pose[1] + * 3) Keep orientation fixed, move in XY plane, record flange pose → pose[2] + * + * @param pose Input: 3 poses of flange frame in base frame [x,y,z,rx,ry,rz] + * @param type Input: Calibration type (0~5) + * @return ResultWithErrno Includes: + * - Calibrated orientation of end feature frame w.r.t. flange frame + * - Error code: <0 fail, >=0 success + * \endenglish + */ + ResultWithErrno calibEndFeatureOriInFlange(const std::vector>& pose, int type); + + + /** + * @ingroup RobotAlgorithm + * \chinese + * @brief 四点/多点法标定机器人末端特征坐标系原点在法兰坐标系下的位置 + * + * 标定原理： + * 保持末端特征坐标系原点在空间中固定不动，控制机器人以4种及以上不同姿态触碰该固定点， + * 记录每个姿态下法兰在基坐标系中的位姿，通过球面拟合计算得到特征原点在法兰坐标系下的位置。 + * + * 输入位姿格式：[x, y, z, rx, ry, rz] + * 输入点数要求：>= 4 + * + * @param pose 输入：多组法兰在基坐标系下的位姿 + * @return ResultWithErrno 标定结果与错误码 + * 第一个返回值：std::vector，长度固定为4 + * [0] = x 末端特征原点在法兰坐标系下X坐标 + * [1] = y 末端特征原点在法兰坐标系下Y坐标 + * [2] = z 末端特征原点在法兰坐标系下Z坐标 + * [3] = 标定拟合误差 + * 第二个返回值：int 错误码，<0 标定失败，>=0 标定成功 + * + * @par Lua 函数原型 + * calibEndFeaturePosInFlange(pose: table) -> result_table, number + * + * @par Lua 示例 + * local p1 = {0.5546, 0.0621, 0.3717, -3.142, 0.0, 1.580} + * local p2 = {0.6374, 0.1180, 0.3717, -3.142, 0.0, 1.580} + * local p3 = {0.4044, 0.2848, 0.3717, -3.142, 0.0, 1.580} + * local p4 = {0.4800, 0.1900, 0.3717, -3.142, 0.0, 1.580} + * local points = {p1, p2, p3, p4} + * local res, err = calibEndFeaturePosInFlange(points) + * -- res[1]=x, res[2]=y, res[3]=z, res[4]=error + * + * @par Python 函数原型 + * calibEndFeaturePosInFlange(pose: list[list[float]]) -> tuple[list[float], int] + * + * @par Python 示例 + * p1 = [0.5546, 0.0621, 0.3717, -3.142, 0.0, 1.580] + * p2 = [0.6374, 0.1180, 0.3717, -3.142, 0.0, 1.580] + * p3 = [0.4044, 0.2848, 0.3717, -3.142, 0.0, 1.580] + * p4 = [0.4800, 0.1900, 0.3717, -3.142, 0.0, 1.580] + * points = [p1, p2, p3, p4] + * res, err = calibEndFeaturePosInFlange(points) + * # res[0]=x, res[1]=y, res[2]=z, res[3]=error + * + * \endchinese + * + * \english + * @brief Calibrate end feature frame origin position in flange frame (4-point / multi-point) + * + * Calibrate TCP position by fixing the end feature point and recording >=4 flange poses + * in base frame with different robot orientations. + * + * Input pose format: [x, y, z, rx, ry, rz] + * Input size: >=4 poses + * + * @param pose Input: flange poses in base frame + * @return ResultWithErrno Result and error code + * First: vector size=4 + * [0]=x, [1]=y, [2]=z: feature origin in flange frame + * [3]: calibration error + * Second: int error code, <0 fail, >=0 success + * + * @par Lua prototype + * calibEndFeaturePosInFlange(pose: table) -> result_table, number + * + * @par Python prototype + * calibEndFeaturePosInFlange(pose: list[list[float]]) -> tuple[list[float], int] + * + * \endenglish + */ + ResultWithErrno calibEndFeaturePosInFlange(const std::vector>& pose); + + + /** + * @ingroup RobotAlgorithm + * \chinese + * @brief 合并稠密路径点 / 剔除过短路径段，对输入路径点进行稀疏化处理 + * + * 处理原理： + * 根据指定的最小段长阈值，遍历输入路径点序列，剔除两点之间距离小于最小段长的稠密点， + * 保留关键路径点，生成更平滑、点数更少的优化后路径，支持不同类型的路径点合并规则。 + * + * 输入点格式：通用路径点格式 [x, y, z, rx, ry, rz, ...] + * + * @param type 输入：合并算法类型 / 模式选择 + * @param points 输入：原始稠密路径点序列 + * @param min_segment_length 输入：最小路径段长度阈值，小于该值的段会被合并/剔除 + * @return ResultWithErrno1 处理结果与错误码 + * 第一个返回值：std::vector>，处理后的稀疏路径点 + * 第二个返回值：int 错误码，<0 处理失败，>=0 处理成功 + * + * @par Lua 函数原型 + * mergeDenseWaypoints(type: number, points: table, min_segment_length: number) -> result_table, number + * + * @par Lua 示例 + * local type = 0 + * local min_len = 0.01 + * local wp1 = {0.1, 0.2, 0.3, -3.142, 0.0, 0.0} + * local wp2 = {0.1005, 0.2003, 0.3002, -3.142, 0.0, 0.0} + * local wp3 = {0.12, 0.22, 0.32, -3.142, 0.0, 0.0} + * local input_wps = {wp1, wp2, wp3} + * local res, err = mergeDenseWaypoints(type, input_wps, min_len) + * -- res 为剔除稠密点后的路径点表 + * + * @par Python 函数原型 + * mergeDenseWaypoints(type: int, points: list[list[float]], min_segment_length: float) -> tuple[list[list[float]], int] + * + * @par Python 示例 + * type = 0 + * min_len = 0.01 + * wp1 = [0.1, 0.2, 0.3, -3.142, 0.0, 0.0] + * wp2 = [0.1005, 0.2003, 0.3002, -3.142, 0.0, 0.0] + * wp3 = [0.12, 0.22, 0.32, -3.142, 0.0, 0.0] + * input_wps = [wp1, wp2, wp3] + * res, err = mergeDenseWaypoints(type, input_wps, min_len) + * # res 为处理后的稀疏路径点列表 + * + * \endchinese + * + * \english + * @brief Merge dense waypoints / remove short segments, sparsify input path points + * + * Processing principle: + * Iterate the input waypoint sequence based on the specified minimum segment length threshold, + * remove dense points with distance less than the threshold, keep key waypoints, + * generate optimized path with fewer points and smoother trajectory, support different merge modes. + * + * Input point format: general path point [x, y, z, rx, ry, rz, ...] + * + * @param type Input: merge algorithm type / mode selection + * @param points Input: original dense waypoint sequence + * @param min_segment_length Input: minimum segment length threshold, segments shorter than this will be merged/removed + * @return ResultWithErrno1 Processing result and error code + * First: vector>, sparsified waypoints after processing + * Second: int error code, <0 fail, >=0 success + * + * @par Lua prototype + * mergeDenseWaypoints(type: number, points: table, min_segment_length: number) -> result_table, number + * + * @par Python prototype + * mergeDenseWaypoints(type: int, points: list[list[float]], min_segment_length: float) -> tuple[list[list[float]], int] + * + * \endenglish + */ + ResultWithErrno1 mergeDenseWaypoints(int type, const std::vector> &points, double min_segment_length); + +protected: + void *d_; +}; +using RobotAlgorithmPtr = std::shared_ptr; + +} // namespace common_interface +} // namespace arcs + +#endif // AUBO_SDK_ROBOT_ALGORITHM_INTERFACE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/robot_config.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/robot_config.h new file mode 100644 index 00000000..bddd804a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/robot_config.h @@ -0,0 +1,3837 @@ +/** @file robot_config.h + * @brief 获取机器人配置接口，如获取DH参数、碰撞等级、安装位姿等等 + */ +#ifndef AUBO_SDK_ROBOT_CONFIG_H +#define AUBO_SDK_ROBOT_CONFIG_H + +#include +#include + +#include +#include + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * @defgroup RobotConfig RobotConfig (机器人配置管理) + * @ingroup RobotInterface + * \endchinese + * + * \english + * @defgroup RobotConfig Robot Configuration Management + * @ingroup RobotInterface + * \endenglish + * RobotConfig + */ +class ARCS_ABI_EXPORT RobotConfig +{ +public: + RobotConfig(); + virtual ~RobotConfig(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取机器人的名字 + * + * @return 返回机器人的名字 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getName(self: pyaubo_sdk.RobotConfig) -> str + * + * @par Lua函数原型 + * getName() -> string + * + * @par Lua示例 + * robot_name = getName() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getName","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"rob1"} + * \endchinese + * \english + * Get the robot's name. + * + * @return The robot's name. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getName(self: pyaubo_sdk.RobotConfig) -> str + * + * @par Lua function prototype + * getName() -> string + * + * @par Lua example + * robot_name = getName() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getName","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"rob1"} + * \endenglish + */ + std::string getName(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取机器人的自由度(从硬件抽象层读取) + * + * @return 返回机器人的自由度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getDof(self: pyaubo_sdk.RobotConfig) -> int + * + * @par Lua函数原型 + * getDof() -> number + * + * @par Lua示例 + * robot_dof = getDof() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDof","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":6} + * \endchinese + * \english + * Get the robot's degrees of freedom (from the hardware abstraction layer). + * + * @return The robot's degrees of freedom. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getDof(self: pyaubo_sdk.RobotConfig) -> int + * + * @par Lua function prototype + * getDof() -> number + * + * @par Lua example + * robot_dof = getDof() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDof","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":6} + * \endenglish + */ + int getDof(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取机器人的伺服控制周期(从硬件抽象层读取) + * + * @return 机器人的伺服控制周期 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getCycletime(self: pyaubo_sdk.RobotConfig) -> float + * + * @par Lua函数原型 + * getCycletime() -> number + * + * @par Lua示例 + * robot_Cycletime = getCycletime() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getCycletime","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.005} + * \endchinese + * \english + * Get the robot's servo control cycle time (from the hardware abstraction + * layer). + * + * @return The robot's servo control cycle time. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getCycletime(self: pyaubo_sdk.RobotConfig) -> float + * + * @par Lua function prototype + * getCycletime() -> number + * + * @par Lua example + * robot_Cycletime = getCycletime() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getCycletime","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.005} + * \endenglish + */ + double getCycletime(); + + /** + * @ingroup RobotConfig + * \chinese + * 预设缓速模式下的速度缩减比例 + * + * @param level 缓速等级 1, 2 + * @param fraction + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setSlowDownFraction","params":[1,0.8],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set the speed reduction ratio for the preset slow-down mode. + * + * @param level Slow-down level 1, 2 + * @param fraction + * + * @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 JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setSlowDownFraction","params":[1,0.8],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setSlowDownFraction(int level, double fraction); + + /** + * @ingroup RobotConfig + * \chinese + * 获取预设的缓速模式下的速度缩减比例 + * + * @param level 缓速等级 1, 2 + * @return 返回预设的缓速模式下的速度缩减比例 + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSlowDownFraction","params":[1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.5} + * \endchinese + * \english + * Get the speed reduction ratio for the preset slow-down mode. + * + * @param level Slow-down level 1, 2 + * @return The speed reduction ratio for the preset slow-down mode. + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSlowDownFraction","params":[1],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.5} + * \endenglish + */ + double getSlowDownFraction(int level); + + /** + * @ingroup RobotConfig + * \chinese + * 获取默认的工具端加速度，单位m/s^2 + * + * @return 默认的工具端加速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getDefaultToolAcc(self: pyaubo_sdk.RobotConfig) -> float + * + * @par Lua函数原型 + * getDefaultToolAcc() -> number + * + * @par Lua示例 + * DefaultToolAcc = getDefaultToolAcc() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDefaultToolAcc","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.0} + * \endchinese + * \english + * Get the default tool acceleration, in m/s^2. + * + * @return The default tool acceleration. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getDefaultToolAcc(self: pyaubo_sdk.RobotConfig) -> float + * + * @par Lua function prototype + * getDefaultToolAcc() -> number + * + * @par Lua example + * DefaultToolAcc = getDefaultToolAcc() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDefaultToolAcc","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.0} + * \endenglish + */ + double getDefaultToolAcc(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取默认的工具端速度，单位m/s + * + * @return 默认的工具端速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getDefaultToolSpeed(self: pyaubo_sdk.RobotConfig) -> float + * + * @par Lua函数原型 + * getDefaultToolSpeed() -> number + * + * @par Lua示例 + * DefaultToolSpeed = getDefaultToolSpeed() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDefaultToolSpeed","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.0} + * \endchinese + * \english + * Get the default tool speed, in m/s. + * + * @return The default tool speed. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getDefaultToolSpeed(self: pyaubo_sdk.RobotConfig) -> float + * + * @par Lua function prototype + * getDefaultToolSpeed() -> number + * + * @par Lua example + * DefaultToolSpeed = getDefaultToolSpeed() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDefaultToolSpeed","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.0} + * \endenglish + */ + double getDefaultToolSpeed(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取默认的关节加速度，单位rad/s^2 + * + * @return 默认的关节加速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getDefaultJointAcc(self: pyaubo_sdk.RobotConfig) -> float + * + * @par Lua函数原型 + * getDefaultJointAcc() -> number + * + * @par Lua示例 + * DefaultJointAcc = getDefaultJointAcc() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDefaultJointAcc","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.0} + * \endchinese + * \english + * Get the default joint acceleration, in rad/s^2. + * + * @return The default joint acceleration. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getDefaultJointAcc(self: pyaubo_sdk.RobotConfig) -> float + * + * @par Lua function prototype + * getDefaultJointAcc() -> number + * + * @par Lua example + * DefaultJointAcc = getDefaultJointAcc() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDefaultJointAcc","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.0} + * \endenglish + */ + double getDefaultJointAcc(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取默认的关节速度，单位rad/s + * + * @return 默认的关节速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getDefaultJointSpeed(self: pyaubo_sdk.RobotConfig) -> float + * + * @par Lua函数原型 + * getDefaultJointSpeed() -> number + * + * @par Lua示例 + * DefaultJointSpeed = getDefaultJointSpeed() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDefaultJointSpeed","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.0} + * \endchinese + * \english + * Get the default joint speed, in rad/s. + * + * @return The default joint speed. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getDefaultJointSpeed(self: pyaubo_sdk.RobotConfig) -> float + * + * @par Lua function prototype + * getDefaultJointSpeed() -> number + * + * @par Lua example + * DefaultJointSpeed = getDefaultJointSpeed() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDefaultJointSpeed","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.0} + * \endenglish + */ + double getDefaultJointSpeed(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取机器人类型代码 + * + * @return 机器人类型代码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getRobotType(self: pyaubo_sdk.RobotConfig) -> str + * + * @par Lua函数原型 + * getRobotType() -> string + * + * @par Lua示例 + * RobotType = getRobotType() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getRobotType","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"aubo_i5H"} + * \endchinese + * \english + * Get the robot type code. + * + * @return The robot type code. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getRobotType(self: pyaubo_sdk.RobotConfig) -> str + * + * @par Lua function prototype + * getRobotType() -> string + * + * @par Lua example + * RobotType = getRobotType() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getRobotType","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"aubo_i5H"} + * \endenglish + */ + std::string getRobotType(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取机器人子类型代码 + * + * @return 机器人子类型代码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getRobotSubType(self: pyaubo_sdk.RobotConfig) -> str + * + * @par Lua函数原型 + * getRobotSubType() -> string + * + * @par Lua示例 + * RobotSubType = getRobotSubType() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getRobotSubType","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"B0"} + * \endchinese + * \english + * Get the robot sub-type code. + * + * @return The robot sub-type code. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getRobotSubType(self: pyaubo_sdk.RobotConfig) -> str + * + * @par Lua function prototype + * getRobotSubType() -> string + * + * @par Lua example + * RobotSubType = getRobotSubType() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getRobotSubType","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"B0"} + * \endenglish + */ + std::string getRobotSubType(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取控制柜类型代码 + * + * @return 控制柜类型代码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getControlBoxType(self: pyaubo_sdk.RobotConfig) -> str + * + * @par Lua函数原型 + * getControlBoxType() -> string + * + * @par Lua示例 + * ControlBoxType = getControlBoxType() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getControlBoxType","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"cb_ISStation"} + * \endchinese + * \english + * Get the control box type code. + * + * @return The control box type code. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getControlBoxType(self: pyaubo_sdk.RobotConfig) -> str + * + * @par Lua function prototype + * getControlBoxType() -> string + * + * @par Lua example + * ControlBoxType = getControlBoxType() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getControlBoxType","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"cb_ISStation"} + * \endenglish + */ + std::string getControlBoxType(); + + /** + * @ingroup RobotConfig + * \chinese + * 设置安装位姿(机器人的基坐标系相对于世界坐标系) world->base + * + * 一般在多机器人系统中使用，默认为 [0,0,0,0,0,0] + * + * @param pose 安装位姿 + * @return 成功返回0; 失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setMountingPose(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int + * + * @par Lua函数原型 + * setMountingPose(pose: table) -> nil + * + * @par Lua示例 + * setMountingPose({0.0,0.0,0.0,0.0,0.0,0.0}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setMountingPose","params":[[0.0,0.0,0.0,0.0,0.0,0.0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set the mounting pose (robot base coordinate system relative to world + * coordinate system) world->base + * + * Typically used in multi-robot systems, default is [0,0,0,0,0,0] + * + * @param pose Mounting pose + * @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 + * setMountingPose(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int + * + * @par Lua function prototype + * setMountingPose(pose: table) -> nil + * + * @par Lua example + * setMountingPose({0.0,0.0,0.0,0.0,0.0,0.0}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setMountingPose","params":[[0.0,0.0,0.0,0.0,0.0,0.0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setMountingPose(const std::vector &pose); + + /** + * @ingroup RobotConfig + * \chinese + * 获取安装位姿(机器人的基坐标系相对于世界坐标系) + * + * @return 安装位姿 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getMountingPose(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getMountingPose() -> table + * + * @par Lua示例 + * MountingPose = getMountingPose() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getMountingPose","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the mounting pose (robot base coordinate system relative to world + * coordinate system) + * + * @return Mounting pose + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getMountingPose(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getMountingPose() -> table + * + * @par Lua example + * MountingPose = getMountingPose() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getMountingPose","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getMountingPose(); + + /** + * @ingroup RobotConfig + * \chinese + * 将机器人绑定到一个坐标系，如果这个坐标系是运动的，那机器人也会跟着运动 + * 应用于地轨或者龙门 + * 这个函数调用的时候 frame 和 ROBOTBASE 的相对关系就固定了 + * \endchinese + * \english + * Attach the robot base to a coordinate frame. If this frame moves, the + * robot will move accordingly. Used for applications like ground rails or + * gantries. When this function is called, the relationship between the + * frame and ROBOTBASE is fixed. \endenglish + */ + int attachRobotBaseTo(const std::string &frame); + std::string getRobotBaseParent(); + + /** + * @ingroup RobotConfig + * \chinese + * 设置工件数据，编程点位都是基于工件坐标系 + * \endchinese + * \english + * Set work object data. All programmed points are based on the work object + * coordinate system. \endenglish + */ + + int setWorkObjectData(const WObjectData &wobj); + + /** + * @ingroup RobotConfig + * \chinese + * 设置碰撞灵敏度等级 + * 数值越大越灵敏 + * + * @param level 碰撞灵敏度等级 + * 0: 关闭碰撞检测功能 + * 1~9: 碰撞灵敏等级 + * @return 成功返回0; 失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setCollisionLevel(self: pyaubo_sdk.RobotConfig, arg0: int) -> int + * + * @par Lua函数原型 + * setCollisionLevel(level: number) -> nil + * + * @par Lua示例 + * setCollisionLevel(6) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setCollisionLevel","params":[6],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set the collision sensitivity level. + * The higher the value, the more sensitive. + * + * @param level Collision sensitivity level + * 0: Disable collision detection + * 1~9: Collision sensitivity levels + * @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 + * setCollisionLevel(self: pyaubo_sdk.RobotConfig, arg0: int) -> int + * + * @par Lua function prototype + * setCollisionLevel(level: number) -> nil + * + * @par Lua example + * setCollisionLevel(6) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setCollisionLevel","params":[6],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setCollisionLevel(int level); + + /** + * @ingroup RobotConfig + * \chinese + * 获取碰撞灵敏度等级 + * + * @return 碰撞灵敏度等级 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getCollisionLevel(self: pyaubo_sdk.RobotConfig) -> int + * + * @par Lua函数原型 + * getCollisionLevel() -> number + * + * @par Lua示例 + * CollisionLevel = getCollisionLevel() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getCollisionLevel","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":6} + * \endchinese + * \english + * Get the collision sensitivity level. + * + * @return Collision sensitivity level. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getCollisionLevel(self: pyaubo_sdk.RobotConfig) -> int + * + * @par Lua function prototype + * getCollisionLevel() -> number + * + * @par Lua example + * CollisionLevel = getCollisionLevel() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getCollisionLevel","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":6} + * \endenglish + */ + int getCollisionLevel(); + + /** + * @ingroup RobotConfig + * \chinese + * 设置碰撞停止类型 + * + * @param type 类型 \n + * 0: 碰撞后浮动，即碰撞之后进入拖动示教模式 \n + * 1: 碰撞后静止 \n + * 2: 碰撞后抱闸 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setCollisionStopType(self: pyaubo_sdk.RobotConfig, arg0: int) -> int + * + * @par Lua函数原型 + * setCollisionStopType(type: number) -> nil + * + * @par Lua示例 + * setCollisionStopType(1) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setCollisionStopType","params":[1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set the collision stop type. + * + * @param type Type \n + * 0: Floating after collision, i.e., enters freedrive mode after collision + * \n 1: Stop after collision \n 2: Brake after collision + * + * @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 + * setCollisionStopType(self: pyaubo_sdk.RobotConfig, arg0: int) -> int + * + * @par Lua function prototype + * setCollisionStopType(type: number) -> nil + * + * @par Lua example + * setCollisionStopType(1) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setCollisionStopType","params":[1],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setCollisionStopType(int type); + + /** + * @ingroup RobotConfig + * \chinese + * 获取碰撞停止类型 + * + * @return 返回碰撞停止类型 \n + * 0: 碰撞后浮动，即碰撞之后进入拖动示教模式 \n + * 1: 碰撞后静止 \n + * 2: 碰撞后抱闸 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getCollisionStopType(self: pyaubo_sdk.RobotConfig) -> int + * + * @par Lua函数原型 + * getCollisionStopType() -> number + * + * @par Lua示例 + * CollisionStopType = getCollisionStopType() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getCollisionStopType","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1} + * + * \endchinese + * \english + * Get the collision stop type. + * + * @return The collision stop type. \n + * 0: Floating after collision, i.e., enters freedrive mode after collision + * \n 1: Stop after collision \n 2: Brake after collision + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getCollisionStopType(self: pyaubo_sdk.RobotConfig) -> int + * + * @par Lua function prototype + * getCollisionStopType() -> number + * + * @par Lua example + * CollisionStopType = getCollisionStopType() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getCollisionStopType","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1} + * + * \endenglish + */ + int getCollisionStopType(); + + /** + * @ingroup RobotConfig + * \chinese + * 设置机器人的原点位置 + * + * @param positions 关节角度 + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setHomePosition","params":[[0.0,-0.2617993877991494,1.74532925199433,0.4363323129985824,1.570796326794897,0.0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set the robot's home position. + * + * @param positions Joint angles + * @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 JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setHomePosition","params":[[0.0,-0.2617993877991494,1.74532925199433,0.4363323129985824,1.570796326794897,0.0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setHomePosition(const std::vector &positions); + + /** + * @ingroup RobotConfig + * \chinese + * 获取机器人的原点位置 + * + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getHomePosition","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,-0.2617993877991494,1.74532925199433,0.4363323129985824,1.570796326794897,0.0]} + * \endchinese + * \english + * Get the robot's home position. + * + * @return + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getHomePosition","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,-0.2617993877991494,1.74532925199433,0.4363323129985824,1.570796326794897,0.0]} + * \endenglish + */ + std::vector getHomePosition(); + + /** + * @ingroup RobotConfig + * \chinese + * 设置拖动阻尼 + * + * @param damp 阻尼 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setFreedriveDamp(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int + * + * @par Lua函数原型 + * setFreedriveDamp(damp: table) -> nil + * + * @par Lua示例 + * setFreedriveDamp({0.5,0.5,0.5,0.5,0.5,0.5}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setFreedriveDamp","params":[[0.5,0.5,0.5,0.5,0.5,0.5]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set freedrive damping. + * + * @param damp Damping values. + * + * @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 + * setFreedriveDamp(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int + * + * @par Lua function prototype + * setFreedriveDamp(damp: table) -> nil + * + * @par Lua example + * setFreedriveDamp({0.5,0.5,0.5,0.5,0.5,0.5}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setFreedriveDamp","params":[[0.5,0.5,0.5,0.5,0.5,0.5]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setFreedriveDamp(const std::vector &damp); + + /** + * @ingroup RobotConfig + * \chinese + * 获取拖动阻尼 + * + * @return 拖动阻尼 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getFreedriveDamp(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getFreedriveDamp() -> table + * + * @par Lua示例 + * FreedriveDamp = getFreedriveDamp() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getFreedriveDamp","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.5,0.5,0.5,0.5,0.5,0.5]} + * \endchinese + * \english + * Get freedrive damping. + * + * @return Freedrive damping values. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getFreedriveDamp(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getFreedriveDamp() -> table + * + * @par Lua example + * FreedriveDamp = getFreedriveDamp() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getFreedriveDamp","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.5,0.5,0.5,0.5,0.5,0.5]} + * \endenglish + */ + std::vector getFreedriveDamp(); + + /** + * @ingroup RobotConfig + * \chinese + * 设置混合拖动阻尼 + * + * @param damp 阻尼 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setHandguidDamp(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int + * + * @par Lua函数原型 + * setHandguidDamp(damp: table) -> number + * + * @par Lua示例 + * setHandguidDamp({0.5,0.5,0.5,0.5,0.5,0.5}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setHandguidDamp","params":[[0.5,0.5,0.5,0.5,0.5,0.5]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set handguiding damping. + * + * @param damp damping coef. + * + * @return return 0 for success；return rror code for failure + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setHandguidDamp(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int + * + * @par Lua function prototype + * setHandguidDamp(damp: table) -> number + * + * @par Lua example + * setHandguidDamp({0.5,0.5,0.5,0.5,0.5,0.5}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setHandguidDamp","params":[[0.5,0.5,0.5,0.5,0.5,0.5]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setHandguidDamp(const std::vector &damp); + + /** + * @ingroup RobotConfig + * \chinese + * 获取混合拖动阻尼 + * + * @return 拖动阻尼 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getHandguidDamp(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getHandguidDamp() -> table + * + * @par Lua示例 + * HandguidDamp = getHandguidDamp() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getHandguidDamp","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.5,0.5,0.5,0.5,0.5,0.5]} + * \endchinese + * \english + * Get handguiding damping. + * + * @return handguuiding damping + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getHandguidDamp(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua fuunction prototype + * getHandguidDamp() -> table + * + * @par Lua example + * HandguidDamp = getHandguidDamp() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getHandguidDamp","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.5,0.5,0.5,0.5,0.5,0.5]} + * \endenglish + */ + std::vector getHandguidDamp(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取机器人DH参数 + * alpha a d theta beta + * + * @param real 读取真实参数(理论值+补偿值)或者理论参数 + * @return 返回机器人DH参数 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getKinematicsParam(self: pyaubo_sdk.RobotConfig, arg0: bool) -> Dict[str, + * List[float]] + * + * @par Lua函数原型 + * getKinematicsParam(real: boolean) -> table + * + * @par Lua示例 + * KinematicsParam = getKinematicsParam(true) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getKinematicsParam","params":[true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":{"a":[0.0,-0.0001255999959539622,0.4086348000024445,0.3757601999930339,-0.00018950000230688602,3.7000001611886546e-05], + * "alpha":[0.0,-1.5701173967707458,3.1440308735524347,3.14650750358636,-1.5703093767832055,1.5751177669179182],"beta":[0.0,0.0,0.0,0.0,0.0,0.0], + * "d":[0.122,0.12154769999941345,-4.769999941345304e-05,4.769999941345304e-05,0.10287890000385232,0.116], + * "theta":[3.141592653589793,-1.5707963267948966,0.0,-1.5707963267948966,0.0,0.0]}} + * \endchinese + * \english + * Get the robot's DH parameters: alpha, a, d, theta, beta. + * + * @param real Read real parameters (theoretical + compensation) or + * theoretical parameters. + * @return Returns the robot's DH parameters. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getKinematicsParam(self: pyaubo_sdk.RobotConfig, arg0: bool) -> Dict[str, + * List[float]] + * + * @par Lua function prototype + * getKinematicsParam(real: boolean) -> table + * + * @par Lua example + * KinematicsParam = getKinematicsParam(true) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getKinematicsParam","params":[true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":{"a":[0.0,-0.0001255999959539622,0.4086348000024445,0.3757601999930339,-0.00018950000230688602,3.7000001611886546e-05], + * "alpha":[0.0,-1.5701173967707458,3.1440308735524347,3.14650750358636,-1.5703093767832055,1.5751177669179182],"beta":[0.0,0.0,0.0,0.0,0.0,0.0], + * "d":[0.122,0.12154769999941345,-4.769999941345304e-05,4.769999941345304e-05,0.10287890000385232,0.116], + * "theta":[3.141592653589793,-1.5707963267948966,0.0,-1.5707963267948966,0.0,0.0]}} + * \endenglish + */ + std::unordered_map> getKinematicsParam( + bool real); + + /** + * @ingroup RobotConfig + * \chinese + * 获取指定温度下的DH参数补偿值:alpha a d theta beta + * + * @param ref_temperature 参考温度 ℃，默认20℃ + * @return 返回DH参数补偿值 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getKinematicsCompensate(self: pyaubo_sdk.RobotConfig, arg0: float) -> + * Dict[str, List[float]] + * + * @par Lua函数原型 + * getKinematicsCompensate(ref_temperature: number) -> table + * + * @par Lua示例 + * KinematicsCompensate = getKinematicsCompensate(20) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getKinematicsCompensate","params":[20],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":{"a":[0.0,-0.0001255999959539622,0.0006348000024445355,-0.0002398000069661066,-0.00018950000230688602,3.7000001611886546e-05], + * "alpha":[0.0,0.000678930024150759,0.002438219962641597,0.0049148499965667725,0.00048695001169107854,0.004321440123021603], + * "beta":[0.0,0.0,0.0,0.0,0.0,0.0],"d":[0.0,4.769999941345304e-05,-4.769999941345304e-05,4.769999941345304e-05,0.0003789000038523227,0.0], + * "theta":[0.0,0.0,0.0,0.0,0.0,0.0]}} + * \endchinese + * \english + * Get DH parameter compensation values (alpha, a, d, theta, beta) at the + * specified temperature. + * + * @param ref_temperature Reference temperature in ℃, default is 20℃ + * @return Returns DH parameter compensation values. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getKinematicsCompensate(self: pyaubo_sdk.RobotConfig, arg0: float) -> + * Dict[str, List[float]] + * + * @par Lua function prototype + * getKinematicsCompensate(ref_temperature: number) -> table + * + * @par Lua example + * KinematicsCompensate = getKinematicsCompensate(20) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getKinematicsCompensate","params":[20],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":{"a":[0.0,-0.0001255999959539622,0.0006348000024445355,-0.0002398000069661066,-0.00018950000230688602,3.7000001611886546e-05], + * "alpha":[0.0,0.000678930024150759,0.002438219962641597,0.0049148499965667725,0.00048695001169107854,0.004321440123021603], + * "beta":[0.0,0.0,0.0,0.0,0.0,0.0],"d":[0.0,4.769999941345304e-05,-4.769999941345304e-05,4.769999941345304e-05,0.0003789000038523227,0.0], + * "theta":[0.0,0.0,0.0,0.0,0.0,0.0]}} + * \endenglish + */ + std::unordered_map> + getKinematicsCompensate(double ref_temperature); + + /** + * @ingroup RobotConfig + * \chinese + * 设置标准 DH 补偿到机器人 + * + * @param param + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * \endchinese + * \english + * Set standard DH compensation to the robot. + * + * @param param + * + * @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 + * \endenglish + */ + int setKinematicsCompensate( + const std::unordered_map> ¶m); + + /** + * @ingroup RobotConfig + * \chinese + * 设置需要保存到接口板底座的参数 + * + * @param param 补偿数据 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setPersistentParameters(self: pyaubo_sdk.RobotConfig, arg0: str) -> int + * + * @par Lua函数原型 + * setPersistentParameters(param: string) -> nil + * + * \endchinese + * \english + * Set parameters to be saved to the interface board base. + * + * @param param Compensation data. + * + * @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 + * setPersistentParameters(self: pyaubo_sdk.RobotConfig, arg0: str) -> int + * + * @par Lua function prototype + * setPersistentParameters(param: string) -> nil + * + * \endenglish + */ + int setPersistentParameters(const std::string ¶m); + + /** + * @ingroup RobotConfig + * \chinese + * 设置硬件抽象层自定义参数 + * 目的是为了做不同硬件之间的兼容 + * + * @param param 自定义参数 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * \endchinese + * \english + * Set custom parameters for the hardware abstraction layer. + * The purpose is to ensure compatibility between different hardware. + * + * @param param Custom parameters. + * + * @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 + * \endenglish + */ + int setHardwareCustomParameters(const std::string ¶m); + + /** + * @ingroup RobotConfig + * \chinese + * 获取硬件抽象层自定义参数 + * + * @param + * @return 返回硬件抽象层自定义的参数 + * + * @throws arcs::common_interface::AuboException + * \endchinese + * \english + * Get custom parameters from the hardware abstraction layer. + * + * @param + * @return Returns custom parameters from the hardware abstraction layer. + * + * @throws arcs::common_interface::AuboException + * \endenglish + */ + std::string getHardwareCustomParameters(const std::string ¶m); + + /** + * @ingroup RobotConfig + * \chinese + * 设置机器人关节零位 + * + * @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 + * setRobotZero(self: pyaubo_sdk.RobotConfig) -> int + * + * @par Lua函数原型 + * setRobotZero() -> nil + * + * @par Lua示例 + * setRobotZero() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setRobotZero","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set the robot joint zero position. + * + * @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 + * setRobotZero(self: pyaubo_sdk.RobotConfig) -> int + * + * @par Lua function prototype + * setRobotZero() -> nil + * + * @par Lua example + * setRobotZero() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setRobotZero","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setRobotZero(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取可用的末端力矩传感器的名字 + * + * @return 返回可用的末端力矩传感器的名字 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getTcpForceSensorNames(self: pyaubo_sdk.RobotConfig) -> List[str] + * + * @par Lua函数原型 + * getTcpForceSensorNames() -> table + * + * @par Lua示例 + * TcpForceSensorNames = getTcpForceSensorNames() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpForceSensorNames","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[]} + * + * \endchinese + * \english + * Get the names of available TCP force sensors. + * + * @return Returns the names of available TCP force sensors. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getTcpForceSensorNames(self: pyaubo_sdk.RobotConfig) -> List[str] + * + * @par Lua function prototype + * getTcpForceSensorNames() -> table + * + * @par Lua example + * TcpForceSensorNames = getTcpForceSensorNames() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpForceSensorNames","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[]} + * + * \endenglish + */ + std::vector getTcpForceSensorNames(); + + /** + * @ingroup RobotConfig + * \chinese + * 设置末端力矩传感器 + * 如果存在内置的末端力矩传感器，默认将使用内置的力矩传感器 + * + * @param name 末端力矩传感器的名字 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * selectTcpForceSensor(self: pyaubo_sdk.RobotConfig, arg0: str) -> int + * + * @par Lua函数原型 + * selectTcpForceSensor(name: string) -> nil + * \endchinese + * \english + * Set the TCP force sensor. + * If there is a built-in TCP force sensor, the built-in sensor will be used + * by default. + * + * @param name Name of the TCP force sensor. + * + * @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 + * selectTcpForceSensor(self: pyaubo_sdk.RobotConfig, arg0: str) -> int + * + * @par Lua function prototype + * selectTcpForceSensor(name: string) -> nil + * \endenglish + */ + int selectTcpForceSensor(const std::string &name); + + /** + * @ingroup RobotConfig + * \chinese + * 设置传感器安装位姿 + * + * @param sensor_pose 传感器安装位姿 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * \endchinese + * \english + * Set the sensor mounting pose. + * + * @param sensor_pose Sensor mounting pose + * + * @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 + * \endenglish + */ + int setTcpForceSensorPose(const std::vector &sensor_pose); + + /** + * @ingroup RobotConfig + * \chinese + * 获取传感器安装位姿 + * + * @return 传感器安装位姿 + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpForceSensorPose","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the sensor mounting pose. + * + * @return Sensor mounting pose. + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpForceSensorPose","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getTcpForceSensorPose(); + + /** + * @ingroup RobotConfig + * \chinese + * 是否安装了末端力矩传感器 + * + * @return 安装返回true; 没有安装返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * hasTcpForceSensor(self: pyaubo_sdk.RobotConfig) -> bool + * + * @par Lua函数原型 + * hasTcpForceSensor() -> boolean + * + * @par Lua示例 + * hasTcpForceSensor = hasTcpForceSensor() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.hasTcpForceSensor","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * + * \endchinese + * \english + * Whether a TCP force sensor is installed. + * + * @return Returns true if installed; false otherwise. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * hasTcpForceSensor(self: pyaubo_sdk.RobotConfig) -> bool + * + * @par Lua function prototype + * hasTcpForceSensor() -> boolean + * + * @par Lua example + * hasTcpForceSensor = hasTcpForceSensor() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.hasTcpForceSensor","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * + * \endenglish + */ + bool hasTcpForceSensor(); + + /** + * @ingroup RobotConfig + * \chinese + * 设置末端力矩偏移 + * + * @param force_offset 末端力矩偏移 + * @return 成功返回0; 失败返回错误码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setTcpForceOffset(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int + * + * @par Lua函数原型 + * setTcpForceOffset(force_offset: table) -> nil + * + * @par Lua示例 + * setTcpForceOffset({0.0,0.0,0.0,0.0,0.0,0.0}) + * + * \endchinese + * \english + * Set the TCP force/torque offset. + * + * @param force_offset TCP force/torque offset + * @return Returns 0 on success; error code on failure + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setTcpForceOffset(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int + * + * @par Lua function prototype + * setTcpForceOffset(force_offset: table) -> nil + * + * @par Lua example + * setTcpForceOffset({0.0,0.0,0.0,0.0,0.0,0.0}) + * + * \endenglish + */ + int setTcpForceOffset(const std::vector &force_offset); + + /** + * @ingroup RobotConfig + * \chinese + * 获取末端力矩偏移 + * + * @return 返回末端力矩偏移 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getTcpForceOffset(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getTcpForceOffset() -> table + * + * @par Lua示例 + * TcpForceOffset = getTcpForceOffset() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpForceOffset","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the TCP force/torque offset. + * + * @return Returns the TCP force/torque offset. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getTcpForceOffset(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getTcpForceOffset() -> table + * + * @par Lua example + * TcpForceOffset = getTcpForceOffset() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpForceOffset","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getTcpForceOffset(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取可用的底座力矩传感器的名字 + * + * @return 返回可用的底座力矩传感器的名字 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getBaseForceSensorNames(self: pyaubo_sdk.RobotConfig) -> List[str] + * + * @par Lua函数原型 + * getBaseForceSensorNames() -> table + * + * @par Lua示例 + * BaseForceSensorNames = getBaseForceSensorNames() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getBaseForceSensorNames","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[]} + * + * \endchinese + * \english + * Get the names of available base force sensors. + * + * @return Returns the names of available base force sensors. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getBaseForceSensorNames(self: pyaubo_sdk.RobotConfig) -> List[str] + * + * @par Lua function prototype + * getBaseForceSensorNames() -> table + * + * @par Lua example + * BaseForceSensorNames = getBaseForceSensorNames() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getBaseForceSensorNames","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[]} + * + * \endenglish + */ + std::vector getBaseForceSensorNames(); + + /** + * @ingroup RobotConfig + * \chinese + * 设置底座力矩传感器 + * 如果存在内置的底座力矩传感器，默认将使用内置的力矩传感器 + * + * @param name 底座力矩传感器的名字 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * selectBaseForceSensor(self: pyaubo_sdk.RobotConfig, arg0: str) -> int + * + * @par Lua函数原型 + * selectBaseForceSensor(name: string) -> nil + * \endchinese + * \english + * Set the base force sensor. + * If there is a built-in base force sensor, the built-in sensor will be + * used by default. + * + * @param name Name of the base force sensor. + * + * @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 + * selectBaseForceSensor(self: pyaubo_sdk.RobotConfig, arg0: str) -> int + * + * @par Lua function prototype + * selectBaseForceSensor(name: string) -> nil + * \endenglish + */ + int selectBaseForceSensor(const std::string &name); + + /** + * @ingroup RobotConfig + * \chinese + * 是否安装了底座力矩传感器 + * + * @return 安装返回true;没有安装返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * hasBaseForceSensor(self: pyaubo_sdk.RobotConfig) -> bool + * + * @par Lua函数原型 + * hasBaseForceSensor() -> boolean + * + * @par Lua示例 + * hasBaseForceSensor = hasBaseForceSensor() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.hasBaseForceSensor","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * + * \endchinese + * \english + * Whether a base force sensor is installed. + * + * @return Returns true if installed; false otherwise. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * hasBaseForceSensor(self: pyaubo_sdk.RobotConfig) -> bool + * + * @par Lua function prototype + * hasBaseForceSensor() -> boolean + * + * @par Lua example + * hasBaseForceSensor = hasBaseForceSensor() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.hasBaseForceSensor","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * + * \endenglish + */ + bool hasBaseForceSensor(); + + /** + * @ingroup RobotConfig + * \chinese + * 设置底座力矩偏移 + * + * @param force_offset 底座力矩偏移 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setBaseForceOffset(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> + * int + * + * @par Lua函数原型 + * setBaseForceOffset(force_offset: table) -> nil + * + * @par Lua示例 + * setBaseForceOffset({0.0,0.0,0.0,0.0,0.0,0.0}) + * + * \endchinese + * \english + * Set the base force/torque offset. + * + * @param force_offset Base force/torque offset + * + * @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 + * setBaseForceOffset(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> + * int + * + * @par Lua function prototype + * setBaseForceOffset(force_offset: table) -> nil + * + * @par Lua示例 + * setBaseForceOffset({0.0,0.0,0.0,0.0,0.0,0.0}) + * + * \endenglish + */ + int setBaseForceOffset(const std::vector &force_offset); + + /** + * @ingroup RobotConfig + * \chinese + * 获取底座力矩偏移 + * + * @return 返回底座力矩偏移 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getBaseForceOffset(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getBaseForceOffset() -> table + * + * @par Lua示例 + * BaseForceOffset = getBaseForceOffset() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getBaseForceOffset","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[]} + * + * \endchinese + * \english + * Get the base force/torque offset. + * + * @return Returns the base force/torque offset. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getBaseForceOffset(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getBaseForceOffset() -> table + * + * @par Lua example + * BaseForceOffset = getBaseForceOffset() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getBaseForceOffset","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[]} + * + * \endenglish + */ + std::vector getBaseForceOffset(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取安全参数校验码 CRC32 + * + * @return 返回安全参数校验码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getSafetyParametersCheckSum(self: pyaubo_sdk.RobotConfig) -> int + * + * @par Lua函数原型 + * getSafetyParametersCheckSum() -> number + * + * @par Lua示例 + * SafetyParametersCheckSum = getSafetyParametersCheckSum() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSafetyParametersCheckSum","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":2033397241} + * + * \endchinese + * \english + * Get the safety parameter checksum CRC32. + * + * @return Returns the safety parameter checksum. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getSafetyParametersCheckSum(self: pyaubo_sdk.RobotConfig) -> int + * + * @par Lua function prototype + * getSafetyParametersCheckSum() -> number + * + * @par Lua示例 + * SafetyParametersCheckSum = getSafetyParametersCheckSum() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSafetyParametersCheckSum","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":2033397241} + * + * \endenglish + */ + uint32_t getSafetyParametersCheckSum(); + + /** + * @ingroup RobotConfig + * \chinese + * 发起确认安全配置参数请求: + * 将安全配置参数写入到安全接口板flash或文件 + * + * @param parameters 安全配置参数 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * confirmSafetyParameters(self: pyaubo_sdk.RobotConfig, arg0: + * arcs::common_interface::RobotSafetyParameterRange) -> int + * + * @par Lua函数原型 + * + * \endchinese + * \english + * Initiate a request to confirm safety configuration parameters: + * Write safety configuration parameters to the safety interface board flash + * or file. + * + * @param parameters Safety configuration parameters. + * + * @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 + * confirmSafetyParameters(self: pyaubo_sdk.RobotConfig, arg0: + * arcs::common_interface::RobotSafetyParameterRange) -> int + * + * @par Lua function prototype + * + * \endenglish + */ + int confirmSafetyParameters(const RobotSafetyParameterRange ¶meters); + + /** + * @ingroup RobotConfig + * \chinese + * 计算安全参数的 CRC32 校验值 + * + * @return crc32 + * + * @throws arcs::common_interface::AuboException + * \endchinese + * \english + * Calculate the CRC32 checksum of safety parameters. + * + * @return crc32 + * + * @throws arcs::common_interface::AuboException + * \endenglish + */ + uint32_t calcSafetyParametersCheckSum( + const RobotSafetyParameterRange ¶meters); + + /** + * @ingroup RobotConfig + * \chinese + * 获取关节最大位置（物理极限） + * + * @return 返回关节最大位置 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointMaxPositions(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getJointMaxPositions() -> table + * + * @par Lua示例 + * JointMaxPositions = getJointMaxPositions() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getJointMaxPositions","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[6.283185307179586,6.283185307179586,6.283185307179586,6.283185307179586,6.283185307179586,6.283185307179586]} + * \endchinese + * \english + * Get the joint maximum positions (physical limits). + * + * @return Returns the joint maximum positions. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointMaxPositions(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getJointMaxPositions() -> table + * + * @par Lua example + * JointMaxPositions = getJointMaxPositions() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getJointMaxPositions","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[6.283185307179586,6.283185307179586,6.283185307179586,6.283185307179586,6.283185307179586,6.283185307179586]} + * \endenglish + */ + std::vector getJointMaxPositions(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取关节最小位置（物理极限） + * + * @return 返回关节最小位置 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointMinPositions(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getJointMinPositions() -> table + * + * @par Lua示例 + * JointMinPositions = getJointMinPositions() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getJointMinPositions","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[-6.283185307179586,-6.283185307179586,-6.283185307179586,-6.283185307179586,-6.283185307179586,-6.283185307179586]} + * \endchinese + * \english + * Get the joint minimum positions (physical limits). + * + * @return Returns the joint minimum positions. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointMinPositions(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getJointMinPositions() -> table + * + * @par Lua example + * JointMinPositions = getJointMinPositions() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getJointMinPositions","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[-6.283185307179586,-6.283185307179586,-6.283185307179586,-6.283185307179586,-6.283185307179586,-6.283185307179586]} + * \endenglish + */ + std::vector getJointMinPositions(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取关节最大速度（物理极限） + * + * @return 返回关节最大速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointMaxSpeeds(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getJointMaxSpeeds() -> table + * + * @par Lua示例 + * JointMaxSpeeds = getJointMaxSpeeds() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getJointMaxSpeeds","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[3.892084231947355,3.892084231947355,3.892084231947355,3.1066860685499065,3.1066860685499065,3.1066860685499065]} + * \endchinese + * \english + * Get the joint maximum speeds (physical limits). + * + * @return Returns the joint maximum speeds. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointMaxSpeeds(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getJointMaxSpeeds() -> table + * + * @par Lua example + * JointMaxSpeeds = getJointMaxSpeeds() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getJointMaxSpeeds","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[3.892084231947355,3.892084231947355,3.892084231947355,3.1066860685499065,3.1066860685499065,3.1066860685499065]} + * \endenglish + */ + std::vector getJointMaxSpeeds(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取关节最大加速度（物理极限） + * + * @return 返回关节最大加速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointMaxAccelerations(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getJointMaxAccelerations() -> table + * + * @par Lua示例 + * JointMaxAccelerations = getJointMaxAccelerations() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getJointMaxAccelerations","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[31.104877758314785,31.104877758314785,31.104877758314785,20.73625684294463,20.73625684294463,20.73625684294463]} + * \endchinese + * \english + * Get the joint maximum accelerations (physical limits). + * + * @return Returns the joint maximum accelerations. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointMaxAccelerations(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getJointMaxAccelerations() -> table + * + * @par Lua example + * JointMaxAccelerations = getJointMaxAccelerations() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getJointMaxAccelerations","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[31.104877758314785,31.104877758314785,31.104877758314785,20.73625684294463,20.73625684294463,20.73625684294463]} + * \endenglish + */ + std::vector getJointMaxAccelerations(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取TCP最大速度（物理极限） + * + * @return 返回TCP最大速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getTcpMaxSpeeds(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getTcpMaxSpeeds() -> table + * + * @par Lua示例 + * TcpMaxSpeeds = getTcpMaxSpeeds() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpMaxSpeeds","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[2.0,5.0]} + * \endchinese + * \english + * Get the TCP maximum speed (physical limits). + * + * @return Returns the TCP maximum speed. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getTcpMaxSpeeds(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getTcpMaxSpeeds() -> table + * + * @par Lua example + * TcpMaxSpeeds = getTcpMaxSpeeds() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpMaxSpeeds","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[2.0,5.0]} + * \endenglish + */ + std::vector getTcpMaxSpeeds(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取TCP最大加速度（物理极限） + * + * @return 返回TCP最大加速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getTcpMaxAccelerations(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getTcpMaxAccelerations() -> table + * + * @par Lua示例 + * TcpMaxAccelerations = getTcpMaxAccelerations() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpMaxAccelerations","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[10.0,10.0]} + * + * \endchinese + * \english + * Get the TCP maximum acceleration (physical limits). + * + * @return Returns the TCP maximum acceleration. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getTcpMaxAccelerations(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getTcpMaxAccelerations() -> table + * + * @par Lua example + * TcpMaxAccelerations = getTcpMaxAccelerations() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpMaxAccelerations","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[10.0,10.0]} + * \endenglish + */ + std::vector getTcpMaxAccelerations(); + + /** + * @ingroup RobotConfig + * \chinese + * 设置机器人安装姿态 + * + * @param gravity 安装姿态 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setGravity(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int + * + * @par Lua函数原型 + * setGravity(gravity: table) -> nil + * + * @par Lua示例 + * setGravity({0.0,0.0,-9.87654321}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setGravity","params":[[0.0,0.0,-9.87654321]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set the robot installation attitude (gravity vector). + * + * @param gravity Installation attitude (gravity vector) + * + * @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 + * setGravity(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int + * + * @par Lua function prototype + * setGravity(gravity: table) -> nil + * + * @par Lua example + * setGravity({0.0,0.0,-9.87654321}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setGravity","params":[[0.0,0.0,-9.87654321]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setGravity(const std::vector &gravity); + + /** + * @ingroup RobotConfig + * \chinese + * 获取机器人的安装姿态 + * + * 如果机器人底座安装了姿态传感器，则从传感器读取数据，否则按照用户设置 + * + * @return 返回安装姿态 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getGravity(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getGravity() -> table + * + * @par Lua示例 + * Gravity = getGravity() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getGravity","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,-9.87654321]} + * + * \endchinese + * \english + * Get the robot's installation attitude (gravity vector). + * + * If the robot base is equipped with an attitude sensor, data is read from + * the sensor; otherwise, the user setting is used. + * + * @return Returns the installation attitude. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getGravity(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getGravity() -> table + * + * @par Lua example + * Gravity = getGravity() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getGravity","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,-9.87654321]} + * + * \endenglish + */ + std::vector getGravity(); + + /** + * @ingroup RobotConfig + * \chinese + * 设置当前的TCP偏移 + * + * TCP偏移表示形式为(x,y,z,rx,ry,rz)。 + * 其中x、y、z是工具中心点（TCP）在基坐标系下相对于法兰盘中心的位置偏移，单位是m。 + * rx、ry、rz是工具中心点（TCP）在基坐标系下相对于法兰盘中心的的姿态偏移，是ZYX欧拉角，单位是rad。 + * + * @param offset 当前的TCP偏移,形式为(x,y,z,rx,ry,rz) + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setTcpOffset(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int + * + * @par Lua函数原型 + * setTcpOffset(offset: table) -> nil + * + * @par Lua示例 + * setTcpOffset({0.0,0.0,0.0,0.0,0.0,0.0}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setTcpOffset","params":[[0.0,0.0,0.0,0.0,0.0,0.0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set the current TCP offset. + * + * The TCP offset is represented as (x, y, z, rx, ry, rz). + * x, y, z are the position offsets of the Tool Center Point (TCP) relative + * to the flange center in the base coordinate system, in meters. rx, ry, rz + * are the orientation offsets of the TCP relative to the flange center in + * the base coordinate system, as ZYX Euler angles in radians. + * + * @param offset The current TCP offset, in the form (x, y, z, rx, ry, rz) + * + * @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 + * setTcpOffset(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int + * + * @par Lua function prototype + * setTcpOffset(offset: table) -> nil + * + * @par Lua example + * setTcpOffset({0.0,0.0,0.0,0.0,0.0,0.0}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setTcpOffset","params":[[0.0,0.0,0.0,0.0,0.0,0.0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setTcpOffset(const std::vector &offset); + + /** + * @ingroup RobotConfig + * \chinese + * 获取当前的TCP偏移 + * + * TCP偏移表示形式为(x,y,z,rx,ry,rz)。 + * 其中x、y、z是工具中心点（TCP）在基坐标系下相对于法兰盘中心的位置偏移，单位是m。 + * rx、ry、rz是工具中心点（TCP）在基坐标系下相对于法兰盘中心的的姿态偏移，是ZYX欧拉角，单位是rad。 + * + * @return 当前的TCP偏移,形式为(x,y,z,rx,ry,rz) + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getTcpOffset(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getTcpOffset() -> table + * + * @par Lua示例 + * TcpOffset = getTcpOffset() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpOffset","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the current TCP offset. + * + * The TCP offset is represented as (x, y, z, rx, ry, rz). + * x, y, z are the position offsets of the Tool Center Point (TCP) relative + * to the flange center in the base coordinate system, in meters. rx, ry, rz + * are the orientation offsets of the TCP relative to the flange center in + * the base coordinate system, as ZYX Euler angles in radians. + * + * @return The current TCP offset, in the form (x, y, z, rx, ry, rz) + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getTcpOffset(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getTcpOffset() -> table + * + * @par Lua example + * TcpOffset = getTcpOffset() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpOffset","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getTcpOffset(); + + /** + * @ingroup RobotConfig + * \chinese + * 设置工具端质量、质心及惯量 + * + * @param m 工具端质量 + * @param com 质心 + * @param inertial 惯量 + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setToolInertial(self: pyaubo_sdk.RobotConfig, arg0: float, arg1: + * List[float], arg2: List[float]) -> int + * + * @par Lua函数原型 + * setToolInertial(m: number, com: table, inertial: table) -> nil + * + * @par Lua示例 + * setToolInertial(3, {0,0,0}, {0,0,0}, {0,0,0,0,0,0,0,0,0}) + * + * \endchinese + * \english + * Set tool mass, center of mass, and inertia. + * + * @param m Tool mass + * @param com Center of mass + * @param inertial Inertia + * + * @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 + * setToolInertial(self: pyaubo_sdk.RobotConfig, arg0: float, arg1: + * List[float], arg2: List[float]) -> int + * + * @par Lua function prototype + * setToolInertial(m: number, com: table, inertial: table) -> nil + * + * @par Lua example + * setToolInertial(3, {0,0,0}, {0,0,0}, {0,0,0,0,0,0,0,0,0}) + * + * \endenglish + */ + int setToolInertial(double m, const std::vector &com, + const std::vector &inertial); + + /** + * @ingroup RobotConfig + * \chinese + * 设置有效负载 + * + * @param m 质量, 单位: kg + * @param cog 重心, 单位: m, 形式为(CoGx, CoGy, CoGz) + * @param aom 力矩轴的方向, 单位: rad, 形式为(rx, ry, rz) + * @param inertia 惯量, 单位: kg*m^2, 形式为(Ixx, Iyy, Izz, Ixy, Ixz, + * Iyz)或(Ixx, Ixy, Ixz, Iyx, Iyy, Iyz, Izx, Izy, Izz) + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setPayload(self: pyaubo_sdk.RobotConfig, arg0: float, arg1: List[float], + * arg2: List[float], arg3: List[float]) -> int + * + * @par Lua函数原型 + * setPayload(m: number, cog: table, aom: table, inertia: table) -> nil + * + * @par Lua示例 + * setPayload(3, {0,0,0}, {0,0,0}, {0,0,0,0,0,0,0,0,0}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setPayload","params":[3,[0,0,0],[0,0,0],[0,0,0,0,0,0,0,0,0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set the payload. + * + * @param m Mass, unit: kg + * @param cog Center of gravity, unit: m, format (CoGx, CoGy, CoGz) + * @param aom Axis of moment, unit: rad, format (rx, ry, rz) + * @param inertia Inertia, unit: kg*m^2, format (Ixx, Iyy, Izz, Ixy, Ixz, + * Iyz) or (Ixx, Ixy, Ixz, Iyx, Iyy, Iyz, Izx, Izy, Izz) + * + * @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 + * setPayload(self: pyaubo_sdk.RobotConfig, arg0: float, arg1: List[float], + * arg2: List[float], arg3: List[float]) -> int + * + * @par Lua function prototype + * setPayload(m: number, cog: table, aom: table, inertia: table) -> nil + * + * @par Lua example + * setPayload(3, {0,0,0}, {0,0,0}, {0,0,0,0,0,0,0,0,0}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setPayload","params":[3,[0,0,0],[0,0,0],[0,0,0,0,0,0,0,0,0]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int setPayload(double m, const std::vector &cog, + const std::vector &aom, + const std::vector &inertia); + + /** + * @ingroup RobotConfig + * \chinese + * 获取有效负载 + * + * @return 有效负载. + * 第一个元素表示质量, 单位: kg; + * 第二个元素表示重心, 单位: m, 形式为(CoGx, CoGy, CoGz); + * 第三个元素表示力矩轴的方向, 单位: rad, 形式为(rx, ry, rz); + * 第四个元素表示惯量, 单位: kg*m^2, 形式为(Ixx, Iyy, Izz, Ixy, Ixz, Iyz) + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getPayload(self: pyaubo_sdk.RobotConfig) -> Tuple[float, List[float], + * List[float], List[float]] + * + * @par Lua函数原型 + * getPayload() -> number, table, table, table + * + * @par Lua示例 + * m, cog, aom, inertia = getPayload() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getPayload","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[3.0,[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0,0.0,0.0,0.0]]} + * \endchinese + * \english + * Get the payload. + * + * @return The payload. + * The first element is the mass in kg; + * The second element is the center of gravity in meters, format (CoGx, + * CoGy, CoGz); The third element is the axis of moment in radians, format + * (rx, ry, rz); The fourth element is the inertia in kg*m^2, format (Ixx, + * Iyy, Izz, Ixy, Ixz, Iyz) + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getPayload(self: pyaubo_sdk.RobotConfig) -> Tuple[float, List[float], + * List[float], List[float]] + * + * @par Lua function prototype + * getPayload() -> number, table, table, table + * + * @par Lua example + * m, cog, aom, inertia = getPayload() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getPayload","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[3.0,[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0,0.0,0.0,0.0]]} + * \endenglish + */ + Payload getPayload(); + + /** + * @ingroup RobotConfig + * \chinese + * 末端位姿是否在安全范围之内 + * + * @param pose 末端位姿 + * @return 在安全范围内返回true; 反之返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * toolSpaceInRange(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> bool + * + * @par Lua函数原型 + * toolSpaceInRange(pose: table) -> boolean + * + * @par Lua示例 + * SpaceInRange = toolSpaceInRange({0.58712,-0.15775, 0.48703, 2.76, + * 0.344, 1.432}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.toolSpaceInRange","params":[[0.58712, + * -0.15775, 0.48703, 2.76, 0.344, 1.432]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * \endchinese + * \english + * Whether the end-effector pose is within the safety range. + * + * @param pose End-effector pose + * @return Returns true if within the safety range; otherwise returns false + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * toolSpaceInRange(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> bool + * + * @par Lua function prototype + * toolSpaceInRange(pose: table) -> boolean + * + * @par Lua example + * SpaceInRange = toolSpaceInRange({0.58712,-0.15775, 0.48703, 2.76, + * 0.344, 1.432}) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.toolSpaceInRange","params":[[0.58712, + * -0.15775, 0.48703, 2.76, 0.344, 1.432]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * \endenglish + */ + bool toolSpaceInRange(const std::vector &pose); + + /** + * @ingroup RobotConfig + * \chinese + * 发起固件升级请求，控制器软件将进入固件升级模式 + * + * @param fw 固件升级路径。该路径的格式为: 固件安装包路径\#升级节点列表。 + * 其中固件安装包路径和升级节点列表以井号(#)分隔，升级节点以逗号(,)分隔。 + * 如果节点名称后带有!，则表示强制(不带版本校验)升级该节点； + * 反之，则表示带校验版本地升级节点， + * 即在升级该节点前，会先判断当前版本和目标版本是否相同，如果相同就不升级该节点。\n + * 可以根据实际需求灵活设置需要升级的节点。\n + * 例如， + * /tmp/firmware_update-1.0.42-rc.5+2347b0d.firm\#master_mcu!,slace_mcu!, + * base!,tool!,joint1!,joint2!,joint3!,joint4!,joint5!,joint6! + * 表示强制升级接口板主板、接口板从板、基座、工具和6个关节（joint1至joint6）。\n + * all表示所有的节点，例如 + * /tmp/firm_XXX.firm\#all 表示带校验版本地升级全部节点， + * /tmp/firm_XXX.firm\#all！表示强制升级全部节点 + * + * @return 指令下发成功返回0; 失败返回错误码。 \n + * -AUBO_BAD_STATE: 运行时(RuntimeMachine)的当前状态不是Stopped, + * 固件升级请求被拒绝。AUBO_BAD_STATE的值是1。 \n + * -AUBO_TIMEOUT: 超时。AUBO_TIMEOUT的值是4。 \n + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * firmwareUpdate(self: pyaubo_sdk.RobotConfig, arg0: str) -> int + * + * @par Lua函数原型 + * firmwareUpdate(fw: string) -> nil + * + * @par Lua示例 + * firmwareUpdate("/tmp/firmware_update-1.0.42-rc.12+3e33eac.firm#master_mcu") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.firmwareUpdate","params":["/tmp/firmware_update-1.0.42-rc.12+3e33eac.firm#master_mcu"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Initiate a firmware upgrade request. The controller software will enter + * firmware upgrade mode. + * + * @param fw Firmware upgrade path. The format is: firmware package + * path\#upgrade node list. The firmware package path and node list are + * separated by a hash (#), and nodes are separated by commas (,). If a node + * name ends with !, it means to force upgrade (without version check) that + * node; otherwise, the node will be upgraded only if the current version + * differs from the target version. You can flexibly specify which nodes to + * upgrade as needed. For example, + * /tmp/firmware_update-1.0.42-rc.5+2347b0d.firm#master_mcu!,slace_mcu!,base!,tool!,joint1!,joint2!,joint3!,joint4!,joint5!,joint6! + * means to force upgrade the interface board main, interface board slave, + * base, tool, and joints 1-6. "all" means all nodes, e.g. + * /tmp/firm_XXX.firm#all means upgrade all nodes with version check, + * /tmp/firm_XXX.firm#all! means force upgrade all nodes. + * + * @return Returns 0 if the command is sent successfully; otherwise, returns + * an error code. -AUBO_BAD_STATE: The current state of the RuntimeMachine + * is not Stopped, so the firmware upgrade request is rejected. + * AUBO_BAD_STATE = 1. -AUBO_TIMEOUT: Timeout. AUBO_TIMEOUT = 4. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * firmwareUpdate(self: pyaubo_sdk.RobotConfig, arg0: str) -> int + * + * @par Lua function prototype + * firmwareUpdate(fw: string) -> nil + * + * @par Lua example + * firmwareUpdate("/tmp/firmware_update-1.0.42-rc.12+3e33eac.firm#master_mcu") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.firmwareUpdate","params":["/tmp/firmware_update-1.0.42-rc.12+3e33eac.firm#master_mcu"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int firmwareUpdate(const std::string &fw); + + /** + * @ingroup RobotConfig + * \chinese + * 获取当前的固件升级的进程 + * + * @return 当前的固件升级进程。 \n + * 第一个元素表示步骤名称。如果是failed，则表示固件升级失败 \n + * 第二个元素表示升级的进度(0~1)，完成之后，返回("", 1) + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getFirmwareUpdateProcess(self: pyaubo_sdk.RobotConfig) -> Tuple[str, + * float] + * + * @par Lua函数原型 + * getFirmwareUpdateProcess() -> table + * + * @par Lua示例 + * step,progress = getFirmwareUpdateProcess() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getFirmwareUpdateProcess","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[" ",0.0]} + * + * \endchinese + * \english + * Get the current firmware upgrade process. + * + * @return The current firmware upgrade process. \n + * The first element is the step name. If it is "failed", the firmware + * upgrade failed. \n The second element is the upgrade progress (0~1). When + * finished, returns ("", 1) + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getFirmwareUpdateProcess(self: pyaubo_sdk.RobotConfig) -> Tuple[str, + * float] + * + * @par Lua function prototype + * getFirmwareUpdateProcess() -> table + * + * @par Lua example + * step,progress = getFirmwareUpdateProcess() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getFirmwareUpdateProcess","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[" ",0.0]} + * + * \endenglish + */ + std::tuple getFirmwareUpdateProcess(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取关节最大位置（当前正在使用的限制值） + * + * @return 返回关节最大位置（当前正在使用的限制值） + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getLimitJointMaxPositions(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getLimitJointMaxPositions() -> table + * + * @par Lua示例 + * LimitJointMaxPositions = getLimitJointMaxPositions() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitJointMaxPositions","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[6.2831854820251465,6.2831854820251465,6.2831854820251465,6.2831854820251465,6.2831854820251465,6.2831854820251465]} + * \endchinese + * \english + * Get the joint maximum positions (currently used limit values). + * + * @return Returns the joint maximum positions (currently used limit + * values). + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getLimitJointMaxPositions(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getLimitJointMaxPositions() -> table + * + * @par Lua example + * LimitJointMaxPositions = getLimitJointMaxPositions() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitJointMaxPositions","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[6.2831854820251465,6.2831854820251465,6.2831854820251465,6.2831854820251465,6.2831854820251465,6.2831854820251465]} + * \endenglish + */ + std::vector getLimitJointMaxPositions(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取关节最小位置（当前正在使用的限制值） + * + * @return 返回关节最小位置（当前正在使用的限制值） + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getLimitJointMinPositions(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getLimitJointMinPositions() -> table + * + * @par Lua示例 + * LimitJointMinPositions = getLimitJointMinPositions() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitJointMinPositions","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[-6.2831854820251465,-6.2831854820251465,-6.2831854820251465,-6.2831854820251465,-6.2831854820251465,-6.2831854820251465]} + * \endchinese + * \english + * Get the joint minimum positions (currently used limit values). + * + * @return Returns the joint minimum positions (currently used limit + * values). + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getLimitJointMinPositions(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getLimitJointMinPositions() -> table + * + * @par Lua example + * LimitJointMinPositions = getLimitJointMinPositions() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitJointMinPositions","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[-6.2831854820251465,-6.2831854820251465,-6.2831854820251465,-6.2831854820251465,-6.2831854820251465,-6.2831854820251465]} + * \endenglish + */ + std::vector getLimitJointMinPositions(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取关节最大速度（当前正在使用的限制值） + * + * @return 返回关节最大速度（当前正在使用的限制值） + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getLimitJointMaxSpeeds(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getLimitJointMaxSpeeds() -> table + * + * @par Lua示例 + * LimitJointMaxSpeeds = getLimitJointMaxSpeeds() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitJointMaxSpeeds","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[3.8920841217041016,3.8920841217041016,3.8920841217041016,3.1066861152648926,3.1066861152648926,3.1066861152648926]} + * \endchinese + * \english + * Get the joint maximum speeds (currently used limit values). + * + * @return Returns the joint maximum speeds (currently used limit values). + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getLimitJointMaxSpeeds(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getLimitJointMaxSpeeds() -> table + * + * @par Lua example + * LimitJointMaxSpeeds = getLimitJointMaxSpeeds() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitJointMaxSpeeds","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[3.8920841217041016,3.8920841217041016,3.8920841217041016,3.1066861152648926,3.1066861152648926,3.1066861152648926]} + * \endenglish + */ + std::vector getLimitJointMaxSpeeds(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取关节最大加速度（当前正在使用的限制值） + * + * @return 返回关节最大加速度（当前正在使用的限制值） + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getLimitJointMaxAccelerations(self: pyaubo_sdk.RobotConfig) -> + * List[float] + * + * @par Lua函数原型 + * getLimitJointMaxAccelerations() -> table + * + * @par Lua示例 + * LimitJointMaxAccelerations = getLimitJointMaxAccelerations() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitJointMaxAccelerations","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[31.104877758314785,31.104877758314785,31.104877758314785,20.73625684294463,20.73625684294463,20.73625684294463]} + * \endchinese + * \english + * Get the joint maximum accelerations (currently used limit values). + * + * @return Returns the joint maximum accelerations (currently used limit + * values). + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getLimitJointMaxAccelerations(self: pyaubo_sdk.RobotConfig) -> + * List[float] + * + * @par Lua function prototype + * getLimitJointMaxAccelerations() -> table + * + * @par Lua example + * LimitJointMaxAccelerations = getLimitJointMaxAccelerations() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitJointMaxAccelerations","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[31.104877758314785,31.104877758314785,31.104877758314785,20.73625684294463,20.73625684294463,20.73625684294463]} + * \endenglish + */ + std::vector getLimitJointMaxAccelerations(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取TCP最大速度（当前正在使用的限制值） + * + * @return 返回TCP最大速度（当前正在使用的限制值） + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getLimitTcpMaxSpeed(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getLimitTcpMaxSpeed() -> number + * + * @par Lua示例 + * LimitTcpMaxSpeed = getLimitTcpMaxSpeed() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitTcpMaxSpeed","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":2.0} + * \endchinese + * \english + * Get the TCP maximum speed (currently used limit value). + * + * @return Returns the TCP maximum speed (currently used limit value). + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getLimitTcpMaxSpeed(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getLimitTcpMaxSpeed() -> number + * + * @par Lua example + * LimitTcpMaxSpeed = getLimitTcpMaxSpeed() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitTcpMaxSpeed","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":2.0} + * \endenglish + */ + double getLimitTcpMaxSpeed(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取当前安全停止的类型 + * + * @return 返回当前安全停止的类型 + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSafeguardStopType","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"None"} + * \endchinese + * \english + * Get the current safeguard stop type. + * + * @return Returns the current safeguard stop type. + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSafeguardStopType","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"None"} + * \endenglish + */ + SafeguedStopType getSafeguardStopType(); + + /** + * @ingroup RobotConfig + * \chinese + * 按位获取完整的安全停止触发源 + * + * @return 返回所有安全停止触发源 + * + * 安全停止的原因: + * 手动模式下可配置安全IO触发的安全停止 - 1<<0 + * 自动模式下可配置安全IO触发的安全停止 - 1<<1 + * 控制柜SI输入触发的安全停止 - 1<<2 + * 示教器三态开关触发的安全停止 - 1<<3 + * 自动切手动触发的安全停止 - 1<<4 + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSafeguardStopSource","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Get the complete safeguard stop source as a bitmask. + * + * @return Returns all safeguard stop sources. + * + * Reasons for safeguard stop: + * Safeguard stop triggered by configurable safety IO in manual mode - 1<<0 + * Safeguard stop triggered by configurable safety IO in automatic mode - + * 1<<1 Safeguard stop triggered by control box SI input - 1<<2 Safeguard + * stop triggered by teach pendant three-position switch - 1<<3 Safeguard + * stop triggered by switching from auto to manual - 1<<4 + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSafeguardStopSource","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int getSafeguardStopSource(); + + /** + * @ingroup RobotConfig + * \chinese + * 按位获取完整的机器人紧急停止触发源 + * + * @return 返回所有机器人紧急停止触发源 + * + * 紧急停止的原因: + * 控制柜紧急停止按钮触发 - 1<<0 + * 示教器紧急停止按钮触发 - 1<<1 + * 手柄紧急停止按钮触发 - 1<<2 + * 固定IO紧急停止触发 - 1<<3 + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getRobotEmergencyStopSource","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Get the complete robot emergency stop source as a bitmask. + * + * @return Returns all robot emergency stop sources. + * + * Reasons for emergency stop: + * Emergency stop triggered by control box button - 1<<0 + * Emergency stop triggered by teach pendant button - 1<<1 + * Emergency stop triggered by handle button - 1<<2 + * Emergency stop triggered by fixed IO - 1<<3 + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getRobotEmergencyStopSource","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int getRobotEmergencyStopSource(); + + /** + * @ingroup RobotConfig + * \chinese + * 获取工具端力矩传感器的名字 + * + * @return 当前工具端力矩传感器名字 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getSelectedTcpForceSensorName(self: pyaubo_sdk.RobotConfig) -> str + * + * @par Lua函数原型 + * getSelectedTcpForceSensorName() -> str + * + * @par Lua示例 + * TcpForceSensorName = getSelectedTcpForceSensorName() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSelectedTcpForceSensorName","params":[],"id":1} + * \endchinese + * \english + * Get the name of the selected TCP force sensor. + * + * @return The name of the currently selected TCP force sensor. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getSelectedTcpForceSensorName(self: pyaubo_sdk.RobotConfig) -> str + * + * @par Lua function prototype + * getSelectedTcpForceSensorName() -> str + * + * @par Lua example + * TcpForceSensorName = getSelectedTcpForceSensorName() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSelectedTcpForceSensorName","params":[],"id":1} + * \endenglish + */ + std::string getSelectedTcpForceSensorName(); + + /** + * \chinese + * 获取末端力矩传感器的厂商编码（仅支持v2.0内置传感器） + * + * @return 返回末端力矩传感器的厂商编码，如果不是内置传感器返回空字符串 + * \endchinese + */ + std::string getTcpForceSensorVendorCode(); + + /** + * \chinese + * 获取末端力矩传感器的量程（仅支持v2.0内置传感器） + * + * @return 返回末端力矩传感器的量程，如果不是内置传感器返回空数组 + * \endchinese + */ + std::vector getTcpForceSensorRange(); + + /** + * @ingroup RobotConfig + * \chinese + * 添加焊枪动力学参数 + * + * @param m 质量, 单位: kg + * @param cog 质心, 单位: m, 形式为(CoGx, CoGy, CoGz) + * @param inertia 惯性张量, 单位: kg*m^2, 形式为(Ixx, Iyy, Izz, Ixy, + * Ixz, Iyz)或(Ixx, Ixy, Ixz, Iyx, Iyy, Iyz, Izx, Izy, Izz) + * @return 成功返回0; 失败返回错误码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * attachWeldingGun(self: pyaubo_sdk.RobotConfig, arg0: float, arg1: + * List[float], arg2: List[float]) -> int + * + * @par Lua函数原型 + * attachWeldingGun(m: number, cog: table, inertia: table) -> nil + * + * @par Lua示例 + * attachWeldingGun(3, {0,0,0}, {0,0,0,0,0,0,0,0,0}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.attachWeldingGun","params":[3,[0,0,0],[0,0,0,0,0,0,0,0,0]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + */ + int attachWeldingGun(double m, const std::vector &cog, + const std::vector &inertia); + /** + * @ingroup RobotConfig + * \chinese + * 设置碰撞阈值 + * + * @param threshold 碰撞阈值 + * @return 成功返回0; 失败返回错误码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setCollisionThreshold(self: pyaubo_sdk.RobotConfig, arg0: List[float]) + * -> int + * + * @par Lua函数原型 + * setCollisionThreshold(threshold: table) -> nil + * + * @par Lua示例 + * setCollisionThreshold({99.0, + * 114.0, + * 103.0, 56.0, 51.0, 60.0,54.6111111, 66.22222222, 59.66666667, 28.94444444, + * 27.05555556, 30.11111111,19.1, 28.0, 25.0, 7.3, 7.9, 6.2}) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setCollisionThreshold","params":[[99.0, + * 114.0, + * 103.0, 56.0, 51.0, 60.0,54.6111111, 66.22222222, 59.66666667, 28.94444444, + * 27.05555556, 30.11111111,19.1, 28.0, 25.0, 7.3, 7.9, 6.2]],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Enable optimized collision force. + * + * @param threshold + * @return Returns 0 on success; error code on failure. + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.setCollisionThreshold","params":[[99.0, + * 114.0, + * 103.0, 56.0, 51.0, 60.0,54.6111111, 66.22222222, 59.66666667, 28.94444444, + * 27.05555556, 30.11111111,19.1, 28.0, 25.0, 7.3, 7.9, 6.2]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"None"} + * \endenglish + */ + int setCollisionThreshold(const std::vector &threshold); + + /** + * @ingroup RobotConfig + * \chinese + * 获取碰撞阈值 + * + * @return 碰撞阈值 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getCollisionThreshold(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * getCollisionThreshold() -> table + * + * @par Lua示例 + * CollisionThreshold = getCollisionThreshold() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.getCollisionThreshold","params":[99.0, + * 114.0, 103.0, 56.0, 51.0, 60.0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1} + * \endchinese + * \english + * Get collision threshold. + * + * @return collision threshold. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getCollisionThreshold(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua function prototype + * getCollisionThreshold() -> table + * + * @par Lua example + * CollisionThreshold = getCollisionThreshold() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.getCollisionThreshold","params":[[99.0, + * 114.0, + * 103.0, 56.0, 51.0, 60.0,54.6111111, 66.22222222, 59.66666667, 28.94444444, + * 27.05555556, 30.11111111,19.1, 28.0, 25.0, 7.3, 7.9, 6.2]],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"None"} + * \endenglish + */ + std::vector getCollisionThreshold(); + + int enableAxisGroup(const std::string &group_name); + int disableAxisGroup(); + + /** + * @ingroup RobotConfig + * \chinese + * 使能末端碰撞检测 + * + * @param enable 使能碰撞阈值 + * @return 成功返回0; 失败返回错误码 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * enableEndCollisionCheck(self: pyaubo_sdk.RobotConfig, arg0: bool) + * -> int + * + * @par Lua函数原型 + * enableEndCollisionCheck(threshold: table) -> nil + * + * @par Lua示例 + * enableEndCollisionCheck(true) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.enableEndCollisionCheck","params":[true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Set end collision threshold. + * + * @param threshold + * @return Returns 0 on success; error code on failure. + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.enableEndCollisionCheck","params":[true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"None"} + * \endenglish + */ + int enableEndCollisionCheck(bool enable); + + /** + * @ingroup RobotConfig + * \chinese + * 获取末端碰撞检测是否使能 + * + * @return 是否使能末端碰撞检测 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isEndCollisionCheckEnabled(self: pyaubo_sdk.RobotConfig) -> List[float] + * + * @par Lua函数原型 + * isEndCollisionCheckEnabled() -> table + * + * @par Lua示例 + * IsEndCollisionCheckEnabled = isEndCollisionCheckEnabled() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.MotionControl.isEndCollisionCheckEnabled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * \endchinese + * \english + * Get collision check is enabled. + * + * @return end collision threshold. + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isEndCollisionCheckEnabled(self: pyaubo_sdk.RobotConfig) -> bool + * + * @par Lua function prototype + * isEndCollisionCheckEnabled() -> bool + * + * @par Lua example + * IsEndCollisionCheckEnabled = isEndCollisionCheckEnabled() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotConfig.isEndCollisionCheckEnabled","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * \endenglish + */ + bool isEndCollisionCheckEnabled(); + +protected: + void *d_; +}; +using RobotConfigPtr = std::shared_ptr; + +} // namespace common_interface +} // namespace arcs +#endif // AUBO_SDK_ROBOT_CONFIG_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/robot_manage.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/robot_manage.h new file mode 100644 index 00000000..7ee8f89c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/robot_manage.h @@ -0,0 +1,1929 @@ +/** @file robot_manage.h + * @brief 机器人管理接口，如上电、启动、拖动示教模式等 + */ +#ifndef AUBO_SDK_ROBOT_CONTROL_INTERFACE_H +#define AUBO_SDK_ROBOT_CONTROL_INTERFACE_H + +#include +#include + +#include +#include + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * @defgroup RobotManage RobotManage (机器人生命周期管理) + * @ingroup RobotInterface + * \endchinese + * + * \english + * @defgroup RobotManage Robot Lifecycle Management + * @ingroup RobotInterface + * \endenglish + * + * RobotManage + */ +class ARCS_ABI_EXPORT RobotManage +{ +public: + RobotManage(); + virtual ~RobotManage(); + + /** + * @ingroup RobotManage + * \chinese + * 发起机器人上电请求 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * poweron(self: pyaubo_sdk.RobotManage) -> int + * + * @par Lua函数原型 + * poweron() -> number + * + * @par Lua示例 + * num = poweron() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.poweron","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++ 实例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->poweron(); + * @endcode + * + * \endchinese + * + * \english + * Initiate robot power-on request + * + * @return Returns 0 on success; error code on failure + * AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * poweron(self: pyaubo_sdk.RobotManage) -> int + * + * @par Lua function prototype + * poweron() -> number + * + * @par Lua example + * num = poweron() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.poweron","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->poweron(); + * @endcode + * \endenglish + */ + int poweron(); + + /** + * @ingroup RobotManage + * \chinese + * 发起机器人启动请求 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * startup(self: pyaubo_sdk.RobotManage) -> int + * + * @par Lua函数原型 + * startup() -> number + * + * @par Lua示例 + * num = startup() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.startup","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->startup(); + * @endcode + * \endchinese + * + * \english + * Initiate robot startup request + * + * @return Returns 0 on success; error code on failure + * AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * startup(self: pyaubo_sdk.RobotManage) -> int + * + * @par Lua function prototype + * startup() -> number + * + * @par Lua example + * num = startup() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.startup","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->startup(); + * @endcode + * \endenglish + */ + int startup(); + + /** + * @ingroup RobotManage + * \chinese + * 发起机器人松开刹车请求 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * releaseRobotBrake(self: pyaubo_sdk.RobotManage) -> int + * + * @par Lua函数原型 + * releaseRobotBrake() -> number + * + * @par Lua示例 + * num = releaseRobotBrake() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.releaseRobotBrake","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->releaseRobotBrake(); + * @endcode + * \endchinese + * + * \english + * Initiate robot brake release request + * + * @return Returns 0 on success; error code on failure + * AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * releaseRobotBrake(self: pyaubo_sdk.RobotManage) -> int + * + * @par Lua function prototype + * releaseRobotBrake() -> number + * + * @par Lua example + * num = releaseRobotBrake() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.releaseRobotBrake","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->releaseRobotBrake(); + * @endcode + * \endenglish + */ + int releaseRobotBrake(); + + /** + * @ingroup RobotManage + * \chinese + * 发起机器人刹车请求 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * lockRobotBrake(self: pyaubo_sdk.RobotManage) -> int + * + * @par Lua函数原型 + * lockRobotBrake() -> number + * + * @par Lua示例 + * num = lockRobotBrake() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.lockRobotBrake","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->lockRobotBrake(); + * @endcode + * \endchinese + * + * \english + * Initiate robot brake lock request + * + * @return Returns 0 on success; error code on failure + * AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * lockRobotBrake(self: pyaubo_sdk.RobotManage) -> int + * + * @par Lua function prototype + * lockRobotBrake() -> number + * + * @par Lua example + * num = lockRobotBrake() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.lockRobotBrake","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->lockRobotBrake(); + * @endcode + * \endenglish + */ + int lockRobotBrake(); + + /** + * @ingroup RobotManage + * \chinese + * 发起机器人断电请求 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * poweroff(self: pyaubo_sdk.RobotManage) -> int + * + * @par Lua函数原型 + * poweroff() -> number + * + * @par Lua示例 + * num = poweroff() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.poweroff","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->poweroff(); + * @endcode + * \endchinese + * + * \english + * Initiate robot power-off request + * + * @return Returns 0 on success; error code on failure + * AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * poweroff(self: pyaubo_sdk.RobotManage) -> int + * + * @par Lua function prototype + * poweroff() -> number + * + * @par Lua example + * num = poweroff() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.poweroff","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->poweroff(); + * @endcode + * \endenglish + */ + int poweroff(); + + /** + * @ingroup RobotManage + * \chinese + * 发起机器人反向驱动请求 + * + * @param enable + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * backdrive(self: pyaubo_sdk.RobotManage, arg0: bool) -> int + * + * @par Lua函数原型 + * backdrive(enable: boolean) -> number + * + * @par Lua示例 + * num = backdrive(false) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.backdrive","params":[false],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->backdrive(true); + * @endcode + * \endchinese + * + * \english + * Initiate robot backdrive request + * + * @param enable + * + * @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 + * backdrive(self: pyaubo_sdk.RobotManage, arg0: bool) -> int + * + * @par Lua function prototype + * backdrive(enable: boolean) -> number + * + * @par Lua example + * num = backdrive(false) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.backdrive","params":[false],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->backdrive(true); + * @endcode + * \endenglish + */ + int backdrive(bool enable); + + /** + * @ingroup RobotManage + * \chinese + * 发起机器人自由驱动请求 + * 接口在软件版本 0.31.x 后已废弃，使用 handguideMode 接口替换 + * handguideMode({1,1,1,1,1}, {0,0,0,0,0,0}) + * + * @param enable + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * freedrive(self: pyaubo_sdk.RobotManage, arg0: bool) -> int + * + * @par Lua函数原型 + * freedrive(enable: boolean) -> number + * + * @par Lua示例 + * num = freedrive(false) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.freedrive","params":[true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->freedrive(true); + * @endcode + * \endchinese + * + * \english + * Initiate robot freedrive request + * This interface is deprecated after software version 0.31.x, use + * handguideMode instead: handguideMode({1,1,1,1,1}, {0,0,0,0,0,0}) + * + * @param enable + * + * @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 + * freedrive(self: pyaubo_sdk.RobotManage, arg0: bool) -> int + * + * @par Lua function prototype + * freedrive(enable: boolean) -> number + * + * @par Lua example + * num = freedrive(false) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.freedrive","params":[true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->freedrive(true); + * @endcode + * \endenglish + */ + int freedrive(bool enable); + + /** + * @ingroup RobotManage + * \chinese + * 设置拖动示教参数 + * + * @param freeAxes 可以拖动的轴 0-不能拖动 1-可以拖动 + * @param feature 如果维度为0，代表基于 TCP 坐标系拖动 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * \endchinese + * + * \english + * Advanced hand-guiding mode + * + * @param freeAxes Axes that can be moved: 0-cannot move, 1-can move + * @param feature If the dimension is 0, it means hand-guiding based on + * the TCP coordinate system + * + * @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 + * \endenglish + */ + int setHandguideParams(const std::vector &freeAxes, + const std::vector &feature); + + /** + * @ingroup RobotManage + * \chinese + * 获取拖动轴 + * \endchinese + * + * \english + * Get Axes that can be moved + * \endenglish + */ + std::vector getHandguideFreeAxes(); + + /** + * @ingroup RobotManage + * \chinese + * 获取拖动参考坐标系 + * \endchinese + * + * \english + * Get the drag reference coordinate system + * \endenglish + */ + std::vector getHandguideFeature(); + + /** + * @ingroup RobotManage + * \chinese + * 高阶拖动示教 + * + * @param freeAxes 可以拖动的轴 0-不能拖动 1-可以拖动 + * @param feature 如果维度为0，代表基于 TCP 坐标系拖动 + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * \endchinese + * + * \english + * Advanced hand-guiding mode + * + * @param freeAxes Axes that can be moved: 0-cannot move, 1-can move + * @param feature If the dimension is 0, it means hand-guiding based on the + * TCP coordinate system + * + * @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 + * \endenglish + */ + int handguideMode(const std::vector &freeAxes, + const std::vector &feature); + + /** + * @ingroup RobotManage + * \chinese + * 退出拖动示教 + * + * @note 需 0.31.x 及以后软件版本 + * + * @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 + * \endchinese + * + * \english + * Exit hand-guiding mode + * + * @note Requires software version 0.31.x or later + * + * @return Returns 0 on success; error code on failure + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * \endenglish + */ + int exitHandguideMode(); + + /** + * @ingroup RobotManage + * \chinese + * 获取拖动示教器的状态（是否处于奇异空间） + * + * @note 暂未实现 + * + * @return + * • 0 - 正常操作. + * • 1 - 接近奇异空间. + * • 2 - 极其接近奇异点，将产生较大的拖动阻尼. + * + * @throws arcs::common_interface::AuboException + * \endchinese + * + * \english + * Get the status of the hand-guiding device (whether it is in a singular + * space) + * + * @note Not implemented yet + * + * @return + * • 0 - Normal operation. + * • 1 - Approaching singular space. + * • 2 - Extremely close to a singularity, large hand-guiding damping will + * occur. + * + * @throws arcs::common_interface::AuboException + * \endenglish + */ + int getHandguideStatus(); + + /** + * @ingroup RobotManage + * \chinese + * 获取拖动示教器触发源 + * + * @note 暂未实现 + * + * @return + * + * @throws arcs::common_interface::AuboException + * \endchinese + * + * \english + * Get the trigger source of the hand-guiding device + * + * @note Not implemented yet + * + * @return + * + * @throws arcs::common_interface::AuboException + * \endenglish + */ + int getHandguideTrigger(); + + /** + * @ingroup RobotManage + * \chinese + * 获取拖动示教使能状态 + * + * @return 使能返回true; 失能返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * isHandguideEnabled() -> boolean + * + * @par Lua示例 + * Handguide = isHandguideEnabled() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.isHandguideEnabled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * + * \endchinese + * \english + * Get the hand-guiding enable status + * + * @return Returns true if enabled; false if disabled + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * isHandguideEnabled() -> boolean + * + * @par Lua example + * Handguide = isHandguideEnabled() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.isHandguideEnabled","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * + * \endenglish + */ + bool isHandguideEnabled(); + + /** + * @ingroup RobotManage + * \chinese + * 发起机器人进入/退出仿真模式请求 + * + * @param enable + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setSim(self: pyaubo_sdk.RobotManage, arg0: bool) -> int + * + * @par Lua函数原型 + * setSim(enable: boolean) -> number + * + * @par Lua示例 + * num = setSim(true) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.setSim","params":[true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setSim(true); + * @endcode + * \endchinese + * + * \english + * Initiate robot enter/exit simulation mode request + * + * @param enable + * + * @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 + * setSim(self: pyaubo_sdk.RobotManage, arg0: bool) -> int + * + * @par Lua function prototype + * setSim(enable: boolean) -> number + * + * @par Lua example + * num = setSim(true) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.setSim","params":[true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setSim(true); + * @endcode + * \endenglish + */ + int setSim(bool enable); + + /** + * @ingroup RobotManage + * \chinese + * 设置机器人操作模式 + * + * @param mode 操作模式 + * + * @return 成功返回0; 失败返回错误码 + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setOperationalMode(self: pyaubo_sdk.RobotManage, arg0: + * arcs::common_interface::OperationalModeType) -> int + * + * @par Lua函数原型 + * setOperationalMode(mode: number) -> number + * + * @par Lua示例 + * num = setOperationalMode("Manual") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.setOperationalMode","params":["Manual"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setOperationalMode(OperationalModeType::Automatic); + * @endcode + * \endchinese + * \english + * Set the robot operational mode + * + * @param mode Operational mode + * + * @return Returns 0 on success; error code on failure + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setOperationalMode(self: pyaubo_sdk.RobotManage, arg0: + * arcs::common_interface::OperationalModeType) -> int + * + * @par Lua function prototype + * setOperationalMode(mode: number) -> number + * + * @par Lua example + * num = setOperationalMode("Manual") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.setOperationalMode","params":["Manual"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setOperationalMode(OperationalModeType::Automatic); + * @endcode + * \endenglish + */ + int setOperationalMode(OperationalModeType mode); + + /** + * @ingroup RobotManage + * \chinese + * 获取机器人操作模式 + * + * @return 机器人操作模式 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getOperationalMode(self: pyaubo_sdk.RobotManage) -> + * arcs::common_interface::OperationalModeType + * + * @par Lua函数原型 + * getOperationalMode() -> number + * + * @par Lua示例 + * num = getOperationalMode() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.getOperationalMode","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"Manual"} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * OperationalModeType mode = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->getOperationalMode(); + * @endcode + * \endchinese + * \english + * Get the robot operational mode + * + * @return Robot operational mode + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getOperationalMode(self: pyaubo_sdk.RobotManage) -> + * arcs::common_interface::OperationalModeType + * + * @par Lua function prototype + * getOperationalMode() -> number + * + * @par Lua example + * num = getOperationalMode() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.getOperationalMode","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"Manual"} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * OperationalModeType mode = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->getOperationalMode(); + * @endcode + * \endenglish + */ + OperationalModeType getOperationalMode(); + + /** + * @ingroup RobotManage + * \chinese + * 获取控制模式 + * + * @return 控制模式 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getRobotControlMode(self: pyaubo_sdk.RobotManage) -> + * arcs::common_interface::RobotControlModeType + * + * @par Lua函数原型 + * getRobotControlMode() -> number + * + * @par Lua示例 + * num = getRobotControlMode() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.getRobotControlMode","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"Position"} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * RobotControlModeType mode = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->getRobotControlMode(); + * @endcode + * \endchinese + * \english + * Get the control mode + * + * @return Control mode + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getRobotControlMode(self: pyaubo_sdk.RobotManage) -> + * arcs::common_interface::RobotControlModeType + * + * @par Lua function prototype + * getRobotControlMode() -> number + * + * @par Lua example + * num = getRobotControlMode() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.getRobotControlMode","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"Position"} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * RobotControlModeType mode = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->getRobotControlMode(); + * @endcode + * \endenglish + */ + RobotControlModeType getRobotControlMode(); + + /** + * @ingroup RobotManage + * \chinese + * 是否使能了拖动示教模式 + * + * @return 使能返回true; 反之返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isFreedriveEnabled(self: pyaubo_sdk.RobotManage) -> bool + * + * @par Lua函数原型 + * isFreedriveEnabled() -> boolean + * + * @par Lua示例 + * FreedriveEnabled = isFreedriveEnabled() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.isFreedriveEnabled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * bool isEnabled = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isFreedriveEnabled(); + * @endcode + * \endchinese + * \english + * Whether the freedrive mode is enabled + * + * @return Returns true if enabled; otherwise returns false + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isFreedriveEnabled(self: pyaubo_sdk.RobotManage) -> bool + * + * @par Lua function prototype + * isFreedriveEnabled() -> boolean + * + * @par Lua example + * FreedriveEnabled = isFreedriveEnabled() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.isFreedriveEnabled","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * bool isEnabled = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isFreedriveEnabled(); + * @endcode + * \endenglish + */ + bool isFreedriveEnabled(); + + /** + * @ingroup RobotManage + * \chinese + * 是否使能了反向驱动模式 + * + * @return 使能返回true; 反之返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isBackdriveEnabled(self: pyaubo_sdk.RobotManage) -> bool + * + * @par Lua函数原型 + * isBackdriveEnabled() -> boolean + * + * @par Lua示例 + * BackdriveEnabled = isBackdriveEnabled() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.isBackdriveEnabled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * bool isEnabled = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isBackdriveEnabled(); + * @endcode + * \endchinese + * \english + * Whether the backdrive mode is enabled + * + * @return Returns true if enabled; otherwise returns false + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isBackdriveEnabled(self: pyaubo_sdk.RobotManage) -> bool + * + * @par Lua function prototype + * isBackdriveEnabled() -> boolean + * + * @par Lua example + * BackdriveEnabled = isBackdriveEnabled() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.isBackdriveEnabled","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * bool isEnabled = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isBackdriveEnabled(); + * @endcode + * \endenglish + */ + bool isBackdriveEnabled(); + + /** + * @ingroup RobotManage + * \chinese + * 是否使能了仿真模式 + * + * @return 使能返回true; 反之返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isSimulationEnabled(self: pyaubo_sdk.RobotManage) -> bool + * + * @par Lua函数原型 + * isSimulationEnabled() -> boolean + * + * @par Lua示例 + * SimulationEnabled = isSimulationEnabled() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.isSimulationEnabled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * bool isEnabled = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isSimulationEnabled(); + * @endcode + * \endchinese + * \english + * Whether the simulation mode is enabled + * + * @return Returns true if enabled; otherwise returns false + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isSimulationEnabled(self: pyaubo_sdk.RobotManage) -> bool + * + * @par Lua function prototype + * isSimulationEnabled() -> boolean + * + * @par Lua example + * SimulationEnabled = isSimulationEnabled() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.isSimulationEnabled","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * bool isEnabled = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isSimulationEnabled(); + * @endcode + * \endenglish + */ + bool isSimulationEnabled(); + + /** + * @ingroup RobotManage + * \chinese + * 清除防护停机，包括碰撞停机 + * + * @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 + * setUnlockProtectiveStop(self: pyaubo_sdk.RobotManage) -> int + * + * @par Lua函数原型 + * setUnlockProtectiveStop() -> number + * + * @par Lua示例 + * num = setUnlockProtectiveStop() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.setUnlockProtectiveStop","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setUnlockProtectiveStop(); + * @endcode + * \endchinese + * \english + * Clear protective stop, including collision stop + * + * @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 + * setUnlockProtectiveStop(self: pyaubo_sdk.RobotManage) -> int + * + * @par Lua function prototype + * setUnlockProtectiveStop() -> number + * + * @par Lua example + * num = setUnlockProtectiveStop() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.setUnlockProtectiveStop","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setUnlockProtectiveStop(); + * @endcode + * \endenglish + */ + int setUnlockProtectiveStop(); + + /** + * @ingroup RobotManage + * \chinese + * 重置安全接口板，一般在机器人断电之后需要重置时调用，比如机器人急停、故障等之后 + * + * @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 + * restartInterfaceBoard(self: pyaubo_sdk.RobotManage) -> int + * + * @par Lua函数原型 + * restartInterfaceBoard() -> number + * + * @par Lua示例 + * num = restartInterfaceBoard() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.restartInterfaceBoard","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->restartInterfaceBoard(); + * @endcode + * \endchinese + * \english + * Reset the safety interface board, usually called after the robot is + * powered off and needs to be reset, such as after emergency stop or fault. + * + * @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 + * restartInterfaceBoard(self: pyaubo_sdk.RobotManage) -> int + * + * @par Lua function prototype + * restartInterfaceBoard() -> number + * + * @par Lua example + * num = restartInterfaceBoard() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.restartInterfaceBoard","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->restartInterfaceBoard(); + * @endcode + * \endenglish + */ + int restartInterfaceBoard(); + + /** + * @ingroup RobotManage + * \chinese + * 释放并清空指定内存缓存的记录数据 + * + * @param name + * 缓存名称 + * + * @return 成功返回0；失败返回错误码（<0） + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * recordCacheFree(name: string) -> nil + * + * @par Lua示例 + * recordCacheFree("rec") + * + * \endchinese + * \english + * Free and clear recorded data of the specified memory cache + * + * @param name + * Cache name + * + * @return Returns 0 on success; negative error code on failure + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * recordCacheFree(name: string) -> nil + * + * @par Lua example + * recordCacheFree("rec") + * + * \endenglish + */ + int recordCacheFree(const std::string &name); + + /** + * @ingroup RobotManage + * \chinese + * 开始实时轨迹的内存缓存记录（不落盘） + * + * @param name + * 缓存名称（用于索引内存中的记录数据）。空字符串将返回参数错误。 + * + * @return 成功返回0；失败返回错误码（<0） + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * startRecordCache(name: string) -> nil + * + * @par Lua示例 + * startRecordCache("rec") + * + * \endchinese + * \english + * Start real-time trajectory recording to memory cache (no file output) + * + * @param name + * Cache name used to index recorded data in memory. Empty string returns + * invalid argument. + * + * @return Returns 0 on success; negative error code on failure + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * startRecordCache(name: string) -> nil + * + * @par Lua example + * startRecordCache("rec") + * + * \endenglish + */ + int startRecordCache(const std::string &name); + + /** + * @ingroup RobotManage + * \chinese + * 停止当前实时轨迹内存缓存记录 + * + * @return 成功返回0；失败返回错误码（<0） + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * stopRecordCache() -> nil + * + * @par Lua示例 + * stopRecordCache() + * + * \endchinese + * \english + * Stop current real-time trajectory recording to memory cache + * + * @return Returns 0 on success; negative error code on failure + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * stopRecordCache() -> nil + * + * @par Lua example + * stopRecordCache() + * + * \endenglish + */ + int stopRecordCache(); + + /** + * @ingroup RobotManage + * \chinese + * 暂停/恢复当前实时轨迹内存缓存记录 + * + * @param pause + * true：暂停缓存记录；false：恢复缓存记录 + * + * @return 成功返回0；失败返回错误码（<0） + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * pauseRecordCache(pause: boolean) -> nil + * + * @par Lua示例 + * pauseRecordCache(true) -- 暂停 + * pauseRecordCache(false) -- 恢复 + * + * \endchinese + * \english + * Pause or resume current real-time trajectory recording to memory cache + * + * @param pause + * true to pause cache recording; false to resume cache recording + * + * @return Returns 0 on success; negative error code on failure + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * pauseRecordCache(pause: boolean) -> nil + * + * @par Lua example + * pauseRecordCache(true) -- pause + * pauseRecordCache(false) -- resume + * + * \endenglish + */ + int pauseRecordCache(bool pause); + + /** + * @ingroup RobotManage + * \chinese + * 获取指定内存缓存的记录数据 + * + * @param name + * 缓存名称 + * + * @param frames + * 获取帧数上限： + * - frames=0：获取全部已记录帧（1帧=1周期） + * - frames>0：最多获取最近 frames 帧 + * + * @return 成功返回获取到的帧数（>=0）；失败返回错误码（<0） + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * getRecordCache(name: string, frames: number = 0) -> number + * + * @par Lua示例 + * n = getRecordCache("rec") -- 获取全部，返回帧数 + * n = getRecordCache("rec", 2000) -- 获取最近2000帧，返回帧数 + * + * \endchinese + * \english + * Get recorded data from the specified memory cache + * + * @param name + * Cache name + * + * @param frames + * Frame limit: + * - frames=0: get all recorded frames (1 frame = 1 control cycle) + * - frames>0: get up to the latest 'frames' frames + * + * @return Returns the number of frames fetched (>=0) on success; + * negative error code on failure + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * getRecordCache(name: string, frames: number = 0) -> number + * + * @par Lua example + * n = getRecordCache("rec") -- all frames, returns count + * n = getRecordCache("rec", 2000) -- latest 2000 frames, returns count + * + * \endenglish + */ + int getRecordCache(const std::string &name, size_t frames = 0); + + /** + * @ingroup RobotManage + * \chinese + * 开始实时轨迹的记录 + * + * @param file_name + * + * @return 成功返回0；失败返回错误码 + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_INVL_ARGUMENT + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * startRecord(fiel_name: string) -> nil + * + * @par Lua示例 + * startRecord("traje.csv") + * + * \endchinese + * \english + * Start real-time trajectory recording + * + * @param file_name + * + * @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 Lua function prototype + * startRecord(fiel_name: string) -> nil + * + * @par Lua example + * startRecord("traje.csv") + * + * \endenglish + */ + int startRecord(const std::string &file_name); + + /** + * @ingroup RobotManage + * \chinese + * 停止实时记录 + * + * @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 Lua函数原型 + * stopRecord() -> nil + * + * @par Lua示例 + * stopRecord() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.stopRecord","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Stop real-time recording + * + * @return Returns 0 on success; error code on failure + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * stopRecord() -> nil + * + * @par Lua example + * stopRecord() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.stopRecord","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int stopRecord(); + + /** + * @ingroup RobotManage + * \chinese + * 暂停实时记录 + * + * @param pause + * + * @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 JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.pauseRecord","params":[true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Pause real-time recording + * + * @param pause + * + * @return Returns 0 on success; error code on failure + * AUBO_BUSY + * AUBO_BAD_STATE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.pauseRecord","params":[true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int pauseRecord(bool pause); + + /** + * @ingroup RobotManage + * \chinese + * 发起机器人进入/退出联动模式请求, + * 只有操作模式为自动或者无时，才能使能联动模式 + * + * @param enable + * + * @return 成功返回0; 失败返回错误码 + * AUBO_BUSY + * AUBO_REQUEST_IGNORE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * setLinkModeEnable(self: pyaubo_sdk.RobotManage, arg0: bool) -> int + * + * @par Lua函数原型 + * setLinkModeEnable(enable: boolean) -> number + * + * @par Lua示例 + * num = setLinkModeEnable(true) + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.setLinkModeEnable","params":[true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setLinkModeEnable(true); + * @endcode + * \endchinese + * \english + * Initiate robot enter/exit link mode request. + * Link mode can only be enabled when the operation mode is Automatic or + * None. + * + * @param enable + * + * @return Returns 0 on success; error code on failure + * AUBO_BUSY + * AUBO_REQUEST_IGNORE + * -AUBO_BAD_STATE + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * setLinkModeEnable(self: pyaubo_sdk.RobotManage, arg0: bool) -> int + * + * @par Lua function prototype + * setLinkModeEnable(enable: boolean) -> number + * + * @par Lua example + * num = setLinkModeEnable(true) + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.setLinkModeEnable","params":[true],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setLinkModeEnable(true); + * @endcode + * \endenglish + */ + int setLinkModeEnable(bool enable); + + /** + * @ingroup RobotManage + * \chinese + * 是否使能了联动模式，联动模式下用户可以通过外部IO控制机器人（用户可以对IO的功能进行配置） + * + * @return 使能返回true; 反之返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isLinkModeEnabled(self: pyaubo_sdk.RobotManage) -> bool + * + * @par Lua函数原型 + * isLinkModeEnabled() -> boolean + * + * @par Lua示例 + * LinkModeEnabled = isLinkModeEnabled() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.isLinkModeEnabled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * bool isEnabled = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isLinkModeEnabled(); + * @endcode + * \endchinese + * \english + * Whether the link mode is enabled. In link mode, users can control the + * robot via external IO (users can configure the IO functions). + * + * @return Returns true if enabled; otherwise returns false + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isLinkModeEnabled(self: pyaubo_sdk.RobotManage) -> bool + * + * @par Lua function prototype + * isLinkModeEnabled() -> boolean + * + * @par Lua example + * LinkModeEnabled = isLinkModeEnabled() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.isLinkModeEnabled","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * bool isEnabled = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isLinkModeEnabled(); + * @endcode + * \endenglish + */ + bool isLinkModeEnabled(); + + /** + * @ingroup RobotManage + * \chinese + * 手动触发生成诊断文件 + * + * @return 指令下发成功返回0; 失败返回错误码。 \n + * -AUBO_BAD_STATE: 运行时(RuntimeMachine)的当前状态不是Stopped, + * 固件升级请求被拒绝。AUBO_BAD_STATE的值是1。 \n + * -AUBO_TIMEOUT: 超时。AUBO_TIMEOUT的值是4。 \n + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * generateDiagnoseFile(self: pyaubo_sdk.RobotManage, arg0: str) -> int + * + * @par Lua函数原型 + * generateDiagnoseFile(reason: string) -> nil + * + * @par Lua示例 + * generateDiagnoseFile("reason") + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotManage.generateDiagnoseFile","params":["reason"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * bool isEnabled = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->generateDiagnoseFile("reason"); + * @endcode + * \endchinese + * \english + * Manually trigger the generation of a diagnostic file + * + * @return Returns 0 if the command is successfully issued; error code on + * failure. \n -AUBO_BAD_STATE: The current state of the RuntimeMachine is + * not Stopped, the firmware upgrade request is rejected. The value of + * AUBO_BAD_STATE is 1. \n -AUBO_TIMEOUT: Timeout. The value of AUBO_TIMEOUT + * is 4. \n + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * generateDiagnoseFile(self: pyaubo_sdk.RobotManage, arg0: str) -> int + * + * @par Lua function prototype + * generateDiagnoseFile(reason: string) -> nil + * + * @par Lua example + * generateDiagnoseFile("reason") + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotManage.generateDiagnoseFile","params":["reason"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * bool isEnabled = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage()->generateDiagnoseFile("reason"); + * @endcode + * \endenglish + */ + int generateDiagnoseFile(const std::string &reason); + +protected: + void *d_; +}; +using RobotManagePtr = std::shared_ptr; +} // namespace common_interface +} // namespace arcs + +#endif // AUBO_SDK_ROBOT_CONTROL_INTERFACE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/robot_state.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/robot_state.h new file mode 100644 index 00000000..c576d9bb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot/robot_state.h @@ -0,0 +1,3583 @@ +/** @file robot_state.h + * @brief 获取机器人状态接口，如关节速度、关节角度、固件/硬件版本 + */ +#ifndef AUBO_SDK_ROBOT_STATE_INTERFACE_H +#define AUBO_SDK_ROBOT_STATE_INTERFACE_H + +#include + +#include +#include + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * @defgroup RobotState RobotState (机器人状态查询) + * @ingroup RobotInterface + * \endchinese + * + * \english + * @defgroup RobotState Robot State Query + * @ingroup RobotInterface + * \endenglish + * RobotState + */ +class ARCS_ABI_EXPORT RobotState +{ +public: + RobotState(); + virtual ~RobotState(); + + /** + * @ingroup RobotState + * \chinese + * 获取机器人的模式状态 + * + * @return 机器人的模式状态 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getRobotModeType(self: pyaubo_sdk.RobotState) -> + * arcs::common_interface::RobotModeType + * + * @par Lua函数原型 + * getRobotModeType() -> number + * + * @par Lua示例 + * RobotModeType = getRobotModeType() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotModeType","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"Running"} + * + *\endchinese + *\english + * Get the robot mode state + * + * @return The robot's mode state + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getRobotModeType(self: pyaubo_sdk.RobotState) -> + * arcs::common_interface::RobotModeType + * + * @par Lua function prototype + * getRobotModeType() -> number + * + * @par Lua example + * RobotModeType = getRobotModeType() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotModeType","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"Running"} + *\endenglish + */ + + RobotModeType getRobotModeType(); + + /** + * @ingroup RobotState + * \chinese + * 获取安全模式 + * + * @return 安全模式 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getSafetyModeType(self: pyaubo_sdk.RobotState) -> + * arcs::common_interface::SafetyModeType + * + * @par Lua函数原型 + * getSafetyModeType() -> number + * + * @par Lua示例 + * SafetyModeType = getSafetyModeType() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getSafetyModeType","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"Normal"} + * \endchinese + * \english + * Get the safety mode + * + * @return The safety mode + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getSafetyModeType(self: pyaubo_sdk.RobotState) -> + * arcs::common_interface::SafetyModeType + * + * @par Lua function prototype + * getSafetyModeType() -> number + * + * @par Lua example + * SafetyModeType = getSafetyModeType() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getSafetyModeType","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"Normal"} + * \endenglish + */ + SafetyModeType getSafetyModeType(); + + /** + * @ingroup RobotState + * \chinese + * 获取机器人通电状态 + * + * @return 机器人通电返回 true; 反之返回 false + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * isPowerOn() -> boolean + * + * @par Lua示例 + * PowerOn = isPowerOn() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.isPowerOn","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * \endchinese + * \english + * Get the robot power-on state + * + * @return Returns true if the robot is powered on; otherwise returns false + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * isPowerOn() -> boolean + * + * @par Lua example + * PowerOn = isPowerOn() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.isPowerOn","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * \endenglish + */ + bool isPowerOn(); + + /** + * @ingroup RobotState + * \chinese + * 机器人是否已经停止下来 + * + * @return 停止返回true; 反之返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isSteady(self: pyaubo_sdk.RobotState) -> bool + * + * @par Lua函数原型 + * isSteady() -> boolean + * + * @par Lua示例 + * Steady = isSteady() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.isSteady","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * \endchinese + * \english + * Whether the robot has stopped + * + * @return Returns true if stopped; otherwise returns false + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isSteady(self: pyaubo_sdk.RobotState) -> bool + * + * @par Lua function prototype + * isSteady() -> boolean + * + * @par Lua exaple + * Steady = isSteady() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.isSteady","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * \endenglish + */ + bool isSteady(); + + /** + * @ingroup RobotState + * \chinese + * 机器人是否发生了碰撞 + * + * @return 发生碰撞返回 true; 反之返回 false + * + * @throws arcs::common_interface::AuboException + * + * @par Lua函数原型 + * isCollisionOccurred() -> boolean + * + * @par Lua示例 + * CollisionOccurred = isCollisionOccurred() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.isCollisionOccurred","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":false} + * \endchinese + * \english + * Whether a collision has occurred + * + * @return Returns true if a collision occurred; otherwise returns false + * + * @throws arcs::common_interface::AuboException + * + * @par Lua function prototype + * isCollisionOccurred() -> boolean + * + * @par Lua example + * CollisionOccurred = isCollisionOccurred() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.isCollisionOccurred","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":false} + * \endenglish + */ + bool isCollisionOccurred(); + + /** + * @ingroup RobotState + * \chinese + * 机器人是否已经在安全限制之内 + * + * @return 在安全限制之内返回true; 反之返回false + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isWithinSafetyLimits(self: pyaubo_sdk.RobotState) -> bool + * + * @par Lua函数原型 + * isWithinSafetyLimits() -> boolean + * + * @par Lua示例 + * WithinSafetyLimits = isWithinSafetyLimits() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.isWithinSafetyLimits","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * \endchinese + * \english + * Whether the robot is within safety limits + * + * @return Returns true if within safety limits; otherwise returns false + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isWithinSafetyLimits(self: pyaubo_sdk.RobotState) -> bool + * + * @par Lua function prototype + * isWithinSafetyLimits() -> boolean + * + * @par Lua example + * WithinSafetyLimits = isWithinSafetyLimits() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.isWithinSafetyLimits","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * \endenglish + */ + bool isWithinSafetyLimits(); + + /** + * @ingroup RobotState + * \chinese + * 获取当前的TCP位姿，其 TCP 偏移可以通过 getActualTcpOffset 获取 + * + * 位姿表示形式为(x,y,z,rx,ry,rz)。 + * 其中x、y、z是工具中心点（TCP）在基坐标系下的位置，单位是m。 + * rx、ry、rz是工具中心点（TCP）在基坐标系下的姿态，是ZYX欧拉角，单位是rad。 + * + * @return TCP的位姿,形式为(x,y,z,rx,ry,rz) + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getTcpPose(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getTcpPose() -> table + * + * @par Lua示例 + * TcpPose = getTcpPose() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpPose","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.41777839846910425,-0.13250000000000012,0.20928451364415995,3.1415792312578987,0.0,1.5707963267948963]} + * \endchinese + * \english + * Get the current TCP pose. The TCP offset can be obtained by + * getActualTcpOffset. + * + * The pose is represented as (x, y, z, rx, ry, rz). + * x, y, z are the position of the Tool Center Point (TCP) in the base + * coordinate system, in meters. rx, ry, rz are the orientation of the TCP + * in the base coordinate system, as ZYX Euler angles in radians. + * + * @return The TCP pose, in the form (x, y, z, rx, ry, rz) + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getTcpPose(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getTcpPose() -> table + * + * @par Lua example + * TcpPose = getTcpPose() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpPose","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.41777839846910425,-0.13250000000000012,0.20928451364415995,3.1415792312578987,0.0,1.5707963267948963]} + * \endenglish + */ + std::vector getTcpPose(); + /** + * @ingroup RobotState + * \chinese + * 获取当前已启用外部轴轴组协同 TCP 位姿。 + * + * @return TCP 在工件坐标系下的位姿 + * \endchinese + * \english + * Get current coordinated TCP pose with the enabled external axis group. + * + * @return TCP pose in workpiece frame + * \endenglish + */ + std::vector getTcpPoseWithAxisGroup(); + + /** + * @ingroup RobotState + * \chinese + * 获取当前的 TCP 偏移，也就是 getTcpPose 返回的 pose 用到的 TCP 偏移 + * + * @return 当前的 TCP 偏移 + * + * @par Lua函数原型 + * getActualTcpOffset() -> table + * + * @par Lua示例 + * ActualTcpOffset = getActualTcpOffset() + * + * \endchinese + * \english + * Get the current TCP offset, which is the TCP offset used by the pose + * returned from getTcpPose + * + * @return The current TCP offset + * + * @par Lua function prototype + * getActualTcpOffset() -> table + * + * @par Lua example + * ActualTcpOffset = getActualTcpOffset() + * + * \endenglish + */ + std::vector getActualTcpOffset(); + + /** + * @ingroup RobotState + * \chinese + * 获取下一个目标路点 + * 注意与 getTcpTargetPose 的区别，此处定义存在歧义，命名需要优化 + * + * 位姿表示形式为(x,y,z,rx,ry,rz)。 + * 其中x、y、z是工具中心点（TCP）在基坐标系下的目标位置，单位是m。 + * rx、ry、rz是工具中心点（TCP）在基坐标系下的目标姿态，是ZYX欧拉角，单位是rad。 + * + * @return 当前目标位姿,形式为(x,y,z,rx,ry,rz) + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getTargetTcpPose(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getTargetTcpPose() -> table + * + * @par Lua示例 + * TargetTcpPose = getTargetTcpPose() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTargetTcpPose","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.4173932217619493,-0.13250000000000012,0.43296496133045825,3.141577313781914,0.0,1.5707963267948963]} + * \endchinese + * \english + * Get the next target waypoint. + * Note the difference from getTcpTargetPose; the definition here is + * ambiguous and the naming needs improvement. + * + * The pose is represented as (x, y, z, rx, ry, rz). + * x, y, z are the target position of the Tool Center Point (TCP) in the + * base coordinate system, in meters. rx, ry, rz are the target orientation + * of the TCP in the base coordinate system, as ZYX Euler angles in radians. + * + * @return The current target pose, in the form (x, y, z, rx, ry, rz) + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getTargetTcpPose(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getTargetTcpPose() -> table + * + * @par Lua example + * TargetTcpPose = getTargetTcpPose() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTargetTcpPose","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.4173932217619493,-0.13250000000000012,0.43296496133045825,3.141577313781914,0.0,1.5707963267948963]} + * \endenglish + */ + std::vector getTargetTcpPose(); + + /** + * @ingroup RobotState + * \chinese + * 获取工具端的位姿（不带TCP偏移） + * + * 位姿表示形式为(x,y,z,rx,ry,rz)。 + * 其中x、y、z是法兰盘中心在基坐标系下的目标位置，单位是m。 + * rx、ry、rz是法兰盘中心在基坐标系下的目标姿态，是ZYX欧拉角，单位是rad。 + * + * @return 工具端的位姿,形式为(x,y,z,rx,ry,rz) + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getToolPose(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getToolPose() -> table + * + * @par Lua示例 + * ToolPose = getToolPose() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getToolPose","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.41777820858878617,-0.13250000000000012,0.20928410288421018,3.141579231257899,0.0,1.5707963267948963]} + * \endchinese + * \english + * Get the tool pose (without TCP offset) + * + * The pose is represented as (x, y, z, rx, ry, rz). + * x, y, z are the target position of the flange center in the base + * coordinate system, in meters. rx, ry, rz are the target orientation of + * the flange center in the base coordinate system, as ZYX Euler angles in + * radians. + * + * @return The tool pose, in the form (x, y, z, rx, ry, rz) + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getToolPose(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getToolPose() -> table + * + * @par Lua example + * ToolPose = getToolPose() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getToolPose","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.41777820858878617,-0.13250000000000012,0.20928410288421018,3.141579231257899,0.0,1.5707963267948963]} + * \endenglish + */ + std::vector getToolPose(); + + /** + * @ingroup RobotState + * \chinese + * 获取TCP速度 + * + * @return TCP速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getTcpSpeed(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getTcpSpeed() -> table + * + * @par Lua示例 + * TcpSpeed = getTcpSpeed() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpSpeed","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the TCP speed + * + * @return TCP speed + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getTcpSpeed(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getTcpSpeed() -> table + * + * @par Lua example + * TcpSpeed = getTcpSpeed() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpSpeed","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getTcpSpeed(); + + /** + * @ingroup RobotState + * \chinese + * 获取TCP的力/力矩 + * + * @return TCP的力/力矩 + * + * @par Python函数原型 + * getTcpForce(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getTcpForce() -> table + * + * @par Lua示例 + * TcpForce = getTcpForce() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForce","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the TCP force/torque + * + * @return TCP force/torque + * + * @par Python function prototype + * getTcpForce(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getTcpForce() -> table + * + * @par Lua example + * TcpForce = getTcpForce() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForce","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getTcpForce(); + + /** + * @ingroup RobotState + * \chinese + * 获取肘部的位置 + * + * @return 肘部的位置 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getElbowPosistion(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getElbowPosistion() -> table + * + * @par Lua示例 + * ElbowPosistion = getElbowPosistion() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getElbowPosistion","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.07355755887512408,-0.1325,0.43200874126125227,-1.5707963267948968,0.433006344376404,0.0]} + * \endchinese + * \english + * Get the position of the elbow + * + * @return The position of the elbow + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getElbowPosistion(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getElbowPosistion() -> table + * + * @par Lua example + * ElbowPosistion = getElbowPosistion() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getElbowPosistion","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.07355755887512408,-0.1325,0.43200874126125227,-1.5707963267948968,0.433006344376404,0.0]} + * \endenglish + */ + std::vector getElbowPosistion(); + + /** + * @ingroup RobotState + * \chinese + * 获取肘部速度 + * + * @return 肘部速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getElbowVelocity(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getElbowVelocity() -> table + * + * @par Lua示例 + * ElbowVelocity = getElbowVelocity() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getElbowVelocity","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the elbow velocity + * + * @return Elbow velocity + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getElbowVelocity(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getElbowVelocity() -> table + * + * @par Lua example + * ElbowVelocity = getElbowVelocity() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getElbowVelocity","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getElbowVelocity(); + + /** + * @ingroup RobotState + * \chinese + * 获取基座力/力矩 + * + * @return 基座力/力矩 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getBaseForce(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getBaseForce() -> table + * + * @par Lua示例 + * BaseForce = getBaseForce() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getBaseForce","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the base force/torque + * + * @return Base force/torque + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getBaseForce(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getBaseForce() -> table + * + * @par Lua example + * BaseForce = getBaseForce() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getBaseForce","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getBaseForce(); + + /** + * @ingroup RobotState + * \chinese + * 获取上一次发送的TCP目标位姿 + * + * @return TCP目标位姿 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getTcpTargetPose(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getTcpTargetPose() -> table + * + * @par Lua示例 + * TcpTargetPose = getTcpTargetPose() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetPose","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.41777829240862013,-0.13250000000000012,0.2092832117232601,3.1415812372223217,0.0,1.5707963267948963]} + * \endchinese + * \english + * Get the last sent TCP target pose + * + * @return TCP target pose + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getTcpTargetPose(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getTcpTargetPose() -> table + * + * @par Lua example + * TcpTargetPose = getTcpTargetPose() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetPose","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.41777829240862013,-0.13250000000000012,0.2092832117232601,3.1415812372223217,0.0,1.5707963267948963]} + * \endenglish + */ + std::vector getTcpTargetPose(); + + /** + * @ingroup RobotState + * \chinese + * 获取TCP目标速度 + * + * @return TCP目标速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getTcpTargetSpeed(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getTcpTargetSpeed() -> table + * + * @par Lua示例 + * TcpTargetSpeed = getTcpTargetSpeed() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetSpeed","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the TCP target speed + * + * @return TCP target speed + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getTcpTargetSpeed(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getTcpTargetSpeed() -> table + * + * @par Lua example + * TcpTargetSpeed = getTcpTargetSpeed() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetSpeed","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getTcpTargetSpeed(); + + /** + * @ingroup RobotState + * \chinese + * 获取TCP目标力/力矩 + * + * @return TCP目标力/力矩 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getTcpTargetForce(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getTcpTargetForce() -> table + * + * @par Lua示例 + * TcpTargetForce = getTcpTargetForce() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetForce","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the TCP target force/torque + * + * @return TCP target force/torque + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getTcpTargetForce(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getTcpTargetForce() -> table + * + * @par Lua example + * TcpTargetForce = getTcpTargetForce() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetForce","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getTcpTargetForce(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节标志 + * + * @return 机械臂关节标志 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointState(self: pyaubo_sdk.RobotState) -> + * List[arcs::common_interface::JointStateType] + * + * @par Lua函数原型 + * getJointState() -> table + * + * @par Lua示例 + * JointState = getJointState() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointState","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":["Running","Running","Running","Running","Running","Running"]} + * \endchinese + * \english + * Get the joint state of the manipulator + * + * @return Joint state of the manipulator + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointState(self: pyaubo_sdk.RobotState) -> + * List[arcs::common_interface::JointStateType] + * + * @par Lua function prototype + * getJointState() -> table + * + * @par Lua example + * JointState = getJointState() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointState","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":["Running","Running","Running","Running","Running","Running"]} + * \endenglish + */ + std::vector getJointState(); + + /** + * @ingroup RobotState + * \chinese + * 获取关节的伺服状态 + * + * @return 关节的伺服状态 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointServoMode(self: pyaubo_sdk.RobotState) -> + * List[arcs::common_interface::JointServoModeType] + * + * @par Lua函数原型 + * getJointServoMode() -> table + * + * @par Lua示例 + * JointServoMode = getJointServoMode() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointServoMode","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":["Position","Position","Position","Position","Position","Position"]} + * \endchinese + * \english + * Get the servo state of the joints + * + * @return The servo state of the joints + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointServoMode(self: pyaubo_sdk.RobotState) -> + * List[arcs::common_interface::JointServoModeType] + * + * @par Lua function prototype + * getJointServoMode() -> table + * + * @par Lua example + * JointServoMode = getJointServoMode() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointServoMode","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":["Position","Position","Position","Position","Position","Position"]} + * \endenglish + */ + std::vector getJointServoMode(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节角度 + * + * @return 机械臂关节角度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointPositions(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointPositions() -> table + * + * @par Lua示例 + * JointPositions = getJointPositions() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointPositions","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,-0.26199241371495835,1.7418102574563423,0.4330197667082982,1.5707963267948966,0.0]} + * \endchinese + * \english + * Get the joint positions of the manipulator + * + * @return Joint positions of the manipulator + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointPositions(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointPositions() -> table + * + * @par Lua example + * JointPositions = getJointPositions() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointPositions","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,-0.26199241371495835,1.7418102574563423,0.4330197667082982,1.5707963267948966,0.0]} + * \endenglish + */ + std::vector getJointPositions(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂历史关节角度 + * + * @param steps 步数 + * @return 机械臂历史关节角度 + * \endchinese + * \english + * Get the historical joint positions of the manipulator + * + * @param steps Number of steps + * @return Historical joint positions of the manipulator + * \endenglish + */ + std::vector getJointPositionsHistory(int steps); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节速度 + * + * @return 机械臂关节速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointSpeeds(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointSpeeds() -> table + * + * @par Lua示例 + * JointSpeeds = getJointSpeeds() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointSpeeds","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the joint speeds of the manipulator + * + * @return Joint speeds of the manipulator + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointSpeeds(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointSpeeds() -> table + * + * @par Lua example + * JointSpeeds = getJointSpeeds() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointSpeeds","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getJointSpeeds(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节加速度 + * + * @return 机械臂关节加速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointAccelerations(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointAccelerations() -> table + * + * @par Lua示例 + * JointAccelerations = getJointAccelerations() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointAccelerations","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the joint accelerations of the manipulator + * + * @return Joint accelerations of the manipulator + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointAccelerations(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointAccelerations() -> table + * + * @par Lua example + * JointAccelerations = getJointAccelerations() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointAccelerations","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getJointAccelerations(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节力矩 + * + * @return 机械臂关节力矩 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointTorqueSensors(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointTorqueSensors() -> table + * + * @par Lua示例 + * JointTorqueSensors = getJointTorqueSensors() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTorqueSensors","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,6275.367736816406,-7704.2816162109375,3586.9766235351563,503.0364990234375,1506.0882568359375]} + * \endchinese + * \english + * Get the joint torques of the manipulator + * + * @return Joint torques of the manipulator + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointTorqueSensors(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointTorqueSensors() -> table + * + * @par Lua example + * JointTorqueSensors = getJointTorqueSensors() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTorqueSensors","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,6275.367736816406,-7704.2816162109375,3586.9766235351563,503.0364990234375,1506.0882568359375]} + * \endenglish + */ + std::vector getJointTorqueSensors(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂的关节力矩 + * + * @return 机械臂标定后的关节力矩，单位：Nm + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointTorques(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointTorques() -> table + * + * @par Lua示例 + * JointTorques = getJointTorques() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTorques","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the joint torques + * + * @return joint torques in Nm + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointTorques(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointTorques() -> table + * + * @par Lua example + * JointTorques = getJointTorques() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTorques","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getJointTorques(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节接触力矩（外力距） + * + * @return 机械臂关节接触力矩 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointContactTorques(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointContactTorques() -> table + * + * @par Lua示例 + * JointContactTorques = getJointContactTorques() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointContactTorques","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the joint contact torques (external torques) of the manipulator + * + * @return Joint contact torques of the manipulator + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointContactTorques(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointContactTorques() -> table + * + * @par Lua example + * JointContactTorques = getJointContactTorques() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointContactTorques","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getJointContactTorques(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节重力矩 + * + * @return 机械臂关节重力矩，包含6个关节的力矩值（单位：Nm） + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointGravityTorques(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointGravityTorques() -> table + * + * @par Lua示例 + * local jointGravityTorques = getJointGravityTorques() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointGravityTorques","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[1.23, -2.34, 3.45, -4.56, 0.78, -0.12]} + * \endchinese + * \english + * Get the joint gravity torque of the manipulator + * + * @return Joint gravity torque of the manipulator, containing torque values + * for 6 joints (unit: Nm) + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointGravityTorques(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointGravityTorques() -> table + * + * @par Lua example + * local jointGravityTorques = getJointGravityTorques() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointGravityTorques","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[1.23, -2.34, 3.45, -4.56, 0.78, -0.12]} + * \endenglish + */ + std::vector getJointGravityTorques(); + + /** + * \chinese + * 获取底座力传感器读数 + * + * @return 底座力传感器读数 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getBaseForceSensor(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getBaseForceSensor() -> table + * + * @par Lua示例 + * BaseForceSensor = getBaseForceSensor() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getBaseForceSensor","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the base force sensor readings + * + * @return Base force sensor readings + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getBaseForceSensor(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getBaseForceSensor() -> table + * + * @par Lua example + * BaseForceSensor = getBaseForceSensor() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getBaseForceSensor","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getBaseForceSensor(); + + /** + * @ingroup RobotState + * \chinese + * 获取TCP力传感器读数 + * + * @return TCP力传感器读数 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getTcpForceSensors(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getTcpForceSensors() -> table + * + * @par Lua示例 + * TcpForceSensors = getTcpForceSensors() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForceSensors","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the TCP force sensor readings + * + * @return TCP force sensor readings + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getTcpForceSensors(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getTcpForceSensors() -> table + * + * @par Lua example + * TcpForceSensors = getTcpForceSensors() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForceSensors","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getTcpForceSensors(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节电流 + * + * @return 机械臂关节电流 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointCurrents(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointCurrents() -> table + * + * @par Lua示例 + * JointCurrents = getJointCurrents() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointCurrents","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,1.25885009765625,-1.5289306640625,0.71868896484375,0.1007080078125,0.3021240234375]} + * \endchinese + * \english + * Get the joint currents of the manipulator + * + * @return Joint currents of the manipulator + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointCurrents(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointCurrents() -> table + * + * @par Lua example + * JointCurrents = getJointCurrents() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointCurrents","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,1.25885009765625,-1.5289306640625,0.71868896484375,0.1007080078125,0.3021240234375]} + * \endenglish + */ + std::vector getJointCurrents(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节电压 + * + * @return 机械臂关节电压 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointVoltages(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointVoltages() -> table + * + * @par Lua示例 + * JointVoltages = getJointVoltages() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointVoltages","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[2.0,2.5,3.0,2.0,2.5,2.0]} + * \endchinese + * \english + * Get the joint voltages of the manipulator + * + * @return Joint voltages of the manipulator + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointVoltages(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointVoltages() -> table + * + * @par Lua example + * JointVoltages = getJointVoltages() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointVoltages","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[2.0,2.5,3.0,2.0,2.5,2.0]} + * \endenglish + */ + std::vector getJointVoltages(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节温度 + * + * @return 机械臂关节温度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointTemperatures(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointTemperatures() -> table + * + * @par Lua示例 + * JointTemperatures = getJointTemperatures() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTemperatures","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[38.0,38.0,38.0,39.0,38.0,39.0]} + * \endchinese + * \english + * Get the joint temperatures of the manipulator + * + * @return Joint temperatures of the manipulator + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointTemperatures(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointTemperatures() -> table + * + * @par Lua example + * JointTemperatures = getJointTemperatures() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTemperatures","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[38.0,38.0,38.0,39.0,38.0,39.0]} + * \endenglish + */ + std::vector getJointTemperatures(); + + /** + * @ingroup RobotState + * \chinese + * 获取关节全球唯一ID + * + * @return 关节全球唯一ID + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointUniqueIds(self: pyaubo_sdk.RobotState) -> List[str] + * + * @par Lua函数原型 + * getJointUniqueIds() -> table + * + * @par Lua示例 + * JointUniqueIds = getJointUniqueIds() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointUniqueIds","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":["00800020ffffffff31405153","00800020ffffffff3e3f5153","00800020ffffffff414b5153","00800020ffffffff31065153","00800020ffffffff41535153","00800020ffffffff41545153"]} + * \endchinese + * \english + * Get the globally unique IDs of the joints + * + * @return Globally unique IDs of the joints + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointUniqueIds(self: pyaubo_sdk.RobotState) -> List[str] + * + * @par Lua function prototype + * getJointUniqueIds() -> table + * + * @par Lua example + * JointUniqueIds = getJointUniqueIds() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointUniqueIds","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":["00800020ffffffff31405153","00800020ffffffff3e3f5153","00800020ffffffff414b5153","00800020ffffffff31065153","00800020ffffffff41535153","00800020ffffffff41545153"]} + * \endenglish + */ + std::vector getJointUniqueIds(); + + /** + * @ingroup RobotState + * \chinese + * 获取关节固件版本 + * + * @return 关节固件版本 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointFirmwareVersions(self: pyaubo_sdk.RobotState) -> List[int] + * + * @par Lua函数原型 + * getJointFirmwareVersions() -> table + * + * @par Lua示例 + * JointFirmwareVersions = getJointFirmwareVersions() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointFirmwareVersions","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[1000010,1000010,1000010,1000010,1000010,1000010]} + * \endchinese + * \english + * Get the joint firmware versions + * + * @return Joint firmware versions + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointFirmwareVersions(self: pyaubo_sdk.RobotState) -> List[int] + * + * @par Lua function prototype + * getJointFirmwareVersions() -> table + * + * @par Lua example + * JointFirmwareVersions = getJointFirmwareVersions() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointFirmwareVersions","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[1000010,1000010,1000010,1000010,1000010,1000010]} + * \endenglish + */ + std::vector getJointFirmwareVersions(); + + /** + * @ingroup RobotState + * \chinese + * 获取关节硬件版本 + * + * @return 关节硬件版本 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointHardwareVersions(self: pyaubo_sdk.RobotState) -> List[int] + * + * @par Lua函数原型 + * getJointHardwareVersions() -> table + * + * @par Lua示例 + * JointHardwareVersions = getJointHardwareVersions() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointHardwareVersions","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[1000000,1000000,1004000,1004000,1004000,1004000]} + * \endchinese + * \english + * Get the joint hardware versions + * + * @return Joint hardware versions + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointHardwareVersions(self: pyaubo_sdk.RobotState) -> List[int] + * + * @par Lua function prototype + * getJointHardwareVersions() -> table + * + * @par Lua example + * JointHardwareVersions = getJointHardwareVersions() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointHardwareVersions","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[1000000,1000000,1004000,1004000,1004000,1004000]} + * \endenglish + */ + std::vector getJointHardwareVersions(); + + /** + * @ingroup RobotState + * \chinese + * 获取MasterBoard全球唯一ID + * + * @return MasterBoard全球唯一ID + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getMasterBoardUniqueId(self: pyaubo_sdk.RobotState) -> str + * + * @par Lua函数原型 + * getMasterBoardUniqueId() -> string + * + * @par Lua示例 + * MasterBoardUniqueId = getMasterBoardUniqueId() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardUniqueId","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"001e0044510f343037323637"} + * \endchinese + * \english + * Get the globally unique ID of the MasterBoard + * + * @return Globally unique ID of the MasterBoard + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getMasterBoardUniqueId(self: pyaubo_sdk.RobotState) -> str + * + * @par Lua function prototype + * getMasterBoardUniqueId() -> string + * + * @par Lua example + * MasterBoardUniqueId = getMasterBoardUniqueId() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardUniqueId","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"001e0044510f343037323637"} + * \endenglish + */ + std::string getMasterBoardUniqueId(); + + /** + * @ingroup RobotState + * \chinese + * 获取MasterBoard固件版本 + * + * @return MasterBoard固件版本 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getMasterBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getMasterBoardFirmwareVersion() -> number + * + * @par Lua示例 + * MasterBoardFirmwareVersion = getMasterBoardFirmwareVersion() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardFirmwareVersion","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1000004} + * \endchinese + * \english + * Get the MasterBoard firmware version + * + * @return MasterBoard firmware version + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getMasterBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getMasterBoardFirmwareVersion() -> number + * + * @par Lua example + * MasterBoardFirmwareVersion = getMasterBoardFirmwareVersion() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardFirmwareVersion","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1000004} + * \endenglish + */ + int getMasterBoardFirmwareVersion(); + + /** + * @ingroup RobotState + * \chinese + * 获取MasterBoard硬件版本 + * + * @return MasterBoard硬件版本 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getMasterBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getMasterBoardHardwareVersion() -> number + * + * @par Lua示例 + * MasterBoardHardwareVersion = getMasterBoardHardwareVersion() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardHardwareVersion","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1000000} + * \endchinese + * \english + * Get the MasterBoard hardware version + * + * @return MasterBoard hardware version + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getMasterBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getMasterBoardHardwareVersion() -> number + * + * @par Lua example + * MasterBoardHardwareVersion = getMasterBoardHardwareVersion() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getMasterBoardHardwareVersion","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1000000} + * \endenglish + */ + int getMasterBoardHardwareVersion(); + + /** + * @ingroup RobotState + * \chinese + * 获取SlaveBoard全球唯一ID + * + * @return SlaveBoard全球唯一ID + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getSlaveBoardUniqueId(self: pyaubo_sdk.RobotState) -> str + * + * @par Lua函数原型 + * getSlaveBoardUniqueId() -> string + * + * @par Lua示例 + * SlaveBoardUniqueId = getSlaveBoardUniqueId() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardUniqueId","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"736572630080000000000000"} + * \endchinese + * \english + * Get the globally unique ID of the SlaveBoard + * + * @return Globally unique ID of the SlaveBoard + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getSlaveBoardUniqueId(self: pyaubo_sdk.RobotState) -> str + * + * @par Lua function prototype + * getSlaveBoardUniqueId() -> string + * + * @par Lua example + * SlaveBoardUniqueId = getSlaveBoardUniqueId() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardUniqueId","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"736572630080000000000000"} + * \endenglish + */ + std::string getSlaveBoardUniqueId(); + + /** + * @ingroup RobotState + * \chinese + * 获取SlaveBoard固件版本 + * + * @return SlaveBoard固件版本 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getSlaveBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getSlaveBoardFirmwareVersion() -> number + * + * @par Lua示例 + * SlaveBoardFirmwareVersion = getSlaveBoardFirmwareVersion() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardFirmwareVersion","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Get the SlaveBoard firmware version + * + * @return SlaveBoard firmware version + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getSlaveBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getSlaveBoardFirmwareVersion() -> number + * + * @par Lua example + * SlaveBoardFirmwareVersion = getSlaveBoardFirmwareVersion() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardFirmwareVersion","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int getSlaveBoardFirmwareVersion(); + + /** + * @ingroup RobotState + * \chinese + * 获取SlaveBoard硬件版本 + * + * @return SlaveBoard硬件版本 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getSlaveBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getSlaveBoardHardwareVersion() -> number + * + * @par Lua示例 + * SlaveBoardHardwareVersion = getSlaveBoardHardwareVersion() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardHardwareVersion","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":6030098} + * \endchinese + * \english + * Get the SlaveBoard hardware version + * + * @return SlaveBoard hardware version + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getSlaveBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getSlaveBoardHardwareVersion() -> number + * + * @par Lua example + * SlaveBoardHardwareVersion = getSlaveBoardHardwareVersion() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getSlaveBoardHardwareVersion","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":6030098} + * \endenglish + */ + int getSlaveBoardHardwareVersion(); + + /** + * @ingroup RobotState + * \chinese + * 获取Handle全球唯一ID + * + * @return Handle全球唯一ID + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getHandleUniqueId(self: pyaubo_sdk.RobotState) -> str + * + * @par Lua函数原型 + * getHandleUniqueId() -> string + * + * @par Lua示例 + * HandleUniqueId = getHandleUniqueId() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getHandleUniqueId","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"736572630080000000000000"} + * \endchinese + * \english + * Get the globally unique ID of the Handle + * + * @return Globally unique ID of the Handle + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getHandleUniqueId(self: pyaubo_sdk.RobotState) -> str + * + * @par Lua function prototype + * getHandleUniqueId() -> string + * + * @par Lua example + * HandleUniqueId = getHandleUniqueId() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getHandleUniqueId","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"736572630080000000000000"} + * \endenglish + */ + std::string getHandleUniqueId(); + + /** + * @ingroup RobotState + * \chinese + * 获取Handle固件版本 + * + * @return Handle固件版本 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getHandleFirmwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getHandleFirmwareVersion() -> number + * + * @par Lua示例 + * HandleFirmwareVersion = getHandleFirmwareVersion() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getHandleFirmwareVersion","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Get the Handle firmware version + * + * @return Handle firmware version + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getHandleFirmwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getHandleFirmwareVersion() -> number + * + * @par Lua example + * HandleFirmwareVersion = getHandleFirmwareVersion() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getHandleFirmwareVersion","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int getHandleFirmwareVersion(); + + /** + * @ingroup RobotState + * \chinese + * 获取Handle硬件版本 + * + * @return Handle硬件版本 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getHandleHardwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getHandleHardwareVersion() -> number + * + * @par Lua示例 + * HandleHardwareVersion = getHandleHardwareVersion() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getHandleHardwareVersion","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":6030098} + * \endchinese + * \english + * Get the Handle hardware version + * + * @return Handle hardware version + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getHandleHardwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getHandleHardwareVersion() -> number + * + * @par Lua example + * HandleHardwareVersion = getHandleHardwareVersion() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getHandleHardwareVersion","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":6030098} + * \endenglish + */ + int getHandleHardwareVersion(); + + /** + * @ingroup RobotState + * \chinese + * 获取Handle状态 + * + * @return Handle状态 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getHandleState(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getHandleState() -> number + * + * @par Lua示例 + * HandleState = getHandleState() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getHandleState","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":6030098} + * \endchinese + * \english + * Get the Handle state + * + * @return Handle state + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getHandleState(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getHandleState() -> number + * + * @par Lua example + * HandleState = getHandleState() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getHandleState","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":6030098} + * \endenglish + */ + HandleStateType getHandleState(); + + /** + * @ingroup RobotState + * \chinese + * 获取Handle类型 + * + * @return Handle类型 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getHandleMode(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getHandleMode() -> number + * + * @par Lua示例 + * HandleMode = getHandleMode() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getHandleMode","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":6030098} + * \endchinese + * \english + * Get the Handle mode + * + * @return Handle mode + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getHandleMode(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getHandleMode() -> number + * + * @par Lua example + * HandleMode = getHandleMode() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getHandleMode","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1} + * \endenglish + */ + HandleModeType getHandleMode(); + + /** + * @ingroup RobotState + * \chinese + * 获取PowerlossBoard全球唯一ID + * + * @return PowerlossBoard全球唯一ID + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getPowerlossBoardUniqueId(self: pyaubo_sdk.RobotState) -> str + * + * @par Lua函数原型 + * getPowerlossBoardUniqueId() -> string + * + * @par Lua示例 + * PowerlossBoardUniqueId = getPowerlossBoardUniqueId() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getPowerlossBoardUniqueId","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"736572630080000000000000"} + * \endchinese + * \english + * Get the globally unique ID of the PowerlossBoard + * + * @return Globally unique ID of the PowerlossBoard + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getPowerlossBoardUniqueId(self: pyaubo_sdk.RobotState) -> str + * + * @par Lua function prototype + * getPowerlossBoardUniqueId() -> string + * + * @par Lua example + * PowerlossBoardUniqueId = getPowerlossBoardUniqueId() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getPowerlossBoardUniqueId","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"736572630080000000000000"} + * \endenglish + */ + std::string getPowerlossBoardUniqueId(); + + /** + * @ingroup RobotState + * \chinese + * 获取PowerlossBoard固件版本 + * + * @return PowerlossBoard固件版本 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getPowerlossBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getPowerlossBoardFirmwareVersion() -> number + * + * @par Lua示例 + * PowerlossBoardFirmwareVersion = getPowerlossBoardFirmwareVersion() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getPowerlossBoardFirmwareVersion","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Get the PowerlossBoard firmware version + * + * @return PowerlossBoard firmware version + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getPowerlossBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getPowerlossBoardFirmwareVersion() -> number + * + * @par Lua example + * PowerlossBoardFirmwareVersion = getPowerlossBoardFirmwareVersion() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getPowerlossBoardFirmwareVersion","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int getPowerlossBoardFirmwareVersion(); + + /** + * @ingroup RobotState + * \chinese + * 获取PowerlossBoard硬件版本 + * + * @return PowerlossBoard硬件版本 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getPowerlossBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getPowerlossBoardHardwareVersion() -> number + * + * @par Lua示例 + * PowerlossBoardHardwareVersion = getPowerlossBoardHardwareVersion() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getPowerlossBoardHardwareVersion","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":6030098} + * \endchinese + * \english + * Get the PowerlossBoard hardware version + * + * @return PowerlossBoard hardware version + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getPowerlossBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getPowerlossBoardHardwareVersion() -> number + * + * @par Lua example + * PowerlossBoardHardwareVersion = getPowerlossBoardHardwareVersion() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getPowerlossBoardHardwareVersion","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":6030098} + * \endenglish + */ + int getPowerlossBoardHardwareVersion(); + + /** + * @ingroup RobotState + * \chinese + * 获取工具端全球唯一ID + * + * @return 工具端全球唯一ID + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getToolUniqueId(self: pyaubo_sdk.RobotState) -> str + * + * @par Lua函数原型 + * getToolUniqueId() -> string + * + * @par Lua示例 + * ToolUniqueId = getToolUniqueId() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getToolUniqueId","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"397d4e5331541252314d3042"} + * \endchinese + * \english + * Get the globally unique ID of the tool + * + * @return Globally unique ID of the tool + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getToolUniqueId(self: pyaubo_sdk.RobotState) -> str + * + * @par Lua function prototype + * getToolUniqueId() -> string + * + * @par Lua example + * ToolUniqueId = getToolUniqueId() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getToolUniqueId","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"397d4e5331541252314d3042"} + * \endenglish + */ + std::string getToolUniqueId(); + + /** + * @ingroup RobotState + * \chinese + * 获取工具端固件版本 + * + * @return 工具端固件版本 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getToolFirmwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getToolFirmwareVersion() -> number + * + * @par Lua示例 + * ToolFirmwareVersion = getToolFirmwareVersion() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getToolFirmwareVersion","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1001003} + * \endchinese + * \english + * Get the tool firmware version + * + * @return Tool firmware version + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getToolFirmwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getToolFirmwareVersion() -> number + * + * @par Lua example + * ToolFirmwareVersion = getToolFirmwareVersion() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getToolFirmwareVersion","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1001003} + * \endenglish + */ + int getToolFirmwareVersion(); + + /** + * @ingroup RobotState + * \chinese + * 获取工具端硬件版本 + * + * @return 工具端硬件版本 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getToolHardwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getToolHardwareVersion() -> number + * + * @par Lua示例 + * ToolHardwareVersion = getToolHardwareVersion() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getToolHardwareVersion","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1000000} + * \endchinese + * \english + * Get the tool hardware version + * + * @return Tool hardware version + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getToolHardwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getToolHardwareVersion() -> number + * + * @par Lua example + * ToolHardwareVersion = getToolHardwareVersion() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getToolHardwareVersion","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1000000} + * \endenglish + */ + int getToolHardwareVersion(); + + /** + * @ingroup RobotState + * \chinese + * 获取末端通信模式 + * + * @return 末端通信模式 + * 0: 表示无串口 + * 1: 表示只有串口 + * 2: 表示带力传感器和串口 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getToolCommMode(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getToolCommMode() -> number + * + * @par Lua示例 + * ToolCommMode = getToolCommMode() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getToolCommMode","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1} + * \endchinese + * \english + * Get the tool communication mode + * + * @return Tool communication mode + * 0: No serial port + * 1: Serial port only + * 2: With force sensor and serial port + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getToolCommMode(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getToolCommMode() -> number + * + * @par Lua example + * ToolCommMode = getToolCommMode() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getToolCommMode","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1} + * \endenglish + */ + int getToolCommMode(); + + /** + * @ingroup RobotState + * \chinese + * 获取底座全球唯一ID + * + * @return 底座全球唯一ID + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getPedestalUniqueId(self: pyaubo_sdk.RobotState) -> str + * + * @par Lua函数原型 + * getPedestalUniqueId() -> string + * + * @par Lua示例 + * PedestalUniqueId = getPedestalUniqueId() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalUniqueId","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"205257533543065248544339"} + * \endchinese + * \english + * Get the globally unique ID of the pedestal + * + * @return Globally unique ID of the pedestal + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getPedestalUniqueId(self: pyaubo_sdk.RobotState) -> str + * + * @par Lua function prototype + * getPedestalUniqueId() -> string + * + * @par Lua example + * PedestalUniqueId = getPedestalUniqueId() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalUniqueId","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"205257533543065248544339"} + * \endenglish + */ + std::string getPedestalUniqueId(); + + /** + * @ingroup RobotState + * \chinese + * 获取底座固件版本 + * + * @return 底座固件版本 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getPedestalFirmwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getPedestalFirmwareVersion() -> number + * + * @par Lua示例 + * PedestalFirmwareVersion = getPedestalFirmwareVersion() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalFirmwareVersion","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1000004} + * \endchinese + * \english + * Get the pedestal firmware version + * + * @return Pedestal firmware version + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getPedestalFirmwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getPedestalFirmwareVersion() -> number + * + * @par Lua example + * PedestalFirmwareVersion = getPedestalFirmwareVersion() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalFirmwareVersion","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1000004} + * \endenglish + */ + int getPedestalFirmwareVersion(); + + /** + * @ingroup RobotState + * \chinese + * 获取底座硬件版本 + * + * @return 底座硬件版本 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getPedestalHardwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua函数原型 + * getPedestalHardwareVersion() -> number + * + * @par Lua示例 + * PedestalHardwareVersion = getPedestalHardwareVersion() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalHardwareVersion","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":1007000} + * \endchinese + * \english + * Get the pedestal hardware version + * + * @return Pedestal hardware version + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getPedestalHardwareVersion(self: pyaubo_sdk.RobotState) -> int + * + * @par Lua function prototype + * getPedestalHardwareVersion() -> number + * + * @par Lua example + * PedestalHardwareVersion = getPedestalHardwareVersion() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalHardwareVersion","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":1007000} + * \endenglish + */ + int getPedestalHardwareVersion(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节目标位置角度 + * + * @return 机械臂关节目标位置角度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointTargetPositions(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointTargetPositions() -> table + * + * @par Lua示例 + * JointTargetPositions = getJointTargetPositions() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetPositions","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,-0.2619944355631239,1.7418124015308052,0.4330219266665035,1.5707963267948966,0.0]} + * \endchinese + * \english + * Get the target joint positions (angles) of the manipulator + * + * @return Target joint positions (angles) of the manipulator + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointTargetPositions(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointTargetPositions() -> table + * + * @par Lua example + * JointTargetPositions = getJointTargetPositions() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetPositions","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,-0.2619944355631239,1.7418124015308052,0.4330219266665035,1.5707963267948966,0.0]} + * \endenglish + */ + std::vector getJointTargetPositions(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节目标速度 + * + * @return 机械臂关节目标速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointTargetSpeeds(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointTargetSpeeds() -> table + * + * @par Lua示例 + * JointTargetSpeeds = getJointTargetSpeeds() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetSpeeds","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.00024227101509399773,0.0016521760307419697,0.0026521060731088397,0.0,0.0]} + * \endchinese + * \english + * Get the target joint speeds of the manipulator + * + * @return Target joint speeds of the manipulator + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointTargetSpeeds(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointTargetSpeeds() -> table + * + * @par Lua example + * JointTargetSpeeds = getJointTargetSpeeds() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetSpeeds","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.00024227101509399773,0.0016521760307419697,0.0026521060731088397,0.0,0.0]} + * \endenglish + */ + std::vector getJointTargetSpeeds(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节目标加速度 + * + * @return 机械臂关节目标加速度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointTargetAccelerations(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointTargetAccelerations() -> table + * + * @par Lua示例 + * JointTargetAccelerations = getJointTargetAccelerations() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetAccelerations","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,-0.6737932929246071,-12.610253240108449,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the target joint accelerations of the manipulator + * + * @return Target joint accelerations of the manipulator + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointTargetAccelerations(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointTargetAccelerations() -> table + * + * @par Lua example + * JointTargetAccelerations = getJointTargetAccelerations() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetAccelerations","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,-0.6737932929246071,-12.610253240108449,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getJointTargetAccelerations(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节目标力矩 + * + * @return 机械臂关节目标力矩 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointTargetTorques(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointTargetTorques() -> table + * + * @par Lua示例 + * JointTargetTorques = getJointTargetTorques() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetTorques","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the target joint torques of the manipulator + * + * @return Target joint torques of the manipulator + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointTargetTorques(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointTargetTorques() -> table + * + * @par Lua example + * JointTargetTorques = getJointTargetTorques() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetTorques","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getJointTargetTorques(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂关节目标电流 + * + * @return 机械臂关节目标电流 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getJointTargetCurrents(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua函数原型 + * getJointTargetCurrents() -> table + * + * @par Lua示例 + * JointTargetCurrents = getJointTargetCurrents() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetCurrents","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endchinese + * \english + * Get the target joint currents of the manipulator + * + * @return Target joint currents of the manipulator + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getJointTargetCurrents(self: pyaubo_sdk.RobotState) -> List[float] + * + * @par Lua function prototype + * getJointTargetCurrents() -> table + * + * @par Lua example + * JointTargetCurrents = getJointTargetCurrents() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetCurrents","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]} + * \endenglish + */ + std::vector getJointTargetCurrents(); + + /** + * @ingroup RobotState + * \chinese + * 获取示教器是否已启用 + * 指示教器使能按钮是否处于按下状态 + * + * @return 按下示教器使能按钮返回 false; 反之返回 true + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isTeachPendantEnabled(self: pyaubo_sdk.RobotState) -> bool + * + * @par Lua函数原型 + * isTeachPendantEnabled() -> boolean + * + * @par Lua示例 + * TeachPendantEnabled = isTeachPendantEnabled() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.isTeachPendantEnabled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * \endchinese + * \english + * Get whether the teach pendant is enabled. + * Indicates whether the enable button of teach pendant is in the pressed + * state. + * + * @return Returns false if the enable button of teach pendant is pressed; + * otherwise returns true + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isTeachPendantEnabled(self: pyaubo_sdk.RobotState) -> bool + * + * @par Lua function prototype + * isTeachPendantEnabled() -> boolean + * + * @par Lua example + * TeachPendantEnabled = isTeachPendantEnabled() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.isTeachPendantEnabled","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * \endenglish + */ + bool isTeachPendantEnabled(); + + /** + * @ingroup RobotState + * \chinese + * 获取机械臂末端是否已启用 + * + * @return 无末端返回 false; 有末端返回 true + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * isToolFlangeEnabled(self: pyaubo_sdk.RobotState) -> bool + * + * @par Lua函数原型 + * isToolFlangeEnabled() -> boolean + * + * @par Lua示例 + * toolEnabled = isToolFlangeEnabled() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.isToolFlangeEnabled","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * \endchinese + * \english + * Get whether the tool flange is enabled. + * + * @return Returns false if the tool flange is disabled; otherwise returns + * true + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * isToolFlangeEnabled(self: pyaubo_sdk.RobotState) -> bool + * + * @par Lua function prototype + * isToolFlangeEnabled() -> boolean + * + * @par Lua example + * toolEnabled = isToolFlangeEnabled() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.isToolFlangeEnabled","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":true} + * \endenglish + */ + bool isToolFlangeEnabled(); + + /** + * @ingroup RobotState + * \chinese + * 获取控制柜温度 + * + * @return 控制柜温度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getControlBoxTemperature(self: pyaubo_sdk.RobotState) -> float + * + * @par Lua函数原型 + * getControlBoxTemperature() -> number + * + * @par Lua示例 + * ControlBoxTemperature = getControlBoxTemperature() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getControlBoxTemperature","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":25.0} + * \endchinese + * \english + * Get the control box temperature + * + * @return Control box temperature + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getControlBoxTemperature(self: pyaubo_sdk.RobotState) -> float + * + * @par Lua function prototype + * getControlBoxTemperature() -> number + * + * @par Lua example + * ControlBoxTemperature = getControlBoxTemperature() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getControlBoxTemperature","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":25.0} + * \endenglish + */ + double getControlBoxTemperature(); + + /** + * @ingroup RobotState + * \chinese + * 获取控制柜湿度 + * + * @return 控制柜湿度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getControlBoxHumidity(self: pyaubo_sdk.RobotState) -> float + * + * @par Lua函数原型 + * getControlBoxHumidity() -> number + * + * @par Lua示例 + * ControlBoxHumidity = getControlBoxHumidity() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getControlBoxHumidity","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":20.0} + * \endchinese + * \english + * Get the control box humidity + * + * @return Control box humidity + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getControlBoxHumidity(self: pyaubo_sdk.RobotState) -> float + * + * @par Lua function prototype + * getControlBoxHumidity() -> number + * + * @par Lua example + * ControlBoxHumidity = getControlBoxHumidity() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getControlBoxHumidity","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":20.0} + * \endenglish + */ + double getControlBoxHumidity(); + + /** + * @ingroup RobotState + * \chinese + * 获取母线电压 + * + * @return 母线电压 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getMainVoltage(self: pyaubo_sdk.RobotState) -> float + * + * @par Lua函数原型 + * getMainVoltage() -> number + * + * @par Lua示例 + * MainVoltage = getMainVoltage() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getMainVoltage","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":52.75} + * \endchinese + * \english + * Get the main bus voltage + * + * @return Main bus voltage + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getMainVoltage(self: pyaubo_sdk.RobotState) -> float + * + * @par Lua function prototype + * getMainVoltage() -> number + * + * @par Lua example + * MainVoltage = getMainVoltage() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getMainVoltage","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":52.75} + * \endenglish + */ + double getMainVoltage(); + + /** + * @ingroup RobotState + * \chinese + * 获取母线电流 + * + * @return 母线电流 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getMainCurrent(self: pyaubo_sdk.RobotState) -> float + * + * @par Lua函数原型 + * getMainCurrent() -> number + * + * @par Lua示例 + * MainCurrent = getMainCurrent() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getMainCurrent","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.3204345703125} + * \endchinese + * \english + * Get the main bus current + * + * @return Main bus current + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getMainCurrent(self: pyaubo_sdk.RobotState) -> float + * + * @par Lua function prototype + * getMainCurrent() -> number + * + * @par Lua example + * MainCurrent = getMainCurrent() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getMainCurrent","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.3204345703125} + * \endenglish + */ + double getMainCurrent(); + + /** + * @ingroup RobotState + * \chinese + * 获取机器人电压 + * + * @return 机器人电压 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getRobotVoltage(self: pyaubo_sdk.RobotState) -> float + * + * @par Lua函数原型 + * getRobotVoltage() -> number + * + * @par Lua示例 + * RobotVoltage = getRobotVoltage() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotVoltage","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":52.75} + * \endchinese + * \english + * Get the robot voltage + * + * @return Robot voltage + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getRobotVoltage(self: pyaubo_sdk.RobotState) -> float + * + * @par Lua function prototype + * getRobotVoltage() -> number + * + * @par Lua example + * RobotVoltage = getRobotVoltage() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotVoltage","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":52.75} + * \endenglish + */ + double getRobotVoltage(); + + /** + * @ingroup RobotState + * \chinese + * 获取机器人电流 + * + * @return 机器人电流 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getRobotCurrent(self: pyaubo_sdk.RobotState) -> float + * + * @par Lua函数原型 + * getRobotCurrent() -> number + * + * @par Lua示例 + * RobotCurrent = getRobotCurrent() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotCurrent","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0.3204345703125} + * \endchinese + * \english + * Get the robot current + * + * @return Robot current + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getRobotCurrent(self: pyaubo_sdk.RobotState) -> float + * + * @par Lua function prototype + * getRobotCurrent() -> number + * + * @par Lua example + * RobotCurrent = getRobotCurrent() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getRobotCurrent","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0.3204345703125} + * \endenglish + */ + double getRobotCurrent(); + + /** + * @ingroup RobotState + * \chinese + * 获取底座制动电阻温度 + * + * @return 底座制动电阻温度 + * + * @throws arcs::common_interface::AuboException + * + * @par Python函数原型 + * getPedestalBrakeResTemp(self: pyaubo_sdk.RobotState) -> float + * + * @par Lua函数原型 + * getPedestalBrakeResTemp() -> number + * + * @par Lua示例 + * PedestalBrakeResTemp = getPedestalBrakeResTemp() + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalBrakeResTemp","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":23.1111} + * \endchinese + * \english + * Get the Pedestal Brake Res Temp + * + * @return Pedestal Brake Res Temp + * + * @throws arcs::common_interface::AuboException + * + * @par Python function prototype + * getPedestalBrakeResTemp(self: pyaubo_sdk.RobotState) -> float + * + * @par Lua function prototype + * getPedestalBrakeResTemp() -> number + * + * @par Lua example + * PedestalBrakeResTemp = getPedestalBrakeResTemp() + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getPedestalBrakeResTemp","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":24.235} + * \endenglish + */ + double getPedestalBrakeResTemp(); + + /** + * @ingroup RobotState + * \chinese + * 获取机器人缓速等级 + * + * @return 机器人缓速等级 + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getSlowDownLevel","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Get the robot slow down level + * + * @return Robot slow down level + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getSlowDownLevel","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int getSlowDownLevel(); + + /** + * @ingroup RobotState + * \chinese + * 获取末端力传感器通信状态 + * + * @param name 力传感器名称，与 selectTcpForceSensor 的参数一致 + * @return 通信正常返回 true; 反之返回 false + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForceSensorStatus","params":["tool.KWR75A"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Get the communication status of the tool force sensor + * + * @param name force sensor name, it is consistent with the parameters of + * 'selectTcpForceSensor' + * @return Returns true if communication is normal; otherwise returns false + * + * @throws arcs::common_interface::AuboException + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.RobotState.getSlowDownLevel","params":["tool.KWR75A"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + bool getTcpForceSensorStatus(const std::string &name); + +protected: + void *d_; +}; +using RobotStatePtr = std::shared_ptr; +} // namespace common_interface +} // namespace arcs +#endif // AUBO_SDK_ROBOT_STATE_INTERFACE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot_interface.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot_interface.h new file mode 100644 index 00000000..6e6656e4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/robot_interface.h @@ -0,0 +1,403 @@ +/** @file robot_interface.h + * @brief 机器人API 接口 + */ +#ifndef AUBO_SDK_ROBOT_INTERFACE_H +#define AUBO_SDK_ROBOT_INTERFACE_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * @defgroup RobotInterface RobotInterface(机器人模块) + * 机器人模块 + * \endchinese + * + * \english + * @defgroup RobotInterface Robot Module + * Robot Module + * \endenglish + */ +class ARCS_ABI_EXPORT RobotInterface +{ +public: + RobotInterface(); + virtual ~RobotInterface(); + + /** + * @ingroup RobotInterface + * @ref RobotConfig + * \chinese + * 获取RobotConfig接口 + * + * @return RobotConfigPtr对象的指针 + * + * @par Python函数原型 + * getRobotConfig(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::RobotConfig + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * RobotConfigPtr ptr = + * rpc_cli->getRobotInterface(robot_name)->getRobotConfig(); + * @endcode + * \endchinese + * \english + * Get RobotConfig interface + * + * @return Pointer to RobotConfig object + * + * @par Python function prototype + * getRobotConfig(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::RobotConfig + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * RobotConfigPtr ptr = + * rpc_cli->getRobotInterface(robot_name)->getRobotConfig(); + * @endcode + * \endenglish + */ + + RobotConfigPtr getRobotConfig(); + + /** + * @ingroup RobotInterface + * @ref MotionControl + * \chinese + * 获取运动规划接口 + * + * @return MotionControlPtr对象的指针 + * + * @par Python函数原型 + * getMotionControl(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::MotionControl + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * MotionControlPtr ptr = + * rpc_cli->getRobotInterface(robot_name)->getMotionControl(); + * @endcode + * \endchinese + * \english + * Get motion planning interface + * + * @return Pointer to MotionControl object + * + * @par Python function prototype + * getMotionControl(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::MotionControl + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * MotionControlPtr ptr = + * rpc_cli->getRobotInterface(robot_name)->getMotionControl(); + * @endcode + * \endenglish + */ + MotionControlPtr getMotionControl(); + + /** + * @ingroup RobotInterface + * @ref ForceControl + * \chinese + * 获取力控接口 + * + * @return ForceControlPtr对象的指针 + * + * @par Python函数原型 + * getForceControl(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::ForceControl + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * ForceControlPtr ptr = + * rpc_cli->getRobotInterface(robot_name)->getForceControl(); + * @endcode + * \endchinese + * \english + * Get force control interface + * + * @return Pointer to ForceControl object + * + * @par Python function prototype + * getForceControl(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::ForceControl + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * ForceControlPtr ptr = + * rpc_cli->getRobotInterface(robot_name)->getForceControl(); + * @endcode + * \endenglish + */ + ForceControlPtr getForceControl(); + + /** + * @ingroup RobotInterface + * @ref IoControl + * \chinese + * 获取IO控制的接口 + * + * @return IoControlPtr对象的指针 + * + * @par Python函数原型 + * getIoControl(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::IoControl + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * IoControlPtr ptr = + * rpc_cli->getRobotInterface(robot_name)->getIoControl(); + * @endcode + * \endchinese + * \english + * Get IO control interface + * + * @return Pointer to IoControl object + * + * @par Python function prototype + * getIoControl(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::IoControl + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * IoControlPtr ptr = + * rpc_cli->getRobotInterface(robot_name)->getIoControl(); + * @endcode + * \endenglish + */ + IoControlPtr getIoControl(); + + /** + * @ingroup RobotInterface + * @ref SyncMove + * \chinese + * 获取同步运动接口 + * + * @return SyncMovePtr对象的指针 + * + * @par Python函数原型 + * getSyncMove(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::SyncMove + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * SyncMovePtr ptr = rpc_cli->getRobotInterface(robot_name)->getSyncMove(); + * @endcode + * \endchinese + * \english + * Get synchronized motion interface + * + * @return Pointer to SyncMove object + * + * @par Python function prototype + * getSyncMove(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::SyncMove + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * SyncMovePtr ptr = rpc_cli->getRobotInterface(robot_name)->getSyncMove(); + * @endcode + * \endenglish + */ + SyncMovePtr getSyncMove(); + + /** + * @ingroup RobotInterface + * @ref RobotAlgorithm + * \chinese + * 获取机器人实用算法接口 + * + * @return RobotAlgorithmPtr对象的指针 + * + * @par Python函数原型 + * getRobotAlgorithm(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::RobotAlgorithm + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * RobotAlgorithmPtr ptr = + * rpc_cli->getRobotInterface(robot_name)->getRobotAlgorithm(); + * @endcode + * \endchinese + * \english + * Get robot utility algorithm interface + * + * @return Pointer to RobotAlgorithm object + * + * @par Python function prototype + * getRobotAlgorithm(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::RobotAlgorithm + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * RobotAlgorithmPtr ptr = + * rpc_cli->getRobotInterface(robot_name)->getRobotAlgorithm(); + * @endcode + * \endenglish + */ + RobotAlgorithmPtr getRobotAlgorithm(); + + /** + * @ingroup RobotInterface + * @ref RobotManage + * \chinese + * 获取机器人管理接口(上电、启动、停止等) + * + * @return RobotManagePtr对象的指针 + * + * @par Python函数原型 + * getRobotManage(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::RobotManage + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * RobotManagePtr ptr = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage(); + * @endcode + * \endchinese + * \english + * Get robot management interface (power on, start, stop, etc.) + * + * @return Pointer to RobotManage object + * + * @par Python function prototype + * getRobotManage(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::RobotManage + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * RobotManagePtr ptr = + * rpc_cli->getRobotInterface(robot_name)->getRobotManage(); + * @endcode + * \endenglish + */ + RobotManagePtr getRobotManage(); + + /** + * @ingroup RobotInterface + * @ref RobotState + * \chinese + * 获取机器人状态接口 + * + * @return RobotStatePtr对象的指针 + * + * @par Python函数原型 + * getRobotState(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::RobotState + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * RobotStatePtr ptr = + * rpc_cli->getRobotInterface(robot_name)->getRobotState(); + * @endcode + * \endchinese + * \english + * Get robot state interface + * + * @return Pointer to RobotState object + * + * @par Python function prototype + * getRobotState(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::RobotState + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * RobotStatePtr ptr = + * rpc_cli->getRobotInterface(robot_name)->getRobotState(); + * @endcode + * \endenglish + */ + RobotStatePtr getRobotState(); + + /** + * @ingroup RobotInterface + * @ref Trace + * \chinese + * 获取告警信息接口 + * + * @return TracePtr对象的指针 + * + * @par Python函数原型 + * getTrace(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::Trace + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * TracePtr ptr = rpc_cli->getRobotInterface(robot_name)->getTrace(); + * @endcode + * \endchinese + * \english + * Get alarm information interface + * + * @return Pointer to Trace object + * + * @par Python function prototype + * getTrace(self: pyaubo_sdk.RobotInterface) -> + * arcs::common_interface::Trace + * + * @par C++ example + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * TracePtr ptr = rpc_cli->getRobotInterface(robot_name)->getTrace(); + * @endcode + * \endenglish + */ + TracePtr getTrace(); + +protected: + void *d_; +}; +using RobotInterfacePtr = std::shared_ptr; + +} // namespace common_interface +} // namespace arcs + +#endif // AUBO_SDK_ROBOT_INTERFACE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/runtime_machine.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/runtime_machine.h new file mode 100644 index 00000000..f6587f3c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/runtime_machine.h @@ -0,0 +1,1629 @@ +/** @file runtime_machine.h + * @brief Script interpreter runtime interface, + * allows pausing the script interpreter and setting/removing breakpoints. + */ +#ifndef AUBO_SDK_RUNTIME_MACHINE_INTERFACE_H +#define AUBO_SDK_RUNTIME_MACHINE_INTERFACE_H + +#include +#include +#include + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * @defgroup RuntimeMachine RuntimeMachine (运行时管理) + * \endchinese + * + * \english + * @defgroup RuntimeMachine Runtime Management + * \endenglish + */ +class ARCS_ABI_EXPORT RuntimeMachine +{ +public: + RuntimeMachine(); + virtual ~RuntimeMachine(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 返回 task_id + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.newTask","params":[false],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":26} + * \endchinese + * \english + * Returns the task_id + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.newTask","params":[false],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":26} + * \endenglish + */ + int newTask(bool daemon = false); + + /** + * @ingroup RuntimeMachine + * \chinese + * 删除 task，会终止正在执行的运动 + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.deleteTask","params":[26],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Delete a task, which will terminate any ongoing motion. + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.deleteTask","params":[26],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int deleteTask(int tid); + + /** + * @ingroup RuntimeMachine + * \chinese + * 等待 task 自然结束 + * + * @param tid + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.detachTask","params":[26],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Wait for the task to finish naturally + * + * @param tid + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.detachTask","params":[26],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int detachTask(int tid); + + /** + * @ingroup RuntimeMachine + * \chinese + * 判断任务是否存活 + * + * @param tid + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.isTaskAlive","params":[26],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":true} + * + * \endchinese + * \english + * Check if the task is alive + * + * @param tid + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.isTaskAlive","params":[26],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":true} + * + * \endenglish + */ + bool isTaskAlive(int tid); + + /** + * @ingroup RuntimeMachine + * \chinese + * 获取任务中缓存的指令的数量 + * + * @param tid + * @return + * \endchinese + * \english + * Get the number of cached instructions in the task + * + * @param tid + * @return + * \endenglish + */ + int getTaskQueueSize(int tid); + + /** + * @ingroup RuntimeMachine + * \chinese + * 切换当前线程，切换之后接下来的指令将被插入切换后的线程中 + * + * @param tid + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.switchTask","params":[26],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Switch the current thread. After switching, subsequent instructions will + * be inserted into the switched thread. + * + * @param tid + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.switchTask","params":[26],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int switchTask(int tid); + + /** + * @ingroup RuntimeMachine + * \chinese + * 标记记下来的指令的行号和注释 + * + * @param lineno + * @param comment + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.setLabel","params":[5,"moveJoint"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Mark the line number and comment of the recorded instruction + * + * @param lineno + * @param comment + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.setLabel","params":[5,"moveJoint"],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setLabel(int lineno, const std::string &comment); + + /** + * @ingroup RuntimeMachine + * \chinese + * 向aubo_control日志中添加注释 + * 使用 setLabel 替换 + * + * @param tid 指令的线程ID + * @param lineno 行号 + * @param comment 注释 + * @return + * + * @par Python函数原型 + * setPlanContext(self: pyaubo_sdk.RuntimeMachine, arg0: int, arg1: int, + * arg2: str) -> int + * + * @par Lua函数原型 + * setPlanContext(tid: number, lineno: number, comment: string) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.setPlanContext","params":[26,3,"moveJoint"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Add a comment to the aubo_control log + * Use setLabel instead + * + * @param tid Thread ID of the instruction + * @param lineno Line number + * @param comment Comment + * @return + * + * @par Python function prototype + * setPlanContext(self: pyaubo_sdk.RuntimeMachine, arg0: int, arg1: int, + * arg2: str) -> int + * + * @par Lua function prototype + * setPlanContext(tid: number, lineno: number, comment: string) -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.setPlanContext","params":[26,3,"moveJoint"],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + ARCS_DEPRECATED int setPlanContext(int tid, int lineno, + const std::string &comment); + + /** + * @ingroup RuntimeMachine + * \chinese + * 空操作 + * + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.nop","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * No operation + * + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.nop","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int nop(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 获取耗时的接口(INST)执行状态, 如 setPersistentParameters + * + * @return 指令名字, 执行状态 + * 执行状态: EXECUTING/FINISHED + * + * @par Python函数原型 + * getExecutionStatus(self: pyaubo_sdk.RuntimeMachine) -> Tuple[str, str, + * int] + * + * @par Lua函数原型 + * getExecutionStatus() -> string, string, number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.getExecutionStatus","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":["confirmSafetyParameters","FINISHED"]} + * + * \endchinese + * \english + * Get the execution status of time-consuming interfaces (INST), such as + * setPersistentParameters + * + * @return Instruction name, execution status + * Execution status: EXECUTING/FINISHED + * + * @par Python function prototype + * getExecutionStatus(self: pyaubo_sdk.RuntimeMachine) -> Tuple[str, str, + * int] + * + * @par Lua function prototype + * getExecutionStatus() -> string, string, number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.getExecutionStatus","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":["confirmSafetyParameters","FINISHED"]} + * + * \endenglish + */ + std::tuple getExecutionStatus(); + std::tuple getExecutionStatus1(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 跳转到指定行号 + * + * @param lineno + * @return + * + * @par Python函数原型 + * gotoLine(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int + * + * @par Lua函数原型 + * gotoLine(lineno: number) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.gotoLine","params":[10],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Jump to the specified line number + * + * @param lineno + * @return + * + * @par Python function prototype + * gotoLine(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int + * + * @par Lua function prototype + * gotoLine(lineno: number) -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.gotoLine","params":[10],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int gotoLine(int lineno); + + /** + * @ingroup RuntimeMachine + * \chinese + * 获取当前运行上下文 + * + * @param tid 任务编号 + * 如果指定(不是-1)，返回对应任务的运行上下文；如果不指定(是-1)，返回正在运行的线程的运行上下文 + * + * @return + * + * @par Python函数原型 + * getPlanContext(self: pyaubo_sdk.RuntimeMachine) -> Tuple[int, int, str] + * + * @par Lua函数原型 + * getPlanContext() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.getPlanContext","params":[-1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[-1,0,""]} + * + * \endchinese + * \english + * Get the current runtime context + * + * @param tid Task ID + * If specified (not -1), returns the runtime context of the corresponding + * task; if not specified (is -1), returns the runtime context of the + * currently running thread + * + * @return + * + * @par Python function prototype + * getPlanContext(self: pyaubo_sdk.RuntimeMachine) -> Tuple[int, int, str] + * + * @par Lua function prototype + * getPlanContext() -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.getPlanContext","params":[-1],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":[-1,0,""]} + * + * \endenglish + */ + std::tuple getPlanContext(int tid = -1); + + /** + * @ingroup RuntimeMachine + * \chinese + * 获取提前运行规划器的上下文信息 + * + * @param tid 任务编号 + * 如果指定(不是-1)，返回对应任务运行规划器的上下文信息；如果不指定(是-1)，返回正在运行的线程运行规划器的上下文信息 + * + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.getAdvancePlanContext","params":[-1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[-1,-1,""]} + * + * \endchinese + * \english + * Get the context information of the advance planner + * + * @param tid Task ID + * If specified (not -1), returns the context information of the advance + * planner for the corresponding task; if not specified (is -1), returns the + * context information of the advance planner for the currently running + * thread + * + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.getAdvancePlanContext","params":[-1],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":[-1,-1,""]} + * + * \endenglish + */ + std::tuple getAdvancePlanContext(int tid = -1); + + /** + * @ingroup RuntimeMachine + * \chinese + * 获取AdvanceRun的程序指针 + * + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.getAdvancePtr","params":[-1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":-1} + * + * \endchinese + * \english + * Get the program pointer of AdvanceRun + * + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.getAdvancePtr","params":[-1],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":-1} + * + * \endenglish + */ + int getAdvancePtr(int tid = -1); + + /** + * @ingroup RuntimeMachine + * \chinese + * 获取机器人运动的程序指针 + * + * @param tid 任务编号 + * 如果指定(不是-1)，返回对应任务的程序指针；如果不指定(是-1)，返回正在运行线程的程序指针 + * + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.getMainPtr","params":[-1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":-1} + * + * \endchinese + * \english + * Get the program pointer of robot motion + * + * @param tid Task ID + * If specified (not -1), returns the program pointer of the corresponding + * task; if not specified (is -1), returns the program pointer of the + * currently running thread + * + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.getMainPtr","params":[-1],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":-1} + * + * \endenglish + */ + int getMainPtr(int tid = -1); + + /** + * @ingroup RuntimeMachine + * \chinese + * 获取最近解释过的指令指针 + * + * @param tid + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.getInterpPtr","params":[26],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":-1} + * + * \endchinese + * \english + * Get the pointer of the most recently interpreted instruction + * + * @param tid + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.getInterpPtr","params":[26],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":-1} + * + * \endenglish + */ + int getInterpPtr(int tid); + + /** + * @ingroup RuntimeMachine + * \chinese + * 加载本地工程文件 + * Lua 脚本，只需要给出文件名字，不需要后缀，需要从 ${ARCS_WS}/program + * 目录中查找 + * + * @param program + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.loadProgram","params":["demo"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Load a local project file. + * For Lua scripts, only the file name is required (no extension), and it + * will be searched in the ${ARCS_WS}/program directory. + * + * @param program + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.loadProgram","params":["demo"],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int loadProgram(const std::string &program); + + /** + * @ingroup RuntimeMachine + * \chinese + * 预加载工程文件 + * + * @param index 0~99 工程索引号 + * @param program 工程名字 + * @return + * \endchinese + * \english + * Preload project file + * + * @param index Project index number (0~99) + * @param program Project name + * @return + * \endenglish + */ + int preloadProgram(int index, const std::string &program); + + /** + * @ingroup RuntimeMachine + * \chinese + * 获取预加载工程文件名字，如果没有加载或者超出索引范围则返回空字符串 + * + * @param index 0~99 工程索引号 + * @return 工程文件名字 + * \endchinese + * \english + * Get the name of the preloaded project file. Returns an empty string if + * not loaded or index is out of range. + * + * @param index Project index number (0~99) + * @return Project file name + * \endenglish + */ + std::string getPreloadProgram(int index); + + /** + * @ingroup RuntimeMachine + * \chinese + * 清除所有已预加载的工程文件 + * 调用此方法将释放所有通过 preloadProgram + * 预加载的工程索引及其关联的工程名称 + * + * @return 成功返回0； + * \endchinese + * \english + * Clear all preloaded project files. + * Calling this method will release all project indices and their associated + * program names that were previously preloaded via preloadProgram. + * + * @return Returns 0 on success; + * \endenglish + */ + int clearPreloadPrograms(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 运行已经加载的工程文件 + * + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.runProgram","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Run the already loaded project file + * + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.runProgram","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int runProgram(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 开始运行时 + * + * @return + * + * @par Python函数原型 + * start(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua函数原型 + * start() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.start","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Start the runtime + * + * @return + * + * @par Python function prototype + * start(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua function prototype + * start() -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.start","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int start(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 停止运行时即脚本运行，无法停止运行时状态为 Stopped 时的机器人运动 + * + * 如果考虑停止机器人所有运动，可以调用 RuntimeMachine::abort 接口 + * + * @return + * + * @par Python函数原型 + * stop(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua函数原型 + * stop() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.stop","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Stop the runtime, i.e., stop script execution. Cannot stop robot motion + * when the runtime state is Stopped. + * + * If you want to stop all robot motion, use the RuntimeMachine::abort + * interface. + * + * @return + * + * @par Python function prototype + * stop(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua function prototype + * stop() -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.stop","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int stop(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 终止机器人运行. + * + * 如果只是考虑停止运行时，可以调用 RuntimeMachine::stop 接口 + * + * 如果脚本运行时处于 Running 状态，则终止运行时；如果运行时处于 Stopped + * 且机器人正在移动，则停止机器人移动；如果此时力控开启了，则机器人停止力控 + * + * @return + * + * @par Python函数原型 + * abort(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua函数原型 + * abort() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.abort","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Abort robot operation. + * + * If you only want to stop the runtime, you can call the + * RuntimeMachine::stop interface. + * + * If the script runtime is in the Running state, aborts the runtime; if the + * runtime is Stopped and the robot is moving, stops the robot motion; if + * force control is enabled, stops force control. + * + * @return + * + * @par Python function prototype + * abort(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua function prototype + * abort() -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.abort","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int abort(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 暂停解释器 + * + * @return + * + * @par Python函数原型 + * pause(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua函数原型 + * pause() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.pause","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Pause the interpreter + * + * @return + * + * @par Python function prototype + * pause(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua function prototype + * pause() -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.pause","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int pause(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 单步运行 + * + * @return + * + * @par Python函数原型 + * step(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua函数原型 + * step() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.step","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Execute a single step + * + * @return + * + * @par Python function prototype + * step(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua function prototype + * step() -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.step","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int step(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 恢复解释器 + * + * @return + * + * @par Python函数原型 + * resume(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua函数原型 + * resume() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.resume","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Resume the interpreter + * + * @return + * + * @par Python function prototype + * resume(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua function prototype + * resume() -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.resume","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int resume(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 恢复解释器(不检查当前点和暂停点距离) + * + * @return + * + * @par Python函数原型 + * arbitraryResume(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua函数原型 + * arbitraryResume() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.arbitraryResume","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Resume the interpreter + * + * @return + * + * @par Python function prototype + * arbitraryResume(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua function prototype + * arbitraryResume() -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.arbitraryResume","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int arbitraryResume(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 恢复解释器之前等待恢复前之前的序列完成 + * + * @param wait + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.setResumeWait","params":[true],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Wait for the previous sequence to complete before resuming the + * interpreter + * + * @param wait + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.setResumeWait","params":[true],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setResumeWait(bool wait); + + /** + * @ingroup RuntimeMachine + * \chinese + * 进入临界区，abort 命令会被推迟执行，避免临界区内的指令被打断 + * + * @param timeout 单位秒，范围 0~5 秒，表示 abort + * 命令最大推迟时间，超过这个时间自动退出临界区并 abort + * @return + * + * @par Python函数原型 + * enterCritical(self: pyaubo_sdk.RuntimeMachine, arg0: double) -> int + * + * @par Lua函数原型 + * enterCritical(timeout: number) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.enterCritical","params":[5.0],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * The abort command is deferred during critical sections to avoid + * interrupting internal instructions. + * + * @param timeout (seconds, 0~5): max deferral time for abort. Exceeding it + * forces exit from critical section and triggers abort. + * @return + * + * @par Python function prototype + * enterCritical(self: pyaubo_sdk.RuntimeMachine, arg0: double) -> int + * + * @par Lua function prototype + * enterCritical(timeout: number) -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.enterCritical","params":[5.0],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int enterCritical(double timeout); + + /** + * @ingroup RuntimeMachine + * \chinese + * 退出临界区 + * + * @param + * @return + * + * @par Python函数原型 + * exitCritical(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua函数原型 + * exitCritical() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.exitCritical","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Exit the critical section + * + * @param + * @return + * + * @par Python function prototype + * exitCritical(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua function prototype + * exitCritical() -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.exitCritical","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int exitCritical(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 获取规划器的状态 + * + * @return + * + * @par Python函数原型 + * getStatus(self: pyaubo_sdk.RuntimeMachine) -> + * arcs::common_interface::RuntimeState + * + * @par Lua函数原型 + * getStatus() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.getStatus","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"Running"} + * + * \endchinese + * \english + * Get the status of the planner + * + * @return + * + * @par Python function prototype + * getStatus(self: pyaubo_sdk.RuntimeMachine) -> + * arcs::common_interface::RuntimeState + * + * @par Lua function prototype + * getStatus() -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.getStatus","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":"Running"} + * + * \endenglish + */ + ARCS_DEPRECATED RuntimeState getStatus(); + RuntimeState getRuntimeState(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 设置断点 + * + * @param lineno + * @return + * + * @par Python函数原型 + * setBreakPoint(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int + * + * @par Lua函数原型 + * setBreakPoint(lineno: number) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.setBreakPoint","params":[15],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Set a breakpoint + * + * @param lineno + * @return + * + * @par Python function prototype + * setBreakPoint(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int + * + * @par Lua function prototype + * setBreakPoint(lineno: number) -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.setBreakPoint","params":[15],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int setBreakPoint(int lineno); + + /** + * @ingroup RuntimeMachine + * \chinese + * 移除断点 + * + * @param lineno + * @return + * + * @par Python函数原型 + * removeBreakPoint(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int + * + * @par Lua函数原型 + * removeBreakPoint(lineno: number) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.removeBreakPoint","params":[15],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Remove a breakpoint + * + * @param lineno + * @return + * + * @par Python function prototype + * removeBreakPoint(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int + * + * @par Lua function prototype + * removeBreakPoint(lineno: number) -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.removeBreakPoint","params":[15],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int removeBreakPoint(int lineno); + + /** + * @ingroup RuntimeMachine + * \chinese + * 清除所有断点 + * + * @return + * + * @par Python函数原型 + * clearBreakPoints(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua函数原型 + * clearBreakPoints() -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.clearBreakPoints","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Clear all breakpoints + * + * @return + * + * @par Python function prototype + * clearBreakPoints(self: pyaubo_sdk.RuntimeMachine) -> int + * + * @par Lua function prototype + * clearBreakPoints() -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.clearBreakPoints","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int clearBreakPoints(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 定时器开始 + * + * @param name + * @return + * + * @par Python函数原型 + * timerStart(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int + * + * @par Lua函数原型 + * timerStart(name: string) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.timerStart","params":["timer"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Start the timer + * + * @param name + * @return + * + * @par Python function prototype + * timerStart(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int + * + * @par Lua function prototype + * timerStart(name: string) -> nil + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.timerStart","params":["timer"],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int timerStart(const std::string &name); + + /** + * @ingroup RuntimeMachine + * \chinese + * 定时器结束 + * + * @param name + * @return + * + * @par Python函数原型 + * timerStop(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int + * + * @par Lua函数原型 + * timerStop(name: string) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.timerStop","params":["timer"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Stop the timer + * + * @param name + * @return + * + * @par Python function prototype + * timerStop(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int + * + * @par Lua function prototype + * timerStop(name: string) -> nil + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.timerStop","params":["timer"],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int timerStop(const std::string &name); + + /** + * @ingroup RuntimeMachine + * \chinese + * 定时器重置 + * + * @param name + * @return + * + * @par Python函数原型 + * timerReset(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int + * + * @par Lua函数原型 + * timerReset(name: string) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.timerReset","params":["timer"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Reset the timer + * + * @param name + * @return + * + * @par Python function prototype + * timerReset(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int + * + * @par Lua function prototype + * timerReset(name: string) -> nil + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.timerReset","params":["timer"],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int timerReset(const std::string &name); + + /** + * @ingroup RuntimeMachine + * \chinese + * 定时器删除 + * + * @param name + * @return + * + * @par Python函数原型 + * timerDelete(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int + * + * @par Lua函数原型 + * timerDelete(name: string) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.timerDelete","params":["timer"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Delete the timer + * + * @param name + * @return + * + * @par Python function prototype + * timerDelete(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int + * + * @par Lua function prototype + * timerDelete(name: string) -> nil + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.timerDelete","params":["timer"],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int timerDelete(const std::string &name); + + /** + * @ingroup RuntimeMachine + * \chinese + * 获取定时器数值 + * + * @param name + * @return + * + * @par Python函数原型 + * getTimer(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> float + * + * @par Lua函数原型 + * getTimer(name: string) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.getTimer","params":["timer"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":25.409769612} + * + * \endchinese + * \english + * Get the timer value + * + * @param name + * @return + * + * @par Python function prototype + * getTimer(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> float + * + * @par Lua function prototype + * getTimer(name: string) -> number + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.getTimer","params":["timer"],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":25.409769612} + * + * \endenglish + */ + double getTimer(const std::string &name); + + /** + * @ingroup RuntimeMachine + * \chinese + * 开始配置触发 + * + * @param distance + * @param delay + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.triggBegin","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * Start configuring trigger + * + * @param distance + * @param delay + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.triggBegin","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int triggBegin(double distance, double delay); + + /** + * @ingroup RuntimeMachine + * \chinese + * 终止配置触发 + * + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.triggEnd","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endchinese + * \english + * End configuring trigger + * + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.triggEnd","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":0} + * + * \endenglish + */ + int triggEnd(); + + /** + * @ingroup RuntimeMachine + * \chinese + * 返回自动分配的中断号 + * + * @param distance + * @param delay + * @param intnum + * @return + * \endchinese + * \english + * Returns the automatically assigned interrupt number + * + * @param distance + * @param delay + * @param intnum + * @return + * \endenglish + */ + int triggInterrupt(double distance, double delay); + + /** + * @ingroup RuntimeMachine + * \chinese + * 获取所有的中断号列表 + * + * @return + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"RuntimeMachine.getTriggInterrupts","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":[]} + * + * \endchinese + * \english + * Get the list of all interrupt numbers + * + * @return + * + * @par JSON-RPC Request Example + * {"jsonrpc":"2.0","method":"RuntimeMachine.getTriggInterrupts","params":[],"id":1} + * + * @par JSON-RPC Response Example + * {"id":1,"jsonrpc":"2.0","result":[]} + * + * \endenglish + */ + std::vector getTriggInterrupts(); + +protected: + void *d_; +}; + +using RuntimeMachinePtr = std::shared_ptr; + +} // namespace common_interface +} // namespace arcs +#endif // AUBO_SDK_RUNTIME_MACHINE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/serial.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/serial.h new file mode 100644 index 00000000..04210729 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/serial.h @@ -0,0 +1,417 @@ +/** @file serial.h + * @brief 串口通信 + */ +#ifndef AUBO_SDK_SERIAL_INTERFACE_H +#define AUBO_SDK_SERIAL_INTERFACE_H + +#include +#include + +#include +#include + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * @defgroup Serial Serial (串口通信) + * 串口通信 + * \endchinese + * + * \english + * @defgroup Serial Serial Communication + * Serial communication + * \endenglish + */ +class ARCS_ABI_EXPORT Serial +{ +public: + Serial(); + virtual ~Serial(); + + /** + * @ingroup Serial + * \chinese + * 打开TCP/IP以太网通信串口 + * + * @param device 设备名 + * @param baud 波特率 + * @param stop_bits 停止位 + * @param even 校验位 + * @param serial_name 串口名称 + * @return 返回值 + * + * @par Python函数原型 + * serialOpen(self: pyaubo_sdk.Serial, arg0: str, arg1: int, arg2: float, + * arg3: int, arg4: str) -> int + * + * @par Lua函数原型 + * serialOpen(device: string, baud: number, stop_bits: number, even: number, + * serial_name: string) -> nil + * \endchinese + * \english + * Open TCP/IP ethernet communication serial + * + * @param device + * @param baud + * @param stop_bits + * @param even + * @param serial_name + * @return + * + * @par Python function prototype + * serialOpen(self: pyaubo_sdk.Serial, arg0: str, arg1: int, arg2: float, + * arg3: int, arg4: str) -> int + * + * @par Lua function prototype + * serialOpen(device: string, baud: number, stop_bits: number, even: number, + * serial_name: string) -> nil + * \endenglish + */ + + int serialOpen(const std::string &device, int baud, float stop_bits, + int even, const std::string &serial_name = "serial_0"); + + /** + * @ingroup Serial + * \chinese + * 关闭TCP/IP串口通信 + * 关闭与服务器的串口连接。 + * + * @param serial_name 串口名称 + * @return 返回值 + * + * @par Python函数原型 + * serialClose(self: pyaubo_sdk.Serial, arg0: str) -> int + * + * @par Lua函数原型 + * serialClose(serial_name: string) -> nil + * \endchinese + * \english + * Close TCP/IP serial communication + * Close down the serial connection to the server. + * + * @param serial_name + * @return + * + * @par Python function prototype + * serialClose(self: pyaubo_sdk.Serial, arg0: str) -> int + * + * @par Lua function prototype + * serialClose(serial_name: string) -> nil + * \endenglish + */ + int serialClose(const std::string &serial_name = "serial_0"); + + /** + * @ingroup Serial + * \chinese + * 从串口读取指定数量的字节。字节为网络字节序。一次最多可读取30个值。 + * + * @param variable 变量 + * @param serial_name 串口名称 + * @return 返回值 + * + * @par Python函数原型 + * serialReadByte(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int + * + * @par Lua函数原型 + * serialReadByte(variable: string, serial_name: string) -> number + * \endchinese + * \english + * Reads a number of bytes from the serial. Bytes are in network byte + * order. A maximum of 30 values can be read in one command. + * + * @param variable + * @param serial_name + * @return + * + * @par Python function prototype + * serialReadByte(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int + * + * @par Lua function prototype + * serialReadByte(variable: string, serial_name: string) -> number + * \endenglish + */ + int serialReadByte(const std::string &variable, + const std::string &serial_name = "serial_0"); + + /** + * @ingroup Serial + * \chinese + * 从串口读取指定数量的字节。字节为网络字节序。一次最多可读取30个值。 + * 返回读取到的数字列表（int列表，长度=number+1）。 + * + * @param number 读取的字节数 + * @param variable 变量 + * @param serial_name 串口名称 + * @return 返回值 + * + * @par Python函数原型 + * serialReadByteList(self: pyaubo_sdk.Serial, arg0: int, arg1: str, arg2: str) -> int + * + * @par Lua函数原型 + * serialReadByteList(number: number, variable: string, serial_name: string) -> number + * \endchinese + * \english + * Reads a number of bytes from the serial. Bytes are in network byte + * order. A maximum of 30 values can be read in one command. + * A list of numbers read (list of ints, length=number+1) + * + * @param number Number of bytes to read + * @param variable + * @param serial_name Serial port name + * @return Return value + * + * @par Python function prototype + * serialReadByteList(self: pyaubo_sdk.Serial, arg0: int, arg1: str, arg2: str) -> int + * + * @par Lua function prototype + * serialReadByteList(number: number, variable: string, serial_name: string) -> number + * \endenglish + */ + int serialReadByteList(int number, const std::string &variable, + const std::string &serial_name = "serial_0"); + + /** + * @ingroup Serial + * \chinese + * 从串口读取所有数据，并将数据作为字符串返回。 + * 字节为网络字节序。 + * + * 可选参数 "prefix" 和 "suffix" 用于指定从串口提取的内容。 + * "prefix" 指定提取子串（消息）的起始位置。直到 "prefix" 结束的数据会被忽略并从串口移除。 + * "suffix" 指定提取子串（消息）的结束位置。串口中 "suffix" 之后的剩余数据会被保留。 + * 例如，如果串口服务器发送字符串 "noise>hello<"，控制器可以通过设置 prefix=">" 和 suffix="<" 来接收 "hello"。 + * 通过使用 "prefix" 和 "suffix"，还可以一次向控制器发送多条字符串，因为 "suffix" 定义了消息的结束位置。 + * 例如发送 ">hello<>world<" + * + * @param variable 变量 + * @param serial_name 串口名称 + * @param prefix 前缀 + * @param suffix 后缀 + * @param interpret_escape 是否解释转义字符 + * @return 返回值 + * + * @par Python函数原型 + * serialReadString(self: pyaubo_sdk.Serial, arg0: str, arg1: str, arg2: str, arg3: str, arg4: bool) -> int + * + * @par Lua函数原型 + * serialReadString(variable: string, serial_name: string, prefix: string, suffix: string, interpret_escape: boolean) -> number + * \endchinese + * \english + * Reads all data from the serial and returns the data as a string. + * Bytes are in network byte order. + * + * The optional parameters "prefix" and "suffix", can be used to express + * what is extracted from the serial. The "prefix" specifies the start + * of the substring (message) extracted from the serial. The data up to + * the end of the "prefix" will be ignored and removed from the serial. + * The "suffix" specifies the end of the substring (message) extracted + * from the serial. Any remaining data on the serial, after the "suffix", + * will be preserved. E.g. if the serial server sends a string + * "noise>hello<", the controller can receive the "hello" by calling this + * script function with the prefix=">" and suffix="<". By using the + * "prefix" and "suffix" it is also possible send multiple string to the + * controller at once, because the suffix defines where the message ends. + * E.g. sending ">hello<>world<" + * + * @param variable + * @param serial_name + * @param prefix + * @param suffix + * @param interpret_escape + * @return + * + * @par Python function prototype + * serialReadString(self: pyaubo_sdk.Serial, arg0: str, arg1: str, arg2: str, arg3: str, arg4: bool) -> int + * + * @par Lua function prototype + * serialReadString(variable: string, serial_name: string, prefix: string, suffix: string, interpret_escape: boolean) -> number + * \endenglish + */ + int serialReadString(const std::string &variable, + const std::string &serial_name = "serial_0", + const std::string &prefix = "", + const std::string &suffix = "", + bool interpret_escape = false); + + /** + * @ingroup Serial + * \chinese + * 发送一个字节到服务器 + * 通过串口发送字节 。不期望有响应。可用于发送特殊的ASCII字符；10为换行符，2为文本开始，3为文本结束。 + * + * @param value 字节值 + * @param serial_name 串口名称 + * @return 返回值 + * + * @par Python函数原型 + * serialSendByte(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int + * + * @par Lua函数原型 + * serialSendByte(value: string, serial_name: string) -> nil + * \endchinese + * \english + * Sends a byte to the server + * Sends the byte through the serial. Expects no response. Can + * be used to send special ASCII characters; 10 is newline, 2 is start of + * text, 3 is end of text. + * + * @param value + * @param serial_name + * @return + * + * @par Python function prototype + * serialSendByte(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int + * + * @par Lua function prototype + * serialSendByte(value: string, serial_name: string) -> nil + * \endenglish + */ + int serialSendByte(char value, const std::string &serial_name = "serial_0"); + + /** + * @ingroup Serial + * \chinese + * 发送一个整数（int32_t）到服务器 + * 通过串口发送整数 。以网络字节序发送。不期望有响应。 + * + * @param value 整数值 + * @param serial_name 串口名称 + * @return 返回值 + * + * @par Python函数原型 + * serialSendInt(self: pyaubo_sdk.Serial, arg0: int, arg1: str) -> int + * + * @par Lua函数原型 + * serialSendInt(value: number, serial_name: string) -> nil + * \endchinese + * \english + * Sends an int (int32_t) to the server + * Sends the int through the serial. Send in network byte order. + * Expects no response. + * + * @param value + * @param serial_name + * @return + * + * @par Python function prototype + * serialSendInt(self: pyaubo_sdk.Serial, arg0: int, arg1: str) -> int + * + * @par Lua function prototype + * serialSendInt(value: number, serial_name: string) -> nil + * \endenglish + */ + int serialSendInt(int value, const std::string &serial_name = "serial_0"); + + /** + * @ingroup Serial + * \chinese + * 发送带有换行符的字符串到服务器 + * 以ASCII编码通过串口发送字符串，并在末尾添加换行符。不期望有响应。 + * + * @param str 字符串 + * @param serial_name 串口名称 + * @return 返回值 + * + * @par Python函数原型 + * serialSendLine(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int + * + * @par Lua函数原型 + * serialSendLine(str: string, serial_name: string) -> nil + * \endchinese + * \english + * Sends a string with a newline character to the server + * Sends the string through the serial in ASCII coding, appending a newline at the end. Expects no response. + * + * @param str + * @param serial_name + * @return + * + * @par Python function prototype + * serialSendLine(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int + * + * @par Lua function prototype + * serialSendLine(str: string, serial_name: string) -> nil + * \endenglish + */ + int serialSendLine(const std::string &str, + const std::string &serial_name = "serial_0"); + + /** + * @ingroup Serial + * \chinese + * 发送字符串到服务器 + * 以ASCII编码通过串口发送字符串。不期望有响应。 + * + * @param str 字符串 + * @param serial_name 串口名称 + * @return 返回值 + * + * @par Python函数原型 + * serialSendString(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int + * + * @par Lua函数原型 + * serialSendString(str: string, serial_name: string) -> nil + * \endchinese + * \english + * Sends a string to the server + * Sends the string through the serial in ASCII coding. Expects no + * response. + * + * @param str + * @param serial_name + * @return + * + * @par Python function prototype + * serialSendString(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int + * + * @par Lua function prototype + * serialSendString(str: string, serial_name: string) -> nil + * \endenglish + */ + int serialSendString(const std::string &str, + const std::string &serial_name = "serial_0"); + + /** + * @ingroup Serial + * \chinese + * + * @param is_check 是否校验 + * @param str 字符串数组 + * @param serial_name 串口名称 + * @return 返回值 + * + * @par Python函数原型 + * serialSendAllString(self: pyaubo_sdk.Serial, arg0: bool, arg1: List[str], arg2: str) -> int + * + * @par Lua函数原型 + * serialSendAllString(is_check: boolean, str: table, serial_name: string) -> nil + * \endchinese + * \english + * + * @param is_check Whether to check + * @param str Array of strings + * @param serial_name Serial port name + * @return Return value + * + * @par Python function prototype + * serialSendAllString(self: pyaubo_sdk.Serial, arg0: bool, arg1: List[str], arg2: str) -> int + * + * @par Lua function prototype + * serialSendAllString(is_check: boolean, str: table, serial_name: string) -> nil + * \endenglish + */ + int serialSendAllString(bool is_check, const std::vector &str, + const std::string &serial_name = "serial_0"); + +protected: + void *d_; +}; +using SerialPtr = std::shared_ptr; + +} // namespace common_interface +} // namespace arcs +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/socket.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/socket.h new file mode 100644 index 00000000..2cb96159 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/socket.h @@ -0,0 +1,667 @@ +/** @file socket.h + * @brief socket通信 + */ +#ifndef AUBO_SDK_SOCKET_INTERFACE_H +#define AUBO_SDK_SOCKET_INTERFACE_H + +#include +#include + +#include +#include + +namespace arcs { +namespace common_interface { + + +/** + * \chinese + * @defgroup Socket Socket (socket网络通信) + * 串口通信 + * \endchinese + * + * \english + * @defgroup Socket Socket Network Communication + * Socket communication + * \endenglish + */ +class ARCS_ABI_EXPORT Socket +{ +public: + Socket(); + virtual ~Socket(); + + /** + * @ingroup Socket + * \english + * Open TCP/IP ethernet communication socket + * + * Instruction + * + * @param address + * @param port + * @param socket_name + * @return + * + * @par Python function prototype + * socketOpen(self: pyaubo_sdk.Socket, arg0: str, arg1: int, arg2: str) -> int + * + * @par Lua function prototype + * socketOpen(address: string, port: number, socket_name: string) -> nil + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Socket.socketOpen","params":["172.16.26.248",8000,"socket_0"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + * \chinese + * 打开TCP/IP以太网通信socket + * + * 指令 + * + * @param address 地址 + * @param port 端口 + * @param socket_name 套接字名称 + * @return 返回值 + * + * @par Python函数原型 + * socketOpen(self: pyaubo_sdk.Socket, arg0: str, arg1: int, arg2: str) -> int + * + * @par Lua函数原型 + * socketOpen(address: string, port: number, socket_name: string) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Socket.socketOpen","params":["172.16.26.248",8000,"socket_0"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + */ + int socketOpen(const std::string &address, int port, + const std::string &socket_name = "socket_0"); + + /** + * @ingroup Socket + * \english + * Closes TCP/IP socket communication + * Closes down the socket connection to the server. + * + * Instruction + * + * @param socket_name + * @return + * + * @par Python function prototype + * socketClose(self: pyaubo_sdk.Socket, arg0: str) -> int + * + * @par Lua function prototype + * socketClose(socket_name: string) -> nil + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Socket.socketClose","params":["socket_0"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + * \chinese + * 关闭TCP/IP socket 通信 + * 关闭与服务器的 socket 连接。 + * + * 指令 + * + * @param socket_name 套接字名称 + * @return 返回值 + * + * @par Python函数原型 + * socketClose(self: pyaubo_sdk.Socket, arg0: str) -> int + * + * @par Lua函数原型 + * socketClose(socket_name: string) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Socket.socketClose","params":["socket_0"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + */ + int socketClose(const std::string &socket_name = "socket_0"); + + /** + * @ingroup Socket + * \english + * Reads a number of ascii formatted floats from the socket. A maximum + * of 30 values can be read in one command. + * A list of numbers read (list of floats, length=number+1) + * + * Result will be stored in a register named reg_key. Use getFloatVec + * to retrieve data + * + * @param number + * @param variable + * @param socket_name + * @return + * + * @par Python function prototype + * socketReadAsciiFloat(self: pyaubo_sdk.Socket, arg0: int, arg1: str, arg2: + * str) -> int + * + * @par Lua function prototype + * socketReadAsciiFloat(number: number, variable: string, socket_name: + * string) -> number + * \endenglish + * \chinese + * 从socket读取指定数量的ASCII格式浮点数。一次最多可读取30个值。 + * 读取到的数字列表（浮点数列表，长度=number+1） + * + * 结果将存储在名为reg_key的寄存器中。使用getFloatVec获取数据 + * + * @param number 数量 + * @param variable 变量名 + * @param socket_name 套接字名称 + * @return 返回值 + * + * @par Python函数原型 + * socketReadAsciiFloat(self: pyaubo_sdk.Socket, arg0: int, arg1: str, arg2: + * str) -> int + * + * @par Lua函数原型 + * socketReadAsciiFloat(number: number, variable: string, socket_name: + * string) -> number + * \endchinese + */ + int socketReadAsciiFloat(int number, const std::string &variable, + const std::string &socket_name = "socket_0"); + + /** + * @ingroup Socket + * \english + * Reads a number of 32 bit integers from the socket. Bytes are in + * network byte order. A maximum of 30 values can be read in one + * command. + * A list of numbers read (list of ints, length=number+1) + * + * Instruction + * + * std::vector + * + * @param number + * @param variable + * @param socket_name + * @return + * + * @par Python function prototype + * socketReadBinaryInteger(self: pyaubo_sdk.Socket, arg0: int, arg1: str, + * arg2: str) -> int + * + * @par Lua function prototype + * socketReadBinaryInteger(number: number, variable: string, socket_name: + * string) -> number + * \endenglish + * \chinese + * 从socket读取指定数量的32位整数。字节为网络字节序。一次最多可读取30个值。 + * 读取到的数字列表（整数列表，长度=number+1） + * + * 指令 + * + * std::vector + * + * @param number 数量 + * @param variable 变量名 + * @param socket_name 套接字名称 + * @return 返回值 + * + * @par Python函数原型 + * socketReadBinaryInteger(self: pyaubo_sdk.Socket, arg0: int, arg1: str, + * arg2: str) -> int + * + * @par Lua函数原型 + * socketReadBinaryInteger(number: number, variable: string, socket_name: + * string) -> number + * \endchinese + */ + int socketReadBinaryInteger(int number, const std::string &variable, + const std::string &socket_name = "socket_0"); + + /** + * @ingroup Socket + * \english + * Reads a number of bytes from the socket. Bytes are in network byte + * order. A maximum of 30 values can be read in one command. + * A list of numbers read (list of ints, length=number+1) + * + * Instruction + * + * std::vector + * + * @param number + * @param variable + * @param socket_name + * @return + * + * @par Python function prototype + * socketReadByteList(self: pyaubo_sdk.Socket, arg0: int, arg1: str, arg2: + * str) -> int + * + * @par Lua function prototype + * socketReadByteList(number: number, variable: string, socket_name: string) + * -> number + * \endenglish + * \chinese + * 从socket读取指定数量的字节。字节为网络字节序。一次最多可读取30个值。 + * 读取到的数字列表（整数列表，长度=number+1） + * + * 指令 + * + * std::vector + * + * @param number 数量 + * @param variable 变量名 + * @param socket_name 套接字名称 + * @return 返回值 + * + * @par Python函数原型 + * socketReadByteList(self: pyaubo_sdk.Socket, arg0: int, arg1: str, arg2: + * str) -> int + * + * @par Lua函数原型 + * socketReadByteList(number: number, variable: string, socket_name: string) + * -> number + * \endchinese + */ + int socketReadByteList(int number, const std::string &variable, + const std::string &socket_name = "socket_0"); + + /** + * @ingroup Socket + * \english + * Reads all data from the socket and returns the data as a string. + * Bytes are in network byte order. + * + * The optional parameters "prefix" and "suffix", can be used to express + * what is extracted from the socket. The "prefix" specifies the start + * of the substring (message) extracted from the socket. The data up to + * the end of the "prefix" will be ignored and removed from the socket. + * The "suffix" specifies the end of the substring (message) extracted + * from the socket. Any remaining data on the socket, after the "suffix", + * will be preserved. E.g. if the socket server sends a string + * "noise>hello<", the controller can receive the "hello" by calling this + * script function with the prefix=">" and suffix="<". By using the + * "prefix" and "suffix" it is also possible send multiple string to the + * controller at once, because the suffix defines where the message ends. + * E.g. sending ">hello<>world<" + * + * Instruction + * + * std::string + * + * @param variable + * @param socket_name + * @param prefix + * @param suffix + * @param interpret_escape + * @return + * + * @par Python function prototype + * socketReadString(self: pyaubo_sdk.Socket, arg0: str, arg1: str, arg2: + * str, arg3: str, arg4: bool) -> int + * + * @par Lua function prototype + * socketReadString(variable: string, socket_name: string, prefix: string, + * suffix: string, interpret_escape: boolean) -> number + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Socket.socketReadString","params":["camera","socket_0","","",false],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + * \chinese + * 从socket读取所有数据并将其作为字符串返回。 + * 字节为网络字节序。 + * + * 可选参数"prefix"和"suffix"可用于指定从socket中提取的内容。 + * "prefix"指定提取子字符串（消息）的起始位置。直到"prefix"结尾的数据将被忽略并从socket中移除。 + * "suffix"指定提取子字符串（消息）的结束位置。"suffix"之后的任何剩余数据将保留在socket中。 + * 例如，如果socket服务器发送字符串"noise>hello<"，控制器可以通过调用此脚本函数并设置prefix=">"和suffix="<"来接收"hello"。 + * 通过使用"prefix"和"suffix"，还可以一次向控制器发送多条字符串，因为"suffix"定义了消息的结束位置。例如发送">hello<>world<" + * + * 指令 + * + * std::string + * + * @param variable 变量名 + * @param socket_name 套接字名称 + * @param prefix 前缀 + * @param suffix 后缀 + * @param interpret_escape 是否解释转义字符 + * @return 返回值 + * + * @par Python函数原型 + * socketReadString(self: pyaubo_sdk.Socket, arg0: str, arg1: str, arg2: + * str, arg3: str, arg4: bool) -> int + * + * @par Lua函数原型 + * socketReadString(variable: string, socket_name: string, prefix: string, + * suffix: string, interpret_escape: boolean) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Socket.socketReadString","params":["camera","socket_0","","",false],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + */ + int socketReadString(const std::string &variable, + const std::string &socket_name = "socket_0", + const std::string &prefix = "", + const std::string &suffix = "", + bool interpret_escape = false); + + /** + * @ingroup Socket + * \english + * Reads all data from the socket and returns the data as a vector of chars. + * + * Instruction + * std::vector + * + * @param variable + * @param socket_name + * @return + * + * @par Python function prototype + * socketReadAllString(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int + * + * @par Lua function prototype + * socketReadAllString(variable: string, socket_name: string) -> number + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Socket.socketReadAllString","params":["camera","socket_0"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + * \chinese + * 从socket读取所有数据并将其作为char向量返回。 + * + * 指令 + * std::vector + * + * @param variable 变量名 + * @param socket_name 套接字名称 + * @return 返回值 + * + * @par Python函数原型 + * socketReadAllString(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int + * + * @par Lua函数原型 + * socketReadAllString(variable: string, socket_name: string) -> number + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Socket.socketReadAllString","params":["camera","socket_0"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + */ + int socketReadAllString(const std::string &variable, + const std::string &socket_name = "socket_0"); + + /** + * @ingroup Socket + * \english + * Sends a byte to the server + * Sends the byte through the socket. Expects no response. Can + * be used to send special ASCII characters; 10 is newline, 2 is start of + * text, 3 is end of text. + * + * Instruction + * + * @param value + * @param socket_name + * @return + * + * @par Python function prototype + * socketSendByte(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int + * + * @par Lua function prototype + * socketSendByte(value: string, socket_name: string) -> nil + * + * \endenglish + * \chinese + * 发送一个字节到服务器 + * 通过socket发送字节，不期望响应。可用于发送特殊ASCII字符；10为换行符，2为文本开始，3为文本结束。 + * + * 指令 + * + * @param value 字节值 + * @param socket_name 套接字名称 + * @return 返回值 + * + * @par Python函数原型 + * socketSendByte(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int + * + * @par Lua函数原型 + * socketSendByte(value: string, socket_name: string) -> nil + * + * \endchinese + */ + int socketSendByte(char value, const std::string &socket_name = "socket_0"); + + /** + * @ingroup Socket + * \english + * Sends an int (int32_t) to the server + * Sends the int through the socket. Send in network byte order. + * Expects no response + * + * Instruction + * + * @param value + * @param socket_name + * @return + * + * @par Python function prototype + * socketSendInt(self: pyaubo_sdk.Socket, arg0: int, arg1: str) -> int + * + * @par Lua function prototype + * socketSendInt(value: number, socket_name: string) -> nil + * + * \endenglish + * \chinese + * 发送一个int（int32_t）到服务器 + * 通过socket发送int ，以网络字节序发送。不期望响应。 + * + * 指令 + * + * @param value 整数值 + * @param socket_name 套接字名称 + * @return 返回值 + * + * @par Python函数原型 + * socketSendInt(self: pyaubo_sdk.Socket, arg0: int, arg1: str) -> int + * + * @par Lua函数原型 + * socketSendInt(value: number, socket_name: string) -> nil + * + * \endchinese + */ + int socketSendInt(int value, const std::string &socket_name = "socket_0"); + + /** + * @ingroup Socket + * \english + * Sends a string with a newline character to the server + * Sends the string through the socket in ASCII coding. Expects no + * response. + * + * Instruction + * + * @param str + * @param socket_name + * @return + * + * @par Python function prototype + * socketSendLine(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int + * + * @par Lua function prototype + * socketSendLine(str: string, socket_name: string) -> nil + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Socket.socketSendLine","params":["abcd","socket_0"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + * \chinese + * 发送带有换行符的字符串到服务器. + * 通过socket以ASCII编码发送字符串，不期望响应。 + * + * 指令 + * + * @param str 字符串 + * @param socket_name 套接字名称 + * @return 返回值 + * + * @par Python函数原型 + * socketSendLine(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int + * + * @par Lua函数原型 + * socketSendLine(str: string, socket_name: string) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Socket.socketSendLine","params":["abcd","socket_0"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + */ + int socketSendLine(const std::string &str, + const std::string &socket_name = "socket_0"); + + /** + * @ingroup Socket + * \english + * Sends a string to the server + * Sends the string through the socket in ASCII coding. Expects no + * response. + * + * Instruction + * + * @param str + * @param socket_name + * @return + * + * @par Python function prototype + * socketSendString(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int + * + * @par Lua function prototype + * socketSendString(str: string, socket_name: string) -> nil + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"Socket.socketSendString","params":["abcd","socket_0"],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + * \chinese + * 发送字符串到服务器 + * 通过socket以ASCII编码发送字符串，不期望响应。 + * + * 指令 + * + * @param str 字符串 + * @param socket_name 套接字名称 + * @return 返回值 + * + * @par Python函数原型 + * socketSendString(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int + * + * @par Lua函数原型 + * socketSendString(str: string, socket_name: string) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"Socket.socketSendString","params":["abcd","socket_0"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + */ + int socketSendString(const std::string &str, + const std::string &socket_name = "socket_0"); + + /** + * @ingroup Socket + * \english + * Sends all data in the given vector of chars to the server. + * + * @param is_check Whether to check the sending status + * @param str The data to send as a vector of chars + * @param socket_name The name of the socket + * @return Status code + * + * @par Python function prototype + * socketSendAllString(self: pyaubo_sdk.Socket, arg0: bool, arg1: List[str], arg2: str) -> int + * + * @par Lua function prototype + * socketSendAllString(is_check: boolean, str: table, socket_name: string) -> nil + * \endenglish + * \chinese + * 发送给定char向量中的所有数据到服务器。 + * + * @param is_check 是否检查发送状态 + * @param str 要发送的数据，char向量 + * @param socket_name 套接字名称 + * @return 状态码 + * + * @par Python函数原型 + * socketSendAllString(self: pyaubo_sdk.Socket, arg0: bool, arg1: List[str], arg2: str) -> int + * + * @par Lua函数原型 + * socketSendAllString(is_check: boolean, str: table, socket_name: string) -> nil + * \endchinese + */ + int socketSendAllString(bool is_check, const std::vector &str, + const std::string &socket_name = "socket_0"); + + /** + * @ingroup Socket + * \english + * Check if the socket is connected + * @brief socketHasConnected + * @param socket_name + * + * @return + * + * @par Python function prototype + * socketHasConnected(self: pyaubo_sdk.Socket, arg0: str) -> bool + * + * @par Lua function prototype + * socketHasConnected(socket_name: string) -> boolean + * \endenglish + * \chinese + * 检测 socket 连接是否成功 + * @brief socketHasConnected + * @param socket_name + * + * @return + * + * @par Python函数原型 + * socketHasConnected(self: pyaubo_sdk.Socket, arg0: str) -> bool + * + * @par Lua函数原型 + * socketHasConnected(socket_name: string) -> boolean + * \endchinese + */ + bool socketHasConnected(const std::string &socket_name = "socket_0"); + +protected: + void *d_; +}; +using SocketPtr = std::shared_ptr; + +} // namespace common_interface +} // namespace arcs +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/sync_move.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/sync_move.h new file mode 100644 index 00000000..bf321122 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/sync_move.h @@ -0,0 +1,1021 @@ +/** @file sync_move.h + * @brief 同步运行 + * + * 1. Independent movements + * If the different task programs, and their robots, work independently, no + * synchronization or coordination is needed. Each task program is then + * written as if it was the program for a single robot system. + * + * 2. Semi coordinated movements + * Several robots can work with the same work object, without synchronized + * movements, as long as the work object is not moving. + * A positioner can move the work object when the robots are not coordinated + * to it, and the robots can be coordinated to the work object when it is not + * moving. Switching between moving the object and coordinating the robots is + * called semi coordinated movements. + * + * 3. Coordinated synchronized movements + * Several robots can work with the same moving work object. + * The positioner or robot that holds the work object and the robots that work + * with the work object must have synchronized movements. This means that the + * RAPID task programs, that handle one mechanical unit each, execute their + * move instructions simultaneously. + */ +#ifndef AUBO_SDK_SYNC_MOVE_INTERFACE_H +#define AUBO_SDK_SYNC_MOVE_INTERFACE_H + +#include +#include +#include +#include +#include + +namespace arcs { +namespace common_interface { + +typedef std::unordered_set TaskSet; + +/** + * \chinese + * @defgroup SyncMove SyncMove (同步运动控制和轴组管理) + * 同步运动控制和轴组管理API接口 + * \endchinese + * + * \english + * @defgroup SyncMove Synchronized Movement Control and Axis Group Management + * Synchronized movement control and axis group management API interface + * \endenglish + */ +class ARCS_ABI_EXPORT SyncMove +{ +public: + SyncMove(); + virtual ~SyncMove(); + + /** + * @ingroup SyncMove + * \chinese + * syncMoveOn 用于启动同步运动模式。 + * + * syncMoveOn 指令会等待其他任务程序。当所有任务程序都到达 syncMoveOn 时， + * 它们将继续以同步运动模式执行。不同任务程序中的移动指令将同时执行， + * 直到执行 syncMoveOff 指令为止。在 syncMoveOn 指令之前必须编程一个停止点。 + * + * @param syncident + * @param taskset + * @return + * + * @par Python函数原型 + * syncMoveOn(self: pyaubo_sdk.SyncMove, arg0: str, arg1: Set[str]) -> int + * + * @par Lua函数原型 + * syncMoveOn(syncident: string, taskset: table) -> nil + * @endcoe + * \endchinese + * \english + * syncMoveOn is used to start synchronized movement mode. + * + * A syncMoveOn instruction will wait for the other task programs. When + * all task programs have reached the syncMoveOn, they will continue + * their execution in synchronized movement mode. The move instructions + * in the different task programs are executed simultaneously, until the + * instruction syncMoveOff is executed. + * A stop point must be programmed before the syncMoveOn instruction. + * + * @param syncident + * @param taskset + * @return + * + * @par Python function prototype + * syncMoveOn(self: pyaubo_sdk.SyncMove, arg0: str, arg1: Set[str]) -> int + * + * @par Lua function prototype + * syncMoveOn(syncident: string, taskset: table) -> nil + * @endcoe + * \endenglish + */ + int syncMoveOn(const std::string &syncident, const TaskSet &taskset); + + /** + * @ingroup SyncMove + * \chinese + * 设置同步路径段的ID + * 在同步运动模式下，所有同时执行的移动指令必须全部编程为圆角区（corner zones）或全部为停止点（stop points）。 + * 这意味着具有相同ID的移动指令要么全部带有圆角区，要么全部带有停止点。 + * 如果在各自的任务程序中同步执行的移动指令中，一个带有圆角区而另一个带有停止点，则会发生错误。 + * 同步执行的移动指令可以有不同大小的圆角区（例如，一个使用z10，另一个使用z50）。 + * + * @param id + * @return + * + * @par Python函数原型 + * syncMoveSegment(self: pyaubo_sdk.SyncMove, arg0: int) -> bool + * + * @par Lua函数原型 + * syncMoveSegment(id: number) -> boolean + * @endcoe + * \endchinese + * \english + * Set the ID for the synchronized path segment. + * In synchronized movements mode, all or none of the simultaneous move instructions must be programmed with corner zones. + * This means that move instructions with the same ID must either all have corner zones, or all have stop points. + * If a move instruction with a corner zone and a move instruction with a stop point are synchronously executed in their respective task program, an error will occur. + * Synchronously executed move instructions can have corner zones of different sizes (e.g. one uses z10 and one uses z50). + * + * @param id + * @return + * + * @par Python prototype + * syncMoveSegment(self: pyaubo_sdk.SyncMove, arg0: int) -> bool + * + * @par Lua prototype + * syncMoveSegment(id: number) -> boolean + * @endcoe + * \endenglish + */ + bool syncMoveSegment(int id); + + /** + * @ingroup SyncMove + * \chinese + * syncMoveOff 用于结束同步运动模式。 + * + * syncMoveOff 指令会等待其他任务程序。当所有任务程序都到达 syncMoveOff 时， + * 它们将继续以非同步模式执行。在 syncMoveOff 指令之前必须编程一个停止点。 + * + * @param syncident + * @return + * + * @par Python函数原型 + * syncMoveOff(self: pyaubo_sdk.SyncMove, arg0: str) -> int + * + * @par Lua函数原型 + * syncMoveOff(syncident: string) -> nil + * @endcoe + * \endchinese + * \english + * syncMoveOff is used to end synchronized movement mode. + * + * A syncMoveOff instruction will wait for the other task programs. When + * all task programs have reached the syncMoveOff, they will continue + * their execution in unsynchronized mode. + * A stop point must be programmed before the syncMoveOff instruction. + * + * @param syncident + * @return + * + * @par Python prototype + * syncMoveOff(self: pyaubo_sdk.SyncMove, arg0: str) -> int + * + * @par Lua prototype + * syncMoveOff(syncident: string) -> nil + * @endcoe + * \endenglish + */ + int syncMoveOff(const std::string &syncident); + + /** + * @ingroup SyncMove + * \chinese + * syncMoveUndo 用于关闭同步运动，即使不是所有其他任务程序都执行了 syncMoveUndo 指令。 + * + * syncMoveUndo 主要用于 UNDO 处理程序。当程序指针从过程移动时，syncMoveUndo 用于关闭同步。 + * + * @return + * + * @par Python函数原型 + * syncMoveUndo(self: pyaubo_sdk.SyncMove) -> int + * + * @par Lua函数原型 + * syncMoveUndo() -> nil + * @endcoe + * \endchinese + * \english + * syncMoveUndo is used to turn off synchronized movements, even if not + * all the other task programs execute the syncMoveUndo instruction. + * + * syncMoveUndo is intended for UNDO handlers. When the program + * pointer is moved from the procedure, syncMoveUndo is used to turn off + * the synchronization. + * + * @return + * + * @par Python prototype + * syncMoveUndo(self: pyaubo_sdk.SyncMove) -> int + * + * @par Lua prototype + * syncMoveUndo() -> nil + * @endcoe + * \endenglish + */ + int syncMoveUndo(); + + /** + * @ingroup SyncMove + * \chinese + * waitSyncTasks 用于在程序中的特定点同步多个任务程序。 + * + * waitSyncTasks 指令会等待其他任务程序。当所有任务程序都到达 waitSyncTasks 指令时， + * 它们将继续执行。 + * + * @param syncident + * @param taskset + * @return + * + * @par Python函数原型 + * waitSyncTasks(self: pyaubo_sdk.SyncMove, arg0: str, arg1: Set[str]) -> int + * + * @par Lua函数原型 + * waitSyncTasks(syncident: string, taskset: table) -> nil + * @endcoe + * \endchinese + * \english + * waitSyncTasks is used to synchronize several task programs at a specific + * point in the program. + * + * A waitSyncTasks instruction will wait for the other task programs. When all + * task programs have reached the waitSyncTasks instruction, they will continue + * their execution. + * + * @param syncident + * @param taskset + * @return + * + * @par Python prototype + * waitSyncTasks(self: pyaubo_sdk.SyncMove, arg0: str, arg1: Set[str]) -> int + * + * @par Lua prototype + * waitSyncTasks(syncident: string, taskset: table) -> nil + * @endcoe + * \endenglish + */ + int waitSyncTasks(const std::string &syncident, const TaskSet &taskset); + + /** + * @ingroup SyncMove + * \chinese + * isSyncMoveOn 用于判断机械单元组是否处于同步运动模式。 + * + * 不控制任何机械单元的任务可以通过该函数判断参数“使用机械单元组”中定义的机械单元是否处于同步运动模式。 + * + * @return + * + * @par Python函数原型 + * isSyncMoveOn(self: pyaubo_sdk.SyncMove) -> bool + * + * @par Lua函数原型 + * isSyncMoveOn() -> boolean + * \endchinese + * \english + * isSyncMoveOn is used to tell if the mechanical unit group is in synchronized movement mode. + * + * A task that does not control any mechanical unit can find out if the mechanical units defined in the parameter Use Mechanical Unit Group are in synchronized movement mode. + * + * @return + * + * @par Python prototype + * isSyncMoveOn(self: pyaubo_sdk.SyncMove) -> bool + * + * @par Lua prototype + * isSyncMoveOn() -> boolean + * \endenglish + */ + bool isSyncMoveOn(); + + /** + * @ingroup SyncMove + * \chinese + * 暂停同步运动模式。 + * + * @return + * + * @par Python函数原型 + * syncMoveSuspend(self: pyaubo_sdk.SyncMove) -> int + * + * @par Lua函数原型 + * syncMoveSuspend() -> nil + * \endchinese + * \english + * Suspend synchronized movement mode. + * + * @return + * + * @par Python prototype + * syncMoveSuspend(self: pyaubo_sdk.SyncMove) -> int + * + * @par Lua prototype + * syncMoveSuspend() -> nil + * \endenglish + */ + int syncMoveSuspend(); + + /** + * @ingroup SyncMove + * \chinese + * 恢复同步运动模式。 + * + * @return + * + * @par Python函数原型 + * syncMoveResume(self: pyaubo_sdk.SyncMove) -> int + * + * @par Lua函数原型 + * syncMoveResume() -> nil + * \endchinese + * \english + * Resume synchronized movement mode. + * + * @return + * + * @par Python prototype + * syncMoveResume(self: pyaubo_sdk.SyncMove) -> int + * + * @par Lua prototype + * syncMoveResume() -> nil + * \endenglish + */ + int syncMoveResume(); + + /** + * @ingroup SyncMove + * \chinese + * 添加一个名为 name 的坐标系，其初始位姿为 pose，位姿以 ref_frame 坐标系表达。 + * 此命令仅向世界模型添加一个坐标系，并不会将其附加到 ref_frame 坐标系。 + * 如需将新添加的坐标系附加到 ref_frame，请使用 frameAttach()。 + * + * @param name: 要添加的坐标系名称。名称不能与任何已存在的世界模型对象（坐标系、轴或轴组）重复，否则会抛出异常。 + * @param pose: 新对象的初始位姿。 + * @param ref_frame: 位姿所表达的参考坐标系对象名称。若未指定，默认使用机器人“base”坐标系。 + * + * @return + * \endchinese + * \english + * Add a frame with the name "name" initialized at the specified pose + * expressed in the ref_frame coordinate frame. This command only adds a + * frame to the world, it does not attach it to the ref_frame coordinate + * frame. Use frameAttach() to attach the newly added frame to ref_frame if + * desired. + * + * @param name: name of the frame to be added. The name must not be the same + * as any existing world model object (frame, axis, or axis group), + * otherwise an exception is thrown + * @param pose: initial pose of the new object + * @param ref_frame: name of the world model object whose coordinate frame + * the pose is expressed in. If nothing is provided here, the default is the + * robot “base” frame. + * + * @return + * \endenglish + */ + int frameAdd(const std::string &name, const std::vector &pose, + const std::string &ref_name); + + /** + * @ingroup SyncMove + * \chinese + * 将子坐标系附加到父世界模型对象。附加时会设置父子之间的相对变换，使得子坐标系在世界中不会移动。 + * + * 子坐标系不能为“world”、“flange”、“tcp”，也不能与父坐标系同名。 + * + * 如果子或父不是已存在的坐标系，或导致形成闭环，则操作会失败。 + * + * 如果用于 MotionPlus，parent 参数可以是外部轴或轴组的名称。 + * + * @param child: 要附加的子坐标系名称，不能为“world”、“flange”或“tcp”。 + * @param parent: 子坐标系将要附加到的父对象名称。 + * + * @return + * \endchinese + * \english + * Attaches the child frame to the parent world model object. The relative + * transform between the parent and child will be set such that the child + * does not move in the world when the attachment occurs. + * + * The child cannot be “world”, “flange”, “tcp”, or the same as parent. + * + * This will fail if child or parent is not an existing frame, or this makes + * the attachments form a closed chain. + * + * If being used with the MotionPlus, the parent argument can be the name of + * an external axis or axis group. + * + * @param child: name of the frame to be attached. The name must not be + * “world”, “flange”, or “tcp”. + * @param parent: name of the object that the child frame will be attached + * to. + * + * @return + * \endenglish + */ + int frameAttach(const std::string &child, const std::string &parent); + + /** + * @ingroup SyncMove + * \chinese + * 删除所有已添加到世界模型的坐标系。 + * + * “world”、“base”、“flange”和“tcp”坐标系不能被删除。 + * + * 任何附加到被删除坐标系的坐标系将会被附加到“world”坐标系，并设置新的偏移，使得被分离的坐标系在世界中不会移动。 + * + * @return + * \endchinese + * \english + * Delete all frames that have been added to the world model. + * + * The “world”, “base”, “flange”, and “tcp” frames cannot be deleted. + * + * Any frames that are attached to the deleted frames will be attached to + * the “world” frame with new frame offsets set such that the detached + * frames do not move in the world. + * + * @return + * \endenglish + */ + int frameDeleteAll(); + + /** + * @ingroup SyncMove + * \chinese + * 删除指定名称的坐标系。 + * + * “world”、“base”、“flange”和“tcp”坐标系不能被删除。 + * + * 任何附加到被删除坐标系的坐标系将会被附加到“world”坐标系，并设置新的偏移，使得被分离的坐标系在世界中不会移动。 + * + * 如果指定的坐标系不存在，则操作会失败。 + * + * @param name: 要删除的坐标系名称 + * + * @return + * \endchinese + * \english + * Delete the frame with name from the world model. + * + * The “world”, “base”, “flange”, and “tcp” frames cannot be deleted. + * + * Any frames that are attached to the deleted frame will be attached to the + * “world” frame with new frame offsets set such that the detached frame + * does not move in the world. + * + * This command will fail if the frame does not exist. + * + * @param name: name of the frame to be deleted + * + * @return + * \endenglish + */ + int frameDelete(const std::string &name); + + /** + * @ingroup SyncMove + * \chinese + * 更改名为 name 的坐标系的位置，将其移动到由 pose 指定的新位置，pose 以 ref_name 坐标系表达。 + * + * 如果 name 为 “world”、“flange”、“tcp”，或该坐标系不存在，则操作会失败。注意：如需移动 “tcp” 坐标系，请使用 set_tcp() 命令。 + * + * 如果用于 MotionPlus，ref_name 参数可以是外部轴或轴组的名称。 + * + * @param name: 要移动的坐标系名称 + * @param pose: 新的位置 + * @param ref_name: pose 所表达的参考坐标系，默认值为机器人的 “base” 坐标系。 + * + * @return + * \endchinese + * \english + * Changes the placement of the coordinate frame named name to the new + * placement given by pose that is defined in the ref_name coordinate frame. + * + * This will fail if name is “world”, “flange”, “tcp”, or if the frame does + * not exist. Note: to move the “tcp” frame, use the set_tcp() command + * instead. + * + * If being used with the MotionPlus, the ref_name argument can be the name + * of an external axis or axis group. + * + * @param name: the name of the frame to move + * @param pose: the new placement + * @param ref_name: the coordinate frame that pose is expressed in. The + * default value is the robot’s “base” frame. + * + * @return + * \endenglish + */ + int frameMove(const std::string &name, const std::vector &pose, + const std::string &ref_name); + + /** + * @ingroup SyncMove + * \chinese + * 获取名为 name 的坐标系相对于 rel_frame 坐标系的位姿，并以 ref_frame 坐标系表达。 + * 如果未提供 ref_frame，则返回 name 坐标系相对于 rel_frame 坐标系的位姿，并以 rel_frame 坐标系表达。 + * + * 如果任一参数不是已存在的坐标系，则操作会失败。 + * + * 如果用于 MotionPlus，所有三个参数也可以是外部轴或轴组的名称。 + * + * @param name: 要查询的坐标系名称。 + * @param rel_frame: “相对坐标系”，用于计算相对位姿的坐标系。 + * @param ref_frame: “参考坐标系”，用于表达结果相对位姿的坐标系。如果未提供，则默认为 rel_frame。 + * + * @return 以 ref_frame 坐标系表达的 name 坐标系的位姿。 + * \endchinese + * \english + * Get the pose of the name frame relative to the rel_frame frame but + * expressed in the coordinates of the ref_frame frame. If ref_frame is not + * provided, then this returns the pose of the name frame relative to and + * expressed in the same frame as rel_frame. + * + * This will fail if any arguments are not an existing frame. + * + * If being used with MotionPlus, all three arguments can also be the names + * of external axes or axis groups. + * + * @param name: name of the frame to query. + * @param rel_frame: short for “relative frame” is the frame where the pose + * is computed relative to + * @param ref_frame: short for “reference frame” is the frame to express the + * coordinates of resulting relative pose in. If this is not provided, then + * it will default to match the value of rel_frame. + * + * @return The pose of the frame expressed in the ref_frame coordinates. + * \endenglish + */ + std::vector frameGetPose(const std::string &name, + const std::string &rel_frame, + const std::string &ref_frame); + + /** + * @ingroup SyncMove + * \chinese + * 将位姿从 from_frame 坐标系转换到 to_frame 坐标系。 + * + * 如果任一坐标系参数不是已存在的坐标系，则操作会失败。 + * + * 如果用于 MotionPlus，所有三个参数也可以是外部轴或轴组的名称。 + * + * @param pose: 要转换的位姿 + * @param from_frame: 原始坐标系的参考坐标系名称 + * @param to_frame: 新坐标系的参考坐标系名称 + * + * @return 以 to_frame 坐标系表达的 pose 值。 + * \endchinese + * \english + * Convert pose from from_frame to to_frame. + * + * This will fail if either coordinate system argument is not an existing + * frame. + * + * If being used with MotionPlus, all three arguments can also be the names + * of external axes or axis groups. + * + * @param pose: pose to be converted + * @param from_frame: name of reference frame at origin of old coordinate + * system + * @param to_frame: name of reference frame at origin of new coordinate + * system + * + * @return Value of pose expressed in the coordinates of to_frame. + * \endenglish + */ + std::vector frameConvertPose(const std::vector &pose, + const std::string &from_frame, + const std::string &to_frame); + + /** + * @ingroup SyncMove + * \chinese + * 查询指定名称的坐标系是否存在。 + * + * @param name: 要查询的坐标系名称。 + * + * @return 如果存在该名称的坐标系则返回 true，否则返回 false。 + * \endchinese + * \english + * Queries for the existence of a frame by the given name. + * + * @param name: name of the frame to be queried. + * + * @return Returns true if there is a frame by the given name, false if not. + * \endenglish + */ + bool frameExist(const std::string &name); + + /** + * @ingroup SyncMove + * \chinese + * 获取名为 name 的坐标系在世界模型中的父坐标系名称。 + * + * 如果该坐标系没有附加到其他坐标系，则其父坐标系为 "world"。 + * + * @param name: 要查询的坐标系名称 + * + * @return 父坐标系的名称，字符串类型 + * \endchinese + * \english + * Get the parent of the frame named name in the world model. + * + * If the frame is not attached to another frame, then “world” is the + * parent. + * + * @param name: the frame being queried + * + * @return name of the parent as a string + * \endenglish + */ + std::string frameGetParent(const std::string &name); + + /** + * @ingroup SyncMove + * \chinese + * 返回指定父对象的直接子对象坐标系名称列表。父子关系由世界模型的附加关系定义。 + * 如果用于 MotionPlus，子对象也可以是轴组或轴。 + * + * @param name: 父对象的名称。 + * + * @return 直接子对象坐标系名称列表 + * \endchinese + * \english + * Returns a list of immediate child object frame names. Parent-child + * relationships are defined by world model attachments. If being used with + * MotionPlus, the child objects may also be an axis group or an axis. + * + * @param name: the name of the parent object. + * + * @return a list of immediate child object frame names + * \endenglish + */ + std::vector frameGetChildren(const std::string &name); + + /** + * @ingroup SyncMove + * \chinese + * 向世界模型添加一个新的轴组，名称为 name。轴组基座放置在 ref_frame 坐标系下的 pose 位置。 + * + * 轴组只能附加到世界坐标系。 + * + * 每个轴组的基座都附加有一个坐标系，可以通过轴组名称作为参数传递给其他世界模型函数。 + * + * 世界模型最多可添加 6 个轴组。 + * + * @param name: 要添加的轴组名称，不能为空字符串。世界模型对象（如坐标系、轴组、轴等）的名称必须唯一。 + * @param pose: 轴组基座在参考坐标系下的位姿。 + * @param ref_frame (可选): pose 所在的参考坐标系名称，可以是任何带有坐标系的世界模型实体（如坐标系、轴组、轴等）。默认值 "base" 表示机器人基座坐标系。 + * + * @return + * \endchinese + * \english + * Adds a new axis group with the given name to the world model. It is + * placed at the given pose in the reference coordinate frame defined by + * ref_frame. + * + * An axis group can only be attached to the world coordinate frame. + * + * Each axis group has a coordinate frame attached to its base, which can be + * used as an argument to other world model functions by referring the name + * of the group. + * + * At most 6 axis groups can be added to the world model. + * + * @param name: (string) Name of the axis group to add. The name cannot be + * an empty string. Names used by world model objects (e.g., frame, axis + * group, axis, etc.) must be unique. + * + * @param pose: (pose) Pose of the axis group’s base, in the reference + * coordinate frame. + * + * @param ref_frame (optional): (string) Name of the reference coordinate + * frame that pose is defined in. This can be any world model entity with a + * coordinate system (e.g., frame, axis group, axis, etc.). The default + * value "base" refers to the robot’s base frame. + * + * @return + * \endenglish + */ + int axisGroupAdd(const std::string &name, const std::vector &pose, + const std::string &ref_frame); + + /** + * @ingroup SyncMove + * \chinese + * 删除具有给定名称的轴组。 + * + * 所有附加的轴也会被禁用（如果处于活动状态）并删除。 + * + * 如果该轴组正被其他函数控制，则操作会失败。 + * + * @param name: 要删除的轴组名称。该名称的轴组必须存在。 + * + * @return + * \endchinese + * \english + * Deletes the axis group with the given name from the world model. + * + * All attached axes are also disabled (if live) and deleted. + * + * This function will fail, if this axis group is under control by another function. + * + * @param name: (string) Name of the axis group to delete. Axis group with + * such name must exist. + * + * @return + * \endenglish + */ + int axisGroupDelete(const std::string &name); + + /** + * @ingroup SyncMove + * \chinese + * 向名为 group_name 的轴组添加一个名为 name 的外部轴。该轴在 parent 坐标系下的 pose 位置附加，pose 表示轴位置为 0 时的位姿。 + * 轴的类型、最大速度、最大加速度、位置限制和索引分别由 type、v_limit、a_limit、q_limits 和 axis_index 定义。 + * pose 参数通常通过外部轴调试标定流程获得。 + * 如果该轴组正被其他函数控制，或附加关系形成闭环，则操作会失败。 + * + * @param group_name: 要添加轴的轴组名称，需已通过 axis_group_add() 创建且存在。 + * @param name: 新轴的名称，不能为空且需唯一。 + * @param parent: 父轴名称，若为空或与 group_name 相同，则附加到轴组基座。父轴需已存在于该轴组。 + * @param pose: 轴在父坐标系下的零位姿。type 为 0（旋转轴）时，z 轴为旋转轴；type 为 1（直线轴）时，z 轴为移动方向。 + * @param type: 轴类型，0 表示旋转轴，1 表示直线轴。 + * @param v_limit: 最大速度。 + * @param a_limit: 最大加速度。 + * @param q_limits: 位置限制。 + * @param axis_index: 轴索引。 + * \endchinese + * \english + * Adds an external axis with the given name to the axis group named group_name. + * The axis is attached at the given pose in the reference coordinate frame defined by parent when its axis position is 0. + * The type, max velocity, max acceleration, position limits, and index of this axis are defined by type, v_limit, a_limit, q_limits, and axis_index, respectively. + * The pose parameter is typically obtained from a calibration process when the external axis is commissioned. + * This function will fail if this axis group is under control of another function, or if the kinematic chain created by the attachment forms a closed chain. + * + * @param group_name: Name of the axis group this new axis is added to. The axis group would have been created using axis_group_add(). Axis group with such name must exist. + * @param name: Name of the new axis. The name cannot be an empty string. Names used by world model objects (e.g., frame, axis group, axis, etc.) must be unique. + * @param parent: Name of the parent axis. If it’s empty or the same as group_name, the new axis will be attached to the base of the axis group. Axis with such name must exist in the axis group. + * @param pose: The zero-position pose, in the parent coordinate frame, this axis will be placed and attached to. This is the pose the axis will be (relative to its parent) when its axis position is 0. If type is 0 (rotary), then the z axis of the frame corresponds to the axis of rotation. If type is 1 (linear), then the z axis is the axis of translation. + * @param type: Axis type, 0 for rotary, 1 for linear. + * @param v_limit: Maximum velocity. + * @param a_limit: Maximum acceleration. + * @param q_limits: Position limits. + * @param axis_index: Axis index. + * \endenglish + */ + int axisGroupAddAxis(const std::string &group_name, const std::string &name, + const std::string &parent, + const std::vector &pose); + + /** + * @ingroup SyncMove + * \chinese + * 更新指定名称的轴的相关属性。pose 参数通常通过外部轴调试标定流程获得。 + * 如果该轴所属的轴组正被其他命令控制，则操作会失败。 + * 如果该轴组中任何已附加的轴处于激活和使能状态，则操作会失败。 + * + * @param name: 要更新的轴的名称，需已存在。 + * @param pose (可选): 轴在父轴（或轴组）坐标系下的零位姿。即轴位置为 0 时的位姿。 + * \endchinese + * \english + * Updates the corresponding properties of axis with name. The pose + * parameter is typically obtained from a calibration process when the + * external axis is commissioned. See here for a guide on a basic routine + * for calibrating a single rotary axis. + * + * This function will fail, if the axis group the axis attached to is + * already being controlled by another command. + * This function will fail, if any attached axis of the axis group is live + * and enabled. + * + * @param name: (string) Name of the axis to update. Axis with such name + * must exist. + * + * @param pose (optional): (pose) New zero-position pose, in the coordinate + * frame of the parent axis (or axis group), of the axis. This is the pose + * of the axis when its axis position is 0. + * \endenglish + */ + int axisGroupUpdateAxis(const std::string &name, + const std::vector &pose); + + /** + * @ingroup SyncMove + * \chinese + * 返回指定轴名称在 RTDE 目标位置和实际位置数组中的索引。 + * + * @param axis_name: (string) 要查询的轴名称。该名称的轴必须存在。 + * + * @return integer: 该轴在 RTDE 目标位置和实际位置数组中的索引。 + * \endchinese + * \english + * Returns the index of the axis with given axis_name in the RTDE target + * positions and actual positions arrays. + * + * @param axis_name: (string) Name of the axis in query. + * Axis with such name must exist. + * + * @return integer: Index of the axis in the RTDE target positions and + * actual positions arrays. + * \endenglish + */ + int axisGroupGetAxisIndex(const std::string &name); + + /** + * @ingroup SyncMove + * \chinese + * 返回指定轴索引对应的轴名称。 + * + * @param axis_index: (整数) 要查询的轴索引。该索引的轴必须存在。 + * + * @return 字符串: 轴的名称。 + * \endchinese + * \english + * Returns the name of the axis with the given axis_index. + * + * @param axis_index: (integer) Index of the axis in query. + * Axis with such index must exist. + * + * @return string: Name of the axis. + * \endenglish + */ + std::string axisGroupGetAxisName(int index); + + /** + * @ingroup SyncMove + * \chinese + * 返回指定轴组的当前目标位置。 + * 如果未指定 group_name，则返回所有外部轴的目标位置。 + * + * 如果外部轴总线被禁用，则该函数会失败。 + * + * @param group_name (可选): (string) 要查询的轴组名称。该名称的轴组必须真实存在。 + * + * @return Double[]: 涉及轴的目标位置，顺序为其外部轴索引顺序。 + * \endchinese + * \english + * Returns the current target positions of the axis group with group_name. + * If group_name is not provided, the target positions of all external axes + * will be returned. + * + * This function will fail, if the external axis bus is disabled. + * + * @param group_name (optional): (string) Name of the axis group in query. + * Axis group with such name must REALLY exist. + * + * @return Double[]: Target positions of the involved axes, in the order of + * their external axis indices. + * \endenglish + */ + std::vector axisGroupGetTargetPositions( + const std::string &group_name); + + /** + * @ingroup SyncMove + * \chinese + * 返回指定轴组的当前实际位置。 + * 如果未指定 group_name，则返回所有外部轴的实际位置。 + * + * 如果外部轴总线被禁用，则该函数会失败。 + * + * @param group_name (可选): (string) 要查询的轴组名称。该名称的轴组必须真实存在。 + * + * @return Double[]: 涉及轴的实际位置，顺序为其外部轴索引顺序。 + * \endchinese + * \english + * Returns the current actual positions of the axis group with group_name. + * If group_name is not provided, the actual positions of all external axes + * will be returned. + * + * This function will fail, if the external axis bus is disabled. + * + * @param group_name (optional): (string) Name of the axis group in query. + * Axis group with such name must exist. + * + * @return Double[]: Actual positions of the involved axes, in the order of + * their external axis indices. + * \endenglish + */ + std::vector axisGroupGetActualPositions( + const std::string &group_name); + + /** + * @ingroup SyncMove + * \chinese + * 通过给定的 offset，将轴组 group_name 的目标位置和实际位置整体偏移。 + * + * 这是一个仅在控制器内部进行的软件偏移，不会影响外部轴驱动器。该偏移也会应用于通过 RTDE 发布的任何目标和实际位置流。 + * + * @param group_name: (string) 要应用偏移的轴组名称。该名称的轴组必须存在。 + * + * @param offset: (float[]) 目标和实际位置需要整体偏移的量。offset 的大小必须与该轴组所包含的轴数量一致。 + * + * @return + * \endchinese + * \english + * Shifts the target and actual positions of the axis group group_name by + * the given offset. + * + * This is a software shift that happens in the controller only, it does not + * affect external axis drives. The shift is also applied to any streamed + * target and actual positions published on RTDE. + * + * @param group_name: (string) Name of the axis group to apply the offset + * positions to. Axis group with such name must exist. + * + * @param offset: (float[]) Offsets that the target and actual positions + * should be shifted by. The size of offset must match the number of axes + * attached to the given group. + * + * @return + * \endenglish + */ + int axisGroupOffsetPositions(const std::string &group_name, + const std::vector &offset); + + /** + * @ingroup SyncMove + * \chinese + * 以梯形速度曲线将名为 group_name 的轴组移动到新的位置 q。 + * 参数 a 指定本次运动的最大加速度占各轴加速度极限的百分比。 + * 参数 v 指定本次运动的最大速度占各轴速度极限的百分比。 + * + * 实际的加速度和速度由最受限制的轴决定，以确保所有轴在加速、匀速和减速阶段同时完成。 + * + * @param group_name: (string) 要移动的轴组名称。该名称的轴组必须存在。 + * @param q: (float[]) 目标位置，旋转轴为弧度，直线轴为米。如果目标超出位置极限，则会被限制在最近的极限值。涉及的轴按其索引递增排序。q 的大小必须与该轴组包含的轴数量一致。 + * @param a: (float) 本次运动的最大加速度因子，取值范围 (0,1]，表示占加速度极限的百分比。 + * @param v: (float) 本次运动的最大速度因子，取值范围 (0,1]，表示占速度极限的百分比。 + * + * 返回值: 无 + * \endchinese + * \english + * Moves the axes of axis group named group_name to new positions q, using a + * trapezoidal velocity profile. Factor a specifying the percentage of the + * max profile accelerations out of the acceleration limits of each axes. + * Factor v specifying the percentage of the max profile velocities out of + * the velocity limits of each axes. + * + * The actual accelerations and velocities are determined by the most + * constraining axis, so that all the axes complete the acceleration, + * cruise, and deceleration phases at the same time. + * + * @param group_name: (string) Name of the axis group to move. + * Axis group with such name must exist. + * + * @param q: (float[]) Target positions in rad (rotary) or in m (linear). If + * the target exceeds the position limits, then it is set to the nearest + * limit. The involved axes are ordered increasingly by their axis indices. + * The size of q must match the number of axes attached to the given group. + * + * @param a: (float) Factor specifying the max accelerations of this move + * out of the acceleration limits. a must be in range of (0,1]. + * + * @param v: (float) Factor specifying the max velocities of this move out + * of the velocity limits. v must be in range of (0,1]. + * + * Return: n/a + * \endenglish + */ + int axisGroupMoveJoint(const std::string &group_name, + const std::vector &q, double a, double v); + + /** + * @ingroup SyncMove + * \chinese + * 以指定的加速度因子 a，将名为 group_name 的轴组加速到目标速度 qd。该函数会运行 t 秒。 + * @param group_name: (string) 要控制的外部轴组名称，必须已存在。 + * @param qd: (float[]) 轴组各轴的目标速度。如果目标速度超过速度极限，则会被限制在极限值。涉及的轴按其索引递增排序。qd 的大小必须与该轴组包含的轴数量一致。 + * @param a: (float) 本次运动的最大加速度因子，取值范围 (0,1]，表示占加速度极限的百分比。 + * @param t (可选): (float) 函数运行的持续时间（秒）。若 t < 0，则函数将在目标速度达到时返回；若 t ≥ 0，则函数将在该持续时间后返回，无论实际速度是否达到目标值。 + * \endchinese + * \english + * Accelerates the axes of axis group named group_name up to the target + * velocities qd. Factor a specifying the percentage of the max + * accelerations out of the acceleration limits of each axes. The function + * will run for a period of t seconds. + * + * @param group_name: (string) Name of the external axis group to control. + * Axis group with such name must exist. + * + * @param qd: (float[]) Target velocities for the axes in the axis group. If + * the target exceeds the velocity limits, then it is set to the limit. The + * involved axes are ordered increasingly by their axis indices. The size of + * qd must match the number of axes attached to the given group. + * + * @param a: (float) Factor specifying the max accelerations of this move + * out of the acceleration limits. a must be in range of (0,1]. + * + * @param t (optional): (float) Duration in seconds before the function + * returns. If t < 0, then the function will return when the target + * velocities are reached. if t ≥ 0, then the function will return after + * this duration, regardless of what the achieved axes velocities are. + * \endenglish + */ + int axisGroupSpeedJoint(const std::string &group_name, + const std::vector &qd, double a, double t); + +protected: + void *d_; +}; + +using SyncMovePtr = std::shared_ptr; +} // namespace common_interface +} // namespace arcs +#endif // AUBO_SDK_SYNC_MOVE_INTERFACE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/system_info.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/system_info.h new file mode 100644 index 00000000..f2fc2dc2 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/system_info.h @@ -0,0 +1,359 @@ +/** @file system_info.h + * @brief 获取系统信息接口，如接口板的版本号、示教器软件的版本号 + */ +#ifndef AUBO_SDK_SYSTEM_INFO_INTERFACE_H +#define AUBO_SDK_SYSTEM_INFO_INTERFACE_H + +#include +#include +#include + +#include + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * @defgroup SystemInfo SystemInfo (系统信息) + * 系统信息 + * \endchinese + * + * \english + * @defgroup SystemInfo System Information + * System Information + * \endenglish + */ +class ARCS_ABI_EXPORT SystemInfo +{ +public: + SystemInfo(); + virtual ~SystemInfo(); + + /** + * @ingroup SystemInfo + * \chinese + * 获取控制器软件版本号 + * + * @return 返回控制器软件版本号 + * + * @par Python函数原型 + * getControlSoftwareVersionCode(self: pyaubo_sdk.SystemInfo) -> int + * + * @par Lua函数原型 + * getControlSoftwareVersionCode() -> number + * + * @par C++示例 + * @code + * int control_version = + * rpc_cli->getSystemInfo()->getControlSoftwareVersionCode(); + * @endcode + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"SystemInfo.getControlSoftwareVersionCode","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":28003} + * + * \endchinese + * \english + * Get the controller software version code + * + * @return Returns the controller software version code + * + * @par Python prototype + * getControlSoftwareVersionCode(self: pyaubo_sdk.SystemInfo) -> int + * + * @par Lua prototype + * getControlSoftwareVersionCode() -> number + * + * @par C++ example + * @code + * int control_version = + * rpc_cli->getSystemInfo()->getControlSoftwareVersionCode(); + * @endcode + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"SystemInfo.getControlSoftwareVersionCode","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":28003} + * + * \endenglish + */ + int getControlSoftwareVersionCode(); + + /** + * @ingroup SystemInfo + * \chinese + * 获取完整控制器软件版本号 + * + * @return 返回完整控制器软件版本号 + * + * @par Python函数原型 + * getControlSoftwareFullVersion(self: pyaubo_sdk.SystemInfo) -> str + * + * @par Lua函数原型 + * getControlSoftwareFullVersion() -> string + * + * @par C++示例 + * @code + * std::string control_version = + * rpc_cli->getSystemInfo()->getControlSoftwareFullVersion(); + * @endcode + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"SystemInfo.getControlSoftwareFullVersion","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"0.31.0-alpha.16+20alc76"} + * + * \endchinese + * \english + * Get the full controller software version + * + * @return Returns the full controller software version + * + * @par Python prototype + * getControlSoftwareFullVersion(self: pyaubo_sdk.SystemInfo) -> str + * + * @par Lua prototype + * getControlSoftwareFullVersion() -> string + * + * @par C++ example + * @code + * std::string control_version = + * rpc_cli->getSystemInfo()->getControlSoftwareFullVersion(); + * @endcode + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"SystemInfo.getControlSoftwareFullVersion","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"0.31.0-alpha.16+20alc76"} + * + * \endenglish + */ + std::string getControlSoftwareFullVersion(); + + /** + * @ingroup SystemInfo + * \chinese + * 获取接口版本号 + * + * @return 返回接口版本号 + * + * @par Python函数原型 + * getInterfaceVersionCode(self: pyaubo_sdk.SystemInfo) -> int + * + * @par Lua函数原型 + * getInterfaceVersionCode() -> number + * + * @par C++示例 + * @code + * int interface_version = + * rpc_cli->getSystemInfo()->getInterfaceVersionCode(); + * @endcode + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"SystemInfo.getInterfaceVersionCode","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":22003} + * + * \endchinese + * \english + * Get the interface version code + * + * @return Returns the interface version code + * + * @par Python prototype + * getInterfaceVersionCode(self: pyaubo_sdk.SystemInfo) -> int + * + * @par Lua prototype + * getInterfaceVersionCode() -> number + * + * @par C++ example + * @code + * int interface_version = + * rpc_cli->getSystemInfo()->getInterfaceVersionCode(); + * @endcode + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"SystemInfo.getInterfaceVersionCode","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":22003} + * + * \endenglish + */ + int getInterfaceVersionCode(); + + /** + * @ingroup SystemInfo + * \chinese + * 获取控制器软件构建时间 + * + * @return 返回控制器软件构建时间 + * + * @par Python函数原型 + * getControlSoftwareBuildDate(self: pyaubo_sdk.SystemInfo) -> str + * + * @par Lua函数原型 + * getControlSoftwareBuildDate() -> string + * + * @par C++示例 + * @code + * std::string build_date = + * rpc_cli->getSystemInfo()->getControlSoftwareBuildDate(); + * @endcode + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"SystemInfo.getControlSoftwareBuildDate","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"2024-3-5 07:03:20"} + * + * \endchinese + * \english + * Get the controller software build date + * + * @return Returns the controller software build date + * + * @par Python prototype + * getControlSoftwareBuildDate(self: pyaubo_sdk.SystemInfo) -> str + * + * @par Lua prototype + * getControlSoftwareBuildDate() -> string + * + * @par C++ example + * @code + * std::string build_date = + * rpc_cli->getSystemInfo()->getControlSoftwareBuildDate(); + * @endcode + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"SystemInfo.getControlSoftwareBuildDate","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"2024-3-5 07:03:20"} + * + * \endenglish + */ + std::string getControlSoftwareBuildDate(); + + /** + * @ingroup SystemInfo + * \chinese + * 获取控制器软件git版本 + * + * @return 返回控制器软件git版本 + * + * @par Python函数原型 + * getControlSoftwareVersionHash(self: pyaubo_sdk.SystemInfo) -> str + * + * @par Lua函数原型 + * getControlSoftwareVersionHash() -> string + * + * @par C++示例 + * @code + * std::string git_version = + * rpc_cli->getSystemInfo()->getControlSoftwareVersionHash(); + * @endcode + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"SystemInfo.getControlSoftwareVersionHash","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":"fa4f64a"} + * + * \endchinese + * \english + * Get the controller software git version + * + * @return Returns the controller software git version + * + * @par Python prototype + * getControlSoftwareVersionHash(self: pyaubo_sdk.SystemInfo) -> str + * + * @par Lua prototype + * getControlSoftwareVersionHash() -> string + * + * @par C++ example + * @code + * std::string git_version = + * rpc_cli->getSystemInfo()->getControlSoftwareVersionHash(); + * @endcode + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"SystemInfo.getControlSoftwareVersionHash","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":"fa4f64a"} + * + * \endenglish + */ + std::string getControlSoftwareVersionHash(); + + /** + * @ingroup SystemInfo + * \chinese + * 获取系统时间(软件启动时间 ns 纳秒) + * + * @return 返回系统时间(软件启动时间 ns 纳秒) + * + * @par Python函数原型 + * getControlSystemTime(self: pyaubo_sdk.SystemInfo) -> int + * + * @par Lua函数原型 + * getControlSystemTime() -> number + * + * @par C++示例 + * @code + * std::string system_time = + * rpc_cli->getSystemInfo()->getControlSystemTime(); + * @endcode + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"SystemInfo.getControlSystemTime","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":9287799079682} + * + * \endchinese + * \english + * Get the system time (software start time in nanoseconds) + * + * @return Returns the system time (software start time in nanoseconds) + * + * @par Python prototype + * getControlSystemTime(self: pyaubo_sdk.SystemInfo) -> int + * + * @par Lua prototype + * getControlSystemTime() -> number + * + * @par C++ example + * @code + * std::string system_time = + * rpc_cli->getSystemInfo()->getControlSystemTime(); + * @endcode + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"SystemInfo.getControlSystemTime","params":[],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":9287799079682} + * + * \endenglish + */ + uint64_t getControlSystemTime(); + +protected: + void *d_; +}; + +using SystemInfoPtr = std::shared_ptr; + +} // namespace common_interface +} // namespace arcs +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/trace.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/trace.h new file mode 100644 index 00000000..762f35dd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/trace.h @@ -0,0 +1,243 @@ +/** @file trace.h + * \~chinese @brief 向控制器日志系统注入日志方面的接口 \~english @brief Interface for injecting logs into the controller's logging system + */ +#ifndef AUBO_SDK_TRACE_INTERFACE_H +#define AUBO_SDK_TRACE_INTERFACE_H + +#include +#include +#include +#include + +#include +#include + +namespace arcs { +namespace common_interface { + +/** + * \chinese + * @defgroup Trace Trace (日志与弹窗) + * 提供给控制器扩展程序的日志记录系统 + * \endchinese + * + * \english + * @defgroup Trace Log and Pop-up + * Log recording system for controller extension programs + * \endenglish + */ +class ARCS_ABI_EXPORT Trace +{ +public: + Trace(); + virtual ~Trace(); + + /** + * @ingroup Trace + * \~chinese 向 aubo_control 日志注入告警信息 \~english Injects alarm information into the aubo_control log + * + * TraceLevel: \n + * 0 - FATAL \n + * 1 - ERROR \n + * 2 - WARNING \n + * 3 - INFO \n + * 4 - DEBUG \n + * + * \~chinese code定义参考 error_stack \~english Code definitions refer to error_stack + * + * @param level + * @param code + * @param args + * @return + * + * \~chinese @par Python函数原型 \~english @par Python function prototype + * alarm(self: pyaubo_sdk.Trace, arg0: arcs::common_interface::TraceLevel, + * arg1: int, arg2: List[str]) -> int + * + * \~chinese @par Lua函数原型 \~english @par Lua function prototype + * alarm(level: number, code: number, args: table) -> nil + * + * \~chinese @par JSON-RPC请求示例 \~english @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.Trace.alarm","params":["",1,["Error","Trajectory + * planning failed!","1"]],"id":1} + * + * \~chinese @par JSON-RPC响应示例 \~engish @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * + */ + int alarm(TraceLevel level, int code, + const std::vector &args = {}); + + /** + * @ingroup Trace + * \chinese + * 打印文本信息到日志中 + * + * @param msg 文本信息 + * @return + * + * @par Python函数原型 + * textmsg(self: pyaubo_sdk.Trace, arg0: str) -> int + * + * @par Lua函数原型 + * textmsg(msg: string) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.Trace.textmsg","params":["test"],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * print message into log + * + * @param msg message information + * @return + * + * @par Python function prototype + * textmsg(self: pyaubo_sdk.Trace, arg0: str) -> int + * + * @par Lua function prototype + * textmsg(msg: string) -> nil + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.Trace.textmsg","params":["test"],"id":1} + * + * @par JSON-RPC responose example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int textmsg(const std::string &msg); + + /** + * \~chinese 通知上位机 \~english Notify the system + * + * @param msg + * @return + */ + int notify(const std::string &msg); + + /** + * @ingroup Trace + * \chinese + * 向连接的 RTDE 客户端发送弹窗请求 + * + * @param level + * @param title + * @param msg + * @param mode 模式 \n + * 0: 普通模式 \n + * 1: 阻塞模式 \n + * 2: 输入模式 bool \n + * 3: 输入模式 int \n + * 4: 输入模式 double \n + * 5: 输入模式 string \n + * @return + * + * @par Python函数原型 + * popup(self: pyaubo_sdk.Trace, arg0: arcs::common_interface::TraceLevel, + * arg1: str, arg2: str, arg3: int) -> int + * + * @par Lua函数原型 + * popup(level: number, title: string, msg: string, mode: number) -> nil + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.Trace.popup","params":["","Error","Trajectory + * planning failed!",1],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":0} + * \endchinese + * \english + * Send a popup request to the connected RTDE client + * + * @param level + * @param title + * @param msg + * @param mode mode \n + * 0: normal mode \n + * 1: blocking mode \n + * 2: input mode bool \n + * 3: input mode int \n + * 4: input mode double \n + * 5: input mode string \n + * @return + * + * @par Python function prototype + * popup(self: pyaubo_sdk.Trace, arg0: arcs::common_interface::TraceLevel, + * arg1: str, arg2: str, arg3: int) -> int + * + * @par Lua function prototype + * popup(level: number, title: string, msg: string, mode: number) -> nil + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.Trace.popup","params":["","Error","Trajectory + * planning failed!",1],"id":1} + * + * @par JSON-RPC response example + * {"id":1,"jsonrpc":"2.0","result":0} + * \endenglish + */ + int popup(TraceLevel level, const std::string &title, + const std::string &msg, int mode); + + /** + * @ingroup Trace + * \chinese + * peek最新的 AlarmInfo(上次一获取之后) + * + * last_time设置为0时，可以获取到所有的AlarmInfo + * + * @param num + * @param last_time + * @return + * + * @par Python函数原型 + * peek(self: pyaubo_sdk.Trace, arg0: int, arg1: int) -> + * List[arcs::common_interface::RobotMsg] + * + * @par Lua函数原型 + * peek(num: number, last_time: number) -> table + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"rob1.Trace.peek","params":[1,0],"id":1} + * + * @par JSON-RPC响应示例 + * {{"id":1,"jsonrpc":"2.0","result":[{"args":["RobotModeType.Running"], + * "code":30045,"level":"INFO","source":"rob1","timestamp":5102883064300}]} + * \endchinese + * \english + * peek the latest AlarmInfo (after the last retrieval) + * + * When last_time is set as 0, retrieve all AlarmInfo + * + * @param num + * @param last_time + * @return + * + * @par Python function prototype + * peek(self: pyaubo_sdk.Trace, arg0: int, arg1: int) -> + * List[arcs::common_interface::RobotMsg] + * + * @par Lua function prototype + * peek(num: number, last_time: number) -> table + * + * @par JSON-RPC request example + * {"jsonrpc":"2.0","method":"rob1.Trace.peek","params":[1,0],"id":1} + * + * @par JSON-RPC response example + * {{"id":1,"jsonrpc":"2.0","result":[{"args":["RobotModeType.Running"], + * "code":30045,"level":"INFO","source":"rob1","timestamp":5102883064300}]} + * \endenglish + */ + RobotMsgVector peek(size_t num, uint64_t last_time = 0); + +protected: + void *d_; +}; + +using TracePtr = std::shared_ptr; + +} // namespace common_interface +} // namespace arcs +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/type_def.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/type_def.h new file mode 100644 index 00000000..3081fcba --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo/type_def.h @@ -0,0 +1,1105 @@ +/** @file type_def.h + * \~chinese @brief 数据类型的定义 \~english @brief enum type definitions + */ +#ifndef AUBO_SDK_TYPE_DEF_H +#define AUBO_SDK_TYPE_DEF_H + +#include +#include +#include +#include +#include +#include +#include + +#ifdef _MSC_VER +#pragma execution_character_set("utf-8") +#endif + +// clang-format off + +namespace arcs { +namespace common_interface { + +/// Cartesion degree of freedom, 6 for x,y,z,rx,ry,rz +#define CARTESIAN_DOF 6 +#define SAFETY_PARAM_SELECT_NUM 2 ///< \~chinese 正常 + 缩减 \~english normal + reduced +#define SAFETY_PLANES_NUM 8 ///< \~chinese 安全平面的数量 \~english Number of safety planes +#define SAFETY_CUBIC_NUM 10 ///< \~chinese 安全立方体的数量 \~english Number of safety cubes +#define TOOL_CONFIGURATION_NUM 3 ///< \~chinese 工具配置数量 \~english Number of tool configurations + +using Vector3d = std::array; +using Vector4d = std::array; +using Vector3f = std::array; +using Vector4f = std::array; +using Vector6f = std::array; + +struct RobotSafetyParameterRange +{ + RobotSafetyParameterRange() + { + for (int i = 0; i < SAFETY_PARAM_SELECT_NUM; i++) { + params[i].power = 0.; + params[i].momentum = 0.; + params[i].stop_time = 0.; + params[i].stop_distance = 0.; + params[i].reduced_entry_time = 0.; + params[i].reduced_entry_distance = 0.; + params[i].tcp_speed = 0.; + params[i].elbow_speed = 0.; + params[i].tcp_force = 0.; + params[i].elbow_force = 0.; + std::fill(params[i].qmin.begin(), params[i].qmin.end(), 0.); + std::fill(params[i].qmax.begin(), params[i].qmax.end(), 0.); + std::fill(params[i].qdmax.begin(), params[i].qdmax.end(), 0.); + std::fill(params[i].joint_torque.begin(), + params[i].joint_torque.end(), 0.); + params[i].tool_orientation.fill(0.); + params[i].tool_deviation = 0.; + for (int j = 0; j < SAFETY_PLANES_NUM; j++) { + params[i].planes[j].fill(0.); + params[i].restrict_elbow[j] = 0; + } + } + for (int i = 0; i < SAFETY_PLANES_NUM; i++) { + trigger_planes[i].plane.fill(0.); + trigger_planes[i].restrict_elbow = 0; + } + for (int i = 0; i < SAFETY_CUBIC_NUM; i++) { + cubic[i].orig.fill(0.); + cubic[i].size.fill(0.); + cubic[i].restrict_elbow = 0; + } + for (int i = 0; i < TOOL_CONFIGURATION_NUM; i++) { + tools[i].fill(0.); + } + + tool_inclination = 0.; + tool_azimuth = 0.; + std::fill(safety_home.begin(), safety_home.end(), 0.); + + safety_input_emergency_stop = 0; + safety_input_safeguard_stop = 0; + safety_input_safeguard_reset = 0; + safety_input_auto_safeguard_stop = 0; + safety_input_auto_safeguard_reset = 0; + safety_input_three_position_switch = 0; + safety_input_operational_mode = 0; + safety_input_reduced_mode = 0; + safety_input_handguide = 0; + + safety_output_emergency_stop = 0; + safety_output_not_emergency_stop = 0; + safety_output_robot_moving = 0; + safety_output_robot_steady = 0; + safety_output_reduced_mode = 0; + safety_output_not_reduced_mode = 0; + safety_output_safe_home = 0; + safety_output_robot_not_stopping = 0; + safety_output_safetyguard_stop = 0; + + tp_3pe_for_handguide = 1; + allow_manual_high_speed = 0; + } + + uint32_t crc32{ 0 }; + + /// \~chinese 最多可以保存2套参数, 默认使用第 0 套参数 \~english At most 2 + /// sets of parameters can be saved, default is the 0th set + struct + { + float power; ///< \~chinese 关节力矩与关节角速度的乘积之和 \~english sum of joint torques times joint angular speeds + float momentum; ///< \~chinese 机器人动量限制 \~english robot momentum limit + float stop_time; ///< \~chinese 停机时间 ms \~english stop time in milliseconds + float stop_distance; ///< \~chinese 停机距离 m \~english stop distance in meters + float reduced_entry_time; ///< \~chinese 进入缩减模式的最大时间 \~english maximum time to enter reduced mode + float reduced_entry_distance; ///< \~chinese 进入缩减模式的最大距离(可由安全平面触发) \~english maximum distance to enter reduced mode (can be triggered by safety planes) + float tcp_speed; + float elbow_speed; + float tcp_force; + float elbow_force; + std::vector qmin; + std::vector qmax; + std::vector qdmax; + std::vector joint_torque; + Vector3f tool_orientation; ///< + float tool_deviation; + Vector4f planes[SAFETY_PLANES_NUM]; /// x,y,z,displacement + int restrict_elbow[SAFETY_PLANES_NUM]; + } params[SAFETY_PARAM_SELECT_NUM]; + + /// \~chinese 8个触发平面 \~english 8 trigger planes + struct + { + Vector4f plane; /// x,y,z,displacement + int restrict_elbow; + } trigger_planes[SAFETY_PLANES_NUM]; + + struct + { + Vector6f orig; ///< \~chinese 立方块的原点 (x,y,z,rx,ry,rz) \~english origin of the cubic (x,y,z,rx,ry,rz) + Vector3f size; ///< \~chinese 立方块的尺寸 (x,y,z) \~english size of the cubic (x,y,z) + int restrict_elbow; + } cubic[SAFETY_CUBIC_NUM]; ///< \~chinese 10个安全空间 \~english 10 safety spaces + + /// \~chinese 3个工具 \~english 3 tools + Vector4f tools[TOOL_CONFIGURATION_NUM]; /// x,y,z,radius + + float tool_inclination{ + 0. + }; ///< \~chinese 倾角 \~english inclination angle + float tool_azimuth{ 0. }; ///< \~chinese 方位角 \~english azimuth angle + std::vector safety_home; + + /// \~chinese 可配置IO的输入输出安全功能配置 \~english Configurable IO input + /// and output safety functions + uint32_t safety_input_emergency_stop; + uint32_t safety_input_safeguard_stop; + uint32_t safety_input_safeguard_reset; + uint32_t safety_input_auto_safeguard_stop; + uint32_t safety_input_auto_safeguard_reset; + uint32_t safety_input_three_position_switch; + uint32_t safety_input_operational_mode; + uint32_t safety_input_reduced_mode; + uint32_t safety_input_handguide; + + uint32_t safety_output_emergency_stop; + uint32_t safety_output_not_emergency_stop; + uint32_t safety_output_robot_moving; + uint32_t safety_output_robot_steady; + uint32_t safety_output_reduced_mode; + uint32_t safety_output_not_reduced_mode; + uint32_t safety_output_safe_home; + uint32_t safety_output_robot_not_stopping; + uint32_t safety_output_safetyguard_stop; + + int tp_3pe_for_handguide; ///< \~chinese 是否将示教器三档位开关作为拖动功能开关 \~english Whether to use the three-position switch of the teach pendant as a hand guiding function switch + int allow_manual_high_speed; ///< \~chinese 手动模式下允许高速运行 /~english Allow high-speed operation in manual mode +}; + +inline std::ostream &operator<<(std::ostream &os, + const RobotSafetyParameterRange &vd) +{ + // os << (int)vd; + return os; +} + +struct WObjectData +{ + /// \~chinese 是否为外部工具 \~english Whether it is an external tool + bool remote_tool{ false }; + + /// \~chinese 工件坐标系耦合的 \~english Coupled with the workpiece + /// coordinate system + std::string attach_frame{ "" }; + + /// \~english User coordinate system. \~chinese 用户坐标系 + /// \~chinese 如果 robhold 为 false, 那 uframe 的数值是基于 world \~english + /// If robhold is false, the values of uframe are based on world. + /// \~chinese 否则，uframe 的数值是基于 flange \~english Otherwise, the + /// values of uframe are based on flange. + std::vector user_coord{ std::vector(6, 0) }; + + /// \~chinese 工件坐标系，基于 uframe \~english tool coordinate system, + /// based on uframe + std::vector obj_coord{ std::vector(6, 0) }; +}; + +inline std::ostream &operator<<(std::ostream &os, WObjectData p) +{ + return os; +} + + +struct VibrationRecalibrationParameter{ + double mass; // 负载质量 + std::vector cog; // 负载质心 + std::vector inertia; // 负载惯量 + std::vector> points; // 路点，关节角 + std::vector> stiff_section; // 关节刚度数据 + std::vector> stiff_param; // 关节刚度数据 +}; + +inline std::ostream &operator<<(std::ostream &os, const VibrationRecalibrationParameter p) +{ + return os; +} + +/// \~chinese 接口函数返回值定义 \~english Error codes definition +/// +/// \~chinese 整数为警告，负数为错误，0为没有错误也没有警告 \~english whole +/// number is warning, negative number is error, 0 is no error and no warning +#define ENUM_AuboErrorCodes_DECLARES \ + ENUM_ITEM(AUBO_OK, 0, "Success") \ + ENUM_ITEM(AUBO_BAD_STATE, 1, "State error") \ + ENUM_ITEM(AUBO_QUEUE_FULL, 2, "Planning queue full") \ + ENUM_ITEM(AUBO_BUSY, 3, "The previous command is executing") \ + ENUM_ITEM(AUBO_TIMEOUT, 4, "Timeout") \ + ENUM_ITEM(AUBO_INVL_ARGUMENT, 5, "Invalid parameters") \ + ENUM_ITEM(AUBO_NOT_IMPLETEMENT, 6, "Interface not implemented") \ + ENUM_ITEM(AUBO_NO_ACCESS, 7, "Cannot access") \ + ENUM_ITEM(AUBO_CONN_REFUSED, 8, "Connection refused") \ + ENUM_ITEM(AUBO_CONN_RESET, 9, "Connection is reset") \ + ENUM_ITEM(AUBO_INPROGRESS, 10, "Execution in progress") \ + ENUM_ITEM(AUBO_EIO, 11, "Input/Output error") \ + ENUM_ITEM(AUBO_NOBUFFS, 12, "") \ + ENUM_ITEM(AUBO_REQUEST_IGNORE, 13, "Request was ignored") \ + ENUM_ITEM(AUBO_ALGORITHM_PLAN_FAILED, 14, \ + "Motion planning algorithm error") \ + ENUM_ITEM(AUBO_VERSION_INCOMPAT, 15, "Interface version unmatch") \ + ENUM_ITEM(AUBO_DIMENSION_ERR, 16, \ + "Input parameter dimension is incorrect") \ + ENUM_ITEM(AUBO_SINGULAR_ERR, 17, "Input configuration may be singular") \ + ENUM_ITEM(AUBO_POS_BOUND_ERR, 18, \ + "Input position boundary exceeds the limit range") \ + ENUM_ITEM(AUBO_INIT_POS_ERR, 19, "Initial position input is unreasonable") \ + ENUM_ITEM(AUBO_ELP_SETTING_ERR, 20, "Envelope body setting error") \ + ENUM_ITEM(AUBO_TRAJ_GEN_FAIL, 21, "Trajectory generation failed") \ + ENUM_ITEM(AUBO_TRAJ_SELF_COLLISION, 22, "Trajectory self collision") \ + ENUM_ITEM( \ + AUBO_IK_NO_CONVERGE, 23, \ + "Inverse kinematics computation did not converge; computation failed") \ + ENUM_ITEM(AUBO_IK_OUT_OF_RANGE, 24, \ + "Inverse kinematics result out of robot range") \ + ENUM_ITEM(AUBO_IK_CONFIG_DISMATCH, 25, \ + "Inverse kinematics input configuration contains errors") \ + ENUM_ITEM(AUBO_IK_JACOBIAN_FAILED, 26, \ + "The calculation of the inverse Jacobian matrix failed") \ + ENUM_ITEM(AUBO_IK_NO_SOLU, 27, \ + "The target point has solutions, but it has exceeded the joint " \ + "limit conditions") \ + ENUM_ITEM(AUBO_IK_UNKOWN_ERROR, 28, "Inverse kinematics unkown error") \ + ENUM_ITEM(AUBO_MOVE_IGNORED_SERVOMODE, 29, \ + "Robot is in servo mode where movement is disabled") \ + ENUM_ITEM(AUBO_MOVE_INVALID_SPEED_VALUE, 30, \ + "Movement speed must be a valid positive value (cannot be zero or negative)") \ + ENUM_ITEM(AUBO_MOVE_INVALID_ACCELERATION_VALUE, 31, \ + "Movement acceleration must be a valid positive value (cannot be zero or negative)") \ + ENUM_ITEM(AUBO_INVALID_FILE_PATH, 32, \ + "Please verify the file path. It appears to be invalid.") \ + ENUM_ITEM(AUBO_INST_QUEUED, 100, "Instruction pused into queue succeed") \ + ENUM_ITEM(AUBO_INTERNAL_ERR, 101, "Internal error caused by alg .etc.") \ + ENUM_ITEM(AUBO_BADSTATE_THREAD_DETACHED, 200, \ + "Bad state: Operation not allowed on detached thread") \ + ENUM_ITEM(AUBO_BADSTATE_THREAD_KILLED, 201, \ + "Bad state: Operation not allowed on killed thread") \ + ENUM_ITEM(AUBO_BADSTATE_TASK_NOT_FOUND, 202, \ + "Bad state: Specified task id does not exist in the task queue")\ + ENUM_ITEM(AUBO_BADSTATE_RTM_NOT_STARTED, 203, \ + "Bad state: RuntimeMachine has not been started yet") \ + ENUM_ITEM(AUBO_BADSTATE_RTM_NOT_STOPPED, 204, \ + "Bad state: RuntimeMachine must be in Stopped state for this operation") \ + ENUM_ITEM(AUBO_BADSTATE_RTM_NOT_PAUSED, 205, \ + "Bad state: RuntimeMachine must be in Paused state for this operation") \ + ENUM_ITEM(AUBO_BADSTATE_RTM_ABORTING, 206, "Bad state: RuntimeMachine is in aborting state") \ + ENUM_ITEM(AUBO_BADSTATE_PSTOP, 207, "Bad state: Operation blocked by protective stop") \ + ENUM_ITEM(AUBO_BADSTATE_ROBOT_ESTOP, 208, "Bad state: Robot emergency stop triggered") \ + ENUM_ITEM(AUBO_BADSTATE_SYSTEM_ESTOP, 209, "Bad state: System emergency stop triggered") \ + ENUM_ITEM(AUBO_BADSTATE_INVALID_ROBOT_MODE, 210, \ + "Bad state: Robot is not in required operation mode") \ + ENUM_ITEM(AUBO_BADSTATE_INVALID_SAFETY_MODE, 211, \ + "Bad state: Robot is not in required safety mode") \ + ENUM_ITEM(AUBO_BADSTATE_ROBOT_NOT_RUNNING, 212, \ + "Bad state: Robot must be in Running mode for this operation") \ + ENUM_ITEM(AUBO_BADSTATE_ROBOT_NOT_POWERED_OFF, 213, \ + "Bad state: Robot must be in PowerOff mode for this operation") \ + ENUM_ITEM(AUBO_BADSTATE_SERIAL_OPEN_FAILED, 214, "Bad state: Failed to open serial device") \ + ENUM_ITEM(AUBO_BADSTATE_SERIAL_NOT_A_TERMINAL, 215, \ + "Bad state: Specified device is not a terminal") \ + ENUM_ITEM(AUBO_BADSTATE_SERIAL_CONFIG_FAILED, 216, \ + "Bad state: Failed to configure serial port parameters") \ + ENUM_ITEM(AUBO_BADSTATE_KINEMATICS_COMPENSATE_FAILED, 217, \ + "Bad state: Failed to set kinematics compensation parameters") \ + ENUM_ITEM(AUBO_BADSTATE_ROBOT_NOT_STEADY, 218, "Bad state: Robot is not in steady state") \ + ENUM_ITEM(AUBO_BADSTATE_FREE_DRIVE_ACTIVE, 219, "Bad state: Free-drive mode is active") \ + ENUM_ITEM(AUBO_BADSTATE_FORCE_CTRL_ACTIVE, 220, "Bad state: Force control mode is active") \ + ENUM_ITEM(AUBO_BADSTATE_SIMULATION_MODE_ACTIVE, 221, \ + "Bad state: Operation not allowed in simulation mode") \ + ENUM_ITEM(AUBO_BADSTATE_MB_ERROR, 222, "Bad state: Modbus signal has error") \ + ENUM_ITEM(AUBO_BADSTATE_MB_TIMEOUT, 223, "Bad state: Modbus signal timeout") \ + ENUM_ITEM(AUBO_ERR_UNKOWN, 99999, "Unkown error occurred.") + +/** + * The RuntimeState enum + * + */ +#define ENUM_RuntimeState_DECLARES \ + ENUM_ITEM(Running, 0, "正在运行中") \ + ENUM_ITEM(Retracting, 1, "倒退") \ + ENUM_ITEM(Pausing, 2, "暂停中") \ + ENUM_ITEM(Paused, 3, "暂停状态") \ + ENUM_ITEM(Stepping, 4, "单步执行中") \ + ENUM_ITEM(Stopping, 5, "受控停止中(保持原有轨迹)") \ + ENUM_ITEM(Stopped, 6, "已停止") \ + ENUM_ITEM(Aborting, 7, "停止(最大速度关节运动停机)") + +/** + * \chinese + * @brief The RobotModeType enum + * + * 硬件强相关 + * \endchinese + * + * \english + * @brief The RobotModeType enum + * + * Hardware related + * \endenglish + */ +#define ENUM_RobotModeType_DECLARES \ + ENUM_ITEM(NoController, -1, "提供给示教器使用的, 如果aubo_control进程崩溃则会显示为NoController") \ + ENUM_ITEM(Disconnected, 0, "没有连接到机械臂本体(控制器与接口板断开连接或是 EtherCAT 等总线断开)") \ + ENUM_ITEM(ConfirmSafety, 1, "正在进行安全配置, 断电状态下进行") \ + ENUM_ITEM(Booting, 2, "机械臂本体正在上电初始化") \ + ENUM_ITEM(PowerOff, 3, "机械臂本体处于断电状态") \ + ENUM_ITEM(PowerOn, 4, "机械臂本体上电成功, 刹车暂未松开(抱死), 关节初始状态未获取") \ + ENUM_ITEM(Idle, 5, "机械臂上电成功, 刹车暂未松开(抱死), 电机不通电, 关节初始状态获取完成") \ + ENUM_ITEM(BrakeReleasing, 6, "机械臂上电成功, 刹车正在松开") \ + ENUM_ITEM(BackDrive, 7, "反向驱动：刹车松开, 电机不通电") \ + ENUM_ITEM(Running, 8, "机械臂刹车松开, 运行模式, 控制权由硬件移交给软件") \ + ENUM_ITEM(Maintaince, 9, "维护模式: 包括固件升级、参数写入等") \ + ENUM_ITEM(Error, 10, "") \ + ENUM_ITEM(PowerOffing, 11, "机械臂本体处于断电过程中") + +#define ENUM_SafetyModeType_DECLARES \ + ENUM_ITEM(Undefined, 0, "安全状态待定") \ + ENUM_ITEM(Normal, 1, "正常运行模式") \ + ENUM_ITEM(ReducedMode, 2, "缩减运行模式") \ + ENUM_ITEM(Recovery, 3, "启动时如果在安全限制之外, 机器人将进入recovery模式") \ + ENUM_ITEM(Violation, 4, "超出安全限制（根据安全配置, 例如速度超限等）") \ + ENUM_ITEM(ProtectiveStop, 5, "软件触发的停机（保持轨迹, 不抱闸, 不断电）") \ + ENUM_ITEM(SafeguardStop, 6, "IO触发的防护停机（不保持轨迹, 抱闸, 不断电）") \ + ENUM_ITEM(SystemEmergencyStop,7, "系统急停：急停信号由外部输入(可配置输入), 不对外输出急停信号") \ + ENUM_ITEM(RobotEmergencyStop, 8, "机器人急停：控制柜急停输入或者示教器急停按键触发, 对外输出急停信号") \ + ENUM_ITEM(Fault, 9, "机械臂硬件故障或者系统故障") + //ValidateJointId + +/** + * \chinese + * 根据ISO 10218-1:2011(E) 5.7节 + * Automatic: In automatic mode, the robot shall execute the task programme and + * the safeguarding measures shall be functioning. Automatic operation shall be + * prevented if any stop condition is detected. Switching from this mode shall + * result in a stop. + * \endchinese + * \english + * Based on ISO 10218-1:2011(E) Section 5.7 + * Automatic: In automatic mode, the robot shall execute the task programme and + * the safeguarding measures shall be functioning. Automatic operation shall be + * prevented if any stop condition is detected. Switching from this mode shall + * result in a stop. + * \endenglish + */ +#define ENUM_OperationalModeType_DECLARES \ + ENUM_ITEM(Disabled, 0, "禁用模式: 不使用 Operational Mode") \ + ENUM_ITEM(Automatic, 1, "自动模式: 机器人正常工作模式, 运行速度不会被限制 (auto mode: robot normal operation, speed will not be limited)") \ + ENUM_ITEM(Manual, 2, "手动模式: 机器人编程示教模式(T1), 机器人运行速度将会被限制或者机器人程序校验模式(T2) (manual mode: robot programming teaching mode (T1), robot running speed will be limited or robot program verification mode (T2)") \ + +/** + * \~chinese 机器人的控制模式, 最终的控制对象 \~english Robot control mode, the final control object + */ +#define ENUM_RobotControlModeType_DECLARES \ + ENUM_ITEM(Unknown, 0, "未知的控制模式 (unknown control mode)") \ + ENUM_ITEM(Position, 1, "位置控制 movej (position control)") \ + ENUM_ITEM(Speed, 2, "速度控制 speedj/speedl (speed control)") \ + ENUM_ITEM(Servo, 3, "位置控制 servoj (position control)") \ + ENUM_ITEM(Freedrive, 4, "拖动示教 freedrive_mode") \ + ENUM_ITEM(Force, 5, "末端力控 force_mode") \ + ENUM_ITEM(Torque, 6, "关节力矩控制 (joint torque control)") \ + ENUM_ITEM(Collision, 7, "碰撞模式 (collision mode)") \ + +#define ENUM_JointServoModeType_DECLARES \ + ENUM_ITEM(Unknown, -1, "未知") \ + ENUM_ITEM(Open, 0, "开环模式 (open loop mode)") \ + ENUM_ITEM(Current, 1, "电流伺服模式 (current servo mode)") \ + ENUM_ITEM(Velocity, 2, "速度伺服模式 (speed servo mode)") \ + ENUM_ITEM(Position, 3, "位置伺服模式 (position servo mode)") \ + ENUM_ITEM(Torque, 4, "力矩伺服模式 (torque servo mode)") \ + +#define ENUM_JointStateType_DECLARES \ + ENUM_ITEM(Poweroff, 0, "节点未连接到接口板或者已经断电 (node not conected to interface board or already powered off)") \ + ENUM_ITEM(Idle, 2, "节点空闲 (node idle)") \ + ENUM_ITEM(Fault, 3, "节点错误, 节点停止伺服运动, 刹车抱死 (node error, node stopped servo move, brake engaged)") \ + ENUM_ITEM(Running, 4, "节点伺服 (node servo)") \ + ENUM_ITEM(Bootload, 5, "节点bootloader状态, 暂停一切通讯 (node bootloader state, pause all communication)") \ + +#define ENUM_StandardInputAction_DECLARES \ + ENUM_ITEM(Default, 0, "无触发") \ + ENUM_ITEM(Handguide, 1, "拖动示教，高电平触发") \ + ENUM_ITEM(GoHome, 2, "运动到工程初始位姿，高电平触发") \ + ENUM_ITEM(StartProgram, 3, "开始工程，上升沿触发") \ + ENUM_ITEM(StopProgram, 4, "停止工程，上升沿触发") \ + ENUM_ITEM(PauseProgram, 5, "暂停工程，上升沿触发") \ + ENUM_ITEM(PopupDismiss, 6, "消除弹窗，上升沿触发") \ + ENUM_ITEM(PowerOn, 7, "机器人上电/松刹车，上升沿触发") \ + ENUM_ITEM(PowerOff, 8, "机器人抱死刹车/断电，上升沿触发") \ + ENUM_ITEM(ResumeProgram, 9, "恢复工程，上升沿触发") \ + ENUM_ITEM(SlowDown1, 10, "机器人减速触发1，高电平触发") \ + ENUM_ITEM(SlowDown2, 11, "机器人减速触发2，高电平触发") \ + ENUM_ITEM(SafeStop, 12, "安全停止，高电平触发") \ + ENUM_ITEM(RunningGuard, 13, "信号，高电平有效") \ + ENUM_ITEM(MoveToFirstPoint, 14, "运动到工程初始位姿，高电平触发") \ + ENUM_ITEM(xSlowDown1, 15, "机器人减速触发1，低电平触发") \ + ENUM_ITEM(xSlowDown2, 16, "机器人减速触发2，低电平触发") \ + ENUM_ITEM(ConveyorTrack, 17, "传送带1检测到物品触发，高电平触发") \ + ENUM_ITEM(xConveyorTrack, 18, "传送带1检测到物品触发，低电平触发") \ + ENUM_ITEM(UnlockProtectiveStop, 19, "解除保护性停止，上升沿触发") \ + ENUM_ITEM(ArbitraryResumeProgram , 20, "恢复工程，不检查当前位置和暂停点之间的距离，上升沿触发") + +#define ENUM_StandardOutputRunState_DECLARES \ + ENUM_ITEM(None, 0, "标准输出状态未定义") \ + ENUM_ITEM(StopLow, 1, "低电平指示工程停止") \ + ENUM_ITEM(StopHigh, 2, "高电平指示机器人停止") \ + ENUM_ITEM(RunningHigh, 3, "指示工程正在运行") \ + ENUM_ITEM(PausedHigh, 4, "指示工程已经暂停") \ + ENUM_ITEM(AtHome, 5, "高电平指示机器人正在拖动") \ + ENUM_ITEM(Handguiding, 6, "高电平指示机器人正在拖动") \ + ENUM_ITEM(PowerOn, 7, "高电平指示机器人已经上电") \ + ENUM_ITEM(RobotEmergencyStop, 8, "高电平指示机器人急停按下") \ + ENUM_ITEM(SystemEmergencyStop, 9, "高电平指示外部输入系统急停按下") \ + ENUM_ITEM(InternalEmergencyStop, 8, "高电平指示机器人急停按下") \ + ENUM_ITEM(ExternalEmergencyStop, 9, "高电平指示外部输入系统急停按下") \ + ENUM_ITEM(SystemError, 10, "系统错误，包括故障、超限、急停、安全停止、防护停止 ") \ + ENUM_ITEM(NotSystemError, 11, "无系统错误，包括普通模式、缩减模式和恢复模式 ") \ + ENUM_ITEM(RobotOperable, 12, "机器人可操作，机器人上电且松刹车了 ") \ + ENUM_ITEM(OperationalMode, 13, "高电平指示自动模式，低电平指示手动模式") \ + ENUM_ITEM(SafeguardStop, 14, "高电平指示处于安全停止状态") \ + ENUM_ITEM(ProtectiveStop, 15, "高电平指示处于防护停止状态") \ + ENUM_ITEM(ProgramAborted, 16, "高电平指示工程意外停止") \ + ENUM_ITEM(WaypointArrived, 17, "高电平指示机器人到达路点") + +#define ENUM_SafetyInputAction_DECLARES \ + ENUM_ITEM(Unassigned, 0, "安全输入未分配动作") \ + ENUM_ITEM(EmergencyStop, 1, "安全输入触发急停") \ + ENUM_ITEM(SafeguardStop, 2, "安全输入触发防护停止, 边沿触发") \ + ENUM_ITEM(SafeguardReset, 3, "安全输入触发防护重置, 边沿触发") \ + ENUM_ITEM(ThreePositionSwitch, 4, "3档位使能开关") \ + ENUM_ITEM(OperationalMode, 5, "切换自动模式和手动模式") \ + ENUM_ITEM(HandGuide, 6, "拖动示教") \ + ENUM_ITEM(ReducedMode, 7, "安全参数切换1(缩减模式)，序号越低优先级越高，三路输出都无效时，选用第0组安全参数") \ + ENUM_ITEM(AutomaticModeSafeguardStop, 8, "自动模式下防护停机输入(需要配置三档位使能设备)") \ + ENUM_ITEM(AutomaticModeSafeguardReset, 9, "自动模式下上升沿触发防护重置(需要配置三档位使能设备)") + +#define ENUM_SafetyOutputRunState_DECLARES \ + ENUM_ITEM(Unassigned, 0, "安全输出未定义") \ + ENUM_ITEM(SystemEmergencyStop, 1, "输出高当有机器人急停输入或者急停按键被按下") \ + ENUM_ITEM(NotSystemEmergencyStop, 2, "输出低当有机器人急停输入或者急停按键被按下") \ + ENUM_ITEM(RobotMoving, 3, "输出高当有关节运动速度超过 0.1rad/s") \ + ENUM_ITEM(RobotNotMoving, 4, "输出高当所有的关节运动速度不超过 0.1rad/s") \ + ENUM_ITEM(ReducedMode, 5, "输出高当机器人处于缩减模式") \ + ENUM_ITEM(NotReducedMode, 6, "输出高当机器人不处于缩减模式") \ + ENUM_ITEM(SafeHome, 7, "输出高当机器人已经处于安全Home位姿") \ + ENUM_ITEM(RobotNotStopping, 8, "输出低当机器人正在急停或者安全停止中") + +#define ENUM_PayloadIdentifyMoveAxis_DECLARES \ + ENUM_ITEM(Joint_2_6, 0,"第2和6关节运动") \ + ENUM_ITEM(Joint_3_6, 1,"第3和6关节运动") \ + ENUM_ITEM(Joint_4_6, 2,"第4和6关节运动") \ + ENUM_ITEM(Joint_4_5_6, 3,"第4、5、6关节运动") \ + +#define ENUM_EnvelopingShape_DECLARES \ + ENUM_ITEM(Cube, 1,"立方体") \ + ENUM_ITEM(Column, 2,"柱状体") \ + ENUM_ITEM(Stl, 3,"以STL文件的形式描述负载碰撞集合体") + +#define ENUM_TaskFrameType_DECLARES \ + ENUM_ITEM(NONE, 0,"") \ + ENUM_ITEM(POINT_FORCE, 1, "力控坐标系发生变换, 使得力控参考坐标系的y轴沿着机器人TCP指向力控所选特征的原点, x和z轴取决于所选特征的原始方向" \ + "力控坐标系发生变换, 使得力控参考坐标系的y轴沿着机器人TCP指向力控所选特征的原点, x和z轴取决于所选特征的原始方向" \ + "机器人TCP与所选特征的起点之间的距离至少为10mm" \ + "优先选择X轴, 为所选特征的X轴在力控坐标系Y轴垂直平面上的投影, 如果所选特征的X轴与力控坐标系的Y轴平行, " \ + "通过类似方法确定力控坐标系Z轴, Y-X或者Y-Z轴确定之后, 通过右手法则确定剩下的轴") \ + ENUM_ITEM(FRAME_FORCE, 2,"力控坐标系不发生变换 SIMPLE_FORC") \ + ENUM_ITEM(MOTION_FORCE, 3,"力控坐标系发生变换, 使得力控参考坐标系的x轴为机器人TCP速度在所选特征x-y平面上的投影y轴将垂直于机械臂运动, 并在所选特征的x-y平面内")\ + ENUM_ITEM(TOOL_FORCE, 4,"以工具末端坐标系作为力控参考坐标系") + +#ifdef ERROR +#undef ERROR +#endif + +#define ENUM_TraceLevel_DECLARES \ + ENUM_ITEM(FATAL, 0, "") \ + ENUM_ITEM(ERROR, 1, "") \ + ENUM_ITEM(WARNING, 2, "") \ + ENUM_ITEM(INFO, 3, "") \ + ENUM_ITEM(DEBUG, 4, "") + +#define ENUM_AxisModeType_DECLARES \ + ENUM_ITEM(NoController, -1, "提供给示教器使用的, 如果aubo_control进程崩溃则会显示为NoController") \ + ENUM_ITEM(Disconnected, 0, "未连接") \ + ENUM_ITEM(PowerOff, 1, "断电") \ + ENUM_ITEM(BrakeReleasing, 2, "刹车松开中") \ + ENUM_ITEM(Idle, 3, "空闲") \ + ENUM_ITEM(Running, 4, "运行中") \ + ENUM_ITEM(Fault, 5, "错误状态") + +#define ENUM_HandleStateType_DECLARES \ + ENUM_ITEM(Disconnected, 0, "未连接") \ + ENUM_ITEM(Init, 1, "初始化中") \ + ENUM_ITEM(Connected, 2, "已连接") \ + ENUM_ITEM(Lock, 3, "锁定") \ + ENUM_ITEM(Fault, 4, "错误状态") \ + +#define ENUM_HandleModeType_DECLARES \ + ENUM_ITEM(None, 0, "不支持手柄") \ + ENUM_ITEM(Default, 1, "S等系列默认手柄") \ + ENUM_ITEM(MultiFuncG1, 2, "G系列第一代多功能手柄") \ + +#define ENUM_SafeguedStopType_DECLARES \ + ENUM_ITEM(None, 0, "无安全停止") \ + ENUM_ITEM(SafeguedStopIOInput, 1, "安全停止(IO输入)") \ + ENUM_ITEM(SafeguedStop3PE, 2, "安全停止(三态开关)") \ + ENUM_ITEM(SafeguedStopOperational, 3, "安全停止(操作模式)") + +#define ENUM_RobotEmergencyStopType_DECLARES \ + ENUM_ITEM(RobotEmergencyStopNone, 0, "无紧急停止") \ + ENUM_ITEM(RobotEmergencyStopControlBox, 1, "紧急停止(控制柜急停)") \ + ENUM_ITEM(RobotEmergencyStopTeachPendant, 2, "紧急停止(示教器急停)") \ + ENUM_ITEM(RobotEmergencyStopHandle, 3, "紧急停止(手柄急停)") \ + ENUM_ITEM(RobotEmergencyStopEI, 4, "紧急停止(固定IO急停)") + +#define ENUM_RobotIOType_DECLARES \ + ENUM_ITEM(IONone, 0, "无IO") \ + ENUM_ITEM(StandardDigitalOutput, 1, "标准数字输出IO") \ + ENUM_ITEM(ToolDigitalOutput, 2, "工具端数字输出IO") \ + ENUM_ITEM(ConfigurableDigitalOutput, 3, "可配置数字输出IO") \ + ENUM_ITEM(StandardDigitalInput, 4, "标准数字输入IO") \ + ENUM_ITEM(ToolDigitalInput, 5, "工具端数字输入IO") \ + ENUM_ITEM(ConfigurableDigitalInput, 6, "可配置数字输入IO") \ + ENUM_ITEM(StandardAnalogOutput, 7, "标准模拟输出IO") \ + ENUM_ITEM(ToolAnalogOutput, 8, "工具端模拟输出IO") \ + ENUM_ITEM(StandardAnalogInput, 9, "标准模拟输入IO") \ + ENUM_ITEM(ToolAnalogInput, 10, "工具端模拟输入IO") + +#define ENUM_ITEM(c, n, ...) c = n, +enum AuboErrorCodes : int +{ + ENUM_AuboErrorCodes_DECLARES +}; + +enum class RuntimeState : int +{ + ENUM_RuntimeState_DECLARES +}; + +enum class RobotModeType : int +{ + ENUM_RobotModeType_DECLARES +}; + +enum class AxisModeType : int +{ + ENUM_AxisModeType_DECLARES +}; + +enum class HandleStateType : int +{ + ENUM_HandleStateType_DECLARES +}; + +enum class HandleModeType : int +{ + ENUM_HandleModeType_DECLARES +}; + +/** + * \~chinese 安全状态: \~english Safety Mode + * + */ +enum class SafetyModeType : int +{ + ENUM_SafetyModeType_DECLARES +}; + +/** + * \~chinese 操作模式 \~english Operational Mode + */ +enum class OperationalModeType : int +{ + ENUM_OperationalModeType_DECLARES +}; + +/** + * \~chinese 机器人控制模式 \~english Robot Control Mode + */ +enum class RobotControlModeType : int +{ + ENUM_RobotControlModeType_DECLARES +}; + +/** + * \~chinese 关节伺服模式 \~english Joint Servo Mode + */ +enum class JointServoModeType : int +{ + ENUM_JointServoModeType_DECLARES +}; + +/** + * \~chinese 关节状态 \~english Joint State + */ +enum class JointStateType : int +{ + ENUM_JointStateType_DECLARES +}; + +/** + * \~chinese 标准输出运行状态 \~english Standard Output Run State + */ +enum class StandardOutputRunState : int +{ + ENUM_StandardOutputRunState_DECLARES +}; + +/** + * @brief The StandardInputAction enum + */ +enum class StandardInputAction : int +{ + ENUM_StandardInputAction_DECLARES +}; + +enum class SafetyInputAction : int +{ + ENUM_SafetyInputAction_DECLARES +}; + +enum class SafetyOutputRunState : int +{ + ENUM_SafetyOutputRunState_DECLARES +}; + +enum TaskFrameType +{ + ENUM_TaskFrameType_DECLARES +}; + +enum EnvelopingShape : int +{ + ENUM_EnvelopingShape_DECLARES +}; + +enum PayloadIdentifyMoveAxis : int +{ + ENUM_PayloadIdentifyMoveAxis_DECLARES +}; + +enum TraceLevel +{ + ENUM_TraceLevel_DECLARES +}; + +enum SafeguedStopType : int +{ + ENUM_SafeguedStopType_DECLARES +}; + +enum RobotEmergencyStopType : int +{ + ENUM_RobotEmergencyStopType_DECLARES +}; + +enum RobotIOType : int +{ + ENUM_RobotIOType_DECLARES +}; +#undef ENUM_ITEM + +#define DECL_TO_STRING_FUNC(ENUM) \ + inline std::string toString(ENUM v) \ + { \ + using T = ENUM; \ + std::string name = #ENUM "."; \ + ENUM_##ENUM##_DECLARES \ + \ + return #ENUM ".Unkown"; \ + } \ + inline std::ostream &operator<<(std::ostream &os, ENUM v) \ + { \ + os << toString(v); \ + return os; \ + } + +#define ENUM_ITEM(c, n, ...) \ + if (v == T::c) { \ + return name + #c; \ + } + +DECL_TO_STRING_FUNC(RuntimeState) +DECL_TO_STRING_FUNC(RobotModeType) +DECL_TO_STRING_FUNC(AxisModeType) +DECL_TO_STRING_FUNC(SafetyModeType) +DECL_TO_STRING_FUNC(OperationalModeType) +DECL_TO_STRING_FUNC(RobotControlModeType) +DECL_TO_STRING_FUNC(JointServoModeType) +DECL_TO_STRING_FUNC(JointStateType) +DECL_TO_STRING_FUNC(StandardInputAction) +DECL_TO_STRING_FUNC(StandardOutputRunState) +DECL_TO_STRING_FUNC(SafetyInputAction) +DECL_TO_STRING_FUNC(SafetyOutputRunState) +DECL_TO_STRING_FUNC(TaskFrameType) +DECL_TO_STRING_FUNC(TraceLevel) +DECL_TO_STRING_FUNC(HandleModeType) +DECL_TO_STRING_FUNC(HandleStateType) +DECL_TO_STRING_FUNC(RobotIOType) + +#undef ENUM_ITEM + +enum class ForceControlState +{ + Stopped, + Starting, + Stropping, + Running +}; + +enum class RefFrameType +{ + None, /// + Tool, ///< \~chinese 工具坐标系 \~english Tool coordinate system + Path, ///< \~chinese 轨迹坐标系 \~english Trajectory coordinate system + Base ///< \~chinese 基坐标系 \~english Base coordinate system +}; + +/// \~chinese 圆周运动参数定义 \~english Circular motion parameters definition +struct CircleParameters +{ + std::vector pose_via; ///< \~chinese 圆周运动途中点的位姿 \~english Pose of the intermediate point in circular motion + std::vector pose_to; ///< \~chinese 圆周运动结束点的位姿 \~english Pose of the end point in circular motion + double a; ///< \~chinese 加速度, 单位: m/s^2 \~english Acceleration, unit: m/s^2 + double v; ///< \~chinese 速度，单位: m/s \~english Speed, unit: m/s + double blend_radius; ///< \~chinese 交融半径,单位: m \~english Blending radius, unit: m + double duration; ///< \~chinese 运行时间，单位: s \~english Running time, unit: s + double helix; + double spiral; + double direction; + int loop_times; ///< \~chinese 暂不支持 \~english Currently not supported +}; + +inline std::ostream &operator<<(std::ostream &os, CircleParameters p) +{ + return os; +} + +struct SpiralParameters +{ + std::vector frame; ///< \~chinese 参考点，螺旋线的中心点和参考坐标系 \~english Reference point, the center point of the spiral and the reference coordinate system + int plane; ///< \~chinese 参考平面选择 0-XY 1-YZ 2-ZX \~english Reference plane selection 0-XY 1-YZ 2-ZX + double angle; ///< \~chinese 转动的角度，如果为正数，机器人逆时针旋转 \~english The angle of rotation, if positive, the robot rotates counterclockwise + double spiral; ///< \~chinese 正数外扩 \~english Positive outward + double helix; ///< \~chinese 正数上升 \~english Positive upward +}; + +inline std::ostream &operator<<(std::ostream &os, SpiralParameters p) +{ + return os; +} + +struct Enveloping +{ + EnvelopingShape shape; // \~chinese 包络体形状 \~english Enveloping shape + std::vector ep_args; // \~chinese 包络体组合，shape为None或Stl时无需对ep_args赋值; \~english Enveloping combination, when shape is None or Stl, no need to assign value to ep_args. + // \~chinese shape为Cube时ep_args有9个元素，分别为xmin,xmax,ymin,ymax,zmin,zmax,rx,ry,rz; \~english When shape is Cube, ep_args has 9 elements, which are xmin, xmax, ymin, ymax, zmin, zmax, rx, ry, rz; + // \~chinese shape为Column时ep_args有5个元素，分别为radius,height,rx,ry,rz; \~english When shape is Column, ep_args has 5 elements, which are radius, height, rx, ry, rz; + std::string stl_path; // \~chinese stl的路径(绝对路径)，stl文件需为二进制文件, \~english Path of the stl file (absolute path), the stl file must be a binary file, \~chinese shape设置为Stl时，此项生效 \~english When shape is set to Stl, this item takes effect +}; + +inline std::ostream &operator<<(std::ostream &os, Enveloping p) +{ + return os; +} + +/// \~chinese 用于负载辨识的轨迹配置 \~english Trajectory configuration for +/// payload identification +struct TrajConfig +{ + std::vector envelopings; // \~chinese 包络体组合 \~english Enveloping combination + PayloadIdentifyMoveAxis move_axis; // \~chinese 运动的轴(ID), 下标从0开始 \~english Axis of movement (ID), index starts from 0 + std::vector init_joint; // \~chinese 关节初始位置 \~english Initial joint positions + std::vector upper_joint_bound; // \~chinese 运动轴上限 \~english Upper joint limits + std::vector lower_joint_bound; // \~chinese 运动轴下限 \~english Lower joint limits + std::vector max_velocity; // \~chinese 关节运动的最大速度，默认值为　3.0 \~english Maximum joint velocities, default value is 3.0 + std::vector max_acceleration; // \~chinese 关节运动的最大加速度，默认值为　5.0 \~english Maximum joint accelerations, default value is 5.0 +}; + +inline std::ostream &operator<<(std::ostream &os, TrajConfig p) +{ + return os; +} + +// result with error code +using ResultWithErrno = std::tuple, int>; +using ResultWithErrno1 = std::tuple>, int>; +using ResultWithErrno2 = std::tuple, int>; +using ResultWithErrno3 = std::tuple; + +// mass, cog, aom, inertia +using Payload = std::tuple, std::vector, + std::vector>; + +// force_offset, com, mass, angle +using ForceSensorCalibResult = + std::tuple, std::vector, double, + std::vector>; + +// force_offset, com, mass, angle error +using ForceSensorCalibResultWithError = + std::tuple, std::vector, double, + std::vector, double>; + +// \~chinese 动力学模型m,d,k \~english Dynamics model m, d, k +using DynamicsModel = + std::tuple, std::vector, std::vector>; + +// double xmin; +// double xmax; +// double ymin; +// double ymax; +// double zmin; +// double zmax; +using Box = std::vector; + +// double xcbottom; +// double ycbottom; +// double zcbottom; +// double height; +// double radius; +using Cylinder = std::vector; + +// double xc; +// double yc; +// double radius; +using Sphere = std::vector; + +struct RobotMsg +{ + uint64_t timestamp; ///< \~chinese 时间戳，即系统时间 \~english Timestamp, + ///< i.e., system time + TraceLevel level; ///< \~chinese 日志等级 \~english Log level + int code; ///< \~chinese 错误码 \~english Error code + std::string + source; ///< \~chinese 发送消息的机器人别名 alias \~english Alias of the + ///< robot sending the message + ///< \~chinese 可在 /root/arcs_ws/config/aubo_control.conf + ///< \~english Can be found in + ///< /root/arcs_ws/config/aubo_control.conf + ///< \~chinese 配置文件中查到机器人的alias \~english The robot's + ///< alias can be found in the configuration file + ///< /root/arcs_ws/config/aubo_control.conf + std::vector args; ///< \~chinese 机器人参数 \~english Robot parameters +}; +using RobotMsgVector = std::vector; + +struct GripperStatus +{ + std::string name; + bool is_connected; + bool is_enabled; + double position; + double velocity; + double force; + double angle; + double r_velocity; + double torque; + bool object_detection; + bool motion_state; + double voltage; + double temperature; + int status_code; +}; +using GripperStatusVector = std::vector; + +/// \~chinese RTDE菜单 \~english RTDE menu +struct RtdeRecipe +{ + bool to_server; ///< \~chinese 输入/输出 \~english Input/Output + int chanel; ///< \~chinese 通道 \~english Channel + double frequency; ///< \~chinese 更新频率 \~english Update frequency + int trigger; ///< \~chinese 触发方式(该功能暂未实现): 0 - 周期; 1 - 变化 + ///< \~english Trigger method (this feature is not yet + ///< implemented): 0 - Periodic; 1 - Change + std::vector segments; ///< \~chinese 字段列表 \~english segment list +}; + +/// \~chinese 干涉区配置: 轴对齐长方体 + 余量 + 本区独立 IO(standard DI/DO)。 +/// \~english WorldZone zone config: axis-aligned box + margins + per-zone IO. +struct WorldZone +{ + /// \~chinese 区域唯一标识 \~english Unique zone id + int id{ 0 }; + /// \~chinese 是否启用 \~english Whether enabled + bool enabled{ false }; + /// \~chinese false=腔内危险(外扩), true=腔外危险(内缩) + /// \~english false=inside is danger (expand), true=outside is danger (shrink) + bool outside{ false }; + /// \~chinese 体对角顶点 [x,y,z], 基坐标系, m \~english diagonal vertex + std::array base_vertex{ { 0, 0, 0 } }; + /// \~chinese 体对角的另一顶点 \~english opposite diagonal vertex + std::array opposite_vertex{ { 0, 0, 0 } }; + /// \~chinese 工艺余量, m \~english process margin + double margin{ 0.0 }; + /// \~chinese 工具包络半径, m \~english tool envelope radius + double tool_radius{ 0.0 }; + /// \~chinese 制动距离余量, m; 启用时必 >0 \~english brake margin, must >0 when enabled + double brake_margin{ 0.0 }; + /// \~chinese 本区占用输出 standard DO 序号, -1=不绑 \~english per-zone occupancy DO index + int occupied_do_index{ -1 }; + /// \~chinese 占用极性 \~english occupancy polarity + bool occupied_active_high{ true }; + /// \~chinese 本区允许输入 standard DI 序号, -1=不绑(恒许可) \~english per-zone permit DI index + int permit_di_index{ -1 }; + /// \~chinese 允许极性 \~english permit polarity + bool permit_active_high{ true }; + + bool operator==(const WorldZone &o) const + { + return id == o.id && enabled == o.enabled && outside == o.outside && + base_vertex == o.base_vertex && + opposite_vertex == o.opposite_vertex && margin == o.margin && + tool_radius == o.tool_radius && brake_margin == o.brake_margin && + occupied_do_index == o.occupied_do_index && + occupied_active_high == o.occupied_active_high && + permit_di_index == o.permit_di_index && + permit_active_high == o.permit_active_high; + } +}; + +inline std::ostream &operator<<(std::ostream &os, const WorldZone &zone) +{ + (void)zone; + return os; +} + +/// \~chinese 干涉区只读运行状态(聚合)。 +/// \~english WorldZone zone read-only runtime state (aggregated). +struct WorldZoneState +{ + /// \~chinese TCP 在任一区内 \~english TCP in any zone + bool any_occupied{ false }; + /// \~chinese 是否正因干涉区保持 \~english holding due to world zone + bool holding{ false }; + /// \~chinese 任一区 need_area && !permit \~english any zone blocking + bool blocking{ false }; + /// \~chinese 导致保持/阻塞的区 id(各区 permit 独立, 看此表定位) \~english blocking zone ids + std::vector blocking_ids; + + bool operator==(const WorldZoneState &o) const + { + return any_occupied == o.any_occupied && holding == o.holding && + blocking == o.blocking && blocking_ids == o.blocking_ids; + } +}; + +inline std::ostream &operator<<(std::ostream &os, const WorldZoneState &state) +{ + (void)state; + return os; +} + +/// \~chinese 异常类型 \~english Error type +enum error_type +{ + parse_error = -32700, ///< \~chinese 解析错误 \~english Parse error + invalid_request = -32600, ///< \~chinese 无效请求 \~english Invalid request + method_not_found = -32601, ///< \~chinese 方法未找到 \~english Method not found + invalid_params = -32602, ///< \~chinese 无效参数 \~english Invalid parameters + internal_error = -32603, ///< \~chinese 内部错误 \~english Internal error + server_error = -32500, ///< \~chinese 服务器错误 \~english Server error + invalid = -32400 ///< \~chinese 无效 \~english Invalid +}; + +/// \~chinese 异常码 \~english Exception code +enum ExceptionCode +{ + EC_DISCONNECTED = -1, ///< \~chinese 断开连接 \~english Disconnected + EC_NOT_LOGINED = -2, ///< \~chinese 未登录 \~english Not logged in + EC_INVAL_SOCKET = -3, ///< \~chinese 无效套接字 \~english Invalid socket + EC_REQUEST_BUSY = -4, ///< \~chinese 请求繁忙 \~english Request busy + EC_SEND_FAILED = -5, ///< \~chinese 发送失败 \~english Send failed + EC_RECV_TIMEOUT = -6, ///< \~chinese 接收超时 \~english Receive timeout + EC_RECV_ERROR = -7, ///< \~chinese 接收错误 \~english Receive error + EC_PARSE_ERROR = -8, ///< \~chinese 解析错误 \~english Parse error + EC_INVALID_REQUEST = -9, ///< \~chinese 无效请求 \~english Invalid request + EC_METHOD_NOT_FOUND = -10, ///< \~chinese 方法未找到 \~english Method not found + EC_INVALID_PARAMS = -11, ///< \~chinese 无效参数 \~english Invalid parameters + EC_INTERNAL_ERROR = -12, ///< \~chinese 内部错误 \~english Internal error + EC_SERVER_ERROR = -13, ///< \~chinese 服务器错误 \~english Server error + EC_INVALID = -14 ///< \~chinese 无效 \~english Invalid +}; + +/// \~chinese 自定义异常类 AuboException \~english Custom exception class +/// AuboException +class AuboException : public std::exception +{ +public: + AuboException(int code, const std::string &prefix, + const std::string &message) noexcept + : code_(code), message_(prefix + "-" + message) + { + } + + AuboException(int code, const std::string &message) noexcept + : code_(code), message_(message) + { + } + + error_type type() const + { + if (code_ >= -32603 && code_ <= -32600) { + return static_cast(code_); + } else if (code_ >= -32099 && code_ <= -32000) { + return server_error; + } else if (code_ == -32700) { + return parse_error; + } + return invalid; + } + + int code() const { return code_; } + const char *what() const noexcept override { return message_.c_str(); } + +private: + int code_; ///< \~chinese 异常码 \~english Exception code + std::string message_; ///< \~chinese 异常消息 \~chinese Exception message +}; + +inline const char *returnValue2Str(int retval) +{ + static const char *retval_str[] = { +#define ENUM_ITEM(n, v, s) s, + ENUM_AuboErrorCodes_DECLARES +#undef ENUM_ITEM + }; + + enum arcs_index + { +#define ENUM_ITEM(n, v, s) n##_INDEX, + ENUM_AuboErrorCodes_DECLARES +#undef ENUM_ITEM + }; + + int index = -1; + +#define ENUM_ITEM(n, v, s) \ + if (abs(retval) == v) \ + index = n##_INDEX; + ENUM_AuboErrorCodes_DECLARES +#undef ENUM_ITEM + + if (index == -1) + { + index = AUBO_ERR_UNKOWN_INDEX; + } + + return retval_str[(unsigned)index]; +} + +} // namespace common_interface +} // namespace arcs +#endif + +// clang-format on + +#if defined ENABLE_JSON_TYPES +#include "bindings/jsonrpc/json_types.h" +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/math_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/math_c.h new file mode 100644 index 00000000..8eca724a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/math_c.h @@ -0,0 +1,53 @@ +#ifndef AUBO_SDK_Math_C_H +#define AUBO_SDK_Math_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI int poseAdd(MATH_HANDLER h, const double *p1, const double *p2, + double *result); +ARCS_ABI int poseSub(MATH_HANDLER h, const double *p1, const double *p2, + double *result); +ARCS_ABI int interpolatePose(MATH_HANDLER h, const double *p1, const double *p2, + double alpha, double *result); +ARCS_ABI int poseTrans(MATH_HANDLER h, const double *pose_from, + const double *pose_from_to, double *result); +ARCS_ABI int poseTransInv(MATH_HANDLER h, const double *pose_from, + const double *pose_to_from, double *result); +ARCS_ABI int poseInverse(MATH_HANDLER h, const double *pose, double *result); +ARCS_ABI double poseDistance(MATH_HANDLER h, const double *p1, + const double *p2); +ARCS_ABI double poseAngleDistance(MATH_HANDLER h, const double *p1, + const double *p2); +ARCS_ABI BOOL poseEqual(MATH_HANDLER h, const double *p1, const double *p2, + double eps); +ARCS_ABI int transferRefFrame(MATH_HANDLER h, const double *F_b_a_old, + Vector3d_C V_in_a, int type, double *result); +ARCS_ABI int poseRotation(MATH_HANDLER h, const double *pose, + const double *rotv, double *result); +ARCS_ABI int rpyToQuaternion(MATH_HANDLER h, const double *rpy, double *result); +ARCS_ABI int quaternionToRpy(MATH_HANDLER h, const double *quant, + double *result); +ARCS_ABI int tcpOffsetIdentify(MATH_HANDLER h, const double *poses, int rows, + double *result); +ARCS_ABI int calibrateCoordinate(MATH_HANDLER h, const double *poses, int rows, + int type, double *result); +ARCS_ABI int calculateCircleFourthPoint(MATH_HANDLER h, const double *p1, + const double *p2, const double *p3, + int mode, double *result); +ARCS_ABI int forceTrans(MATH_HANDLER h, const double *pose_a_in_b, + const double *force_in_a, double *result); +ARCS_ABI int getDeltaPoseBySensorDistance(MATH_HANDLER h, + const double *distances, + double position, double radius, + double track_scale, double *result); +ARCS_ABI int deltaPoseTrans(MATH_HANDLER h, const double *pose_a_in_b, + const double *ft_in_a, double *result); +ARCS_ABI int deltaPoseAdd(MATH_HANDLER h, const double *pose_a_in_b, + const double *v_in_b, double *result); +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/register_control_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/register_control_c.h new file mode 100644 index 00000000..c3e38858 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/register_control_c.h @@ -0,0 +1,120 @@ +#ifndef AUBO_SDK_RegisterControl_C_H +#define AUBO_SDK_RegisterControl_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI BOOL getBoolInput(REGISTER_CONTROL_HANDLER h, uint32_t address); +ARCS_ABI int setBoolInput(REGISTER_CONTROL_HANDLER h, uint32_t address, + BOOL value); +ARCS_ABI int getInt32Input(REGISTER_CONTROL_HANDLER h, uint32_t address); +ARCS_ABI int setInt32Input(REGISTER_CONTROL_HANDLER h, uint32_t address, + int value); +ARCS_ABI float getFloatInput(REGISTER_CONTROL_HANDLER h, uint32_t address); +ARCS_ABI int setFloatInput(REGISTER_CONTROL_HANDLER h, uint32_t address, + float value); +ARCS_ABI double getDoubleInput(REGISTER_CONTROL_HANDLER h, uint32_t address); +ARCS_ABI int setDoubleInput(REGISTER_CONTROL_HANDLER h, uint32_t address, + double value); +ARCS_ABI BOOL getBoolOutput(REGISTER_CONTROL_HANDLER h, uint32_t address); +ARCS_ABI int setBoolOutput(REGISTER_CONTROL_HANDLER h, uint32_t address, + BOOL value); +ARCS_ABI int getInt32Output(REGISTER_CONTROL_HANDLER h, uint32_t address); +ARCS_ABI int setInt32Output(REGISTER_CONTROL_HANDLER h, uint32_t address, + int value); +ARCS_ABI float getFloatOutput(REGISTER_CONTROL_HANDLER h, uint32_t address); +ARCS_ABI int setFloatOutput(REGISTER_CONTROL_HANDLER h, uint32_t address, + float value); +ARCS_ABI double getDoubleOutput(REGISTER_CONTROL_HANDLER h, uint32_t address); +ARCS_ABI int setDoubleOutput(REGISTER_CONTROL_HANDLER h, uint32_t address, + double value); +ARCS_ABI int16_t getInt16Register(REGISTER_CONTROL_HANDLER h, uint32_t address); +ARCS_ABI int setInt16Register(REGISTER_CONTROL_HANDLER h, uint32_t address, + int16_t value); +ARCS_ABI BOOL variableUpdated(REGISTER_CONTROL_HANDLER h, const char *key, + uint64_t since); +ARCS_ABI BOOL hasNamedVariable(REGISTER_CONTROL_HANDLER h, const char *key); +ARCS_ABI int getNamedVariableType(REGISTER_CONTROL_HANDLER h, const char *key, + char *result); +ARCS_ABI BOOL getBool(REGISTER_CONTROL_HANDLER h, const char *key, + BOOL default_value); +ARCS_ABI int setBool(REGISTER_CONTROL_HANDLER h, const char *key, BOOL value); +ARCS_ABI int getVecChar(REGISTER_CONTROL_HANDLER h, const char *key, + const char *default_value, char *result, int sz); +ARCS_ABI int setVecChar(REGISTER_CONTROL_HANDLER h, const char *key, + const char *value, int sz); +ARCS_ABI int getInt32(REGISTER_CONTROL_HANDLER h, const char *key, + int default_value); +ARCS_ABI int setInt32(REGISTER_CONTROL_HANDLER h, const char *key, int value); +ARCS_ABI int getVecInt32(REGISTER_CONTROL_HANDLER h, const char *key, + int32_t *default_value, int *result); +ARCS_ABI int setVecInt32(REGISTER_CONTROL_HANDLER h, const char *key, + int32_t *value); +ARCS_ABI float getFloat(REGISTER_CONTROL_HANDLER h, const char *key, + float default_value); +ARCS_ABI int setFloat(REGISTER_CONTROL_HANDLER h, const char *key, float value); +ARCS_ABI int getVecFloat(REGISTER_CONTROL_HANDLER h, const char *key, + const float *default_value, float *result); +ARCS_ABI int setVecFloat(REGISTER_CONTROL_HANDLER h, const char *key, + const float *value); +ARCS_ABI double getDouble(REGISTER_CONTROL_HANDLER h, const char *key, + double default_value); +ARCS_ABI int setDouble(REGISTER_CONTROL_HANDLER h, const char *key, + double value); +ARCS_ABI int getVecDouble(REGISTER_CONTROL_HANDLER h, const char *key, + const double *default_value, double *result); +ARCS_ABI int setVecDouble(REGISTER_CONTROL_HANDLER h, const char *key, + const double *value); +ARCS_ABI int getString(REGISTER_CONTROL_HANDLER h, const char *key, + const char *default_value, char *result); +ARCS_ABI int setString(REGISTER_CONTROL_HANDLER h, const char *key, + const char *value); +ARCS_ABI int clearNamedVariable(REGISTER_CONTROL_HANDLER h, const char *key); +ARCS_ABI int setWatchDog(REGISTER_CONTROL_HANDLER h, const char *key, + double timeout, int action); +ARCS_ABI int getWatchDogAction(REGISTER_CONTROL_HANDLER h, const char *key); +ARCS_ABI int getWatchDogTimeout(REGISTER_CONTROL_HANDLER h, const char *key); +ARCS_ABI int modbusAddSignal(REGISTER_CONTROL_HANDLER h, + const char *device_info, int slave_number, + int signal_address, int signal_type, + const char *signal_name, BOOL sequential_mode); +ARCS_ABI int modbusDeleteSignal(REGISTER_CONTROL_HANDLER h, + const char *signal_name); +ARCS_ABI int modbusDeleteAllSignals(REGISTER_CONTROL_HANDLER h); +ARCS_ABI int modbusGetSignalStatus(REGISTER_CONTROL_HANDLER h, + const char *signal_name); +ARCS_ABI int modbusGetSignalNames(REGISTER_CONTROL_HANDLER h, char **result); +ARCS_ABI int modbusGetSignalTypes(REGISTER_CONTROL_HANDLER h, int *result); +ARCS_ABI int modbusGetSignalValues(REGISTER_CONTROL_HANDLER h, int *result); +ARCS_ABI int modbusGetSignalErrors(REGISTER_CONTROL_HANDLER h, int *result); +ARCS_ABI int modbusSendCustomCommand(REGISTER_CONTROL_HANDLER h, const char *IP, + int slave_number, int function_code, + uint8_t *data, int sz); +ARCS_ABI int modbusSetDigitalInputAction(REGISTER_CONTROL_HANDLER h, + const char *robot_name, + const char *signal_name, + StandardInputAction_C action); +ARCS_ABI int modbusSetOutputRunstate(REGISTER_CONTROL_HANDLER h, + const char *robot_name, + const char *signal_name, + StandardOutputRunState_C runstate); +ARCS_ABI int modbusSetOutputSignal(REGISTER_CONTROL_HANDLER h, + const char *signal_name, uint16_t value); +ARCS_ABI int modbusSetOutputSignalPulse(REGISTER_CONTROL_HANDLER h, + const char *signal_name, uint16_t value, + double duration); +ARCS_ABI int modbusSetSignalUpdateFrequency(REGISTER_CONTROL_HANDLER h, + const char *signal_name, + int update_frequency); +ARCS_ABI int modbusGetSignalIndex(REGISTER_CONTROL_HANDLER h, + const char *signal_name); +ARCS_ABI int modbusGetSignalError(REGISTER_CONTROL_HANDLER h, + const char *signal_name); +ARCS_ABI int getModbusDeviceStatus(REGISTER_CONTROL_HANDLER h, + const char *device_name); +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/force_control_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/force_control_c.h new file mode 100644 index 00000000..55ccc592 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/force_control_c.h @@ -0,0 +1,78 @@ +#ifndef AUBO_SDK_ForceControl_C_H +#define AUBO_SDK_ForceControl_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI int fcEnable(FORCE_CONTROL_HANDLER h); +ARCS_ABI int fcDisable(FORCE_CONTROL_HANDLER h); +ARCS_ABI BOOL isFcEnabled(FORCE_CONTROL_HANDLER h); +ARCS_ABI int setTargetForce(FORCE_CONTROL_HANDLER h, const double *feature, + const uint8_t *compliance, const double *wrench, + const double *limits, TaskFrameType_C type); +ARCS_ABI int setDynamicModel(FORCE_CONTROL_HANDLER h, const double *m, + const double *d, const double *k); +ARCS_ABI DynamicsModel_C getDynamicModel(FORCE_CONTROL_HANDLER h); +ARCS_ABI int setDynamicModelContact(FORCE_CONTROL_HANDLER h, + const double *env_stiff, + const double *damp_scale, + const double *stiff_scale); +ARCS_ABI int setCondForce(FORCE_CONTROL_HANDLER h, const double *min, + const double *max, BOOL outside, double timeout); +ARCS_ABI int setCondOrient(FORCE_CONTROL_HANDLER h, const double *frame, + double max_angle, double max_rot, BOOL outside, + double timeout); +ARCS_ABI int setCondPlane(FORCE_CONTROL_HANDLER h, const double *plane, + double timeout); +ARCS_ABI int setCondCylinder(FORCE_CONTROL_HANDLER h, const double *axis, + double radius, BOOL outside, double timeout); +ARCS_ABI int setCondSphere(FORCE_CONTROL_HANDLER h, const double *center, + double radius, BOOL outside, double timeout); +ARCS_ABI int setCondTcpSpeed(FORCE_CONTROL_HANDLER h, const double *min, + const double *max, BOOL outside, double timeout); +ARCS_ABI int setCondActive(FORCE_CONTROL_HANDLER h); +ARCS_ABI int setCondDistance(FORCE_CONTROL_HANDLER h, double distance, + double timeout); +ARCS_ABI int setCondAdvanced(FORCE_CONTROL_HANDLER h, const char *type, + const double *args, double timeout); +ARCS_ABI BOOL isCondFullfiled(FORCE_CONTROL_HANDLER h); +ARCS_ABI int setSupvForce(FORCE_CONTROL_HANDLER h, const double *min, + const double *max); +ARCS_ABI int setSupvOrient(FORCE_CONTROL_HANDLER h, const double *frame, + double max_angle, double max_rot, BOOL outside); +ARCS_ABI int setSupvPosBox(FORCE_CONTROL_HANDLER h, const double *frame, + const double *box); +ARCS_ABI int setSupvPosCylinder(FORCE_CONTROL_HANDLER h, const double *frame, + const double *cylinder); +ARCS_ABI int setSupvPosSphere(FORCE_CONTROL_HANDLER h, const double *frame, + const double *sphere); +ARCS_ABI int setSupvReoriSpeed(FORCE_CONTROL_HANDLER h, + const double *speed_limit, BOOL outside, + double timeout); +ARCS_ABI int setSupvTcpSpeed(FORCE_CONTROL_HANDLER h, const double *speed_limit, + BOOL outside, double timeout); +ARCS_ABI int setLpFilter(FORCE_CONTROL_HANDLER h, const double *cutoff_freq); +ARCS_ABI int resetLpFilter(FORCE_CONTROL_HANDLER h); +ARCS_ABI int speedChangeTune(FORCE_CONTROL_HANDLER h, int speed_levels, + double speed_ratio_min); +ARCS_ABI int speedChangeEnable(FORCE_CONTROL_HANDLER h, double ref_force); +ARCS_ABI int speedChangeDisable(FORCE_CONTROL_HANDLER h); +ARCS_ABI int setDamping(FORCE_CONTROL_HANDLER h, const double *damping, + double ramp_time); +ARCS_ABI int resetDamping(FORCE_CONTROL_HANDLER h); +ARCS_ABI int softFloatEnable(FORCE_CONTROL_HANDLER h); +ARCS_ABI int softFloatDisable(FORCE_CONTROL_HANDLER h); +ARCS_ABI BOOL isSoftFloatEnabled(FORCE_CONTROL_HANDLER h); +ARCS_ABI int setSoftFloatParams(FORCE_CONTROL_HANDLER h, BOOL joint_space, + const uint8_t *select, + const double *stiff_percent, + const double *stiff_damp_ratio, + const double *force_threshold, + const double *force_limit); +ARCS_ABI int toolContact(FORCE_CONTROL_HANDLER h, const uint8_t *direction); +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/io_control_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/io_control_c.h new file mode 100644 index 00000000..45565338 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/io_control_c.h @@ -0,0 +1,113 @@ +#ifndef AUBO_SDK_IoControl_C_H +#define AUBO_SDK_IoControl_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI int getStandardDigitalInputNum(IO_CONTROL_HANDLER h); +ARCS_ABI int getToolDigitalInputNum(IO_CONTROL_HANDLER h); +ARCS_ABI int getConfigurableDigitalInputNum(IO_CONTROL_HANDLER h); +ARCS_ABI int getStandardDigitalOutputNum(IO_CONTROL_HANDLER h); +ARCS_ABI int getToolDigitalOutputNum(IO_CONTROL_HANDLER h); +ARCS_ABI int setToolIoInput(IO_CONTROL_HANDLER h, int index, BOOL input); +ARCS_ABI BOOL isToolIoInput(IO_CONTROL_HANDLER h, int index); +ARCS_ABI int getConfigurableDigitalOutputNum(IO_CONTROL_HANDLER h); +ARCS_ABI int getStandardAnalogInputNum(IO_CONTROL_HANDLER h); +ARCS_ABI int getToolAnalogInputNum(IO_CONTROL_HANDLER h); +ARCS_ABI int getStandardAnalogOutputNum(IO_CONTROL_HANDLER h); +ARCS_ABI int getToolAnalogOutputNum(IO_CONTROL_HANDLER h); +ARCS_ABI int setDigitalInputActionDefault(IO_CONTROL_HANDLER h); +ARCS_ABI int setStandardDigitalInputAction(IO_CONTROL_HANDLER h, int index, + StandardInputAction_C action); +ARCS_ABI int setToolDigitalInputAction(IO_CONTROL_HANDLER h, int index, + StandardInputAction_C action); +ARCS_ABI int setConfigurableDigitalInputAction(IO_CONTROL_HANDLER h, int index, + StandardInputAction_C action); +ARCS_ABI StandardInputAction_C +getStandardDigitalInputAction(IO_CONTROL_HANDLER h, int index); +ARCS_ABI StandardInputAction_C getToolDigitalInputAction(IO_CONTROL_HANDLER h, + int index); +ARCS_ABI StandardInputAction_C +getConfigurableDigitalInputAction(IO_CONTROL_HANDLER h, int index); +ARCS_ABI int setDigitalOutputRunstateDefault(IO_CONTROL_HANDLER h); +ARCS_ABI int setStandardDigitalOutputRunstate( + IO_CONTROL_HANDLER h, int index, StandardOutputRunState_C runstate); +ARCS_ABI int setToolDigitalOutputRunstate(IO_CONTROL_HANDLER h, int index, + StandardOutputRunState_C runstate); +ARCS_ABI int setConfigurableDigitalOutputRunstate( + IO_CONTROL_HANDLER h, int index, StandardOutputRunState_C runstate); +ARCS_ABI StandardOutputRunState_C +getStandardDigitalOutputRunstate(IO_CONTROL_HANDLER h, int index); +ARCS_ABI StandardOutputRunState_C +getToolDigitalOutputRunstate(IO_CONTROL_HANDLER h, int index); +ARCS_ABI StandardOutputRunState_C +getConfigurableDigitalOutputRunstate(IO_CONTROL_HANDLER h, int index); +ARCS_ABI int setStandardAnalogOutputRunstate(IO_CONTROL_HANDLER h, int index, + StandardOutputRunState_C runstate); +ARCS_ABI int setToolAnalogOutputRunstate(IO_CONTROL_HANDLER h, int index, + StandardOutputRunState_C runstate); +ARCS_ABI StandardOutputRunState_C +getStandardAnalogOutputRunstate(IO_CONTROL_HANDLER h, int index); +ARCS_ABI StandardOutputRunState_C +getToolAnalogOutputRunstate(IO_CONTROL_HANDLER h, int index); +ARCS_ABI int setStandardAnalogInputDomain(IO_CONTROL_HANDLER h, int index, + int domain); +ARCS_ABI int setToolAnalogInputDomain(IO_CONTROL_HANDLER h, int index, + int domain); +ARCS_ABI int getStandardAnalogInputDomain(IO_CONTROL_HANDLER h, int index); +ARCS_ABI int getToolAnalogInputDomain(IO_CONTROL_HANDLER h, int index); +ARCS_ABI int setStandardAnalogOutputDomain(IO_CONTROL_HANDLER h, int index, + int domain); +ARCS_ABI int setToolAnalogOutputDomain(IO_CONTROL_HANDLER h, int index, + int domain); +ARCS_ABI int setToolVoltageOutputDomain(IO_CONTROL_HANDLER h, int domain); +ARCS_ABI int getToolVoltageOutputDomain(IO_CONTROL_HANDLER h); +ARCS_ABI int getStandardAnalogOutputDomain(IO_CONTROL_HANDLER h, int index); +ARCS_ABI int getToolAnalogOutputDomain(IO_CONTROL_HANDLER h, int index); +ARCS_ABI int setStandardDigitalOutput(IO_CONTROL_HANDLER h, int index, + BOOL value); +ARCS_ABI int setStandardDigitalOutputPulse(IO_CONTROL_HANDLER h, int index, + BOOL value, double duration); +ARCS_ABI int setToolDigitalOutput(IO_CONTROL_HANDLER h, int index, BOOL value); +ARCS_ABI int setToolDigitalOutputPulse(IO_CONTROL_HANDLER h, int index, + BOOL value, double duration); +ARCS_ABI int setConfigurableDigitalOutput(IO_CONTROL_HANDLER h, int index, + BOOL value); +ARCS_ABI int setConfigurableDigitalOutputPulse(IO_CONTROL_HANDLER h, int index, + BOOL value, double duration); +ARCS_ABI int setStandardAnalogOutput(IO_CONTROL_HANDLER h, int index, + double value); +ARCS_ABI int setToolAnalogOutput(IO_CONTROL_HANDLER h, int index, double value); +ARCS_ABI BOOL getStandardDigitalInput(IO_CONTROL_HANDLER h, int index); +ARCS_ABI uint32_t getStandardDigitalInputs(IO_CONTROL_HANDLER h); +ARCS_ABI BOOL getToolDigitalInput(IO_CONTROL_HANDLER h, int index); +ARCS_ABI uint32_t getToolDigitalInputs(IO_CONTROL_HANDLER h); +ARCS_ABI BOOL getConfigurableDigitalInput(IO_CONTROL_HANDLER h, int index); +ARCS_ABI uint32_t getConfigurableDigitalInputs(IO_CONTROL_HANDLER h); +ARCS_ABI double getStandardAnalogInput(IO_CONTROL_HANDLER h, int index); +ARCS_ABI double getToolAnalogInput(IO_CONTROL_HANDLER h, int index); +ARCS_ABI BOOL getStandardDigitalOutput(IO_CONTROL_HANDLER h, int index); +ARCS_ABI uint32_t getStandardDigitalOutputs(IO_CONTROL_HANDLER h); +ARCS_ABI BOOL getToolDigitalOutput(IO_CONTROL_HANDLER h, int index); +ARCS_ABI uint32_t getToolDigitalOutputs(IO_CONTROL_HANDLER h); +ARCS_ABI BOOL getConfigurableDigitalOutput(IO_CONTROL_HANDLER h, int index); +ARCS_ABI uint32_t getConfigurableDigitalOutputs(IO_CONTROL_HANDLER h); +ARCS_ABI double getStandardAnalogOutput(IO_CONTROL_HANDLER h, int index); +ARCS_ABI double getToolAnalogOutput(IO_CONTROL_HANDLER h, int index); +ARCS_ABI int getStaticLinkInputNum(IO_CONTROL_HANDLER h); +ARCS_ABI int getStaticLinkOutputNum(IO_CONTROL_HANDLER h); +ARCS_ABI uint32_t getStaticLinkInputs(IO_CONTROL_HANDLER h); +ARCS_ABI uint32_t getStaticLinkOutputs(IO_CONTROL_HANDLER h); +ARCS_ABI BOOL hasEncoderSensor(IO_CONTROL_HANDLER h); +ARCS_ABI int setEncDecoderType(IO_CONTROL_HANDLER h, int type, int range_id); +ARCS_ABI int setEncTickCount(IO_CONTROL_HANDLER h, int tick); +ARCS_ABI int getEncDecoderType(IO_CONTROL_HANDLER h); +ARCS_ABI int getEncTickCount(IO_CONTROL_HANDLER h); +ARCS_ABI int unwindEncDeltaTickCount(IO_CONTROL_HANDLER h, int delta_count); +ARCS_ABI BOOL getToolButtonStatus(IO_CONTROL_HANDLER h); +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/motion_control_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/motion_control_c.h new file mode 100644 index 00000000..16b78741 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/motion_control_c.h @@ -0,0 +1,157 @@ +#ifndef AUBO_SDK_MotionControl_C_H +#define AUBO_SDK_MotionControl_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI double getEqradius(MOTION_CONTROL_HANDLER h); +ARCS_ABI int setEqradius(MOTION_CONTROL_HANDLER h, double eqradius); +ARCS_ABI double getSpeedFraction(MOTION_CONTROL_HANDLER h); +ARCS_ABI int setSpeedFraction(MOTION_CONTROL_HANDLER h, double fraction); +ARCS_ABI int speedFractionCritical(MOTION_CONTROL_HANDLER h, BOOL enable); +ARCS_ABI BOOL isSpeedFractionCritical(MOTION_CONTROL_HANDLER h); +ARCS_ABI BOOL isBlending(MOTION_CONTROL_HANDLER h); +ARCS_ABI int pathOffsetEnable(MOTION_CONTROL_HANDLER h); +ARCS_ABI int pathOffsetSet(MOTION_CONTROL_HANDLER h, const double *offset, + int type); +ARCS_ABI int pathOffsetDisable(MOTION_CONTROL_HANDLER h); +ARCS_ABI int jointOffsetEnable(MOTION_CONTROL_HANDLER h); +ARCS_ABI int jointOffsetSet(MOTION_CONTROL_HANDLER h, const double *offset, + int type); +ARCS_ABI int jointOffsetDisable(MOTION_CONTROL_HANDLER h); +ARCS_ABI int getTrajectoryQueueSize(MOTION_CONTROL_HANDLER h); +ARCS_ABI int getQueueSize(MOTION_CONTROL_HANDLER h); +ARCS_ABI int getExecId(MOTION_CONTROL_HANDLER h); +ARCS_ABI double getDuration(MOTION_CONTROL_HANDLER h, int id); +ARCS_ABI double getMotionLeftTime(MOTION_CONTROL_HANDLER h, int id); +ARCS_ABI double getProgress(MOTION_CONTROL_HANDLER h); +ARCS_ABI int setWorkObjectHold(MOTION_CONTROL_HANDLER h, + const char *module_name, + const double *mounting_pose); +ARCS_ABI char *getWorkObjectHold(MOTION_CONTROL_HANDLER h); +ARCS_ABI int getPauseJointPositions(MOTION_CONTROL_HANDLER h, double *result); +ARCS_ABI int setServoMode(MOTION_CONTROL_HANDLER h, BOOL enable); +ARCS_ABI BOOL isServoModeEnabled(MOTION_CONTROL_HANDLER h); +ARCS_ABI int setServoModeSelect(MOTION_CONTROL_HANDLER h, int mode); +ARCS_ABI int getServoModeSelect(MOTION_CONTROL_HANDLER h); +ARCS_ABI int servoJoint(MOTION_CONTROL_HANDLER h, const double *q, double a, + double v, double t, double lookahead_time, double gain); +ARCS_ABI int servoCartesian(MOTION_CONTROL_HANDLER h, const double *pose, + double a, double v, double t, double lookahead_time, + double gain); +ARCS_ABI int servoJointWithAxes(MOTION_CONTROL_HANDLER h, const double *q, + const double *extq, double a, double v, + double t, double lookahead_time, double gain); +ARCS_ABI int servoCartesianWithAxes(MOTION_CONTROL_HANDLER h, + const double *pose, const double *extq, + double a, double v, double t, + double lookahead_time, double gain); +ARCS_ABI int trackJoint(MOTION_CONTROL_HANDLER h, const double *q, double t, + double smooth_scale, double delay_sacle); +ARCS_ABI int trackCartesian(MOTION_CONTROL_HANDLER h, const double *pose, + double t, double smooth_scale, double delay_sacle); +ARCS_ABI int followJoint(MOTION_CONTROL_HANDLER h, const double *q); +ARCS_ABI int followLine(MOTION_CONTROL_HANDLER h, const double *pose); +ARCS_ABI int speedJoint(MOTION_CONTROL_HANDLER h, const double *qd, double a, + double t); +ARCS_ABI int resumeSpeedJoint(MOTION_CONTROL_HANDLER h, const double *qd, + double a, double t); +ARCS_ABI int speedLine(MOTION_CONTROL_HANDLER h, const double *xd, double a, + double t); +ARCS_ABI int resumeSpeedLine(MOTION_CONTROL_HANDLER h, const double *xd, + double a, double t); +ARCS_ABI int moveSpline(MOTION_CONTROL_HANDLER h, const double *q, double a, + double v, double duration); +ARCS_ABI int moveJoint(MOTION_CONTROL_HANDLER h, const double *q, double a, + double v, double blend_radius, double duration); +ARCS_ABI int resumeMoveJoint(MOTION_CONTROL_HANDLER h, const double *q, + double a, double v, double duration); +ARCS_ABI int moveLine(MOTION_CONTROL_HANDLER h, const double *pose, double a, + double v, double blend_radius, double duration); +ARCS_ABI int moveProcess(MOTION_CONTROL_HANDLER h, const double *pose, double a, + double v, double blend_radius); +ARCS_ABI int resumeMoveLine(MOTION_CONTROL_HANDLER h, const double *pose, + double a, double v, double duration); +ARCS_ABI int moveCircle(MOTION_CONTROL_HANDLER h, const double *via_pose, + const double *end_pose, double a, double v, + double blend_radius, double duration); +ARCS_ABI int setCirclePathMode(MOTION_CONTROL_HANDLER h, int mode); +ARCS_ABI int moveCircle2(MOTION_CONTROL_HANDLER h, + const CircleParameters_C *param); +ARCS_ABI int pathBufferAlloc(MOTION_CONTROL_HANDLER h, const char *name, + int type, int size); +ARCS_ABI int pathBufferAppend(MOTION_CONTROL_HANDLER h, const char *name, + const double *waypoints, int rows); +ARCS_ABI int pathBufferEval(MOTION_CONTROL_HANDLER h, const char *name, + const double *a, const double *v, double t); +ARCS_ABI BOOL pathBufferValid(MOTION_CONTROL_HANDLER h, const char *name); +ARCS_ABI int pathBufferFree(MOTION_CONTROL_HANDLER h, const char *name); +ARCS_ABI int pathBufferList(MOTION_CONTROL_HANDLER h, char **result); +ARCS_ABI int movePathBuffer(MOTION_CONTROL_HANDLER h, const char *name); +ARCS_ABI int moveIntersection(MOTION_CONTROL_HANDLER h, const double *poses, + int rows, double a, double v, + double main_pipe_radius, double sub_pipe_radius, + double normal_distance, double normal_alpha); +ARCS_ABI int stopJoint(MOTION_CONTROL_HANDLER h, double acc); +ARCS_ABI int resumeStopJoint(MOTION_CONTROL_HANDLER h, double acc); +ARCS_ABI int stopLine(MOTION_CONTROL_HANDLER h, double acc, double acc_rot); +ARCS_ABI int resumeStopLine(MOTION_CONTROL_HANDLER h, double acc, + double acc_rot); +ARCS_ABI int weaveStart(MOTION_CONTROL_HANDLER h, const char *params); +ARCS_ABI int weaveEnd(MOTION_CONTROL_HANDLER h); +ARCS_ABI int storePath(MOTION_CONTROL_HANDLER h, BOOL keep_sync); +ARCS_ABI int stopMove(MOTION_CONTROL_HANDLER h, BOOL quick, BOOL all_tasks); +ARCS_ABI int startMove(MOTION_CONTROL_HANDLER h); +ARCS_ABI int clearPath(MOTION_CONTROL_HANDLER h); +ARCS_ABI int restoPath(MOTION_CONTROL_HANDLER h); +ARCS_ABI int setFuturePointSamplePeriod(MOTION_CONTROL_HANDLER h, + double sample_time); +ARCS_ABI int getFuturePathPointsJoint(MOTION_CONTROL_HANDLER h, + double **result); +ARCS_ABI int conveyorTrackCircle(MOTION_CONTROL_HANDLER h, int encoder_id, + const double *center, BOOL rotate_tool); +ARCS_ABI int conveyorTrackLine(MOTION_CONTROL_HANDLER h, int encoder_id, + const double *direction); +ARCS_ABI int conveyorTrackStop(MOTION_CONTROL_HANDLER h, int encoder_id, + double a); +ARCS_ABI int setConveyorTrackEncoder(MOTION_CONTROL_HANDLER h, int encoder_id, + int tick_per_meter); +ARCS_ABI int setConveyorTrackLimit(MOTION_CONTROL_HANDLER h, int encoder_id, + double limit); +ARCS_ABI int setConveyorTrackStartWindow(MOTION_CONTROL_HANDLER h, + int encoder_id, double window_min, + double window_max); +ARCS_ABI int setConveyorTrackSensorOffset(MOTION_CONTROL_HANDLER h, + int encoder_id, double offset); +ARCS_ABI int setConveyorTrackSyncSeparation(MOTION_CONTROL_HANDLER h, + int encoder_id, double distance, + double time); +ARCS_ABI int setConveyorTrackCompensate(MOTION_CONTROL_HANDLER h, + int encoder_id, double comp); +ARCS_ABI BOOL isConveyorTrackSync(MOTION_CONTROL_HANDLER h, int encoder_id); +ARCS_ABI BOOL isConveyorTrackExceed(MOTION_CONTROL_HANDLER h, int encoder_id); +ARCS_ABI int getConveyorTrackQueue(MOTION_CONTROL_HANDLER h, int encoder_id, + double *result); +ARCS_ABI int getConveyorTrackNextItem(MOTION_CONTROL_HANDLER h, int encoder_id); +ARCS_ABI int conveyorTrackCreatItem(MOTION_CONTROL_HANDLER h, int encoder_id, + int item_id, const double *offset); +ARCS_ABI BOOL hasItemOnConveyorToTrack(MOTION_CONTROL_HANDLER h, + int encoder_id); +ARCS_ABI BOOL conveyorTrackSwitch(MOTION_CONTROL_HANDLER h, int encoder_id); +ARCS_ABI int conveyorTrackClearItems(MOTION_CONTROL_HANDLER h, int encoder_id); +ARCS_ABI int setConveyorItemTrigIO(MOTION_CONTROL_HANDLER h, int encoder_id, + RobotIOType_C io_type, int io_index, + BOOL trig_edge); +ARCS_ABI int moveSpiral(MOTION_CONTROL_HANDLER h, + const SpiralParameters_C *param, double blend_radius, + double v, double a, double t); +ARCS_ABI int pathOffsetLimits(MOTION_CONTROL_HANDLER h, double v, double a); +ARCS_ABI int pathOffsetCoordinate(MOTION_CONTROL_HANDLER h, int ref_coord); +ARCS_ABI int getLookAheadSize(MOTION_CONTROL_HANDLER h); +ARCS_ABI int setLookAheadSize(MOTION_CONTROL_HANDLER h, int size); +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_algorithm_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_algorithm_c.h new file mode 100644 index 00000000..87bf7fcd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_algorithm_c.h @@ -0,0 +1,73 @@ +#ifndef AUBO_SDK_RobotAlgorithm_C_H +#define AUBO_SDK_RobotAlgorithm_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI ForceSensorCalibResult_C +calibrateTcpForceSensor(ROBOT_ALGORITHM_HANDLER h, const double *forces, + int forces_rows, const double *poses, int poses_rows); +ARCS_ABI ForceSensorCalibResult_C +calibrateTcpForceSensor2(ROBOT_ALGORITHM_HANDLER h, const double *forces, + int forces_rows, const double *poses, int poses_rows); +ARCS_ABI int payloadIdentify(ROBOT_ALGORITHM_HANDLER h, + const char *data_no_payload, + const char *data_with_payload); +ARCS_ABI int payloadIdentify1(ROBOT_ALGORITHM_HANDLER h, const char *file_name); +ARCS_ABI int payloadCalculateFinished(ROBOT_ALGORITHM_HANDLER h); +ARCS_ABI Payload_C getPayloadIdentifyResult(ROBOT_ALGORITHM_HANDLER h); +ARCS_ABI int generatePayloadIdentifyTraj(ROBOT_ALGORITHM_HANDLER h, + const char *name, + const TrajConfig_C *traj_config); +ARCS_ABI int payloadIdentifyTrajGenFinished(ROBOT_ALGORITHM_HANDLER h); +ARCS_ABI BOOL frictionModelIdentify(ROBOT_ALGORITHM_HANDLER h, const double *q, + int q_rows, const double *qd, int qd_rows, + const double *qdd, int qdd_rows, + const double *temp, int temp_rows); +ARCS_ABI int calibWorkpieceCoordinatePara(ROBOT_ALGORITHM_HANDLER h, + const double *q, int q_rows, int type, + double *result); +ARCS_ABI int forwardDynamics(ROBOT_ALGORITHM_HANDLER h, const double *q, + const double *torqs, double *result); +ARCS_ABI int forwardKinematics(ROBOT_ALGORITHM_HANDLER h, const double *q, + double *result); +ARCS_ABI int forwardToolKinematics(ROBOT_ALGORITHM_HANDLER h, const double *q, + double *result); +ARCS_ABI int forwardDynamics1(ROBOT_ALGORITHM_HANDLER h, const double *q, + const double *torqs, const double *tcp_offset, + double *result); +ARCS_ABI int forwardKinematics1(ROBOT_ALGORITHM_HANDLER h, const double *q, + const double *tcp_offset, double *result); +ARCS_ABI int inverseKinematics(ROBOT_ALGORITHM_HANDLER h, const double *qnear, + const double *pose, double *result); +ARCS_ABI int inverseKinematicsAll(ROBOT_ALGORITHM_HANDLER h, const double *pose, + double **result); +ARCS_ABI int inverseKinematics1(ROBOT_ALGORITHM_HANDLER h, const double *qnear, + const double *pose, const double *tcp_offset, + double *result); +ARCS_ABI int inverseKinematicsAll1(ROBOT_ALGORITHM_HANDLER h, + const double *pose, const double *tcp_offset, + double **result); +ARCS_ABI int inverseToolKinematics(ROBOT_ALGORITHM_HANDLER h, + const double *qnear, const double *pose, + double *result); +ARCS_ABI int inverseToolKinematicsAll(ROBOT_ALGORITHM_HANDLER h, + const double *pose, double **result); +ARCS_ABI int pathMovej(ROBOT_ALGORITHM_HANDLER h, const double *q1, double r1, + const double *q2, double r2, double d, double **result); +ARCS_ABI int pathBlend3Points(ROBOT_ALGORITHM_HANDLER h, int type, + const double *q_start, const double *q_via, + const double *q_to, double r, double d, + double **result); +ARCS_ABI int pathBlend3Points1(ROBOT_ALGORITHM_HANDLER h, int type, + const double *q_start, const double *q_via, + const double *q_to, double r, double d, + double **result); +ARCS_ABI int calcJacobian(ROBOT_ALGORITHM_HANDLER h, const double *q, + BOOL base_or_end, double *result); +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_config_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_config_c.h new file mode 100644 index 00000000..7dc9fd99 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_config_c.h @@ -0,0 +1,92 @@ +#ifndef AUBO_SDK_RobotConfig_C_H +#define AUBO_SDK_RobotConfig_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI int getDof(ROBOT_CONFIG_HANDLER h); +ARCS_ABI int getName(ROBOT_CONFIG_HANDLER h, char *result); +ARCS_ABI double getCycletime(ROBOT_CONFIG_HANDLER h); +ARCS_ABI int setSlowDownFraction(ROBOT_CONFIG_HANDLER h, int level, + double fraction); +ARCS_ABI double getSlowDownFraction(ROBOT_CONFIG_HANDLER h, int level); +ARCS_ABI int getRobotType(ROBOT_CONFIG_HANDLER h, char *result); +ARCS_ABI int getRobotSubType(ROBOT_CONFIG_HANDLER h, char *result); +ARCS_ABI int getControlBoxType(ROBOT_CONFIG_HANDLER h, char *result); +ARCS_ABI double getDefaultToolAcc(ROBOT_CONFIG_HANDLER h); +ARCS_ABI double getDefaultToolSpeed(ROBOT_CONFIG_HANDLER h); +ARCS_ABI double getDefaultJointAcc(ROBOT_CONFIG_HANDLER h); +ARCS_ABI double getDefaultJointSpeed(ROBOT_CONFIG_HANDLER h); +ARCS_ABI int setMountingPose(ROBOT_CONFIG_HANDLER h, const double *pose); +ARCS_ABI int getMountingPose(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int setCollisionLevel(ROBOT_CONFIG_HANDLER h, int level); +ARCS_ABI int getCollisionLevel(ROBOT_CONFIG_HANDLER h); +ARCS_ABI int setCollisionStopType(ROBOT_CONFIG_HANDLER h, int type); +ARCS_ABI int getCollisionStopType(ROBOT_CONFIG_HANDLER h); +ARCS_ABI int setHomePosition(ROBOT_CONFIG_HANDLER h, const double *positions); +ARCS_ABI int getHomePosition(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int setFreedriveDamp(ROBOT_CONFIG_HANDLER h, const double *damp); +ARCS_ABI int getFreedriveDamp(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int getTcpForceSensorNames(ROBOT_CONFIG_HANDLER h, char **result); +ARCS_ABI int selectTcpForceSensor(ROBOT_CONFIG_HANDLER h, const char *name); +ARCS_ABI BOOL hasTcpForceSensor(ROBOT_CONFIG_HANDLER h); +ARCS_ABI int setTcpForceOffset(ROBOT_CONFIG_HANDLER h, + const double *force_offset); +ARCS_ABI int getTcpForceOffset(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int getBaseForceSensorNames(ROBOT_CONFIG_HANDLER h, char **result); +ARCS_ABI int selectBaseForceSensor(ROBOT_CONFIG_HANDLER h, const char *name); +ARCS_ABI BOOL hasBaseForceSensor(ROBOT_CONFIG_HANDLER h); +ARCS_ABI int setBaseForceOffset(ROBOT_CONFIG_HANDLER h, + const double *force_offset); +ARCS_ABI int getBaseForceOffset(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int setPersistentParameters(ROBOT_CONFIG_HANDLER h, const char *param); +ARCS_ABI int setKinematicsCompensate(ROBOT_CONFIG_HANDLER h, + const DHParam_C *param); +ARCS_ABI int setHardwareCustomParameters(ROBOT_CONFIG_HANDLER h, + const char *param); +ARCS_ABI int getHardwareCustomParameters(ROBOT_CONFIG_HANDLER h, + const char *param, char *result); +ARCS_ABI int setRobotZero(ROBOT_CONFIG_HANDLER h); +ARCS_ABI DHParam_C *getKinematicsParam(ROBOT_CONFIG_HANDLER h, BOOL real); +ARCS_ABI DHComp_C *getKinematicsCompensate(ROBOT_CONFIG_HANDLER h, + double ref_temperature); +ARCS_ABI uint32_t getSafetyParametersCheckSum(ROBOT_CONFIG_HANDLER h); +ARCS_ABI int confirmSafetyParameters( + ROBOT_CONFIG_HANDLER h, const RobotSafetyParameterRange_C *parameters); +ARCS_ABI uint32_t calcSafetyParametersCheckSum( + ROBOT_CONFIG_HANDLER h, const RobotSafetyParameterRange_C *parameters); +ARCS_ABI int getJointMaxPositions(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int getJointMinPositions(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int getJointMaxSpeeds(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int getJointMaxAccelerations(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int getTcpMaxSpeeds(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int getTcpMaxAccelerations(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI BOOL toolSpaceInRange(ROBOT_CONFIG_HANDLER h, const double *pose); +ARCS_ABI int setPayload(ROBOT_CONFIG_HANDLER h, double m, const double *cog, + const double *aom, const double *inertia); +ARCS_ABI Payload_C getPayload(ROBOT_CONFIG_HANDLER h); +ARCS_ABI int getTcpOffset(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int getGravity(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int setGravity(ROBOT_CONFIG_HANDLER h, const double *gravity); +ARCS_ABI int setTcpOffset(ROBOT_CONFIG_HANDLER h, const double *offset); +ARCS_ABI int setToolInertial(ROBOT_CONFIG_HANDLER h, double m, + const double *com, const double *inertial); +ARCS_ABI int firmwareUpdate(ROBOT_CONFIG_HANDLER h, const char *fw); +ARCS_ABI double getFirmwareUpdateProcess(ROBOT_CONFIG_HANDLER h); +ARCS_ABI int setTcpForceSensorPose(ROBOT_CONFIG_HANDLER h, + const double *sensor_pose); +ARCS_ABI int getTcpForceSensorPose(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int getLimitJointMaxPositions(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int getLimitJointMinPositions(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int getLimitJointMaxSpeeds(ROBOT_CONFIG_HANDLER h, double *result); +ARCS_ABI int getLimitJointMaxAccelerations(ROBOT_CONFIG_HANDLER h, + double *result); +ARCS_ABI double getLimitTcpMaxSpeed(ROBOT_CONFIG_HANDLER h); +ARCS_ABI SafeguedStopType_C getSafeguardStopType(ROBOT_CONFIG_HANDLER h); +ARCS_ABI int getSafeguardStopSource(ROBOT_CONFIG_HANDLER h); +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_interface_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_interface_c.h new file mode 100644 index 00000000..ca8521a0 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_interface_c.h @@ -0,0 +1,22 @@ +#ifndef AUBO_SDK_RobotInterface_C_H +#define AUBO_SDK_RobotInterface_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI ROBOT_CONFIG_HANDLER robot_getRobotConfig(ROBOT_HANDLER robot); +ARCS_ABI MOTION_CONTROL_HANDLER robot_getMotionControl(ROBOT_HANDLER robot); +ARCS_ABI FORCE_CONTROL_HANDLER robot_getForceControl(ROBOT_HANDLER robot); +ARCS_ABI IO_CONTROL_HANDLER robot_getIoControl(ROBOT_HANDLER robot); +ARCS_ABI SYNC_MOVE_HANDLER robot_getSyncMove(ROBOT_HANDLER robot); +ARCS_ABI ROBOT_ALGORITHM_HANDLER robot_getRobotAlgorithm(ROBOT_HANDLER robot); +ARCS_ABI ROBOT_MANAGE_HANDLER robot_getRobotManage(ROBOT_HANDLER robot); +ARCS_ABI ROBOT_STATE_HANDLER robot_getRobotState(ROBOT_HANDLER robot); +ARCS_ABI TRACE_HANDLER robot_getTrace(ROBOT_HANDLER robot); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_manage_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_manage_c.h new file mode 100644 index 00000000..7b94f3cb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_manage_c.h @@ -0,0 +1,38 @@ +#ifndef AUBO_SDK_RobotManage_C_H +#define AUBO_SDK_RobotManage_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI int poweron(ROBOT_MANAGE_HANDLER h); +ARCS_ABI int startup(ROBOT_MANAGE_HANDLER h); +ARCS_ABI int poweroff(ROBOT_MANAGE_HANDLER h); +ARCS_ABI int backdrive(ROBOT_MANAGE_HANDLER h, BOOL enable); +ARCS_ABI int freedrive(ROBOT_MANAGE_HANDLER h, BOOL enable); +ARCS_ABI int handguideMode(ROBOT_MANAGE_HANDLER h, int32_t *freeAxes, + const double *feature); +ARCS_ABI int exitHandguideMode(ROBOT_MANAGE_HANDLER h); +ARCS_ABI int getHandguideStatus(ROBOT_MANAGE_HANDLER h); +ARCS_ABI int getHandguideTrigger(ROBOT_MANAGE_HANDLER h); +ARCS_ABI BOOL isHandguideEnabled(ROBOT_MANAGE_HANDLER h); +ARCS_ABI int setSim(ROBOT_MANAGE_HANDLER h, BOOL enable); +ARCS_ABI int setOperationalMode(ROBOT_MANAGE_HANDLER h, + OperationalModeType_C mode); +ARCS_ABI OperationalModeType_C getOperationalMode(ROBOT_MANAGE_HANDLER h); +ARCS_ABI RobotControlModeType_C getRobotControlMode(ROBOT_MANAGE_HANDLER h); +ARCS_ABI BOOL isSimulationEnabled(ROBOT_MANAGE_HANDLER h); +ARCS_ABI BOOL isFreedriveEnabled(ROBOT_MANAGE_HANDLER h); +ARCS_ABI BOOL isBackdriveEnabled(ROBOT_MANAGE_HANDLER h); +ARCS_ABI int setUnlockProtectiveStop(ROBOT_MANAGE_HANDLER h); +ARCS_ABI int startRecord(ROBOT_MANAGE_HANDLER h, const char *file_name); +ARCS_ABI int stopRecord(ROBOT_MANAGE_HANDLER h); +ARCS_ABI int pauseRecord(ROBOT_MANAGE_HANDLER h, BOOL pause); +ARCS_ABI int restartInterfaceBoard(ROBOT_MANAGE_HANDLER h); +ARCS_ABI int setLinkModeEnable(ROBOT_MANAGE_HANDLER h, BOOL enable); +ARCS_ABI BOOL isLinkModeEnabled(ROBOT_MANAGE_HANDLER h); +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_state_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_state_c.h new file mode 100644 index 00000000..a8f03e9f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/robot/robot_state_c.h @@ -0,0 +1,78 @@ +#ifndef AUBO_SDK_RobotState_C_H +#define AUBO_SDK_RobotState_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI RobotModeType_C getRobotModeType(ROBOT_STATE_HANDLER h); +ARCS_ABI SafetyModeType_C getSafetyModeType(ROBOT_STATE_HANDLER h); +ARCS_ABI BOOL isPowerOn(ROBOT_STATE_HANDLER h); +ARCS_ABI BOOL isSteady(ROBOT_STATE_HANDLER h); +ARCS_ABI BOOL isCollisionOccurred(ROBOT_STATE_HANDLER h); +ARCS_ABI BOOL isWithinSafetyLimits(ROBOT_STATE_HANDLER h); +ARCS_ABI int getTcpPose(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getActualTcpOffset(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getTargetTcpPose(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getToolPose(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getTcpSpeed(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getTcpForce(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getElbowPosistion(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getElbowVelocity(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getBaseForce(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getTcpTargetPose(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getTcpTargetSpeed(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getTcpTargetForce(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getJointState(ROBOT_STATE_HANDLER h, JointStateType_C *result); +ARCS_ABI int getJointServoMode(ROBOT_STATE_HANDLER h, + JointServoModeType_C *result); +ARCS_ABI int getJointPositions(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getJointPositionsHistory(ROBOT_STATE_HANDLER h, int steps, + double *result); +ARCS_ABI int getJointSpeeds(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getJointAccelerations(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getJointTorqueSensors(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getJointContactTorques(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getBaseForceSensor(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getTcpForceSensors(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getJointCurrents(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getJointVoltages(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getJointTemperatures(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getJointUniqueIds(ROBOT_STATE_HANDLER h, char **result); +ARCS_ABI int getJointFirmwareVersions(ROBOT_STATE_HANDLER h, int *result); +ARCS_ABI int getJointHardwareVersions(ROBOT_STATE_HANDLER h, int *result); +ARCS_ABI int getMasterBoardUniqueId(ROBOT_STATE_HANDLER h, char *result); +ARCS_ABI int getMasterBoardFirmwareVersion(ROBOT_STATE_HANDLER h); +ARCS_ABI int getMasterBoardHardwareVersion(ROBOT_STATE_HANDLER h); +ARCS_ABI int getSlaveBoardUniqueId(ROBOT_STATE_HANDLER h, char *result); +ARCS_ABI int getSlaveBoardFirmwareVersion(ROBOT_STATE_HANDLER h); +ARCS_ABI int getSlaveBoardHardwareVersion(ROBOT_STATE_HANDLER h); +ARCS_ABI int getToolUniqueId(ROBOT_STATE_HANDLER h, char *result); +ARCS_ABI int getToolFirmwareVersion(ROBOT_STATE_HANDLER h); +ARCS_ABI int getToolHardwareVersion(ROBOT_STATE_HANDLER h); +ARCS_ABI int getToolCommMode(ROBOT_STATE_HANDLER h); +ARCS_ABI int getPedestalUniqueId(ROBOT_STATE_HANDLER h, char *result); +ARCS_ABI int getPedestalFirmwareVersion(ROBOT_STATE_HANDLER h); +ARCS_ABI int getPedestalHardwareVersion(ROBOT_STATE_HANDLER h); +ARCS_ABI int getJointTargetPositions(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getJointTargetSpeeds(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getJointTargetAccelerations(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getJointTargetTorques(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI int getJointTargetCurrents(ROBOT_STATE_HANDLER h, double *result); +ARCS_ABI double getControlBoxTemperature(ROBOT_STATE_HANDLER h); +ARCS_ABI double getControlBoxHumidity(ROBOT_STATE_HANDLER h); +ARCS_ABI double getMainVoltage(ROBOT_STATE_HANDLER h); +ARCS_ABI double getMainCurrent(ROBOT_STATE_HANDLER h); +ARCS_ABI double getRobotVoltage(ROBOT_STATE_HANDLER h); +ARCS_ABI double getRobotCurrent(ROBOT_STATE_HANDLER h); +ARCS_ABI int getSlowDownLevel(ROBOT_STATE_HANDLER h); +ARCS_ABI HandleStateType_C getHandleState(ROBOT_STATE_HANDLER h); +ARCS_ABI HandleModeType_C getHandleMode(ROBOT_STATE_HANDLER h); +ARCS_ABI int getHandleUniqueId(ROBOT_STATE_HANDLER h, char *result); +ARCS_ABI int getHandleFirmwareVersion(ROBOT_STATE_HANDLER h); +ARCS_ABI int getHandleHardwareVersion(ROBOT_STATE_HANDLER h); +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/rpc.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/rpc.h new file mode 100644 index 00000000..d2f57469 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/rpc.h @@ -0,0 +1,179 @@ +/** @file rpc.h + * @brief 用于RPC模块的交互，如登录、连接等功能 + */ + +#ifndef AUBO_SDK_RPC_H +#define AUBO_SDK_RPC_H + +#include + +#include +#include + +namespace arcs { +namespace aubo_sdk { +using namespace arcs::common_interface; + +/// RPC客户端 +class ARCS_ABI RpcClient : public AuboApi +{ +public: + enum Event + { + Connected = 0, + Disconnected = 1, + }; + + /** + * @brief RpcClient + * @param mode 0-TCP 1-UDS + */ + RpcClient(int mode = 0); + ~RpcClient(); + + /** + * 设置日志处理器 + * + * 此函数可设置自定义的日志处理函数来处理日志消息。 \n + * Aubo SDK 有一套默认的日志系统，按照默认的格式输出到默认的文件。 + * 如果用户不希望采用默认的格式或者不希望输出到默认的文件，那就可以通过这个接口重新自定义格式，或者输出路径。 + * 这个函数可以将用户自定义的日志系统与 Aubo SDK 默认的日志系统合并。 + * + * @note setLogHandler函数要放在即将触发的日志之前， + * 否则会按照默认的形式输出日志。 + * + * @param handler 日志处理函数 \n + * 此日志处理函数的下定义如下: \n + * void handler(int level, const char* filename, int line, const + * std::string& message) \n + * level 表示日志等级 \n + *   0: LOGLEVEL_FATAL 严重的错误 \n + *   1: LOGLEVEL_ERROR 错误 \n + *   2: LOGLEVEL_WARNING 警告 \n + *   3: LOGLEVEL_INFO 通知 \n + *   4: LOGLEVEL_DEBUG 调试 \n + *   5: LOGLEVEL_BACKTRACE 跟踪 \n + * filename 表示文件名 \n + * line 表示代码行号 \n + * message 表示日志信息 \n + * @return 无 + */ + void setLogHandler( + std::function + handler); + + /** + * 连接到RPC服务 + * + * @param ip IP地址 + * @param port 端口号，RPC的端口号是30004 + * @param ip和port为空时，采用unix domain sockets通讯方式 + * @retval 0 RPC连接成功 + * @retval -8 RPC连接失败，RPC连接被拒绝 + * @retval -15 RPC连接失败，SDK版本与Server版本不兼容 + */ + int connect(const std::string &ip = "", int port = 0); + + /** + * 断开RPC连接 + * + * @retval 0 成功 + * @retval -1 失败 + */ + int disconnect(); + + /** + * 判断是否连接RPC + * + * @retval true 已连接RPC + * @retval false 未连接RPC + */ + bool hasConnected() const; + + /** + * 登录 + * + * @param usrname 用户名 + * @param passwd 密码 + * @return 0 + */ + int login(const std::string &usrname, const std::string &passwd); + + /** + * 登出 + * + * @return 0 + */ + int logout(); + + /** + * 判断是否登录 + * + * @retval true 已登录 + * @retval false 未登录 + */ + bool hasLogined(); + + /** + * 设置RPC请求超时时间 + * + * @param timeout 请求超时时间，单位 ms + * @return 0 + */ + int setRequestTimeout(int timeout = 100); + + /** + * 设置事件处理 + * + * @param cb + * @return + */ + int setEventHandler(std::function cb); + + /** + * 是否关闭异常抛出 + * + * @param enable + * @return + */ + int setExceptionFree(bool enable); + + /** + * 返回错误代码 + * + * @return + */ + int errorCode() const; + + /** + * 设备关机 + * + * @return + */ + int shutdown(); + + /** + * 控制服务端RPC日志打印 + * + * @param enable true 启用服务端日志打印，false 禁用服务端日志打印 + * @return 0 成功 + */ + int enableServerRpcLogging(bool enable); +}; +using RpcClientPtr = std::shared_ptr; + +} // namespace aubo_sdk +} // namespace arcs + +#ifdef __cplusplus +extern "C" { +#endif + +ARCS_ABI arcs::aubo_sdk::RpcClient *createRpcClient(int mode = 0); +ARCS_ABI void destroyRpcClient(arcs::aubo_sdk::RpcClient *cli); + +#ifdef __cplusplus +} +#endif +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/rpc_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/rpc_c.h new file mode 100644 index 00000000..00ade7be --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/rpc_c.h @@ -0,0 +1,321 @@ +/** @file rpc_c.h + * @brief 用于RPC模块的交互，如登录、连接等功能 + */ + +#ifndef AUBO_SDK_RPC_C_H +#define AUBO_SDK_RPC_C_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +enum Event +{ + Event_Connected = 0, + Event_Disconnected = 1, +}; + +ARCS_ABI RPC_HANDLER rpc_create_client(int mode = 0); +ARCS_ABI void rpc_destroy_client(RPC_HANDLER cli); + +/** + * 设置日志处理器 + * + * 此函数可设置自定义的日志处理函数来处理日志消息。 \n + * Aubo SDK 有一套默认的日志系统，按照默认的格式输出到默认的文件。 + * 如果用户不希望采用默认的格式或者不希望输出到默认的文件，那就可以通过这个接口重新自定义格式，或者输出路径。 + * 这个函数可以将用户自定义的日志系统与 Aubo SDK 默认的日志系统合并。 + * + * @note setLogHandler函数要放在即将触发的日志之前， + * 否则会按照默认的形式输出日志。 + * + * @param handler 日志处理函数 \n + * 此日志处理函数的下定义如下: \n + * void handler(int level, const char* filename, int line, const + * std::string& message) \n + * level 表示日志等级 \n + *   0: LOGLEVEL_FATAL 严重的错误 \n + *   1: LOGLEVEL_ERROR 错误 \n + *   2: LOGLEVEL_WARNING 警告 \n + *   3: LOGLEVEL_INFO 通知 \n + *   4: LOGLEVEL_DEBUG 调试 \n + *   5: LOGLEVEL_BACKTRACE 跟踪 \n + * filename 表示文件名 \n + * line 表示代码行号 \n + * message 表示日志信息 \n + * @return 无 + */ +ARCS_ABI void rpc_setLogHandler(RPC_HANDLER cli, LOG_HANDLER handler); + +/** + * 连接到RPC服务 + * + * @param ip IP地址 + * @param port 端口号，RPC的端口号是30004 + * @param ip和port为空时，采用unix domain sockets通讯方式 + * @retval 0 RPC连接成功 + * @retval -8 RPC连接失败，RPC连接被拒绝 + * @retval -15 RPC连接失败，SDK版本与Server版本不兼容 + */ +ARCS_ABI int rpc_connect(RPC_HANDLER cli, const char *ip = "", int port = 0); + +/** + * 断开RPC连接 + * + * @retval 0 成功 + * @retval -1 失败 + */ +ARCS_ABI int rpc_disconnect(RPC_HANDLER cli); + +/** + * 判断是否连接RPC + * + * @retval true 已连接RPC + * @retval false 未连接RPC + */ +ARCS_ABI bool rpc_hasConnected(RPC_HANDLER cli); + +/** + * 登录 + * + * @param usrname 用户名 + * @param passwd 密码 + * @return 0 + */ +ARCS_ABI int rpc_login(RPC_HANDLER cli, const char *usrname, + const char *passwd); + +/** + * 登出 + * + * @return 0 + */ +ARCS_ABI int rpc_logout(RPC_HANDLER cli); + +/** + * 判断是否登录 + * + * @retval true 已登录 + * @retval false 未登录 + */ +ARCS_ABI bool rpc_hasLogined(RPC_HANDLER cli); + +/** + * 设置RPC请求超时时间 + * + * @param timeout 请求超时时间，单位 ms + * @return 0 + */ +ARCS_ABI int rpc_setRequestTimeout(RPC_HANDLER cli, int timeout = 10); + +/** + * 设置事件处理 + * + * @param cb + * @return + */ +ARCS_ABI int rpc_setEventHandler(RPC_HANDLER cli, EVENT_CALLBACK cb); + +/** + * 是否关闭异常抛出 + * + * @param enable + * @return + */ +ARCS_ABI int rpc_set_exception_free(RPC_HANDLER cli, bool enable); + +/** + * 返回错误代码 + * + * @return + */ +ARCS_ABI int rpc_errorCode(RPC_HANDLER cli); + +/** + * 设备关机 + * + * @return + */ +ARCS_ABI int rpc_shutdown(RPC_HANDLER cli); + +/** + * 获取纯数学相关接口 + * + * @return MathPtr对象的指针 + * + * @par Python函数原型 + * getMath(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.Math + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * MathPtr ptr = rpc_cli->getMath(); + * @endcode + * + */ +ARCS_ABI MATH_HANDLER rpc_getMath(RPC_HANDLER cli); + +/** + * 获取系统信息 + * + * @return SystemInfoPtr对象的指针 + * + * @par Python函数原型 + * getSystemInfo(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.SystemInfo + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * SystemInfoPtr ptr = rpc_cli->getSystemInfo(); + * @endcode + * + */ +ARCS_ABI SYSTEM_INFO_HANDLER rpc_getSystemInfo(RPC_HANDLER cli); + +/** + * 获取运行时接口 + * + * @return RuntimeMachinePtr对象的指针 + * + * @par Python函数原型 + * getRuntimeMachine(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.RuntimeMachine + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * RuntimeMachinePtr ptr = rpc_cli->getRuntimeMachine(); + * @endcode + * + */ +ARCS_ABI RUNTIME_MACHINE_HANDLER rpc_getRuntimeMachine(RPC_HANDLER cli); + +/** + * 对外寄存器接口 + * + * @return RegisterControlPtr对象的指针 + * + * @par Python函数原型 + * getRegisterControl(self: pyaubo_sdk.AuboApi) -> + * pyaubo_sdk.RegisterControl + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * RegisterControlPtr ptr = rpc_cli->getRegisterControl(); + * @endcode + * + */ +ARCS_ABI REGISTER_CONTROL_HANDLER rpc_getRegisterControl(RPC_HANDLER cli); + +/** + * 获取机器人列表 + * + * @return 机器人列表 + * + * @par Python函数原型 + * getRobotNames(self: pyaubo_sdk.AuboApi) -> List[str] + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * @endcode + * + * @par JSON-RPC请求示例 + * {"jsonrpc":"2.0","method":"getRobotNames","params":[],"id":1} + * + * @par JSON-RPC响应示例 + * {"id":1,"jsonrpc":"2.0","result":["rob1"]} + * + */ +ARCS_ABI int rpc_getRobotNames(RPC_HANDLER cli, char **names); + +/** + * 根据名字获取 RobotInterfacePtr 接口 + * + * @param name 机器人名字 + * @return RobotInterfacePtr对象的指针 + * + * @par Python函数原型 + * getRobotInterface(self: pyaubo_sdk.AuboApi, arg0: str) -> + * pyaubo_sdk.RobotInterface + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * auto robot_name = rpc_cli->getRobotNames().front(); + * RobotInterfacePtr ptr = rpc_cli->getRobotInterface(robot_name); + * @endcode + * + */ +ARCS_ABI ROBOT_HANDLER rpc_getRobotInterface(RPC_HANDLER cli, const char *name); + +/** + * 获取外部轴列表 + * + * @return + */ +ARCS_ABI int rpc_getAxisNames(RPC_HANDLER cli, char **names); + +/** + * 获取外部轴接口 + * + * @param name + * @return + */ +ARCS_ABI AXIS_HANDLER rpc_getAxisInterface(RPC_HANDLER cli, const char *name); + +/// 获取独立 IO 模块接口 + +/** + * 获取 socket + * @return SocketPtr对象的指针 + * + * @par Python函数原型 + * getSocket(self: pyaubo_sdk.AuboApi) -> arcs::common_interface::Socket + * @endcode + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * SocketPtr ptr = rpc_cli->getSocket(); + * @endcode + * + */ +ARCS_ABI SOCKET_HANDLER rpc_getSocket(RPC_HANDLER cli); + +/** + * + * @return SerialPtr对象的指针 + * + * @par Python函数原型 + * getSerial(self: pyaubo_sdk.AuboApi) -> arcs::common_interface::Serial + * + * @par C++示例 + * @code + * auto rpc_cli = std::make_shared(); + * SerialPtr ptr = rpc_cli->getSerial(); + * @endcode + */ +ARCS_ABI SERIAL_HANDLER rpc_getSerial(RPC_HANDLER cli); + +/** + * 获取同步运动接口 + * + * @return SyncMovePtr对象的指针 + */ +ARCS_ABI SYNC_MOVE_HANDLER rpc_getSyncMove(RPC_HANDLER cli, const char *name); + +/** + * 获取告警信息接口 + * + * @return TracePtr对象的指针 + */ +ARCS_ABI TRACE_HANDLER rpc_getTrace(RPC_HANDLER cli, const char *name); + +#ifdef __cplusplus +} +#endif +#endif // #define AUBO_SDK_RPC_C_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/rtde.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/rtde.h new file mode 100644 index 00000000..9a23a303 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/rtde.h @@ -0,0 +1,305 @@ +/** @file rtde.h + * @brief 用于RPC模块的交互，如订阅、发布等功能 + */ +#ifndef AUBO_SDK_RTDE_H +#define AUBO_SDK_RTDE_H + +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace arcs { +namespace aubo_sdk { + +class RtdeClient; + +/// 向输出数据中增加 +class ARCS_ABI OutputBuilder +{ +public: + OutputBuilder(); + ~OutputBuilder(); + + OutputBuilder &push(int val); + OutputBuilder &push(double val); + OutputBuilder &push(const std::vector &val); + OutputBuilder &push(const std::tuple &val); + OutputBuilder &push(int16_t &val); + OutputBuilder &push(const std::vector &val); + OutputBuilder &push(const std::vector &val); + OutputBuilder &push(const std::string &val); + OutputBuilder &push(char val); + OutputBuilder &push(const common_interface::RtdeRecipe &val); + +private: + friend RtdeClient; + class Impl; + Impl *impl; +}; + +/// 解析输入 +class ARCS_ABI InputParser +{ +public: + InputParser(); + ~InputParser(); + + bool popBool(); + int popInt32(); + int64_t popInt64(); + int16_t popInt16(); + double popDouble(); + char popChar(); + std::vector popVectorInt(); + std::vector popVectorInt16(); + std::vector popVectorDouble(); + std::vector> popVectorVectorDouble(); + std::vector popVectorJointStateType(); + common_interface::RobotModeType popRobotModeType(); + common_interface::OperationalModeType popOperationalModeType(); + common_interface::SafetyModeType popSafetyModeType(); + common_interface::RuntimeState popRuntimeState(); + common_interface::RobotMsgVector popRobotMsgVector(); + common_interface::Payload popPayload(); + common_interface::GripperStatusVector popGripperStatusVector(); + common_interface::HandleStateType popHandleStateType(); + common_interface::HandleModeType popHandleModeType(); + +private: + friend RtdeClient; + class Impl; + Impl *impl; +}; + +/// RTDE客户端 +class ARCS_ABI RtdeClient +{ +public: + enum Event + { + Connected, + Disconnected, + }; + + /** + * RTDE客户端初始化 + * + * @param mode 设置通讯方式， 0 tcp通讯 1 uds通讯 + */ + RtdeClient(int mode = 0); + ~RtdeClient(); + + /** + * 设置日志处理器 + * + * 此函数可设置自定义的日志处理函数来处理日志消息。 \n + * Aubo SDK 有一套默认的日志系统，按照默认的格式输出到默认的文件。 + * 如果用户不希望采用默认的格式或者不希望输出到默认的文件，那就可以通过这个接口重新自定义格式，或者输出路径。 + * 这个函数可以将用户自定义的日志系统与 Aubo SDK 默认的日志系统合并。 + * + * @note setLogHandler函数要放在即将触发的日志之前， + * 否则会按照默认的形式输出日志。 + * + * @param handler 日志处理函数 \n + * 此日志处理函数的下定义如下: \n + * void handler(int level, const char* filename, int line, const + * std::string& message) \n + * level 表示日志等级 \n + *   0: LOGLEVEL_FATAL 严重的错误 \n + *   1: LOGLEVEL_ERROR 错误 \n + *   2: LOGLEVEL_WARNING 警告 \n + *   3: LOGLEVEL_INFO 通知 \n + *   4: LOGLEVEL_DEBUG 调试 \n + *   5: LOGLEVEL_BACKTRACE 跟踪 \n + * filename 表示文件名 \n + * line 表示代码行号 \n + * message 表示日志信息 \n + * @return 无 + */ + void setLogHandler( + std::function + handler); + + /** + * 连接到服务器 + * + * @param ip IP地址 + * @param port 端口号，RTDE 端口号为30010 + * @retval 0 连接成功 + * @retval 1 在执行函数前，已连接 + * @retval -1 连接失败 + */ + int connect(const std::string &ip = "", int port = 0); + + /** + * socket 是否已连接 + * + * @retval true 已连接socket + * @retval false 未连接socket + */ + bool hasConnected() const; + + /** + * socket 是否已连接 + * + * @param callback + * @retval true 已连接socket + * @retval false 未连接socket + */ + bool hasConnected1(std::function callback); + + /** + * 登录 + * + * @param usrname 用户名 + * @param passwd 密码 + * @retval 0 成功 + * @retval -1 失败 + */ + int login(const std::string &usrname, const std::string &passwd); + + /** + * 是否已经登录 + * + * @retval true 已登录 + * @retval false 未登录 + */ + bool hasLogined(); + + /** + * 登出 + * + * @return 0 + */ + int logout(); + + /** + * 断开连接 + * + * @retval 0 成功 + * @retval -1 失败 + */ + int disconnect(); + + /** + * 获取协议版本号 + * + * @return 协议版本号 + */ + int getProtocolVersion(); + + /** + * 获取输入列表 + * + * @return 输入列表 + */ + std::map getInputMaps(); + + /** + * 获取输出列表 + * + * @return 输出列表 + */ + std::map getOutputMaps(); + + /** + * 设置话题 + * + * @param to_server 数据流向。 + * true 表示客户端给服务器发送消息，false 表示服务器给客户端发送消息 + * @param names 服务器推送的信息列表 + * @param freq 服务器推送信息的频率 + * @param expected_chanel 通道。 + * 取值范围：0~99， + * 发布不同的话题走不同的通道 + * @retval expected_chanel参数的值 成功 + * @retval -1 失败 + */ + int setTopic(bool to_server, const std::vector &names, + double freq, int expected_chanel); + + /** + * 取消订阅 + * + * @param to_server 数据流向 + * true 表示客户端给服务器发送消息，false 表示服务器给客户端发送消息 + * @param chanel 通道 + * @retval 0 成功 + * @retval 1 失败 + */ + int removeTopic(bool to_server, int chanel); + + /** + * 获取已注册的输入菜单 + * + * @return 已注册的输入菜单 + */ + std::unordered_map + getRegisteredInputRecipe(); + + /** + * 获取已注册的输出菜单 + * + * @return 已注册的输出菜单 + */ + std::unordered_map + getRegisteredOutputRecipe(); + + /** + * 订阅 subscribe from output + * + * @param chanel 通道 + * @param callback 回调函数，用于处理订阅的输入信息。\n + * 回调函数的定义如下： + * void callback(InputParser &parser) + * @return 0 + */ + int subscribe(int chanel, std::function callback); + + /** + * 发布 publish to input + * + * @param chanel 通道 + * @param callback 回调函数，用于构建发布的输出信息。\n + * 回调函数的定义如下： + * void callback(OutputBuilder &builder) + * @retval 0 成功 + * @retval -1 失败 + */ + int publish(int chanel, std::function callback); + + /** + * 设置事件处理 + * + * @param cb + * @return + */ + int setEventHandler(std::function cb); + +private: + class Impl; + Impl *impl; +}; +using RtdeClientPtr = std::shared_ptr; + +} // namespace aubo_sdk +} // namespace arcs + +#ifdef __cplusplus +extern "C" { +#endif + +ARCS_ABI arcs::aubo_sdk::RtdeClient *createRtdeClient(int mode = 0); +ARCS_ABI void destroyRtdeClient(arcs::aubo_sdk::RtdeClient *cli); + +#ifdef __cplusplus +} +#endif +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/rtde_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/rtde_c.h new file mode 100644 index 00000000..527bf2d9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/rtde_c.h @@ -0,0 +1,180 @@ +#ifndef AUBO_SDK_RTDE_C_H +#define AUBO_SDK_RTDE_C_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * @brief 创建 RTDE 客户端实例。 + * + * @param mode 设置通讯方式，0 表示 TCP 通讯，1 表示 UDS 通讯。 + * @return 成功返回 RTDE 客户端句柄，失败返回 NULL。 + */ +ARCS_ABI RTDE_HANDLE rtde_create_client(int mode); + +/** + * @brief 销毁 RTDE 客户端实例。 + * + * @param cli RTDE 客户端句柄。 + */ +ARCS_ABI void rtde_destroy_client(RTDE_HANDLE cli); + +/** + * @brief 设置日志处理器。 + * + * @param cli RTDE 客户端句柄。 + * @param handler 日志处理函数。 + */ +ARCS_ABI void rtde_setLogHandler(RTDE_HANDLE cli, + void (*handler)(int level, + const char *filename, int line, + const char *message)); + +/** + * @brief 连接到服务器。 + * + * @param cli RTDE 客户端句柄。 + * @param ip IP 地址，NULL 表示使用默认地址。 + * @param port 端口号，0 表示使用默认端口。 + * @return 0 表示成功，-1 表示失败。 + */ +ARCS_ABI int rtde_connect(RTDE_HANDLE cli, const char *ip, int port); + +/** + * @brief 检查是否已连接。 + * + * @param cli RTDE 客户端句柄。 + * @return true 表示已连接，false 表示未连接。 + */ +ARCS_ABI bool rtde_hasConnected(RTDE_HANDLE cli); + +/** + * @brief 登录到服务器。 + * + * @param cli RTDE 客户端句柄。 + * @param username 用户名。 + * @param password 密码。 + * @return 0 表示成功，-1 表示失败。 + */ +ARCS_ABI int rtde_login(RTDE_HANDLE cli, const char *username, + const char *password); + +/** + * @brief 检查是否已登录。 + * + * @param cli RTDE 客户端句柄。 + * @return true 表示已登录，false 表示未登录。 + */ +ARCS_ABI bool rtde_hasLogined(RTDE_HANDLE cli); + +/** + * @brief 登出。 + * + * @param cli RTDE 客户端句柄。 + * @return 0 表示成功。 + */ +ARCS_ABI int rtde_logout(RTDE_HANDLE cli); + +/** + * @brief 断开连接。 + * + * @param cli RTDE 客户端句柄。 + * @return 0 表示成功，-1 表示失败。 + */ +ARCS_ABI int rtde_disconnect(RTDE_HANDLE cli); + +/** + * @brief 获取协议版本号。 + * + * @param cli RTDE 客户端句柄。 + * @return 协议版本号。 + */ +ARCS_ABI int rtde_getProtocolVersion(RTDE_HANDLE cli); + +/** + * @brief 设置话题。 + * + * @param cli RTDE 客户端句柄。 + * @param to_server 数据流向，true 表示客户端发送消息，false + * 表示服务器发送消息。 + * @param names 信息列表（逗号分隔的字符串）。 + * @param freq 推送频率。 + * @param expected_chanel 通道号。 + * @return 成功返回通道号，失败返回 -1。 + */ +ARCS_ABI int rtde_setTopic(RTDE_HANDLE cli, bool to_server, const char *names, + double freq, int expected_chanel); + +/** + * @brief 取消订阅。 + * + * @param cli RTDE 客户端句柄。 + * @param to_server 数据流向。 + * @param chanel 通道号。 + * @return 0 表示成功，-1 表示失败。 + */ +ARCS_ABI int rtde_removeTopic(RTDE_HANDLE cli, bool to_server, int chanel); + +/** + * @brief 订阅主题。 + * + * @param cli RTDE 客户端句柄。 + * @param chanel 通道号。 + * @param callback 回调函数，用于处理订阅的数据。 + * @return 0 表示成功，-1 表示失败。 + */ +ARCS_ABI int rtde_subscribe(RTDE_HANDLE cli, int chanel, + void (*callback)(void *parser)); + +/** + * @brief 发布数据。 + * + * @param cli RTDE 客户端句柄。 + * @param chanel 通道号。 + * @param callback 回调函数，用于生成发布数据。 + * @return 0 表示成功，-1 表示失败。 + */ +ARCS_ABI int rtde_publish(RTDE_HANDLE cli, int chanel, + void (*callback)(void *builder)); + +// OutputBuilder +ARCS_ABI int rtde_pushInt(OUTPUT_BUILDER_HANDLE builder, int val); +ARCS_ABI int rtde_pushDouble(OUTPUT_BUILDER_HANDLE builder, double val); +ARCS_ABI int rtde_pushVectorDouble(OUTPUT_BUILDER_HANDLE builder, const double* val, int size); +ARCS_ABI int rtde_pushTupleIntBool(OUTPUT_BUILDER_HANDLE builder, int first, bool second); +ARCS_ABI int rtde_pushInt16(OUTPUT_BUILDER_HANDLE builder, int16_t val); +ARCS_ABI int rtde_pushVectorInt16(OUTPUT_BUILDER_HANDLE builder, const int16_t* val, int size); +ARCS_ABI int rtde_pushVectorInt(OUTPUT_BUILDER_HANDLE builder, const int* val, int size); +ARCS_ABI int rtde_pushString(OUTPUT_BUILDER_HANDLE builder, const char* val); +ARCS_ABI int rtde_pushChar(OUTPUT_BUILDER_HANDLE builder, char val); +ARCS_ABI int rtde_pushRtdeRecipe(OUTPUT_BUILDER_HANDLE builder, const struct RtdeRecipe_C* val); + +// InputParser +ARCS_ABI bool rtde_popBool(INPUT_PARSER_HANDLE parser); +ARCS_ABI int32_t rtde_popInt32(INPUT_PARSER_HANDLE parser); +ARCS_ABI int64_t rtde_popInt64(INPUT_PARSER_HANDLE parser); +ARCS_ABI int16_t rtde_popInt16(INPUT_PARSER_HANDLE parser); +ARCS_ABI double rtde_popDouble(INPUT_PARSER_HANDLE parser); +ARCS_ABI char rtde_popChar(INPUT_PARSER_HANDLE parser); + +ARCS_ABI int rtde_popVectorInt(INPUT_PARSER_HANDLE* parser, int* data, int size); +ARCS_ABI int rtde_popVectorInt16(INPUT_PARSER_HANDLE parser, int16_t* data, int size); +ARCS_ABI int rtde_popVectorDouble(INPUT_PARSER_HANDLE parser, double* data, int size); +ARCS_ABI int rtde_popVectorVectorDouble(INPUT_PARSER_HANDLE parser, double*** data, int rows, int cols); + +ARCS_ABI JointStateType_C rtde_popVectorJointStateType(INPUT_PARSER_HANDLE parser); +ARCS_ABI RobotModeType_C rtde_popRobotModeType(INPUT_PARSER_HANDLE parser); +ARCS_ABI OperationalModeType_C rtde_popOperationalModeType(INPUT_PARSER_HANDLE parser); +ARCS_ABI SafetyModeType_C rtde_popSafetyModeType(INPUT_PARSER_HANDLE parser); +ARCS_ABI RuntimeState_C rtde_popRuntimeState(INPUT_PARSER_HANDLE parser); +ARCS_ABI int rtde_popRobotMsgVector(INPUT_PARSER_HANDLE parser, struct RobotMsgVector_C* robot_msg_vec); +ARCS_ABI int rtde_popPayload(INPUT_PARSER_HANDLE parser, struct Payload_C* payload); + +#ifdef __cplusplus +} +#endif + +#endif // AUBO_SDK_RTDE_C_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/runtime_machine_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/runtime_machine_c.h new file mode 100644 index 00000000..0afd4c75 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/runtime_machine_c.h @@ -0,0 +1,60 @@ +#ifndef AUBO_SDK_RuntimeMachine_C_H +#define AUBO_SDK_RuntimeMachine_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif + +ARCS_ABI int newTask(RUNTIME_MACHINE_HADNLER h, BOOL daemon); +ARCS_ABI int deleteTask(RUNTIME_MACHINE_HADNLER h, int tid); +ARCS_ABI int detachTask(RUNTIME_MACHINE_HADNLER h, int tid); +ARCS_ABI BOOL isTaskAlive(RUNTIME_MACHINE_HADNLER h, int tid); +ARCS_ABI int nop(RUNTIME_MACHINE_HADNLER h); +ARCS_ABI int switchTask(RUNTIME_MACHINE_HADNLER h, int tid); +ARCS_ABI int setLabel(RUNTIME_MACHINE_HADNLER h, int tid, const char *lineno); +ARCS_ABI int setPlanContext(RUNTIME_MACHINE_HADNLER h, int tid, int lineno, + const char *comment); +ARCS_ABI int gotoLine(RUNTIME_MACHINE_HADNLER h, int lineno); +ARCS_ABI int getAdvancePlanContext(RUNTIME_MACHINE_HADNLER h, int tid, + struct PlanContext_C *result); +ARCS_ABI int getAdvancePtr(RUNTIME_MACHINE_HADNLER h, int tid); +ARCS_ABI int getMainPtr(RUNTIME_MACHINE_HADNLER h, int tid); +ARCS_ABI int getInterpPtr(RUNTIME_MACHINE_HADNLER h, int tid); +ARCS_ABI int getPlanContext(RUNTIME_MACHINE_HADNLER h, int tid, + struct PlanContext_C *result); +ARCS_ABI int getExecutionStatus(RUNTIME_MACHINE_HADNLER h, + struct ExecutionStatus_C *result); +ARCS_ABI int getExecutionStatus1(RUNTIME_MACHINE_HADNLER h, + struct ExecutionStatus1_C *result); +ARCS_ABI int loadProgram(RUNTIME_MACHINE_HADNLER h, const char *program); +ARCS_ABI int runProgram(RUNTIME_MACHINE_HADNLER h); +ARCS_ABI int start(RUNTIME_MACHINE_HADNLER h); +ARCS_ABI int stop(RUNTIME_MACHINE_HADNLER h); +ARCS_ABI int abort1(RUNTIME_MACHINE_HADNLER h); +ARCS_ABI int pause(RUNTIME_MACHINE_HADNLER h); +ARCS_ABI int step(RUNTIME_MACHINE_HADNLER h); +ARCS_ABI int setResumeWait(RUNTIME_MACHINE_HADNLER h, BOOL wait); +ARCS_ABI int resume(RUNTIME_MACHINE_HADNLER h); +ARCS_ABI RuntimeState_C getStatus(RUNTIME_MACHINE_HADNLER h); +ARCS_ABI RuntimeState_C getRuntimeState(RUNTIME_MACHINE_HADNLER h); +ARCS_ABI int setBreakPoint(RUNTIME_MACHINE_HADNLER h, int lineno); +ARCS_ABI int removeBreakPoint(RUNTIME_MACHINE_HADNLER h, int lineno); +ARCS_ABI int clearBreakPoints(RUNTIME_MACHINE_HADNLER h); +ARCS_ABI int timerStart(RUNTIME_MACHINE_HADNLER h, const char *name); +ARCS_ABI int timerStop(RUNTIME_MACHINE_HADNLER h, const char *name); +ARCS_ABI int timerReset(RUNTIME_MACHINE_HADNLER h, const char *name); +ARCS_ABI int timerDelete(RUNTIME_MACHINE_HADNLER h, const char *name); +ARCS_ABI double getTimer(RUNTIME_MACHINE_HADNLER h, const char *name); +ARCS_ABI int triggBegin(RUNTIME_MACHINE_HADNLER h, double distance, + double delay); +ARCS_ABI int triggEnd(RUNTIME_MACHINE_HADNLER h); +ARCS_ABI int triggInterrupt(RUNTIME_MACHINE_HADNLER h, double distance, + double delay); +ARCS_ABI int getTriggInterrupts(RUNTIME_MACHINE_HADNLER h, int *result); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/script.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/script.h new file mode 100644 index 00000000..8cb97fe7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/script.h @@ -0,0 +1,209 @@ +/** @file script.h + * @brief 用于SCRIPT模块的交互，如向服务器发送脚本 + */ +#ifndef AUBO_SDK_SCRIPT_H +#define AUBO_SDK_SCRIPT_H + +#include +#include +#include +#include + +namespace arcs { +namespace aubo_sdk { + +class ScriptWriter +{ +public: + virtual ~ScriptWriter() = default; + + virtual ScriptWriter &append(const std::string &line) = 0; + virtual ScriptWriter &append(const char *buf, size_t len) = 0; + virtual ScriptWriter &moveJoint() = 0; + virtual ScriptWriter &moveLine() = 0; + virtual ScriptWriter &ifCondition() = 0; + virtual ScriptWriter &elseCondition() = 0; + virtual ScriptWriter &elseIfCondition() = 0; + virtual ScriptWriter &whileCondition() = 0; + virtual ScriptWriter &end() = 0; +}; + +/// SCRIPT客户端 +class ARCS_ABI ScriptClient +{ +public: + enum Event + { + Connected, + Disconnected, + }; + + ScriptClient(int mode = 0); + ~ScriptClient(); + + /** + * 设置日志处理器 + * + * 此函数可设置自定义的日志处理函数来处理日志消息。 \n + * Aubo SDK 有一套默认的日志系统，按照默认的格式输出到默认的文件。 + * 如果用户不希望采用默认的格式或者不希望输出到默认的文件，那就可以通过这个接口重新自定义格式，或者输出路径。 + * 这个函数可以将用户自定义的日志系统与 Aubo SDK 默认的日志系统合并。 + * + * @note setLogHandler函数要放在即将触发的日志之前， + * 否则会按照默认的形式输出日志。 + * + * @param handler 日志处理函数 \n + * 此日志处理函数的下定义如下: \n + * void handler(int level, const char* filename, int line, const + * std::string& message) \n + * level 表示日志等级 \n + *   0: LOGLEVEL_FATAL 严重的错误 \n + *   1: LOGLEVEL_ERROR 错误 \n + *   2: LOGLEVEL_WARNING 警告 \n + *   3: LOGLEVEL_INFO 通知 \n + *   4: LOGLEVEL_DEBUG 调试 \n + *   5: LOGLEVEL_BACKTRACE 跟踪 \n + * filename 表示文件名 \n + * line 表示代码行号 \n + * message 表示日志信息 \n + * @return 无 + */ + void setLogHandler( + std::function + handler); + + /** + * 连接到服务器 + * + * @param ip IP地址 + * @param port 端口号。SCRIPT端口号为30004 + * @retval 0 连接成功 + * @retval 1 在执行函数前，已连接 + * @retval -1 连接失败 + */ + int connect(const std::string &ip = "", int port = 0); + + /** + * 是否处于连接状态 + * + * @retval true 已连接 + * @retval false 未连接 + */ + bool hasConnected() const; + + /** + * 登录 + * + * @param usrname 用户名 + * @param passwd 密码 + * @retval 0 成功 + * @retval -1 失败 + */ + int login(const std::string &usrname, const std::string &passwd); + + /** + * 返回客户端是否登录 + * + * @retval true 已登录 + * @retval false 未登录 + */ + bool hasLogined(); + + /** + * 登出 + * + * @return 0 + */ + int logout(); + + /** + * 断开连接 + * + * @retval 0 成功 + * @retval -1 失败 + */ + int disconnect(); + + /** + * 发送脚本文件 + * + * 远程调用机器人的脚本 + * + * @param path 文件在机器人端的路径 + * @retval 0 成功 + * @retval -1 失败 + */ + int sendFile(const std::string &path); + + /** + * 发送脚本内容 + * + * 调用本地的脚本 + * + * @param script 脚本内容 + * @retval 0 成功 + * @retval -1 失败 + */ + int sendString(const std::string &script); + + /** + * 使用ScriptWriter构建服务器脚本 + * + * @param chunck_name + * @param cb + * @retval 0 成功 + * @retval -1 失败 + */ + int send(const std::string &chunck_name, + std::function cb); + + /** + * 设置服务器脚本的全局变量 + * + * @param cb 脚本的全局变量 + * @return 0 + */ + int subscribeVariableUpdate( + std::function cb); + + /** + * 设置服务器脚本的错误码 + * + * @param cb 脚本的错误码 + * @return 0 + */ + ARCS_DEPRECATED int subscribeScriptError( + std::function cb); + + int subscribeScriptError2( + std::function cb); + + /** + * 设置事件处理 + * + * @param cb + * @return + */ + int setEventHandler(std::function cb); + +private: + class Impl; + Impl *impl; +}; +using ScriptClientPtr = std::shared_ptr; + +} // namespace aubo_sdk +} // namespace arcs + +#ifdef __cplusplus +extern "C" { +#endif + +ARCS_ABI arcs::aubo_sdk::ScriptClient *createScriptClient(int mode = 0); +ARCS_ABI void destroyScriptClient(arcs::aubo_sdk::ScriptClient *cli); + +#ifdef __cplusplus +} +#endif +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/serial_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/serial_c.h new file mode 100644 index 00000000..bac17286 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/serial_c.h @@ -0,0 +1,32 @@ +#ifndef AUBO_SDK_Serial_C_H +#define AUBO_SDK_Serial_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI int serialOpen(SERIAL_HANDLER h, const char *device, int baud, + float stop_bits, int even, const char *serial_name); +ARCS_ABI int serialClose(SERIAL_HANDLER h, const char *serial_name); +ARCS_ABI int serialReadByte(SERIAL_HANDLER h, const char *variable, + const char *serial_name); +ARCS_ABI int serialReadByteList(SERIAL_HANDLER h, int number, + const char *variable, const char *serial_name); +ARCS_ABI int serialReadString(SERIAL_HANDLER h, const char *variable, + const char *serial_name, const char *prefix, + const char *suffix, BOOL interpret_escape); +ARCS_ABI int serialSendByte(SERIAL_HANDLER h, char value, + const char *serial_name); +ARCS_ABI int serialSendInt(SERIAL_HANDLER h, int value, + const char *serial_name); +ARCS_ABI int serialSendLine(SERIAL_HANDLER h, const char *str, + const char *serial_name); +ARCS_ABI int serialSendString(SERIAL_HANDLER h, const char *str, + const char *serial_name); +ARCS_ABI int serialSendAllString(SERIAL_HANDLER h, BOOL is_check, + const char *str, const char *serial_name); +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/socket_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/socket_c.h new file mode 100644 index 00000000..ba95fa56 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/socket_c.h @@ -0,0 +1,38 @@ +#ifndef AUBO_SDK_Socket_C_H +#define AUBO_SDK_Socket_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI int socketOpen(SOCKET_HANDLER h, const char *address, int port, + const char *socket_name); +ARCS_ABI int socketClose(SOCKET_HANDLER h, const char *socket_name); +ARCS_ABI int socketReadAsciiFloat(SOCKET_HANDLER h, int number, + const char *variable, + const char *socket_name); +ARCS_ABI int socketReadBinaryInteger(SOCKET_HANDLER h, int number, + const char *variable, + const char *socket_name); +ARCS_ABI int socketReadByteList(SOCKET_HANDLER h, int number, + const char *variable, const char *socket_name); +ARCS_ABI int socketReadString(SOCKET_HANDLER h, const char *variable, + const char *socket_name, const char *prefix, + const char *suffix, BOOL interpret_escape); +ARCS_ABI int socketReadAllString(SOCKET_HANDLER h, const char *variable, + const char *socket_name); +ARCS_ABI int socketSendByte(SOCKET_HANDLER h, char value, + const char *socket_name); +ARCS_ABI int socketSendInt(SOCKET_HANDLER h, int value, + const char *socket_name); +ARCS_ABI int socketSendLine(SOCKET_HANDLER h, const char *str, + const char *socket_name); +ARCS_ABI int socketSendString(SOCKET_HANDLER h, const char *str, + const char *socket_name); +ARCS_ABI int socketSendAllString(SOCKET_HANDLER h, BOOL is_check, + const char *str, const char *socket_name); +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/sync_move_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/sync_move_c.h new file mode 100644 index 00000000..2b8048f8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/sync_move_c.h @@ -0,0 +1,22 @@ +#ifndef AUBO_SDK_SyncMove_C_H +#define AUBO_SDK_SyncMove_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI int syncMoveOn(SYNC_MOVE_HANDLER h, const char *syncident, + const char **taskset); +ARCS_ABI BOOL syncMoveSegment(SYNC_MOVE_HANDLER h, int id); +ARCS_ABI int syncMoveOff(SYNC_MOVE_HANDLER h, const char *syncident); +ARCS_ABI int syncMoveUndo(SYNC_MOVE_HANDLER h); +ARCS_ABI int waitSyncTasks(SYNC_MOVE_HANDLER h, const char *syncident, + const char **taskset); +ARCS_ABI BOOL isSyncMoveOn(SYNC_MOVE_HANDLER h); +ARCS_ABI int syncMoveSuspend(SYNC_MOVE_HANDLER h); +ARCS_ABI int syncMoveResume(SYNC_MOVE_HANDLER h); +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/system_info_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/system_info_c.h new file mode 100644 index 00000000..7f37e318 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/system_info_c.h @@ -0,0 +1,18 @@ +#ifndef AUBO_SDK_SystemInfo_C_H +#define AUBO_SDK_SystemInfo_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI int getControlSoftwareVersionCode(SYSTEM_INFO_HANDLER h); +ARCS_ABI int getControlSoftwareFullVersion(SYSTEM_INFO_HANDLER h, char *result); +ARCS_ABI int getInterfaceVersionCode(SYSTEM_INFO_HANDLER h); +ARCS_ABI int getControlSoftwareBuildDate(SYSTEM_INFO_HANDLER h, char *result); +ARCS_ABI int getControlSoftwareVersionHash(SYSTEM_INFO_HANDLER h, char *result); +ARCS_ABI uint64_t getControlSystemTime(SYSTEM_INFO_HANDLER h); +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/trace_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/trace_c.h new file mode 100644 index 00000000..fd46477a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/trace_c.h @@ -0,0 +1,20 @@ +#ifndef AUBO_SDK_Trace_C_H +#define AUBO_SDK_Trace_C_H +#include + +#ifdef __cplusplus +extern "C" { +#endif +ARCS_ABI int alarm(TRACE_HANDLER h, TraceLevel_C level, int code, + const char **args); +ARCS_ABI int popup(TRACE_HANDLER h, TraceLevel_C level, const char *title, + const char *msg, int mode); +ARCS_ABI int textmsg(TRACE_HANDLER h, const char *msg); +ARCS_ABI int notify(TRACE_HANDLER h, const char *msg); +ARCS_ABI int peek(TRACE_HANDLER h, uint64_t num, uint64_t last_time, + struct RobotMsg_C *result); +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/type_def_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/type_def_c.h new file mode 100644 index 00000000..c7ca51ff --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/aubo_sdk/type_def_c.h @@ -0,0 +1,800 @@ +#ifndef AUBO_SDK_TYPE_DEF_C_H +#define AUBO_SDK_TYPE_DEF_C_H +#include +#include +#include + +#ifdef _MSC_VER +// MSVC /utf-8 or /execution-charset is set by the project; +// #pragma execution_character_set is not supported in that mode. +// (See MSVC error C3437) +//#pragma execution_character_set("utf-8") +#endif + +/// Cartesion degree of freedom, 6 for x,y,z,rx,ry,rz +#define CARTESIAN_DOF 6 +#define SAFETY_PARAM_SELECT_NUM 2 /// normal + reduced +#define SAFETY_PLANES_NUM 8 /// 安全平面的数量 +#define SAFETY_CUBIC_NUM 10 /// 安全立方体的数量 +#define TOOL_CONFIGURATION_NUM 3 /// 工具配置数量 +#define MAX_DOF 7 /// 工具配置数量 +#define TRUE 1 +#define FALSE 0 + +typedef uint8_t BOOL; +typedef double Vector3d_C[3]; +typedef double Vector4d_C[4]; +typedef float Vector3f_C[3]; +typedef float Vector4f_C[4]; +typedef float Vector6f_C[6]; + +typedef void *RPC_HANDLER; +typedef void *RTDE_HANDLE; +typedef void *INPUT_PARSER_HANDLE; +typedef void *OUTPUT_BUILDER_HANDLE; +typedef void *MATH_HANDLER; +typedef void *SYSTEM_INFO_HANDLER; +typedef void *RUNTIME_MACHINE_HANDLER; +typedef void *REGISTER_CONTROL_HANDLER; +typedef void *RUNTIME_MACHINE_HADNLER; +typedef void *ROBOT_HANDLER; +typedef void *AXIS_HANDLER; +typedef void *SOCKET_HANDLER; +typedef void *SERIAL_HANDLER; +typedef void *SYNC_MOVE_HANDLER; +typedef void *TRACE_HANDLER; +typedef void *FORCE_CONTROL_HANDLER; +typedef void *IO_CONTROL_HANDLER; +typedef void *MOTION_CONTROL_HANDLER; +typedef void *ROBOT_ALGORITHM_HANDLER; +typedef void *ROBOT_MANAGE_HANDLER; +typedef void *ROBOT_CONFIG_HANDLER; +typedef void *ROBOT_STATE_HANDLER; + +typedef void (*LOG_HANDLER)(int /*level*/, const char * /*filename*/, + int /*line*/, const char * /*message*/); +typedef void (*EVENT_CALLBACK)(int /*event*/); + +struct RobotSafetyParameterRange_C +{ + uint32_t crc32{ 0 }; + + /// 最多可以保存2套参数, 默认使用第 0 套参数 + struct + { + float power; ///< sum of joint torques times joint angular speeds + float momentum; ///< 机器人动量限制 + float stop_time; ///< 停机时间 ms + float stop_distance; ///< 停机距离 m + float reduced_entry_time; ///< 进入缩减模式的最大时间 + float + reduced_entry_distance; ///< 进入缩减模式的最大距离(可由安全平面触发) + float tcp_speed; + float elbow_speed; + float tcp_force; + float elbow_force; + float qmin[MAX_DOF]; + float qmax[MAX_DOF]; + float qdmax[MAX_DOF]; + float joint_torque[MAX_DOF]; + Vector3f_C tool_orientation; ///< + float tool_deviation; + Vector4f_C planes[SAFETY_PLANES_NUM]; /// x,y,z,displacement + int restrict_elbow[SAFETY_PLANES_NUM]; + } params[SAFETY_PARAM_SELECT_NUM]; + + /// 8个触发平面 + struct + { + Vector4f_C plane; /// x,y,z,displacement + int restrict_elbow; + } trigger_planes[SAFETY_PLANES_NUM]; + + struct + { + Vector6f_C orig; ///< 立方块的原点 (x,y,z,rx,ry,rz) + Vector3f_C size; ///< 立方块的尺寸 (x,y,z) + int restrict_elbow; + } cubic[SAFETY_CUBIC_NUM]; ///< 10个安全空间 + + /// 3个工具 + Vector4f_C tools[TOOL_CONFIGURATION_NUM]; /// x,y,z,radius + + float tool_inclination{ 0. }; ///< 倾角 + float tool_azimuth{ 0. }; ///< 方位角 + float safety_home[MAX_DOF]; + + /// 可配置IO的输入输出安全功能配置 + uint32_t safety_input_emergency_stop; + uint32_t safety_input_safeguard_stop; + uint32_t safety_input_safeguard_reset; + uint32_t safety_input_auto_safeguard_stop; + uint32_t safety_input_auto_safeguard_reset; + uint32_t safety_input_three_position_switch; + uint32_t safety_input_operational_mode; + uint32_t safety_input_reduced_mode; + uint32_t safety_input_handguide; + + uint32_t safety_output_emergency_stop; + uint32_t safety_output_not_emergency_stop; + uint32_t safety_output_robot_moving; + uint32_t safety_output_robot_steady; + uint32_t safety_output_reduced_mode; + uint32_t safety_output_not_reduced_mode; + uint32_t safety_output_safe_home; + uint32_t safety_output_robot_not_stopping; + uint32_t safety_output_safetyguard_stop; + + int tp_3pe_for_handguide; ///< 是否将示教器三档位开关作为拖动功能开关 + int allow_manual_high_speed; ///< 手动模式下允许高速运行 +}; + +inline void RobotSafetyParameterRange_init( + struct RobotSafetyParameterRange_C *range) +{ + memset(range, 0, sizeof(struct RobotSafetyParameterRange_C)); + range->tp_3pe_for_handguide = 1; +} + +struct WObjectData_C +{ + /// 是否为外部工具 + bool remote_tool; + + /// 工件坐标系耦合的 + char attach_frame[100]; + + /// 用户坐标系 + /// 如果 robhold 为 false, 那 uframe 的数值是基于 world + /// 否则，uframe 的数值是基于 flange + double user_coord[6]; + + /// 工件坐标系，基于 uframe + double obj_coord[6]; +}; + +/// 接口函数返回值定义 +/// +/// 整数为警告，负数为错误，0为没有错误也没有警告 +#define ENUM_AuboErrorCodes_DECLARES \ + ENUM_ITEM(AUBO_OK, 0, "Success") \ + ENUM_ITEM(AUBO_BAD_STATE, 1, "State error") \ + ENUM_ITEM(AUBO_QUEUE_FULL, 2, "Planning queue full") \ + ENUM_ITEM(AUBO_BUSY, 3, "The previous command is executing") \ + ENUM_ITEM(AUBO_TIMEOUT, 4, "Timeout") \ + ENUM_ITEM(AUBO_INVL_ARGUMENT, 5, "Invalid parameters") \ + ENUM_ITEM(AUBO_NOT_IMPLETEMENT, 6, "Interface not implemented") \ + ENUM_ITEM(AUBO_NO_ACCESS, 7, "Cannot access") \ + ENUM_ITEM(AUBO_CONN_REFUSED, 8, "Connection refused") \ + ENUM_ITEM(AUBO_CONN_RESET, 9, "Connection is reset") \ + ENUM_ITEM(AUBO_INPROGRESS, 10, "Execution in progress") \ + ENUM_ITEM(AUBO_EIO, 11, "Input/Output error") \ + ENUM_ITEM(AUBO_NOBUFFS, 12, "") \ + ENUM_ITEM(AUBO_REQUEST_IGNORE, 13, "Request was ignored") \ + ENUM_ITEM(AUBO_ALGORITHM_PLAN_FAILED, 14, \ + "Motion planning algorithm error") \ + ENUM_ITEM(AUBO_VERSION_INCOMPAT, 15, "Interface version unmatch") \ + ENUM_ITEM(AUBO_DIMENSION_ERR, 16, \ + "Input parameter dimension is incorrect") \ + ENUM_ITEM(AUBO_SINGULAR_ERR, 17, "Input configuration may be singular") \ + ENUM_ITEM(AUBO_POS_BOUND_ERR, 18, \ + "Input position boundary exceeds the limit range") \ + ENUM_ITEM(AUBO_INIT_POS_ERR, 19, "Initial position input is unreasonable") \ + ENUM_ITEM(AUBO_ELP_SETTING_ERR, 20, "Envelope body setting error") \ + ENUM_ITEM(AUBO_TRAJ_GEN_FAIL, 21, "Trajectory generation failed") \ + ENUM_ITEM(AUBO_TRAJ_SELF_COLLISION, 22, "Trajectory self collision") \ + ENUM_ITEM( \ + AUBO_IK_NO_CONVERGE, 23, \ + "Inverse kinematics computation did not converge; computation failed") \ + ENUM_ITEM(AUBO_IK_OUT_OF_RANGE, 24, \ + "Inverse kinematics result out of robot range") \ + ENUM_ITEM(AUBO_IK_CONFIG_DISMATCH, 25, \ + "Inverse kinematics input configuration contains errors") \ + ENUM_ITEM(AUBO_IK_JACOBIAN_FAILED, 26, \ + "The calculation of the inverse Jacobian matrix failed") \ + ENUM_ITEM(AUBO_IK_NO_SOLU, 27, \ + "The target point has solutions, but it has exceeded the joint " \ + "limit conditions") \ + ENUM_ITEM(AUBO_IK_UNKOWN_ERROR, 28, "Inverse kinematics unkown error") \ + ENUM_ITEM(AUBO_ERR_UNKOWN, 99999, "Unkown error occurred.") + +// clang-format off +/** + * The RuntimeState enum + * + */ +#define ENUM_RuntimeState_DECLARES \ + ENUM_ITEM(Running, 0, "正在运行中") \ + ENUM_ITEM(Retracting, 1, "倒退") \ + ENUM_ITEM(Pausing, 2, "暂停中") \ + ENUM_ITEM(Paused, 3, "暂停状态") \ + ENUM_ITEM(Stepping, 4, "单步执行中") \ + ENUM_ITEM(Stopping, 5, "受控停止中(保持原有轨迹)") \ + ENUM_ITEM(Stopped, 6, "已停止") \ + ENUM_ITEM(Aborting, 7, "停止(最大速度关节运动停机)") + +/** + * @brief The RobotModeType enum + * + * 硬件强相关 + */ +#define ENUM_RobotModeType_DECLARES \ + ENUM_ITEM(NoController, -1, "提供给示教器使用的, 如果aubo_control进程崩溃则会显示为NoController") \ + ENUM_ITEM(Disconnected, 0, "没有连接到机械臂本体(控制器与接口板断开连接或是 EtherCAT 等总线断开)") \ + ENUM_ITEM(ConfirmSafety, 1, "正在进行安全配置, 断电状态下进行") \ + ENUM_ITEM(Booting, 2, "机械臂本体正在上电初始化") \ + ENUM_ITEM(PowerOff, 3, "机械臂本体处于断电状态") \ + ENUM_ITEM(PowerOn, 4, "机械臂本体上电成功, 刹车暂未松开(抱死), 关节初始状态未获取") \ + ENUM_ITEM(Idle, 5, "机械臂上电成功, 刹车暂未松开(抱死), 电机不通电, 关节初始状态获取完成") \ + ENUM_ITEM(BrakeReleasing, 6, "机械臂上电成功, 刹车正在松开") \ + ENUM_ITEM(BackDrive, 7, "反向驱动：刹车松开, 电机不通电") \ + ENUM_ITEM(Running, 8, "机械臂刹车松开, 运行模式, 控制权由硬件移交给软件") \ + ENUM_ITEM(Maintaince, 9, "维护模式: 包括固件升级、参数写入等") \ + ENUM_ITEM(Error, 10, "") \ + ENUM_ITEM(PowerOffing, 11, "机械臂本体处于断电过程中") + +#define ENUM_SafetyModeType_DECLARES \ + ENUM_ITEM(Undefined, 0, "安全状态待定") \ + ENUM_ITEM(Normal, 1, "正常运行模式") \ + ENUM_ITEM(ReducedMode, 2, "缩减运行模式") \ + ENUM_ITEM(Recovery, 3, "启动时如果在安全限制之外, 机器人将进入recovery模式") \ + ENUM_ITEM(Violation, 4, "超出安全限制（根据安全配置, 例如速度超限等）") \ + ENUM_ITEM(ProtectiveStop, 5, "软件触发的停机（保持轨迹, 不抱闸, 不断电）") \ + ENUM_ITEM(SafeguardStop, 6, "IO触发的防护停机（不保持轨迹, 抱闸, 不断电）") \ + ENUM_ITEM(SystemEmergencyStop,7, "系统急停：急停信号由外部输入(可配置输入), 不对外输出急停信号") \ + ENUM_ITEM(RobotEmergencyStop, 8, "机器人急停：控制柜急停输入或者示教器急停按键触发, 对外输出急停信号") \ + ENUM_ITEM(Fault, 9, "机械臂硬件故障或者系统故障") + //ValidateJointId + +/** + * 根据ISO 10218-1:2011(E) 5.7节 + * Automatic: In automatic mode, the robot shall execute the task programme and + * the safeguarding measures shall be functioning. Automatic operation shall be + * prevented if any stop condition is detected. Switching from this mode shall + * result in a stop. + */ +#define ENUM_OperationalModeType_DECLARES \ + ENUM_ITEM(Disabled, 0, "禁用模式: 不使用Operational Mode") \ + ENUM_ITEM(Automatic, 1, "自动模式: 机器人正常工作模式, 运行速度不会被限制") \ + ENUM_ITEM(Manual, 2, "手动模式: 机器人编程示教模式(T1), 机器人运行速度将会被限制或者机器人程序校验模式(T2)") + +/** + * 机器人的控制模式, 最终的控制对象 + */ +#define ENUM_RobotControlModeType_DECLARES \ + ENUM_ITEM(Unknown, 0, "未知的控制模式") \ + ENUM_ITEM(Position, 1, "位置控制 movej") \ + ENUM_ITEM(Speed, 2, "速度控制 speedj/speedl") \ + ENUM_ITEM(Servo, 3, "位置控制 servoj") \ + ENUM_ITEM(Freedrive, 4, "拖动示教 freedrive_mode") \ + ENUM_ITEM(Force, 5, "末端力控 force_mode") \ + ENUM_ITEM(Torque, 6, "关节力矩控制") \ + ENUM_ITEM(Collision, 7, "碰撞模式") + +#define ENUM_JointServoModeType_DECLARES \ + ENUM_ITEM(Unknown, -1, "未知") \ + ENUM_ITEM(Open, 0, "开环模式") \ + ENUM_ITEM(Current, 1, "电流伺服模式") \ + ENUM_ITEM(Velocity, 2, "速度伺服模式") \ + ENUM_ITEM(Position, 3, "位置伺服模式") \ + ENUM_ITEM(Torque, 4, "力矩伺服模式") + +#define ENUM_JointStateType_DECLARES \ + ENUM_ITEM(Poweroff, 0, "节点未连接到接口板或者已经断电") \ + ENUM_ITEM(Idle, 2, "节点空闲") \ + ENUM_ITEM(Fault, 3, "节点错误, 节点停止伺服运动, 刹车抱死") \ + ENUM_ITEM(Running, 4, "节点伺服") \ + ENUM_ITEM(Bootload, 5, "节点bootloader状态, 暂停一切通讯") + +#define ENUM_StandardInputAction_DECLARES \ + ENUM_ITEM(Default, 0, "无触发") \ + ENUM_ITEM(Handguide, 1, "拖动示教，高电平触发") \ + ENUM_ITEM(GoHome, 2, "运动到工程初始位姿，高电平触发") \ + ENUM_ITEM(StartProgram, 3, "开始工程，上升沿触发") \ + ENUM_ITEM(StopProgram, 4, "停止工程，上升沿触发") \ + ENUM_ITEM(PauseProgram, 5, "暂停工程，上升沿触发") \ + ENUM_ITEM(PopupDismiss, 6, "消除弹窗，上升沿触发") \ + ENUM_ITEM(PowerOn, 7, "机器人上电/松刹车，上升沿触发") \ + ENUM_ITEM(PowerOff, 8, "机器人抱死刹车/断电，上升沿触发") \ + ENUM_ITEM(ResumeProgram, 9, "恢复工程，上升沿触发") \ + ENUM_ITEM(SlowDown1, 10, "机器人减速触发1，高电平触发") \ + ENUM_ITEM(SlowDown2, 11, "机器人减速触发2，高电平触发") \ + ENUM_ITEM(SafeStop, 12, "安全停止，高电平触发") \ + ENUM_ITEM(RunningGuard, 13, "信号，高电平有效") \ + ENUM_ITEM(MoveToFirstPoint, 14, "运动到工程初始位姿，高电平触发") \ + ENUM_ITEM(xSlowDown1, 15, "机器人减速触发1，低电平触发") \ + ENUM_ITEM(xSlowDown2, 16, "机器人减速触发2，低电平触发") \ + ENUM_ITEM(ConveyorTrack, 17, "传送带检测到物品触发，高电平触发") \ + ENUM_ITEM(xConveyorTrack, 18, "传送带检测到物品触发，低电平触发") + +#define ENUM_StandardOutputRunState_DECLARES \ + ENUM_ITEM(None, 0, "标准输出状态未定义") \ + ENUM_ITEM(StopLow, 1, "低电平指示工程停止") \ + ENUM_ITEM(StopHigh, 2, "高电平指示机器人停止") \ + ENUM_ITEM(RunningHigh, 3, "指示工程正在运行") \ + ENUM_ITEM(PausedHigh, 4, "指示工程已经暂停") \ + ENUM_ITEM(AtHome, 5, "高电平指示机器人正在拖动") \ + ENUM_ITEM(Handguiding, 6, "高电平指示机器人正在拖动") \ + ENUM_ITEM(PowerOn, 7, "高电平指示机器人已经上电") \ + ENUM_ITEM(RobotEmergencyStop, 8, "高电平指示机器人急停按下") \ + ENUM_ITEM(SystemEmergencyStop, 9, "高电平指示外部输入系统急停按下") \ + ENUM_ITEM(InternalEmergencyStop, 8, "高电平指示机器人急停按下") \ + ENUM_ITEM(ExternalEmergencyStop, 9, "高电平指示外部输入系统急停按下") \ + ENUM_ITEM(SystemError, 10, "系统错误，包括故障、超限、急停、安全停止、防护停止 ") \ + ENUM_ITEM(NotSystemError, 11, "无系统错误，包括普通模式、缩减模式和恢复模式 ") \ + ENUM_ITEM(RobotOperable, 12, "机器人可操作，机器人上电且松刹车了 ") + +#define ENUM_SafetyInputAction_DECLARES \ + ENUM_ITEM(Unassigned, 0, "安全输入未分配动作") \ + ENUM_ITEM(EmergencyStop, 1, "安全输入触发急停") \ + ENUM_ITEM(SafeguardStop, 2, "安全输入触发防护停止, 边沿触发") \ + ENUM_ITEM(SafeguardReset, 3, "安全输入触发防护重置, 边沿触发") \ + ENUM_ITEM(ThreePositionSwitch, 4, "3档位使能开关") \ + ENUM_ITEM(OperationalMode, 5, "切换自动模式和手动模式") \ + ENUM_ITEM(HandGuide, 6, "拖动示教") \ + ENUM_ITEM(ReducedMode, 7, "安全参数切换1(缩减模式)，序号越低优先级越高，三路输出都无效时，选用第0组安全参数") \ + ENUM_ITEM(AutomaticModeSafeguardStop, 8, "自动模式下防护停机输入(需要配置三档位使能设备)") \ + ENUM_ITEM(AutomaticModeSafeguardReset, 9, "自动模式下上升沿触发防护重置(需要配置三档位使能设备)") + +#define ENUM_SafetyOutputRunState_DECLARES \ + ENUM_ITEM(Unassigned, 0, "安全输出未定义") \ + ENUM_ITEM(SystemEmergencyStop, 1, "输出高当有机器人急停输入或者急停按键被按下") \ + ENUM_ITEM(NotSystemEmergencyStop, 2, "输出低当有机器人急停输入或者急停按键被按下") \ + ENUM_ITEM(RobotMoving, 3, "输出高当有关节运动速度超过 0.1rad/s") \ + ENUM_ITEM(RobotNotMoving, 4, "输出高当所有的关节运动速度不超过 0.1rad/s") \ + ENUM_ITEM(ReducedMode, 5, "输出高当机器人处于缩减模式") \ + ENUM_ITEM(NotReducedMode, 6, "输出高当机器人不处于缩减模式") \ + ENUM_ITEM(SafeHome, 7, "输出高当机器人已经处于安全Home位姿") \ + ENUM_ITEM(RobotNotStopping, 8, "输出低当机器人正在急停或者安全停止中") + +#define ENUM_PayloadIdentifyMoveAxis_DECLARES \ + ENUM_ITEM(Joint_2_6, 0,"第2和6关节运动") \ + ENUM_ITEM(Joint_3_6, 1,"第3和6关节运动") \ + ENUM_ITEM(Joint_4_6, 2,"第4和6关节运动") \ + ENUM_ITEM(Joint_4_5_6, 3,"第4、5、6关节运动") \ + +#define ENUM_EnvelopingShape_DECLARES \ + ENUM_ITEM(Cube, 1,"立方体") \ + ENUM_ITEM(Column, 2,"柱状体") \ + ENUM_ITEM(Stl, 3,"以STL文件的形式描述负载碰撞集合体") + +#define ENUM_TaskFrameType_DECLARES \ + ENUM_ITEM(NONE, 0,"") \ + ENUM_ITEM(POINT_FORCE, 1, "力控坐标系发生变换, 使得力控参考坐标系的y轴沿着机器人TCP指向力控所选特征的原点, x和z轴取决于所选特征的原始方向" \ + "力控坐标系发生变换, 使得力控参考坐标系的y轴沿着机器人TCP指向力控所选特征的原点, x和z轴取决于所选特征的原始方向" \ + "机器人TCP与所选特征的起点之间的距离至少为10mm" \ + "优先选择X轴, 为所选特征的X轴在力控坐标系Y轴垂直平面上的投影, 如果所选特征的X轴与力控坐标系的Y轴平行, " \ + "通过类似方法确定力控坐标系Z轴, Y-X或者Y-Z轴确定之后, 通过右手法则确定剩下的轴") \ + ENUM_ITEM(FRAME_FORCE, 2,"力控坐标系不发生变换 SIMPLE_FORC") \ + ENUM_ITEM(MOTION_FORCE, 3,"力控坐标系发生变换, 使得力控参考坐标系的x轴为机器人TCP速度在所选特征x-y平面上的投影y轴将垂直于机械臂运动, 并在所选特征的x-y平面内")\ + ENUM_ITEM(TOOL_FORCE, 4,"以工具末端坐标系作为力控参考坐标系") + +#ifdef ERROR +#undef ERROR +#endif + +#define ENUM_TraceLevel_DECLARES \ + ENUM_ITEM(FATAL, 0, "") \ + ENUM_ITEM(ERROR, 1, "") \ + ENUM_ITEM(WARNING, 2, "") \ + ENUM_ITEM(INFO, 3, "") \ + ENUM_ITEM(DEBUG, 4, "") + +#define ENUM_AxisModeType_DECLARES \ + ENUM_ITEM(NoController, -1, "提供给示教器使用的, 如果aubo_control进程崩溃则会显示为NoController") \ + ENUM_ITEM(Disconnected, 0, "未连接") \ + ENUM_ITEM(PowerOff, 1, "断电") \ + ENUM_ITEM(BrakeReleasing, 2, "刹车松开中") \ + ENUM_ITEM(Idle, 3, "空闲") \ + ENUM_ITEM(Running, 4, "运行中") \ + ENUM_ITEM(Fault, 5, "错误状态") + +#define ENUM_SafeguedStopType_DECLARES \ + ENUM_ITEM(None, 0, "无安全停止") \ + ENUM_ITEM(SafeguedStopIOInput, 1, "安全停止(IO输入)") \ + ENUM_ITEM(SafeguedStop3PE, 2, "安全停止(三态开关)") \ + ENUM_ITEM(SafeguedStopOperational, 3, "安全停止(操作模式)") + +#define ENUM_HandleStateType_DECLARES \ + ENUM_ITEM(Disconnected, 0, "未连接") \ + ENUM_ITEM(Init, 1, "初始化中") \ + ENUM_ITEM(Connected, 2, "已连接") \ + ENUM_ITEM(Lock, 3, "锁定") \ + ENUM_ITEM(Fault, 4, "错误状态") + +#define ENUM_HandleModeType_DECLARES \ + ENUM_ITEM(None, 0, "不支持手柄") \ + ENUM_ITEM(Default, 1, "S等系列默认手柄") \ + ENUM_ITEM(MultiFuncG1, 2, "G系列第一代多功能手柄") + +#define ENUM_RobotIOType_DECLARES \ + ENUM_ITEM(IONone, 0, "无IO") \ + ENUM_ITEM(StandardDigitalOutput, 1, "标准数字输出IO") \ + ENUM_ITEM(ToolDigitalOutput, 2, "工具端数字输出IO") \ + ENUM_ITEM(ConfigurableDigitalOutput, 3, "可配置数字输出IO") \ + ENUM_ITEM(StandardDigitalInput, 4, "标准数字输入IO") \ + ENUM_ITEM(ToolDigitalInput, 5, "工具端数字输入IO") \ + ENUM_ITEM(ConfigurableDigitalInput, 6, "可配置数字输入IO") \ + ENUM_ITEM(StandardAnalogOutput, 7, "标准模拟输出IO") \ + ENUM_ITEM(ToolAnalogOutput, 8, "工具端模拟输出IO") \ + ENUM_ITEM(StandardAnalogInput, 9, "标准模拟输入IO") \ + ENUM_ITEM(ToolAnalogInput, 10, "工具端模拟输入IO") + +// clang-format on + +#define ENUM_ITEM(c, n, ...) c = n, +enum AuboErrorCodes_C : int +{ + ENUM_AuboErrorCodes_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) RuntimeState_##c = n, +enum RuntimeState_C : int +{ + ENUM_RuntimeState_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) RobotModeType_##c = n, +enum RobotModeType_C : int +{ + ENUM_RobotModeType_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) AxisModeType_##c = n, +enum AxisModeType_C : int +{ + ENUM_AxisModeType_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) SafetyModeType_##c = n, +enum SafetyModeType_C : int +{ + ENUM_SafetyModeType_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) OperationalModeType_##c = n, +enum OperationalModeType_C : int +{ + ENUM_OperationalModeType_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) RobotControlModeType_##c = n, +enum RobotControlModeType_C : int +{ + ENUM_RobotControlModeType_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) JointServoModeType_##c = n, +enum JointServoModeType_C : int +{ + ENUM_JointServoModeType_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) JointStateType_##c = n, +enum JointStateType_C : int +{ + ENUM_JointStateType_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) StandardOutputRunState_##c = n, +enum StandardOutputRunState_C : int +{ + ENUM_StandardOutputRunState_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) StandardInputAction_##c = n, +enum StandardInputAction_C : int +{ + ENUM_StandardInputAction_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) SafetyInputAction_##c = n, +enum SafetyInputAction_C : int +{ + ENUM_SafetyInputAction_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) SafetyOutputRunState_##c = n, +enum SafetyOutputRunState_C : int +{ + ENUM_SafetyOutputRunState_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) TaskFrameType_##c = n, +enum TaskFrameType_C +{ + ENUM_TaskFrameType_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) EnvelopingShape_##c = n, +enum EnvelopingShape_C : int +{ + ENUM_EnvelopingShape_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) PayloadIdentifyMoveAxis_##c = n, +enum PayloadIdentifyMoveAxis_C : int +{ + ENUM_PayloadIdentifyMoveAxis_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) TraceLevel_##c = n, +enum TraceLevel_C +{ + ENUM_TraceLevel_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) SafeguedStopType_##c = n, +enum SafeguedStopType_C : int +{ + ENUM_SafeguedStopType_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) HandleStateType_##c = n, +enum class HandleStateType_C : int +{ + ENUM_HandleStateType_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) HandleModeType_##c = n, +enum class HandleModeType_C : int +{ + ENUM_HandleModeType_DECLARES +}; +#undef ENUM_ITEM + +#define ENUM_ITEM(c, n, ...) RobotIOType_##c = n, +enum class RobotIOType_C : int +{ + ENUM_RobotIOType_DECLARES +}; +#undef ENUM_ITEM + +enum ForceControlState_C +{ + ForceControlState_Stopped, + ForceControlState_Starting, + ForceControlState_Stropping, + ForceControlState_Running +}; + +enum RefFrameType_C +{ + RefFrameType_None, /// + RefFrameType_Tool, ///< 工具坐标系 + RefFrameType_Path, ///< 轨迹坐标系 + RefFrameType_Base ///< 基坐标系 +}; + +/// 圆周运动参数定义 +struct CircleParameters_C +{ + double pose_via[6]; ///< 圆周运动途中点的位姿 + double pose_to[6]; ///< 圆周运动结束点的位姿 + double a; ///< 加速度, 单位: m/s^2 + double v; ///< 速度，单位: m/s + double blend_radius; ///< 交融半径,单位: m + double duration; ///< 运行时间，单位: s + double helix; + double spiral; + double direction; + int loop_times; ///< 暂不支持 +}; + +struct SpiralParameters_C +{ + double frame[6]; ///< 参考点，螺旋线的中心点和参考坐标系 + int plane; ///< 参考平面选择 0-XY 1-YZ 2-ZX + double angle; ///< 转动的角度，如果为正数，机器人逆时针旋转 + double spiral; ///< 正数外扩 + double helix; ///< 正数上升 +}; + +struct Enveloping_C +{ + EnvelopingShape_C shape; // 包络体形状 + double ep_args + [6]; // 包络体组合，shape为None或Stl时无需对ep_args赋值; + // shape为Cube时ep_args有9个元素，分别为xmin,xmax,ymin,ymax,zmin,zmax,rx,ry,rz; + // shape为Column时ep_args有5个元素，分别为radius,height,rx,ry,rz; + char stl_path[100]; // stl的路径(绝对路径)，stl文件需为二进制文件, + // shape设置为Stl时，此项生效 +}; + +/// 用于负载辨识的轨迹配置 +struct TrajConfig_C +{ + Enveloping_C *envelopings; // 包络体组合 + PayloadIdentifyMoveAxis_C move_axis; // 运动的轴(ID), 下标从0开始 + double init_joint[MAX_DOF]; // 关节初始位置 + double upper_joint_bound[MAX_DOF]; // 运动轴上限 + double lower_joint_bound[MAX_DOF]; // 运动轴下限 + double max_velocity; // 关节运动的最大速度，默认值为　3.0 + double max_acceleration; // 关节运动的最大加速度，默认值为　5.0 +}; + +struct DHParam_C +{ + double theta[6]; + double beta[6]; + double d[6]; + double a[6]; + double alpha[6]; +}; + +struct DHComp_C +{ + double theta_comp[6]; + double beta_comp[6]; + double d_comp[6]; + double a_comp[6]; + double alpha_comp[6]; +}; + +struct Payload_C +{ + double mass; + double cog[3]; + double aom[3]; + double inertia[6]; +}; + +struct PlanContext_C +{ + int tid; + int lineno; + char comment[100]; +}; + +struct ExecutionStatus_C +{ + char name[100]; + char status[100]; +}; + +struct ExecutionStatus1_C +{ + char name[100]; + char status[100]; + int retval; +}; + +struct UpdateProcess_C +{ + char name[100]; + int process; +}; + +struct WorkObjectHold_C +{ + char module_name[100]; + double mounting_pose[][6]; +}; + +struct ForceSensorCalibResult_C +{ + double force_offset[6]; + double com[3]; + double mass; + double angle[6]; +}; + +// 动力学模型m,d,k +struct DynamicsModel_C +{ + double m[6]; + double d[6]; + double k[6]; +}; + +struct RobotMsg_C +{ + uint64_t timestamp; ///< 时间戳，即系统时间 + TraceLevel_C level; ///< 日志等级 + int code; ///< 错误码 + char source[100]; ///< 发送消息的机器人别名 alias + ///< 可在 /root/arcs_ws/config/aubo_control.conf + ///< 配置文件中查到机器人的alias + char **args; ///< 机器人参数（指针数组） + int args_count; ///< 参数数量 +}; + +struct RobotMsgVector_C +{ + struct RobotMsg_C *data; // 数组指针 + int size; // 数组元素个数 +}; + +/// RTDE菜单 +struct RtdeRecipe_C +{ + bool to_server; ///< 输入/输出 + int chanel; ///< 通道 + double frequency; ///< 更新频率 + int trigger; ///< 触发方式(该功能暂未实现): 0 - 周期; 1 - 变化 + char **segments; ///< 字段列表 + int segments_count; ///< 字段数量 +}; + +/// 异常类型 +enum error_type_C +{ + parse_error = -32700, ///< 解析错误 + invalid_request = -32600, ///< 无效请求 + method_not_found = -32601, ///< 方法未找到 + invalid_params = -32602, ///< 无效参数 + internal_error = -32603, ///< 内部错误 + server_error = -32500, ///< 服务器错误 + invalid = -32400 ///< 无效 +}; + +/// 异常码 +enum ExceptionCode_C +{ + EC_DISCONNECTED = -1, ///< 断开连接 + EC_NOT_LOGINED = -2, ///< 未登录 + EC_INVAL_SOCKET = -3, ///< 无效套接字 + EC_REQUEST_BUSY = -4, ///< 请求繁忙 + EC_SEND_FAILED = -5, ///< 发送失败 + EC_RECV_TIMEOUT = -6, ///< 接收超时 + EC_RECV_ERROR = -7, ///< 接收错误 + EC_PARSE_ERROR = -8, ///< 解析错误 + EC_INVALID_REQUEST = -9, ///< 无效请求 + EC_METHOD_NOT_FOUND = -10, ///< 方法未找到 + EC_INVALID_PARAMS = -11, ///< 无效参数 + EC_INTERNAL_ERROR = -12, ///< 内部错误 + EC_SERVER_ERROR = -13, ///< 服务器错误 + EC_INVALID = -14 ///< 无效 +}; + +inline const char *returnValue2Str(int retval) +{ + static const char *retval_str[] = { +#define ENUM_ITEM(n, v, s) s, + ENUM_AuboErrorCodes_DECLARES +#undef ENUM_ITEM + }; + + enum arcs_index_C + { +#define ENUM_ITEM(n, v, s) n##_INDEX, + ENUM_AuboErrorCodes_DECLARES +#undef ENUM_ITEM + }; + + int index = -1; + +#define ENUM_ITEM(n, v, s) \ + if (retval == v) \ + index = n##_INDEX; + ENUM_AuboErrorCodes_DECLARES +#undef ENUM_ITEM + + if (index == -1) + { + index = AUBO_ERR_UNKOWN; + } + + return retval_str[(unsigned)index]; +} + +#endif // AUBO_SDK_TYPE_DEF_C_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/research_interface/rci_types.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/research_interface/rci_types.h new file mode 100644 index 00000000..e262140c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/research_interface/rci_types.h @@ -0,0 +1,72 @@ +#include + +namespace arcs { +namespace research_interface { + +#pragma pack(push, 1) + +/// 机器人状态 +struct RobotState +{ + uint64_t message_id; + int dof; + + /// 机器人状态 + int robot_mode; + + /// 安全状态 + int safety_mode; + + /// 错误代码(针对这个科研接口) + int error_code; + + uint32_t tool_io; + uint32_t standard_di; + uint32_t standard_do; + uint32_t config_di; + uint32_t config_do; + std::array analog_in; + std::array analog_out; + std::array tool_analog_in; + + /// 关节的实际状态 + std::array q, qd, qdd, current, friction, voltage; + + /// 关节的目标状态 + std::array target_q, target_qd, target_qdd, target_current; + + std::array pose, target_pose; + std::array tcp_offset; + std::array temperature; + + /// 基于法兰坐标系的力 + std::array tcp_force; + + /// 负载参数 + struct + { + double mass; + std::array cog; + } payload; +}; + +/// 机器人指令 +struct RobotCommand +{ + uint64_t message_id; + + /// 目标模式 + int target_mode; + + /// 指令关节角度 + std::array cmd_q, cmd_qd, cmd_current; + + /// 指令位姿 + std::array cmd_pose; + + bool finished; +}; + +#pragma pack(pop) +} // namespace research_interface +} // namespace arcs diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/research_interface/robot.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/research_interface/robot.h new file mode 100644 index 00000000..ef8eb96e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/research_interface/robot.h @@ -0,0 +1,71 @@ +#ifndef ARCS_RESEARCH_INTERFACE_ROBOT_H +#define ARCS_RESEARCH_INTERFACE_ROBOT_H + +#include +#include +#include +#include +#include +#include "aubo_sdk/rpc.h" + +namespace arcs { +namespace research_interface { + +struct JointPositions +{ + JointPositions() {} + JointPositions(const std::array &joint_positions) + : q(joint_positions) + { + } + JointPositions(std::initializer_list joint_positions) + { + if (joint_positions.size() != q.size()) { + throw std::invalid_argument( + "Invalid number of elements in joint_positions."); + } + std::copy(joint_positions.begin(), joint_positions.end(), q.begin()); + } + + std::array q{}; + bool finished{ false }; +}; + +class ARCS_ABI Robot +{ +public: + Robot(const std::string &ip, int port = 30030); + ~Robot(); + + // 启动机器人 + int startup(); + + int setControlPeriod(int period = 5000); + + int movej(const JointPositions &jnt_pos); + + // 位置控制 + void control( + std::function + control_callback, + bool limit_rate = false, double cutoff_frequency = 100, + bool loop = false); + + // 实时读取机器人的状态 + void read(std::function read_callback); + + // 开始轨迹记录 + int startRecord(std::string csv_file); + + // 停止轨迹记录 + int stopRecord(); + +protected: + void *d_{ nullptr }; + bool init_{ false }; +}; + +} // namespace research_interface +} // namespace arcs + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/robot_proxy/realtime_robot_state.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/robot_proxy/realtime_robot_state.h new file mode 100644 index 00000000..37441874 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/robot_proxy/realtime_robot_state.h @@ -0,0 +1,504 @@ +#ifndef AUBO_SCOPE_REALTIME_ROBOT_STATE_H +#define AUBO_SCOPE_REALTIME_ROBOT_STATE_H + +#include +#include + +#include +#include + +namespace arcs { +namespace aubo_sdk { +using namespace common_interface; + +struct RobotInfo +{ + std::string robot_type_; + std::string robot_subtype_; + std::string cb_type_; + int dof_{ 6 }; + + Payload actual_payload_{ 0., std::vector(3, 0.), + std::vector(3, 0.), + std::vector(9, 0.) }; + + std::vector actual_q_{ std::vector(6, 0.) }; + std::vector actual_current_{ std::vector(6, 0.) }; + std::vector actual_TCP_pose_{ std::vector(6, 0.) }; + std::vector actual_TCP_speed_{ std::vector(6, 0.) }; + std::vector actual_tool_pose_{ std::vector(6, 0.) }; + std::vector actual_tcp_force_{ std::vector(6, 0.) }; + std::vector actual_tcp_force_sensor_{ std::vector(6, 0.) }; + + std::vector joint_voltages_{ std::vector(6, 0.) }; + std::vector joint_temperatures_{ std::vector(6, 0.) }; + std::vector joint_mode_{ std::vector( + 6, JointStateType::Idle) }; + RobotModeType robot_mode_{ RobotModeType::NoController }; + SafetyModeType safety_mode_{ SafetyModeType::Normal }; + OperationalModeType operational_mode_{ OperationalModeType::Disabled }; + HandleStateType handle_state_{ HandleStateType::Disconnected }; + HandleModeType handle_mode_{ HandleModeType::None }; + bool link_mode_{ false }; + bool freedrive_enabled_{ false }; + + double actual_main_voltage_{ 0 }; + double actual_robot_voltage_{ 0 }; + double actual_robot_current_{ 0 }; + double cb_temperature_{ 0 }; + double cb_humidity_{ 0 }; + int collision_level_{ 0 }; + int slow_down_level_{ 0 }; + + std::string tool_uuid_; + std::string mb_uuid_; + std::string sb_uuid_; + std::string pedestal_uuid_; + std::vector joint_uuids_; + std::string handle_uuid_; + + std::string hardware_interface_verion_{ "" }; + + std::vector joint_fw_; + std::vector joint_hw_; + int tool_fw_; + int tool_hw_; + int m_ifb_fw_; + int m_ifb_hw_; + int s_ifb_fw_; + int s_ifb_hw_; + int pedestal_fw_; + int pedestal_hw_; + int handle_fw_; + int handle_hw_; + + int standardDigitalInputNum_{ 0 }; + int toolDigitalInputNum_{ 0 }; + int configurableDigitalInputNum_{ 0 }; + + int standardDigitalOutputNum_{ 0 }; + int toolDigitalOutputNum_{ 0 }; + int configurableDigitalOutputNum_{ 0 }; + + int standardAnalogInputNum_{ 0 }; + int toolAnalogInputNum_{ 0 }; + + int standardAnalogOutputNum_{ 0 }; + int toolAnalogOutputNum_{ 0 }; + int staticLinkInputNum_{ 0 }; + int staticLinkOutputNum_{ 0 }; + + std::unordered_map> dh_; + std::unordered_map> threory_dh_; + + std::vector standard_digital_input_data_{ std::vector(64, + false) }; + std::vector tool_digital_input_data_{ std::vector(64, false) }; + std::vector configurable_digital_input_data_{ std::vector( + 64, false) }; + std::vector link_digital_input_data_{ std::vector(64, false) }; + std::vector standard_digital_output_data_{ std::vector(64, + false) }; + std::vector tool_digital_output_data_{ std::vector(64, false) }; + std::vector configurable_digital_output_data_{ std::vector( + 64, false) }; + std::vector link_digital_output_data_{ std::vector(64, false) }; + + std::vector standard_analog_input_data_; + std::vector tool_analog_input_data_; + std::vector standard_analog_output_data_; + std::vector tool_analog_output_data_; + + std::vector joints_model_type_; + std::vector joint_max_positions_{ std::vector(6, 0.) }; + std::vector joint_min_positions_{ std::vector(6, 0.) }; + std::vector joint_max_speeds_{ std::vector(6, 0.) }; + std::vector joint_max_accelerations_{ std::vector(6, 0.) }; + std::vector tcp_max_speeds_{ std::vector(6, 0.) }; + std::vector tcp_max_accelerations_{ std::vector(6, 0.) }; + std::vector gravity_{ std::vector{ 0, 0, -9.81 } }; + + bool simulation_enabled_{ false }; + double speed_fraction_{ 0 }; + quint32 handle_io_status_{ 0 }; + + std::vector enc_tick_count_; +}; + +class ARCS_ABI RealtimeRobotState : public QObject +{ + Q_OBJECT + friend class RobotProxy; + +public: + RealtimeRobotState(RpcClientPtr client, RtdeClientPtr rtde); + + ~RealtimeRobotState(); + + int updateRobotInformationOnLogin(); + int updateRobotInformationOnPoweron(int robot_index = -1); + int updateHDParamOnRobotTypeChanged(int robot_index = -1); + + std::vector getRobotNames() const; + + int getLineNumber(); + /// 弃用，只能返回主线程号 + ARCS_DEPRECATED int getThreadID(); + + RuntimeState getRuntimeState(); + + int getDof(); + + bool isSimulationEnabled(); + double getSpeedFraction(); + + std::string getRobotType() const; + std::string getRobotSubType() const; + std::string getControlBoxType() const; + + OperationalModeType getOperationalMode() const; + bool isLinkModeEnabled() const; + bool isFreedriveEnabled() const; + int getSlowDownLevel() const; + + int updateOperationMode(int robot_index); + int updateIsLinkModeEnabled(int robot_index); + + // 获取机器人的模式状态 + RobotModeType getRobotModeType(); + + // 获取安全模式 + SafetyModeType getSafetyModeType(); + + // 获取手柄类型 + HandleModeType getHandleModeType(); + + // 获取手柄状态 + HandleStateType getHandleStateType(); + + // 获取TCP的位姿 + std::vector getTcpPose(); + + // 获取工具端的位姿（不带TCP偏移） + std::vector getToolPose(); + + // 获取TCP速度 + std::vector getTcpSpeed(); + + // 获取TCP的力/力矩 + std::vector getTcpForce(); + std::vector getTcpForce(const std::vector &pose); + + std::vector getTcpForceSensor(); + + // 获取肘部的位置 + std::vector getElbowPosistion(); + + // 获取肘部速度 + std::vector getElbowVelocity(); + + // 获取基座力/力矩 + std::vector getBaseForce(); + + // 获取TCP目标位姿 + std::vector getTcpTargetPose(); + + // 获取TCP目标速度 + std::vector getTcpTargetSpeed(); + + // 获取TCP目标力/力矩 + std::vector getTcpTargetForce(); + + // 获取机械臂关节标志接口 + std::vector getJointState(); + + // 获取关节的伺服状态 + std::vector getJointServoMode(); + + // 获取实际负载 + Payload getPayload(); + + // 获取机械臂关节角度接口 + std::vector getJointPositions(); + + // 获取机械臂关节速度接口 + std::vector getJointSpeeds(); + + // 获取机械臂关节加速度接口 + std::vector getJointAccelerations(); + + // 获取机械臂关节力矩接口 + std::vector getJointTorqueSensors(); + + // 获取底座力传感器读数 + std::vector getBaseForceSensor(); + + // 获取TCP力传感器读数 + std::vector getTcpForceSensors(); + + // 获取机械臂关节电流接口 + std::vector getJointCurrents(); + + // 获取机械臂关节电压接口 + std::vector getJointVoltages(); + + // 获取机械臂关节温度接口 + std::vector getJointTemperatures(); + + // 获取关节固件版本 + std::vector getJointFirmwareVersions(); + + // 获取关节硬件版本 + std::vector getJointHardwareVersions(); + + std::string getToolUniqueId(); + std::string getMasterBoardUniqueId(); + std::string getSlaveBoardUniqueId(); + std::string getPedestalUniqueId(); + std::string getHandleUniqueId(); + std::vector getJointUniqueIds(); + + int getEncTickCount(int index); + + // 获取新老协议区分 + std::string getHardwareInterfaceVersion(); + + // 获取 MasterBoard 固件版本 + int getMasterBoardFirmwareVersion(); + + // 获取 MasterBoard 硬件版本 + int getMasterBoardHardwareVersion(); + + // 获取 SlaveBoard 固件版本 + int getSlaveBoardFirmwareVersion(); + + // 获取 SlaveBoard 硬件版本 + int getSlaveBoardHardwareVersion(); + + // 获取工具端固件版本 + int getToolFirmwareVersion(); + + // 获取工具端硬件版本 + int getToolHardwareVersion(); + + // 获取 Pedestal 固件版本 + int getPedestalFirmwareVersion(); + + // 获取 Pedestal 硬件版本 + int getPedestalHardwareVersion(); + + // 获取 Handle 固件版本 + int getHandleFirmwareVersion(); + + // 获取 Handle 硬件版本 + int getHandleHardwareVersion(); + + // 获取机械臂关节目标位置角度接口 + std::vector getJointTargetPositions(); + + // 获取机械臂关节目标速度 + std::vector getJointTargetSpeeds(); + + // 获取机械臂关节目标加速度 + std::vector getJointTargetAccelerations(); + + // 获取机械臂关节目标力矩 + std::vector getJointTargetTorques(); + + // 获取机械臂关节目标电流 + std::vector getJointTargetCurrents(); + + // 获取关节最大位置（物理极限） + std::vector getJointMaxPositions(); + + // 获取关节最小位置（物理极限） + std::vector getJointMinPositions(); + + // 获取关节最大速度（物理极限） + std::vector getJointMaxSpeeds(); + + // 获取关节最大加速度（物理极限） + std::vector getJointMaxAccelerations(); + + // 获取TCP最大速度（物理极限） + std::vector getTcpMaxSpeeds(); + + // 获取TCP最大加速度（物理极限） + std::vector getTcpMaxAccelerations(); + + // 获取控制柜温度 + double getControlBoxTemperature(); + + // 获取控制柜湿度 + double getControlBoxHumidity(); + + // 获取母线电压 + double getMainVoltage(); + + // 获取母线电流 + double getMainCurrent(); + + int getCollisionLevel(); + + // 获取机器人电压 + double getRobotVoltage(); + + // 获取机器人电流 + double getRobotCurrent(); + + // 获取手柄 IO 状态 + uint32_t getHandleIoStatus(); + + int getStandardDigitalInputNum(); + int getToolDigitalInputNum(); + int getConfigurableDigitalInputNum(); + + int getStandardDigitalOutputNum(); + int getToolDigitalOutputNum(); + int getConfigurableDigitalOutputNum(); + + int getStandardAnalogInputNum(); + int getToolAnalogInputNum(); + + int getStandardAnalogOutputNum(); + int getToolAnalogOutputNum(); + + SafetyInputAction getConfigurableInputAction(int index); + SafetyOutputRunState getConfigurableOutputRunstate(int index); + + int setStandardDigitalInputAction(int index, StandardInputAction action); + int setToolDigitalInputAction(int index, StandardInputAction action); + int setConfigurableDigitalInputAction(int index, + StandardInputAction action); + + StandardInputAction getStandardDigitalInputAction(int index); + StandardInputAction getToolDigitalInputAction(int index); + StandardInputAction getConfigurableDigitalInputAction(int index); + + int setStandardDigitalOutputRunstate(int index, + StandardOutputRunState runstate); + int setToolDigitalOutputRunstate(int index, + StandardOutputRunState runstate); + int setConfigurableDigitalOutputRunstate(int index, + StandardOutputRunState runstate); + StandardOutputRunState getStandardDigitalOutputRunstate(int index); + StandardOutputRunState getToolDigitalOutputRunstate(int index); + StandardOutputRunState getConfigurableDigitalOutputRunstate(int index); + + int setStandardAnalogOutputRunstate(int index, + StandardOutputRunState runstate); + int setToolAnalogOutputRunstate(int index, StandardOutputRunState runstate); + + StandardOutputRunState getStandardAnalogOutputRunstate(int index); + StandardOutputRunState getToolAnalogOutputRunstate(int index); + + int setStandardAnalogInputDomain(int index, int domain); + int setToolAnalogInputDomain(int index, int domain); + + int getStandardAnalogInputDomain(int index); + int getToolAnalogInputDomain(int index); + + int setStandardAnalogOutputDomain(int index, int domain); + int setToolAnalogOutputDomain(int index, int domain); + + int getStandardAnalogOutputDomain(int index); + int getToolAnalogOutputDomain(int index); + + int setStandardDigitalOutput(int index, bool value); + int setToolDigitalOutput(int index, bool value); + int setConfigurableDigitalOutput(int index, bool value); + + int setStandardAnalogOutput(int index, double value); + int setToolAnalogOutput(int index, double value); + + bool getStandardDigitalInput(int index); + bool getToolDigitalInput(int index); + bool getConfigurableDigitalInput(int index); + + bool getStandardDigitalOutput(int index); + bool getToolDigitalOutput(int index); + bool getConfigurableDigitalOutput(int index); + + double getStandardAnalogInput(int index); + double getToolAnalogInput(int index); + + double getStandardAnalogOutput(int index); + double getToolAnalogOutput(int index); + + int getStaticLinkInputNum(); + int getStaticLinkOutputNum(); + bool getStaticLinkInput(int index); + bool getStaticLinkOutput(int index); + + int configSubscribe(); + int selectRobot(int index); + + void reset(); + + void updateModbusSignalNames(); + void addModbusSignalName(const std::string &name); + void removeModbusSignalName(const std::string &name); + std::vector getModbusSignalNames() const; + std::vector getModbusSignalValues() const; + std::vector getModbusSignalErrors() const; + std::vector getGravity(); + std::unordered_map> getRealDHParam(); + std::unordered_map> getTheoryDHParam(); + + int updateGravity(int robot_index); + + int startTrackRecord( + const std::function & /*q*/, + const std::vector & /*pose*/)> &cb, + double interval = 0.1); + + int stopTrackRecord(); + + // 获取关节类型 + std::vector getJointsModelType(); + + GripperStatus getGripperStatusDataByName(const std::string &name_id); + common_interface::GripperStatusVector getAllGripperStatusData(); + +signals: + void interfaceBoardVersionInfoUpdated(int robot_index); + void jointVersionInfoUpdated(int robot_index); + void runtimeStateChanged(arcs::common_interface::RuntimeState state); + void safetyModeChanged(int robot_index, + arcs::common_interface::SafetyModeType mode); + void robotModeChanged(int robot_index, + arcs::common_interface::RobotModeType mode); + +private: + RpcClientPtr rpc_client_{ nullptr }; + RtdeClientPtr rtde_client_{ nullptr }; + mutable std::mutex rtde_mtx_; + + std::vector names_; + std::string name_; + int robot_index_{ -1 }; + + int tid_{ -1 }; + int line_{ -1 }; + RuntimeState runtime_state_{ RuntimeState::Stopped }; + + std::vector modbus_signals_; + std::vector modbus_signals_errors_; + std::vector modbus_names_; + + RobotInfo info_[4]; + + common_interface::GripperStatusVector gripper_status_; + + std::function &, + const std::vector &)> + track_record_callback_; + int track_record_sample_cnt_{ 0 }; + int track_record_sample_index_{ 0 }; +}; + +using RealtimeRobotStatePtr = std::shared_ptr; + +} // namespace aubo_sdk +} // namespace arcs +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/robot_proxy/robot_proxy.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/robot_proxy/robot_proxy.h new file mode 100644 index 00000000..06f4c197 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/robot_proxy/robot_proxy.h @@ -0,0 +1,302 @@ +#ifndef AUBO_SCOPE_ROBOT_PROXY_H +#define AUBO_SCOPE_ROBOT_PROXY_H + +#include +#include +#include +#include + +#include +#include +#include + +#include + +#include + +namespace arcs { +namespace aubo_sdk { +class RtdeClient; +class ScriptClient; +class RpcClient; +using RtdeClientPtr = std::shared_ptr; +using ScriptClientPtr = std::shared_ptr; +using RpcClientPtr = std::shared_ptr; + +using arcs::common_interface::ForceControlPtr; +using arcs::common_interface::IoControlPtr; +using arcs::common_interface::MotionControlPtr; +using arcs::common_interface::RegisterControlPtr; +using arcs::common_interface::RobotAlgorithmPtr; +using arcs::common_interface::RobotConfigPtr; +using arcs::common_interface::RobotInterfacePtr; +using arcs::common_interface::RobotManagePtr; +using arcs::common_interface::RobotStatePtr; +using arcs::common_interface::RuntimeMachinePtr; +using arcs::common_interface::SyncMovePtr; +using arcs::common_interface::SystemInfoPtr; +using arcs::common_interface::TracePtr; + +using RobotInterface = common_interface::RobotInterface; + +/** + * 单个机器人代理接口类 + */ +class ARCS_ABI RobotProxy : public QObject +{ + Q_OBJECT + +public: + RobotProxy(QObject *parent = NULL); + ~RobotProxy(); + + /// 获取当前机器人的名称 + QString getRobotName() const; + + /// 获取当前机器人在所有机器人中的索引 + int getRobotIndex() const; + + /// 获取所有机器人的名字 + std::vector getRobotNames(); + + /// 连接到当前机器人 + int connect(const QString &ip, int port); + + /// 连接到当前机器人 + int nonblock_connect(const QString &ip, int port, + std::function cb); + int nonblock_connect2(const QString &ip, int port, + std::function cb); + + /// 登录到当前机器人 + int login(const QString &usrname, const QString &passwd); + + /// 断开与机器人的连接，如果不指定名称，则断开当前选中的机器人 + int disconnectFromServer(); + + /// 机器人是否已经连接，如果不指定名称，则断开当前选中的机器人 + bool hasConnected(); + + /// 机器人是否已经登录，如果不指定名称，则断开当前选中的机器人 + bool hasLogined(); + + /// 发送脚本程序到当前机器人 + int sendScript(const std::string &script); + + /// 获取当前机器人的脚本程序 + std::string getScript() const; + + /// 使用 RealtimeRobotState 中的 getRealDHParam getTheoryDHParam 替代 + ARCS_DEPRECATED std::unordered_map> getDH( + bool real = true); + + SystemInfoPtr getSystemInfo(); + RuntimeMachinePtr getRuntimeMachine(); + RegisterControlPtr getRegisterControl(); + GripperInterfacePtr getGripperInterface(); + + /// 获取RobotConfig接口 + RobotConfigPtr getRobotConfig(); + + /// 获取运动规划接口 + MotionControlPtr getMotionControl(); + + /// 获取力控接口 + ForceControlPtr getForceControl(); + + /// 获取IO控制的接口 + IoControlPtr getIoControl(); + + /// 获取同步运动接口 + SyncMovePtr getSyncMove(); + + /// 获取机器人实用算法接口 + RobotAlgorithmPtr getRobotAlgorithm(); + + /// 获取机器人管理接口(上电、启动、停止等) + RobotManagePtr getRobotManage(); + + /// 获取机器人状态接口 + RobotStatePtr getRobotState(); + + RealtimeRobotStatePtr getRealTimeState(); + + /// 获取告警信息接口 + TracePtr getTrace(); + + /// 根据机器人名字获取机器人接口 + RobotInterfacePtr getRobotInterface(const std::string &name); + + /// 切换机器人 + int selectRobot(int index); + + aubo_sdk::RpcClientPtr getRpcClient(); + aubo_sdk::RtdeClientPtr getRtdeClient(); + aubo_sdk::ScriptClientPtr getScriptClient(); + + /// 通过错误码获取消息文本 + QString getErrorCodeMsg(int code); + + /// 获取 ICM 连接状态 + bool icmIsConnected(); + + /// 获取 Profinet 地址表数据 + std::vector> getPnAddressData(); + + // EIP + /// 获取 EIP 连接状态 + int getEipConnected(); + /// 获取 EtherNet/IP 地址表数据 + std::vector> getEipAddressData(); + + /// 外部轴 + std::vector getAxisNames(); + AxisInterfacePtr getAxisInterface(const std::string &name); + +signals: + // FIXME: 断开连接和登出的信号需要从 RobotProxy 类主动发出 + + /// 建立连接的信号 + void connected(const QString &ip, int port); + + /// 断开连接的信号 + void disconnected(); + + /// 登录或者登出 + void logined(bool has_login); + + /// 弹窗信号 + void popup(int robot_index, int level, const QString &title, + const QString &msg, int mode); + + /// 解除弹窗信号 + void popupDismiss(const QString &src); + + /// 从控制器层上传的系统关机信号 + void systemHalt(const QString &src); + + /// 已弃用，推荐使用下面的重载函数 + ARCS_DEPRECATED void scriptError(const QString &); + /// aubo_control 报错 + void scriptError(int lineno, const QString &error); + /// 脚本运行报错 + void scriptError2(const QString &, const QString &); + + /// 脚本运行时里面的变量发生变化 + void variableUpdate(const QString &, const QString &); + + /// 运行时状态发生变化 + void runtimeStateChanged(arcs::common_interface::RuntimeState state); + + /// 拖动示教器使能状态切换 + void freedriveEnabled(int robot_index, bool enabled); + + /// 接收到机器人控制端消息 + void robotMessageRecieved(int robot_index, QString src, int level, int code, + const QString &msg); + void robotMessageRecieved(int robot_index, const QString &src, int level, + const RobotMsg &msg); + + /// 操作模式切换 + void operationalModeChanged( + int robot_index, arcs::common_interface::OperationalModeType mode); + + /// 联动模式切换 + void linkModeChanged(int robot_index, bool enable); + + /// 安全模式切换 + void safetyModeChanged(int robot_index, + arcs::common_interface::SafetyModeType mode); + + /// 机器人状态切换 + void robotModeChanged(int robot_index, + arcs::common_interface::RobotModeType mode); + + /// 机器人型号切换 + void robotTypeChanged(const QString &type, const QString &subtype); + + /// 缓速切换 + void slowDownChanged(int robot_index, int level); + + /// 运行时上下文更新 + void runtimeContextUpdated(int tid, int lineno, int index, + const QString &comment); + void interpContextUpdated(int tid, int lineno, int index, + const QString &comment); + void taskDeleted(int tid); + + /// ICM 插件状态变化 + void icmStatusChanged(bool status); + + /// PNIO 从站数据变化 + void pnioDeviceChanged(const QString &name); + void pnioNetworkChanged(const QString &ip, const QString &subnet_mask, + const QString &gateway); + + // EIP 连接状态变化 + void sigEipConnectionStatusChanged(int); + + /// 示教器启用状态变化 + void teachPendantEnabledChanged(bool status); + + /// Modbus master + void modbusSignalCreated(const QString &name); + void modbusSignalRemoved(const QString &name); + + void jointMovedDuringPoweroff(int robot_index); + void robotCollisionOccurred(int robot_index, const QString &msg); + + void robotToolSensorChanged(int robot_index, const QString &sensor_id); + void robotToolSensorRemoved(int robot_index); + void robotToolSensorStatusChanged(int robot_index, bool status); + void programLoaded(int robot_index, const QString &program); + +private: + RobotInterfacePtr currentRobotRpcInterface(); + void robotMessageCallback(InputParser &parser); + void sendDisconnectedSignal(); + + // Profinet 地址表数据 + void initPNCacheData(); + void pnValueChanged(const std::vector &data); + + // EtherNet/IP 地址表数据 + void initEIPCacheData(); + void eipValueChanged(const std::vector &data); + +private: + QString name_; + int robot_index_{ -1 }; + std::vector robot_names_; + + std::string ip_; + int port_; + + aubo_sdk::RpcClientPtr rpc_client_{ nullptr }; + aubo_sdk::RtdeClientPtr rtde_client_{ nullptr }; + aubo_sdk::ScriptClientPtr script_client_{ nullptr }; + + RealtimeRobotStatePtr rt_state_{ nullptr }; + + bool initiallized_{ false }; + + QMap script_; + + bool icm_connected_{ false }; + bool pn_connected_{ false }; + std::atomic_int eip_connected_{ 0 }; + + // Profinet 地址表数据 + std::shared_mutex mtx_pn_address_; + std::vector> cache_pn_address_; + + // EtherNet/IP 地址表数据 + std::shared_mutex mtx_eip_address_; + std::vector> cache_eip_address_; +}; +using RobotProxyPtr = std::shared_ptr; + +} // namespace aubo_sdk +} // namespace arcs +Q_DECLARE_METATYPE(arcs::aubo_sdk::RobotProxyPtr) +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/robotiomatetype.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/robotiomatetype.h new file mode 100644 index 00000000..6b867005 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/robotiomatetype.h @@ -0,0 +1,103 @@ +#ifndef ROBOTIOMATETYPE_H +#define ROBOTIOMATETYPE_H + +//接口板用户DI 名称定义 +#define UESR_IO_DI_00_NAME "U_DI_00" +#define UESR_IO_DI_01_NAME "U_DI_01" +#define UESR_IO_DI_02_NAME "U_DI_02" +#define UESR_IO_DI_03_NAME "U_DI_03" +#define UESR_IO_DI_04_NAME "U_DI_04" +#define UESR_IO_DI_05_NAME "U_DI_05" +#define UESR_IO_DI_06_NAME "U_DI_06" +#define UESR_IO_DI_07_NAME "U_DI_07" +#define UESR_IO_DI_10_NAME "U_DI_10" +#define UESR_IO_DI_11_NAME "U_DI_11" +#define UESR_IO_DI_12_NAME "U_DI_12" +#define UESR_IO_DI_13_NAME "U_DI_13" +#define UESR_IO_DI_14_NAME "U_DI_14" +#define UESR_IO_DI_15_NAME "U_DI_15" +#define UESR_IO_DI_16_NAME "U_DI_16" +#define UESR_IO_DI_17_NAME "U_DI_17" + +//接口板用户DI 地址定义 +#define UESR_IO_DI_00_ADDR 0X24 +#define UESR_IO_DI_01_ADDR 0X25 +#define UESR_IO_DI_02_ADDR 0X26 +#define UESR_IO_DI_03_ADDR 0X27 +#define UESR_IO_DI_04_ADDR 0X28 +#define UESR_IO_DI_05_ADDR 0X29 +#define UESR_IO_DI_06_ADDR 0X2A +#define UESR_IO_DI_07_ADDR 0X2B +#define UESR_IO_DI_10_ADDR 0X2C +#define UESR_IO_DI_11_ADDR 0X2D +#define UESR_IO_DI_12_ADDR 0X2E +#define UESR_IO_DI_13_ADDR 0X2F +#define UESR_IO_DI_14_ADDR 0X30 +#define UESR_IO_DI_15_ADDR 0X31 +#define UESR_IO_DI_16_ADDR 0X32 +#define UESR_IO_DI_17_ADDR 0X33 + + +//接口板用户DO 名称定义 +#define UESR_IO_DO_00_NAME "U_DO_00" +#define UESR_IO_DO_01_NAME "U_DO_01" +#define UESR_IO_DO_02_NAME "U_DO_02" +#define UESR_IO_DO_03_NAME "U_DO_03" +#define UESR_IO_DO_04_NAME "U_DO_04" +#define UESR_IO_DO_05_NAME "U_DO_05" +#define UESR_IO_DO_06_NAME "U_DO_06" +#define UESR_IO_DO_07_NAME "U_DO_07" +#define UESR_IO_DO_10_NAME "U_DO_10" +#define UESR_IO_DO_11_NAME "U_DO_11" +#define UESR_IO_DO_12_NAME "U_DO_12" +#define UESR_IO_DO_13_NAME "U_DO_13" +#define UESR_IO_DO_14_NAME "U_DO_14" +#define UESR_IO_DO_15_NAME "U_DO_15" +#define UESR_IO_DO_16_NAME "U_DO_16" +#define UESR_IO_DO_17_NAME "U_DO_17" + +//接口板用户DO 地址定义 +#define UESR_IO_DO_00_ADDR 0X20 +#define UESR_IO_DO_01_ADDR 0X21 +#define UESR_IO_DO_02_ADDR 0X22 +#define UESR_IO_DO_03_ADDR 0X23 +#define UESR_IO_DO_04_ADDR 0X24 +#define UESR_IO_DO_05_ADDR 0X25 +#define UESR_IO_DO_06_ADDR 0X26 +#define UESR_IO_DO_07_ADDR 0X27 +#define UESR_IO_DO_10_ADDR 0X28 +#define UESR_IO_DO_11_ADDR 0X29 +#define UESR_IO_DO_12_ADDR 0X2A +#define UESR_IO_DO_13_ADDR 0X2B +#define UESR_IO_DO_14_ADDR 0X2C +#define UESR_IO_DO_15_ADDR 0X2D +#define UESR_IO_DO_16_ADDR 0X2E +#define UESR_IO_DO_17_ADDR 0X2F + + +//接口板用户AI 名称定义 +#define UESR_IO_AI_00_NAME "VI0" +#define UESR_IO_AI_01_NAME "VI1" +#define UESR_IO_AI_02_NAME "VI2" +#define UESR_IO_AI_03_NAME "VI3" + +//接口板用户AI 地址定义 +#define UESR_IO_AI_00_ADDR 0X00 +#define UESR_IO_AI_01_ADDR 0X01 +#define UESR_IO_AI_02_ADDR 0X02 +#define UESR_IO_AI_03_ADDR 0X03 + +//接口板用户AI 名称定义 +#define UESR_IO_AO_00_NAME "VO0" +#define UESR_IO_AO_01_NAME "VO1" +#define UESR_IO_AO_02_NAME "VO2" +#define UESR_IO_AO_03_NAME "VO3" + +//接口板用户AI 地址定义 +#define UESR_IO_AO_00_ADDR 0X00 +#define UESR_IO_AO_01_ADDR 0X01 +#define UESR_IO_AO_02_ADDR 0X02 +#define UESR_IO_AO_03_ADDR 0X03 + + +#endif // ROBOTIOMATETYPE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/rsdef.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/rsdef.h new file mode 100644 index 00000000..bf34a7bf --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/rsdef.h @@ -0,0 +1,1583 @@ +#ifndef RSDEF_H +#define RSDEF_H +#include +#include "rstype.h" +#include "AuboRobotMetaType.h" + +#define TRUE 1 +#define FALSE 0 +#define RS_SUCC 0 +#define RS_FAILED -1 +#define MAX_RS_INSTANCE 32 +#define POS_SIZE 3 +#define ORI_SIZE 4 +#define INERTIA_SIZE 6 +#define JOINT_RADIAN_SIZE 6 + +#define RS_UNUSED(x) (void)x; +//#define _DEBUG + +using namespace aubo_robot_namespace; + +typedef CoordCalibrateByJointAngleAndTool CoordCalibrate; + +typedef struct +{ + CoordCalibrate user_coord; + char used; +} CustomUserCoord; + +typedef struct +{ + double rotateAxis[3]; +} Move_Rotate_Axis; + +typedef struct +{ + wayPoint_S waypoint[8]; + int solution_count; +} ik_solutions; + +#ifdef __cplusplus +extern "C" { +#endif + +// library initialize and uninitialize +/** + * @brief 初始化机械臂控制库 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_initialize(void); + +/** + * @brief 反初始化机械臂控制库 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_uninitialize(void); + +// robot service context +/** + * @brief 创建机械臂控制上下文句柄 + * @param rshd + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_create_context( + RSHD *rshd /*returned context handle*/); + +/** + * @brief 注销机械臂控制上下文句柄 + * @param rshd + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_destory_context(RSHD rshd); + +// login logout +/** + * @brief 链接机械臂服务器 + * @param rshd 械臂控制上下文句柄 + * @param addr 机械臂服务器的IP地址 + * @param port 机械臂服务器的端口号 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_login(RSHD rshd, const char *addr, + int port); + +/** + * @brief 断开机械臂服务器链接 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_logout(RSHD rshd); + +/** + * @brief 获取当前的连接状态 + * @param rshd 械臂控制上下文句柄 + * @param status true 在线 false 离线 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_login_status(RSHD rshd, bool *status); +// set move profile +/** + * @brief 初始化全局的运动属性 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_init_global_move_profile(RSHD rshd); + +// joint max acc,velc +/** + * @brief 设置六个关节的最大加速度 + * @param rshd 械臂控制上下文句柄 + * @param max_acc 六个关节的最大加速度，单位(rad/ss) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_global_joint_maxacc( + RSHD rshd, const JointVelcAccParam *max_acc); + +/** + * @brief 设置六个关节的最大速度 + * @param rshd 械臂控制上下文句柄 + * @param max_velc 六个关节的最大速度，单位(rad/s) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_global_joint_maxvelc( + RSHD rshd, const JointVelcAccParam *max_velc); + +/** + * @brief 获取六个关节的最大加速度 + * @param rshd 械臂控制上下文句柄 + * @param max_acc 返回六个关节的最大加速度单位(rad/s^2) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_global_joint_maxacc( + RSHD rshd, JointVelcAccParam *max_acc); + +/** + * @brief 获取六个关节的最大速度 + * @param rshd 械臂控制上下文句柄 + * @param max_velc 返回六个关节的最大加度单位(rad/s) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_global_joint_maxvelc( + RSHD rshd, JointVelcAccParam *max_velc); + +// end line max acc,velc +/** + * @brief 设置机械臂末端最大线加速度 + * @param rshd 械臂控制上下文句柄 + * @param max_acc 末端最大加线速度，单位(m/s^2) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_global_end_max_line_acc(RSHD rshd, + double max_acc); + +/** + * @brief 设置机械臂末端最大线速度 + * @param rshd 械臂控制上下文句柄 + * @param max_velc 末端最大线速度，单位(m/s) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_global_end_max_line_velc( + RSHD rshd, double max_velc); + +/** + * @brief 获取机械臂末端最大线加速度 + * @param rshd 械臂控制上下文句柄 + * @param max_acc 机械臂末端最大线加速度，单位(m/s^2) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_global_end_max_line_acc( + RSHD rshd, double *max_acc); + +/** + * @brief 获取机械臂末端最大线速度 + * @param rshd 械臂控制上下文句柄 + * @param max_velc 机械臂末端最大线速度，单位(m/s) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_global_end_max_line_velc( + RSHD rshd, double *max_velc); + +// end line max acc,velc +/** + * @brief 设置机械臂末端最大角加速度 + * @param rshd 械臂控制上下文句柄 + * @param max_acc 末端最大角加速度，单位(rad/s^2) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_global_end_max_angle_acc( + RSHD rshd, double max_acc); + +/** + * @brief 设置机械臂末端最大角速度 + * @param rshd 械臂控制上下文句柄 + * @param max_velc 末端最大速度，单位(rad/s) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_global_end_max_angle_velc( + RSHD rshd, double max_velc); + +/** + * @brief 获取机械臂末端最大角加速度 + * @param rshd 械臂控制上下文句柄 + * @param max_acc 机械臂末端最大角加速度，单位(m/s^2) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_global_end_max_angle_acc( + RSHD rshd, double *max_acc); + +/** + * @brief 获取机械臂末端最大角加速度 + * @param rshd 械臂控制上下文句柄 + * @param max_velc 机械臂末端最大角速度，单位(m/s) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_global_end_max_angle_velc( + RSHD rshd, double *max_velc); + +/** + * @brief 设置机械臂关节运动范围 + * @param rshd 械臂控制上下文句柄 + * @param joint_range + * 机械臂每个关节的运动范围（±175°）注意！！！单位使用弧度（rad） + * @param enable 使能关节运动范围控制 true：启用 false：禁用 + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_robot_joint_motion_range( + RSHD rshd, RangeOfMotion joint_range[ARM_DOF], bool enable = true); + +// robot move +/** + * @brief 机械臂轴动 + * @param rshd 械臂控制上下文句柄 + * @param joint_radian 六个关节的关节角，单位(rad) + * @param isblock isblock==true + * 代表阻塞，机械臂运动直到到达目标位置或者出现故障后返回。 isblock==false + * 代表非阻塞，立即返回，运动指令发送成功就返回，函数返回后机械臂开始运动。 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_move_joint(RSHD rshd, + double joint_radian[ARM_DOF], + bool isblock = true); + +/** + * @brief 机械臂轴动 + * @param rshd 械臂控制上下文句柄 + * @param move_profile 运动属性 + * @param joint_radian 六个关节的关节角，单位(rad) + * @param isblock isblock==true + * 代表阻塞，机械臂运动直到到达目标位置或者出现故障后返回。 isblock==false + * 代表非阻塞，立即返回，运动指令发送成功就返回，函数返回后机械臂开始运动。 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_move_joint_ex(RSHD rshd, + MoveProfile_t *move_profile, + double joint_radian[ARM_DOF], + bool isblock = true); + +/** + * @brief 跟随模式机械臂轴动 + * @param rshd 械臂控制上下文句柄 + * @param joint_radian 六个关节的关节角，单位(rad) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_follow_mode_move_joint( + RSHD rshd, double joint_radian[ARM_DOF]); + +/** + * @brief 机械臂保持当前姿态直线运动 + * @param rshd 械臂控制上下文句柄 + * @param joint_radian 六个关节的关节角，单位(rad) + * @param isblock isblock==true + * 代表阻塞，机械臂运动直到到达目标位置或者出现故障后返回。 isblock==false + * 代表非阻塞，立即返回，运动指令发送成功就返回，函数返回后机械臂开始运动。 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_move_line(RSHD rshd, + double joint_radian[ARM_DOF], + bool isblock = true); + +/** + * @brief 机械臂保持当前姿态直线运动 + * @param rshd 械臂控制上下文句柄 + * @param move_profile 运动属性 + * @param joint_radian 六个关节的关节角，单位(rad) + * @param isblock isblock==true + * 代表阻塞，机械臂运动直到到达目标位置或者出现故障后返回。 isblock==false + * 代表非阻塞，立即返回，运动指令发送成功就返回，函数返回后机械臂开始运动。 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_move_line_ex(RSHD rshd, + MoveProfile_t *move_profile, + double joint_radian[ARM_DOF], + bool isblock = true); + +/** + * @brief rs_move_rotate_to_waypoint保持当前位置变换姿态旋转运动至目标路点 + * @param rshd 械臂控制上下文句柄 + * @param target_waypiont 目标路点 + * @param isblock isblock==true + * 代表阻塞，机械臂运动直到到达目标位置或者出现故障后返回。 isblock==false + * 代表非阻塞，立即返回，运动指令发送成功就返回，函数返回后机械臂开始运动。 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_move_rotate_to_waypoint( + RSHD rshd, aubo_robot_namespace::wayPoint_S *target_waypiont, + bool isblock = true); + +/** + * @brief 保持当前位置变换姿态做旋转运动 + * @param rshd 械臂控制上下文句柄 + * @param user_coord 用户坐标系 + * @param rotate_axis :转轴(x,y,z) 例如：(1,0,0)表示沿Y轴转动 + * @param rotate_angle 旋转角度 单位（rad） + * @param isblock isblock==true + * 代表阻塞，机械臂运动直到到达目标位置或者出现故障后返回。 isblock==false + * 代表非阻塞，立即返回，运动指令发送成功就返回，函数返回后机械臂开始运动。 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_move_rotate( + RSHD rshd, const CoordCalibrate *user_coord, + const Move_Rotate_Axis *rotate_axis, double rotate_angle, + bool isblock = true); + +/** + * rs_get_rotate_target_waypiont + * 根据根据起始点姿态及基坐标系下描述的旋转轴、旋转角，获取目标位姿 + * @param rshd 械臂控制上下文句柄 + * @param originateWayPointOnBaseCoord 起始路点信息 + * @param rotateAxisOnBaseCoord 基坐标系下表示的旋转轴 + * @param rotateAngle 旋转角 + * @param targetWayPointOnBaseCoord 目标路点信息 （传出参数） + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_rotate_target_waypiont( + RSHD rshd, + const aubo_robot_namespace::wayPoint_S *originateWayPointOnBaseCoord, + const double rotateAxisOnBaseCoord[], double rotateAngle, + aubo_robot_namespace::wayPoint_S *targetWayPointOnBaseCoord); + +/** + * @brief rs_get_rotateaxis_user_to_Base + * 将用户坐标系下描述的旋转轴转换到基坐标系下描述 + * @param rshd 械臂控制上下文句柄 + * @param oriOnUserCoord 用户做标系旋转姿态 + * @param rotateAxisOnUserCoord 用户坐标系下描述的旋转轴 + * @param rotateAxisOnBaseCoord 基坐标系下描述的旋转轴 + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_rotateaxis_user_to_Base( + RSHD rshd, const aubo_robot_namespace::Ori *oriOnUserCoord, + const double rotateAxisOnUserCoord[], double rotateAxisOnBaseCoord[]); + +/** + * @brief 清除所有已经设置的全局路点 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_remove_all_waypoint(RSHD rshd); + +/** + * @brief 添加全局路点用于轨迹运动 + * @param rshd 械臂控制上下文句柄 + * @param joint_radian 六个关节的关节角，单位(rad) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_add_waypoint(RSHD rshd, + double joint_radian[ARM_DOF]); + +/** + * @brief 设置交融半径 + * @param rshd 械臂控制上下文句柄 + * @param radius 交融半径，单位(m) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_blend_radius(RSHD rshd, double radius); + +/** + * @brief 设置圆运动圈数 + * @param rshd 械臂控制上下文句柄 + * @param times 当times大于0时，机械臂进行圆运动times次 + * 当times等于0时，机械臂进行圆弧轨迹运动 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_circular_loop_times(RSHD rshd, + int times); + +/** + * @brief 设置用户坐标系 + * @param rshd 械臂控制上下文句柄 + * @param user_coord 用户坐标系 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_user_coord( + RSHD rshd, const CoordCalibrate *user_coord); + +/** + * @brief 设置基座坐标系 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_base_coord(RSHD rshd); + +/** + * @brief 检查用户坐标系参数设置是否合理 + * @param rshd 械臂控制上下文句柄 + * @param user_coord 用户坐标系 + * @return RS_SUCC 成功 其他失败 合理返回: 0 不合理返回: 其他 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_check_user_coord( + RSHD rshd, const CoordCalibrate *user_coord); + +/** + * @brief 检查用户坐标系标定 + * @param rshd + * @param user_coord + * @param bInWPos 在世界坐标系中的位置 + * @param bInWOri 在世界坐标系中的姿态 + * @param wInBPos 在基座坐标系中的位置 + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_user_coord_calibrate( + RSHD rshd, const CoordCalibrate *user_coord, double bInWPos[3], + double bInWOri[9], double wInBPos[3]); + +/** + * @brief rs_tool_calibration 工具标定　　该函数能标定出工具的位置信息和姿态信息 + * @param toolCalibrate 工具标定结构体 用于储存标定点，标定方法等 + * @param toolInEndDesc　　　　　　　标定的结果 + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_tool_calibration( + RSHD rshd, const ToolCalibrate &toolCalibrate, + ToolInEndDesc &toolInEndDesc); +/** + * @brief 设置基于基座标系运动偏移量 + * @param rshd 械臂控制上下文句柄 + * @param relative 相对位移(x, y, z) 单位(m) + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_relative_offset_on_base( + RSHD rshd, const MoveRelative *relative); + +/** + * @brief 设置基于用户标系运动偏移量 + * @param rshd 械臂控制上下文句柄 + * @param relative 相对位移(x, y, z) 单位(m) + * @param user_coord 用户坐标系 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_relative_offset_on_user( + RSHD rshd, const MoveRelative *relative, const CoordCalibrate *user_coord); + +/** + * @brief 取消提前到位设置 + * @param rshd + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_no_arrival_ahead(RSHD rshd); + +/** + * @brief 设置距离模式下的提前到位距离 + * @param rshd + * @param distance　提前到位距离 单位（米） + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_arrival_ahead_distance(RSHD rshd, + double distance); + +/** + * @brief 设置时间模式下的提前到位时间 + * @param rshd + * @param sec 提前到位时间　单位（秒） + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_arrival_ahead_time(RSHD rshd, + double sec); + +/** + * @brief 设置距离模式下交融半径距离 + * @param rshd + * @param distance　提前到位距离 单位（米） + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_arrival_ahead_blend(RSHD rshd, + double radius); + +/** + * @brief 轨迹运动 + * @param rshd 械臂控制上下文句柄 + * @param sub_move_mode 轨迹类型: + * 2:圆弧 + * 3:轨迹 + * @param isblock isblock==true + * 代表阻塞，机械臂运动直到到达目标位置或者出现故障后返回。 isblock==false + * 代表非阻塞，立即返回，运动指令发送成功就返回，函数返回后机械臂开始运动。 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_move_track(RSHD rshd, + move_track sub_move_mode, + bool isblock = true); + +/** + * @brief + * 保持当前位姿通过直线运动的方式运动到目标位置,其中目标位置是通过相对当前位置的偏移给出 + * @param rshd 械臂控制上下文句柄 + * @param target 基于用户平面表示的目标位置 + * @param tool 工具参数 + * @param isblock isblock==true + * 代表阻塞，机械臂运动直到到达目标位置或者出现故障后返回。 isblock==false + * 代表非阻塞，立即返回，运动指令发送成功就返回，函数返回后机械臂开始运动。 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_move_line_to(RSHD rshd, const Pos *target, + const ToolInEndDesc *tool, + bool isblock = true); + +/** + * @brief 保持当前位姿通过关节运动的方式运动到目标位置 + * @param rshd 械臂控制上下文句柄 + * @param target 基于用户平面表示的目标位置 + * @param tool 工具参数 + * @param isblock isblock==true + * 代表阻塞，机械臂运动直到到达目标位置或者出现故障后返回。 isblock==false + * 代表非阻塞，立即返回，运动指令发送成功就返回，函数返回后机械臂开始运动。 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_move_joint_to(RSHD rshd, const Pos *target, + const ToolInEndDesc *tool, + bool isblock = true); + +/** + * @brief 设置示教坐标系 + * @param rshd 械臂控制上下文句柄 + * @param user_coord 示教坐标系 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_teach_coord( + RSHD rshd, const CoordCalibrate *teach_coord); + +/** + * @brief 开始轴动示教 + * @param rshd 械臂控制上下文句柄 + * @param mode 示教关节:JOINT1,JOINT2,JOINT3, JOINT4,JOINT5,JOINT6, + * 位置示教:MOV_X,MOV_Y,MOV_Z 姿态示教:ROT_X,ROT_Y,ROT_Z + * @param dir 运动方向 正方向true 反方向false + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_teach_move_start(RSHD rshd, teach_mode mode, + bool dir); + +/** + * @brief 结束示教 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_teach_move_stop(RSHD rshd); + +/** + * @brief 清理服务器上的非在线轨迹运动数据 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_clear_offline_track(RSHD rshd); + +/** + * @brief 向服务器添加非在线轨迹运动路点 + * @param rshd 械臂控制上下文句柄 + * @param waypoints 路点数组 (路点个数小于等于3000) + * @param waypoint_count 路点数组大小 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_append_offline_track_waypoint( + RSHD rshd, const JointParam waypoints[], int waypoint_count); + +/** + * @brief 向服务器添加非在线轨迹运动路点文件 + * @param rshd 械臂控制上下文句柄 + * @param filename + * 路点文件全路径,路点文件的每一行包含六个关节的关节角(弧度),用逗号隔开 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_append_offline_track_file( + RSHD rshd, const char *filename); + +/** + * @brief 通知服务器启动非在线轨迹运动 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_startup_offline_track(RSHD rshd); + +/** + * @brief 通知服务器停止非在线轨迹运动 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_stop_offline_track(RSHD rshd); + +/** + * @brief 通知服务器启动非在线轨迹运动 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_startup_excit_traj_track( + RSHD rshd, const char *trackfile, char type, char subtype); + +/** + * @brief 设置轨迹回放采样周期 + * @param rshd 械臂控制上下文句柄 + * @param second 采样周期（秒） + * @param RS_SUCC 成功 其他失败 + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_track_playback_cycle(RSHD rshd, + double second); + +/** + * @brief rs_get_dynidentify_results + * @param param + * @param len + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT bool rs_get_dynidentify_results( + RSHD rshd, std::vector ¶mVector); + +/** + * @brief 通知服务器进入TCP2CANBUS透传模式 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_enter_tcp2canbus_mode(RSHD rshd); + +/** + * @brief 通知服务器退出TCP2CANBUS透传模式 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_leave_tcp2canbus_mode(RSHD rshd); + +/** + * @brief 透传运动路点到CANBUS + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_waypoint_to_canbus( + RSHD rshd, double joint_radian[ARM_DOF]); + +/** + * @brief 透传运动路点到CANBUS + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_waypoints_to_canbus( + RSHD rshd, double joint_radian[][ARM_DOF], int waypint_count); + +/** + * @brief 正解　　　　　此函数为正解函数，已知关节角求对应位置的位置和姿态。 + * @param rshd 械臂控制上下文句柄 + * @param joint_radian 六个关节的关节角，单位(rad) + * @param waypoint 六个关节角,位置,姿态 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_forward_kin( + RSHD rshd, const double joint_radian[ARM_DOF], wayPoint_S *waypoint); + +/** + * @brief 逆解 + * 此函数为机械臂逆解函数，根据位置信息(x,y,z)和对应位置的参考姿态(w,x,y,z)得到对应位置的关节角信息。 + * @param rshd 械臂控制上下文句柄 + * @param joint_radian 参考关节角（通常为当前机械臂位置）单位(rad) + * @param pos 目标路点的位置 单位:米 + * @param ori 目标路点的参考姿态 + * @param waypoint 目标路点信息 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_inverse_kin(RSHD rshd, + double joint_radian[ARM_DOF], + const Pos *pos, const Ori *ori, + wayPoint_S *waypoint); + +/** + * @brief 逆解 + * 此函数为机械臂逆解函数，根据位置信息(x,y,z)和对应位置的参考姿态(w,x,y,z)得到对应位置的关节角信息。 + * @param rshd 械臂控制上下文句柄 + * @param pos 目标路点的位置 单位:米 + * @param ori 目标路点的参考姿态 + * @param ik_solutions + * 目标路点信息（最多返回八组解，逆解结果超过8个则仅返回前8个） + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_inverse_kin_closed_form( + RSHD rshd, const Pos *pos, const Ori *ori, ik_solutions *solutions); + +/** + * @brief 用户坐标系转基座坐标系 + * 概述: + * 将法兰盘中心基于基座标系下的位置和姿态　转成　工具末端基于用户座标系下的位置和姿态。 + * + * 　扩展1: 法兰盘中心可以看成是一个特殊的工具，即工具的位置为(0,0,0) + * + * 因此当工具为(0,0,0)时，相当于将法兰盘中心基于基座标系下的位置和姿态　转成　法兰盘中心基于用户座标系下的位置和姿态。 + * + * 　　　　扩展2: 用户坐标系也可以选择成基座标系，　　即：userCoord.coordType = + * BaseCoordinate + * 因此当用户平面为基座标系时，相当于将法兰盘中心基于基座标系下的位置和姿态　转成　工具末端基于基座标系下的位置和姿态， + * 即在基座标系加工具。 + * @param rshd 械臂控制上下文句柄 + * @param pos_onbase 基于基座标系的法兰盘中心位置信息（x,y,z） 单位(m) + * @param ori_onbase 基于基座标系的姿态信息(w, x, y, z) + * @param user_coord 用户坐标系 + * @param tool_pos 工具信息 + * @param pos_onuser 基于用户座标系的工具末端位置信息,输出参数 + * @param ori_onuser 基于用户座标系的工具末端姿态信息,输出参数 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_base_to_user( + RSHD rshd, const Pos *pos_onbase, const Ori *ori_onbase, + const CoordCalibrate *user_coord, const ToolInEndDesc *tool_pos, + Pos *pos_onuser, Ori *ori_onuser); + +/** + * @brief 用户坐标系转基座标系 + * @param rshd 械臂控制上下文句柄 + * @param pos_onuser 基于用户座标系的工具末端位置信息 + * @param ori_onuser 基于用户座标系的工具末端姿态信息 + * @param user_coord 用户坐标系 + * @param tool_pos 工具信息 + * @param pos_onbase 基于基座标系的法兰盘中心位置信息 + * @param ori_onbase 基于基座标系的姿态信息 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_user_to_base( + RSHD rshd, const Pos *pos_onuser, const Ori *ori_onuser, + const CoordCalibrate *user_coord, const ToolInEndDesc *tool_pos, + Pos *pos_onbase, Ori *ori_onbase); + +/** + * @brief 　基坐标系转基座标得到工具末端点的位置和姿态 + * @param rshd 械臂控制上下文句柄 + * @param flange_center_pos_onbase 基于基座标系的法兰盘中心位置信息 + * @param flange_center_ori_onbase 基于基座标系的姿态信息 + * @param tool 工具信息 + * @param tool_end_pos_onbase 基于基座标系的工具末端位置信息 + * @param tool_end_ori_onbase 基于基座标系的工具末端姿态信息 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_base_to_base_additional_tool( + RSHD rshd, const Pos *flange_center_pos_onbase, + const Ori *flange_center_ori_onbase, const ToolInEndDesc *tool, + Pos *tool_end_pos_onbase, Ori *tool_end_ori_onbase); + +/** + * @brief rs_get_target_waypoint_by_position 　　根据位置获取目标路点信息 + * @param sourceWayPointOnBaseCoord　　　　　起始路点（基于基坐标系） + * @param userCoordSystem　　　　　　　　　　　用户坐标系 + * @param toolEndPosition　　　　　　　　　　　工具末端位置 + * @param toolInEndDesc　　　　　　　　　　　　工具末端偏移 + * @param targetWayPointOnBaseCoord　　　　 目标路点（基于基坐标系） + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_target_waypoint_by_position( + RSHD rshd, + const aubo_robot_namespace::wayPoint_S &sourceWayPointOnBaseCoord, + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &userCoordSystem, + const aubo_robot_namespace::Pos &toolEndPosition, + const aubo_robot_namespace::ToolInEndDesc &toolInEndDesc, + aubo_robot_namespace::wayPoint_S &targetWayPointOnBaseCoord); + +/** + * @brief 欧拉角转四元素 + * @param rshd 械臂控制上下文句柄 + * @param rpy 姿态的欧拉角表示方法 + * @param ori 姿态的四元素表示方法 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_rpy_to_quaternion(RSHD rshd, const Rpy *rpy, + Ori *ori); + +/** + * @brief 四元素转欧拉角 + * @param rshd 械臂控制上下文句柄 + * @param ori 姿态的四元素表示方法 + * @param rpy 姿态的欧拉角表示方法 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_quaternion_to_rpy(RSHD rshd, const Ori *ori, + Rpy *rpy); + +/** + * @brief 设置工具的运动学参数 + * @param rshd 械臂控制上下文句柄 + * @param tool 工具的运动学参数 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_tool_end_param( + RSHD rshd, const ToolInEndDesc *tool); + +// end tool parameters +/** + * @brief 设置无工具的动力学参数 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_none_tool_dynamics_param(RSHD rshd); + +/** + * @brief 设置工具的动力学参数 + * @param rshd 械臂控制上下文句柄 + * @param tool 工具的动力学参数 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_tool_dynamics_param( + RSHD rshd, const ToolDynamicsParam *tool); + +/** + * @brief 获取工具的动力学参数 + * @param rshd 械臂控制上下文句柄 + * @param tool 工具的动力学参数 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_tool_dynamics_param( + RSHD rshd, ToolDynamicsParam *tool); + +/** + * @brief 获取工具的动力学参数 + * @param rshd 械臂控制上下文句柄 + * @param tool 工具的动力学参数 + * @return RS_SUCC 成功 其他失败 + * @note 由于rs_get_tool_dynamics_param获取的位置值单位是mm，增加此 + * 函数将单位与rs_set_tool_dynamics_param统一 + */ +inline int rs_get_tool_dynamics_param2(RSHD rshd, ToolDynamicsParam *tool) +{ + int retval = rs_get_tool_dynamics_param(rshd, tool); + tool->positionX /= 1000.; + tool->positionY /= 1000.; + tool->positionZ /= 1000.; + + return retval; +} + +/** + * @brief 设置无工具运动学参数 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_none_tool_kinematics_param(RSHD rshd); + +/** + * @brief 设置工具的运动学参数 + * @param rshd 械臂控制上下文句柄 + * @param tool 工具的运动学参数 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_tool_kinematics_param( + RSHD rshd, const ToolKinematicsParam *tool); + +/** + * @brief 获取工具的运动学参数 + * @param rshd 械臂控制上下文句柄 + * @param tool 工具的运动学参数 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_tool_kinematics_param( + RSHD rshd, ToolKinematicsParam *tool); + +// robot control +/** + * @brief 启动机械臂 + * @param rshd 械臂控制上下文句柄 + * @param tool_dynamics 动力学参数 + * @param colli_class 碰撞等级 + * @param read_pos 是否允许读取位置 + * @param static_colli_detect 是否允许侦测静态碰撞 + * @param board_maxacc 接口板允许的最大加速度 + * @param state 机械臂启动状态 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_robot_startup( + RSHD rshd, const ToolDynamicsParam *tool_dynamics, uint8 colli_class, + bool read_pos, bool static_colli_detect, int board_maxacc, + ROBOT_SERVICE_STATE *state); + +/** + * @brief 关闭机械臂 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_robot_shutdown(RSHD rshd); + +/** + * @brief 停止机械臂运动加速度设置 + * @param rshd 械臂控制上下文句柄 + * @param jerkRatio [0.1,20] + * @param double acc 6维数组， + * 1，末端型运动，只使用acc[0] 最大加速度 + * 2，轴动，使用acc[0,5] 关节最大加速度 + * @param size 6 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_reduce_para(RSHD rshd, + const double jerkRatio, + const double acc[], + int size); + +/** + * @brief 停止机械臂运动 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_move_stop(RSHD rshd); + +/** + * @brief 停止机械臂运动 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_move_fast_stop(RSHD rshd); + +/** + * @brief 暂停机械臂运动 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_move_pause(RSHD rshd); + +/** + * @brief 暂停后回复机械臂运动 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_move_continue(RSHD rshd); + +/** + * @brief 机械臂碰撞后恢复 + * @param rshd 械臂控制上下文句柄 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_collision_recover(RSHD rshd); + +/** + * @brief 获取机械臂当前状态 + * @param rshd 械臂控制上下文句柄 + * @param state 机械臂当前状态 + * 机械臂当前停止:RobotStatus.Stopped + * 机械臂当前运行:RobotStatus.Running + * 机械臂当前暂停:RobotStatus.Paused + * 机械臂当前恢复:RobotStatus.Resumed + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_robot_state(RSHD rshd, + RobotState *state); + +/** + * @brief 设置机械臂运动进入缩减模式 + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT bool rs_enter_reduce_mode(RSHD rshd); + +/** + * @brief 设置机械臂运动退出缩减模式 + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT bool rs_exit_reduce_mode(RSHD rshd); + +/** + * @brief 通知机械臂工程启动，服务器同时开始检测安全IO + * @param rshd + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT bool rs_project_startup(RSHD rshd); + +/** + * @brief 通知机械臂工程停止，服务器停止检测安全IO + * @param rshd + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT bool rs_project_stop(RSHD rshd); + +// tool interface + +// robot parameters +/** + * @brief 设置机械臂服务器工作模式 + * @param rshd 械臂控制上下文句柄 + * @param mode 机械臂服务器工作模式 + * 机械臂仿真模式:RobotRunningMode.RobotModeSimulator + * 机械臂真实模式:RobotRunningMode.RobotModeReal + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_work_mode(RSHD rshd, + RobotWorkMode mode); + +/** + * @brief 获取机械臂服务器当前工作模式 + * @param rshd 械臂控制上下文句柄 + * @param mode 机械臂服务器工作模式 + * 机械臂仿真模式:RobotRunningMode.RobotModeSimulator + * 机械臂真实模式:RobotRunningMode.RobotModeReal + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_work_mode(RSHD rshd, + RobotWorkMode *mode); + +/** + * @brief 获取重力分量 + * @param rshd 械臂控制上下文句柄 + * @param gravity 重力分量 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_gravity_component( + RSHD rshd, RobotGravityComponent *gravity); + +/** + * @brief 设置机械臂碰撞等级 + * @param rshd 械臂控制上下文句柄 + * @param grade 碰撞等级 范围（0～10） + * @param mode 碰撞模式 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_collision_class(RSHD rshd, int grade); +SERVICE_INTERFACE_ABI_EXPORT int rs_set_collision_class2(RSHD rshd, int grade, + CollisionMode mode); + +/** + * @brief 获取当前碰撞等级 + * @param rshd 机械臂控制上下文句柄 + * @param grade 碰撞等级 范围（0~10） + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_collision_class(RSHD rshd, int *grade); + +/** + * @brief 获取设备信息 + * @param rshd 械臂控制上下文句柄 + * @param dev 设备信息 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_device_info(RSHD rshd, + RobotDevInfo *dev); + +/** + * @brief 获取当前是否已经链接真实机械臂 + * @param rshd 械臂控制上下文句柄 + * @param exist true：存在 false：不存在 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_is_have_real_robot(RSHD rshd, bool *exist); + +/** + * @brief 当前机械臂是否运行在联机模式 + * @param rshd 械臂控制上下文句柄 + * @param isonline true：在 false：不在 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_is_online_mode(RSHD rshd, bool *isonline); + +/** + * @brief 当前机械臂是否运行在联机主模式 + * @param rshd 械臂控制上下文句柄 + * @param ismaster true：主模式 false：从模式 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_is_online_master_mode(RSHD rshd, + bool *ismaster); + +/** + * @brief 获取机械臂当前状态信息 + * @param rshd 械臂控制上下文句柄 + * @param jointStatus 返回六个关节状态，包括：电流，电压，温度 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_joint_status( + RSHD rshd, JointStatus jointStatus[ARM_DOF]); + +/** + * @brief 获取机械臂当前位置信息 + * @param rshd 械臂控制上下文句柄 + * @param waypoint 关节位置信息 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_current_waypoint(RSHD rshd, + wayPoint_S *waypoint); + +/** + * @brief 获取机械臂诊断信息 + * @param rshd 械臂控制上下文句柄 + * @param info 机械臂诊断信息 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_diagnosis_info( + RSHD rshd, RobotDiagnosis *robotDiagnosisInfo); + +/** + * @brief 根据错误号获取错误信息 + * @param rshd 机械臂控制上下文句柄 + * @param err_code 错误号 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ +SERVICE_INTERFACE_ABI_EXPORT const char *rs_get_error_information_by_errcode( + RSHD rshd, RobotErrorCode err_code); + +/** + * @brief 获取socket链接状态 + * @param rshd 械臂控制上下文句柄 + * @param connected true：已连接 false：未连接 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_socket_status(RSHD rshd, + bool *connected); + +/** + * @brief 获取机械表末端速度 + * @param rshd 械臂控制上下文句柄 + * @param endspeed 末端速度 单位（m/s） + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_robot_end_speed(RSHD rshd, + float *endspeed); + +// IO interaface +/** + * @brief 获取接口板指定IO集合的配置信息 + * @param rshd 械臂控制上下文句柄 + * @param type IO类型 + * @param config IO配置信息集合 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_board_io_config( + RSHD rshd, RobotIoType type, std::vector *config); + +/** + * @brief 根据接口板IO类型和地址设置IO状态 + * @param rshd 械臂控制上下文句柄 + * @param type IO类型 + * @param name IO名称 + * @param val IO状态 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_board_io_status_by_name( + RSHD rshd, RobotIoType type, const char *name, double val); + +/** + * @brief 根据接口板IO类型和地址设置IO状态 + * @param rshd 械臂控制上下文句柄 + * @param type IO类型 + * @param addr IO状态 + * @param val IO状态 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_board_io_status_by_addr( + RSHD rshd, RobotIoType type, int addr, double val); + +/** + * @brief 根据接口板IO类型和地址获取IO状态 + * @param rshd 械臂控制上下文句柄 + * @param type IO类型 + * @param name IO名称 + * @param val IO状态 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_board_io_status_by_name( + RSHD rshd, RobotIoType type, const char *name, double *val); + +/** + * @brief 根据接口板IO类型和地址获取IO状态 + * @param rshd 械臂控制上下文句柄 + * @param type IO类型 + * @param addr IO地址 + * @param val + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_board_io_status_by_addr( + RSHD rshd, RobotIoType type, int addr, double *val); + +// tool device interface +/** + * @brief 设置工具端电源电压类型 + * @param rshd 械臂控制上下文句柄 + * @param type ower_type:电源类型 + * 0:.OUT_0V + * 1:.OUT_12V + * 2:.OUT_24V + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_tool_power_type(RSHD rshd, + ToolPowerType type); + +/** + * @brief 获取工具端电源电压类型 + * @param rshd 械臂控制上下文句柄 + * @param type ower_type:电源类型 + * 0:.OUT_0V + * 1:.OUT_12V + * 2:.OUT_24V + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_tool_power_type(RSHD rshd, + ToolPowerType *type); + +/** + * @brief 设置工具端数字量IO的类型 + * @param rshd 械臂控制上下文句柄 + * @param addr 地址 + * @param type 类型 0:输入 1:输出 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_tool_io_type(RSHD rshd, + ToolDigitalIOAddr addr, + ToolIOType type); + +/** + * @brief 获取工具端电压数值 + * @param rshd 械臂控制上下文句柄 + * @param voltage 电压数值，单位（伏特） + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_tool_power_voltage(RSHD rshd, + double *voltage); + +/** + * @brief 获取工具端IO状态 + * @param rshd 械臂控制上下文句柄 + * @param name IO名称 + * @param val 工具端IO状态 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_tool_io_status(RSHD rshd, + const char *name, + double *val); + +/** + * @brief 设置工具端IO状态 + * @param rshd 械臂控制上下文句柄 + * @param name IO名称 + * @param status 工具端IO状态 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_tool_do_status(RSHD rshd, + const char *name, + IO_STATUS status); + +/** + * @brief 暂停工程 + * @param rshd + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_client_status_pause(RSHD rshd); + +/** + * @brief 继续工程 + * @param rshd + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_client_status_continue(RSHD rshd); + +/** + * @brief 工程停止 + * @param rshd + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_client_status_stop(RSHD rshd); + +/** + * @brief 工程启动 + * @param rshd + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_client_status_run(RSHD rshd); + +/** + * @brief 通知接口板上位机停止状态 + * @param data + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_robot_orpe_stop(RSHD rshd, uint8 data); + +/** + * @brief rs_robot_control + * @param rshd + * @param cmd + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_robot_control(RSHD rshd, + RobotControlCommand cmd); + +/** + * @brief 设置机械臂辨识参数 + * @param param + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_robot_recognition_param( + RSHD rshd, const RobotRecongnitionParam *param); + +/** + * @brief 获取机械臂辨识参数 + * @param type + * @param param + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_robot_recognition_param( + RSHD rshd, int type, RobotRecongnitionParam *param); + +/** + * @brief 获取机械臂安全配置 + * @param rshd + * @param safetyConfig + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_robot_safety_config( + RSHD rshd, RobotSafetyConfig *param); + +/** + * @brief 获取机械臂安全配置 + * @param rshd + * @param safetyConfig + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_robot_safety_config( + RSHD rshd, RobotSafetyConfig *param); + +/** + * @brief 获取机械臂安全状态 + * @param rshd + * @param safetyStatus + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_robot_safety_status( + RSHD rshd, OrpeSafetyStatus *param); + +//#ifndef FOR_FORCE_LIBRARY +/** + * @brief 设置底座参数信息 + * @param rshd + * @param param + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_robot_base_parameters( + RSHD rshd, const RobotBaseParameters *param); + +/** + * @brief 获取底座参数信息 + * @param rshd + * @param param + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_robot_base_parameters( + RSHD rshd, RobotBaseParameters *param); + +/** + * @brief 设置关节参数信息 + * @param rshd + * @param param + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_robot_joints_parameter( + RSHD rshd, const RobotJointsParameter *param); + +/** + * @brief 获取关节参数信息 + * @param rshd + * @param param + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_robot_joints_parameter( + RSHD rshd, RobotJointsParameter *param); + +/** + * @brief 刷新关节参数信息 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_robot_refresh_robot_arm_paramter( + RSHD rshd); + +//#else + +/** + * @brief 设置调速模式配置 + * @param rshd + * @param config + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_regulate_speed_param( + RSHD rshd, const RegulateSpeedModeParamConfig_t *config); + +/** + * @brief 获取调速模式配置 + * @param rshd + * @param config + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_regulate_speed_param( + RSHD rshd, RegulateSpeedModeParamConfig_t *config); + +/** + * @brief 使能/失能调速模式 + * @param rshd + * @param enbaleFlag + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_enable_regulate_speed_mode(RSHD rshd, + bool enbaleFlag); + +/** + * @brief 获取"主动探寻力"参数 + * @param rshd + * @param forceLimit + * @param distLimit + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_force_control_mode_explore_force_param( + RSHD rshd, double *forceLimit, double *distLimit); + +/** + * @brief 设置"主动探寻力"参数 + * @param rshd + * @param forceLimit + * @param distLimit + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_set_force_control_mode_explore_force_param( + RSHD rshd, double forceLimit, double distLimit); + +/** + * @brief 使能/失能力控模式 + * @param rshd + * @param enbaleFlag + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_enable_force_control_mode(RSHD rshd, + bool enbaleFlag); + +/** + * @brief 获取实时力数据 + * @param rshd + * @param 传出参数 + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_get_realtime_force_data( + RSHD rshd, double forceData[6]); + +/** + * @brief 将一个轨迹文件(位置+姿态)转换为路点容器，进行平滑处理和限制条件检查 + * @param rshd 械臂控制上下文句柄 + * @param filePath 轨迹文件路径 输入参数 + * @param poseType 位姿类型 + * @param referPointJointAngle 逆解参考点的关节角 输入参数 + * @param toolInEndDesc 末端工具的信息 输入参数 + * @param wayPointVector 路点集合 输出参数 + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_parse_file_as_roadpoint_collection( + RSHD rshd, const char *filePath, + aubo_robot_namespace::POSITION_ORIENTATION_TYPE poseType, + const double *referPointJointAngle, + const aubo_robot_namespace::ToolInEndDesc *toolInEndDesc, + aubo_robot_namespace::wayPoint_S wayPoint[], int waypointSize, + int *sizeReturn); + +/** + * @brief 解析路点文件并缓存结果 + * @param rshd 械臂控制上下文句柄 + * @param filePath 轨迹文件路径 输入参数 + * @param referPointJointAngle 逆解参考点的关节角 输入参数 + * @param toolInEndDesc 末端工具的信息 输入参数 + * @param firstWayPoint 轨迹的第一个点 输出参数 + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_parse_roadpoint_file_and_cache_result( + RSHD rshd, const char *filePath, const double *referPointJointAngle, + aubo_robot_namespace::ToolInEndDesc *toolInEndDesc, + aubo_robot_namespace::wayPoint_S *firstWayPoint); +/** + * @brief 运行缓存好的轨迹 + * 即：运行rs_parse_roadpoint_file_and_cache_result的结果 + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_move_cached_track(RSHD rshd); + +//#endif + +// callback +/** + * @brief 注册用于获取实时路点的回调函数 + * @param rshd 械臂控制上下文句柄 + * @param ptr 获取实时路点信息的函数指针 + * @param arg + * 这个参数系统不做任何处理，只是进行了缓存，当回调函数触发时该参数会通过回调函数的参数传回 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_setcallback_realtime_roadpoint( + RSHD rshd, const RealTimeRoadPointCallback ptr, void *arg); + +/** + * @brief 注册用于获取关节状态的回调函数 + * @param rshd 械臂控制上下文句柄 + * @param ptr 获取实时关节状态信息的函数指针 + * @param arg + * 这个参数系统不做任何处理，只是进行了缓存，当回调函数触发时该参数会通过回调函数的参数传回 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_setcallback_realtime_joint_status( + RSHD rshd, const RealTimeJointStatusCallback ptr, void *arg); + +/** + * @brief 注册用于获取实时末端速度的回调函数 + * @param rshd 械臂控制上下文句柄 + * @param ptr 获取实时末端速度的函数指针 + * @param arg + * 个参数系统不做任何处理，只是进行了缓存，当回调函数触发时该参数会通过回调函数的参数传回 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_setcallback_realtime_end_speed( + RSHD rshd, const RealTimeEndSpeedCallback ptr, void *arg); + +/** + * @brief 注册用于获取机械臂事件信息的回调函数 + * @param rshd 械臂控制上下文句柄 + * @param ptr 获取机械臂事件信息的函数指针 + * @param arg + * 个参数系统不做任何处理，只是进行了缓存，当回调函数触发时该参数会通过回调函数的参数传回 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_setcallback_robot_event( + RSHD rshd, const RobotEventCallback ptr, void *arg); + +/** + * @brief 注册用于获取函数的日志信息的回调函数 + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_setcallback_robot_loginfo( + RSHD rshd, const RobotLogPrintCallback ptr, void *arg); + +/** + * @brief 注册用于获取MOVEP运动进度信息的回调函数 + * @return + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_setcallback_movep_step_num( + RSHD rshd, const RealTimeMovepStepNumNotifyCallback ptr, void *arg); + +// enable push information +/** + * @brief 设置是否允许实时路点信息推送 + * @param rshd 械臂控制上下文句柄 + * @param enable true表示允许 false表示不允许 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_enable_push_realtime_roadpoint(RSHD rshd, + bool enable); + +/** + * @brief 设置是否允许实时关节状态推送 + * @param rshd 械臂控制上下文句柄 + * @param enable true表示允许 false表示不允许 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_enable_push_realtime_joint_status( + RSHD rshd, bool enable); + +/** + * @brief 设置是否允许实时末端速度推送 + * @param rshd 械臂控制上下文句柄 + * @param enable true表示允许 false表示不允许 + * @return RS_SUCC 成功 其他失败 + */ +SERVICE_INTERFACE_ABI_EXPORT int rs_enable_push_realtime_end_speed(RSHD rshd, + bool enable); + +// other +SERVICE_INTERFACE_ABI_EXPORT const char *rs_str_error(RSHD rshd, int err); +SERVICE_INTERFACE_ABI_EXPORT void print_plan(const CoordCalibrate *user_coord); +SERVICE_INTERFACE_ABI_EXPORT void print_move_relative_offset( + const MoveRelative *relative); +SERVICE_INTERFACE_ABI_EXPORT void print_waypoint(wayPoint_S *waypoint); +SERVICE_INTERFACE_ABI_EXPORT void print_tool_dynamics( + ToolDynamicsParam *tool_dynamics); + +#ifdef __cplusplus +} +#endif + +#endif // RSDEF_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/rserrors.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/rserrors.h new file mode 100644 index 00000000..d7b1c7ab --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/rserrors.h @@ -0,0 +1,12 @@ +#ifndef RSERRORS_H +#define RSERRORS_H + +/*robot service errors*/ +#define RSERR_BASE 1000 +#define RSERR_SUCC 0 +#define RSERR_NOT_ENOUGH_RSHD_BUFFER RSERR_BASE + 1 +#define RSERR_RSHD_NO_FOUND RSERR_BASE + 2 +#define RSERR_PARAMETER_ERROR RSERR_BASE + 3 +#define RSERR_CREATE_THREAD_ERROR RSERR_BASE + 4 + +#endif // RSERRORS_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/rspidcfg.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/rspidcfg.h new file mode 100644 index 00000000..81bd8bd9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/rspidcfg.h @@ -0,0 +1,125 @@ +#ifndef RSPIDCFG_H +#define RSPIDCFG_H +#include "rstype.h" +#include "AuboRobotMetaType.h" + +using namespace aubo_robot_namespace; + +typedef struct +{ + JointCommonData data[ARM_DOF]; +} RobotJointCommonData; + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * @brief 获取机械臂配置表 + * @param rshd + * @param data 六个关节配置数据 + * @return + */ +int rs_get_joint_common_data(RSHD rshd, RobotJointCommonData &data); + +/** + * @brief 设置机械臂电流环参数P + * @param joint_id 机械臂ID（1~6) + * @param P 电流环参数P + * @return + */ +int rs_set_current_ip(RSHD rshd, int joint_id, uint16 P); + +/** + * @brief 设置机械臂电流环参数I + * @param joint_id 机械臂ID（1~6) + * @param I 电流环参数I + * @return + */ +int rs_set_current_ii(RSHD rshd, int joint_id, uint16 I); + +/** + * @brief 设置机械臂电流环参数D + * @param joint_id 机械臂ID（1~6) + * @param D 电流环参数D + * @return + */ +int rs_set_current_id(RSHD rshd, int joint_id, uint16 D); + +/** + * @brief 设置机械臂速度环参数P + * @param joint_id 机械臂ID（1~6) + * @param P 速度环参数P + * @return + */ +int rs_set_speed_p(RSHD rshd, int joint_id, uint16 P); + +/** + * @brief 设置机械臂速度环参数I + * @param joint_id 机械臂ID（1~6) + * @param I 速度环参数I + * @return + */ +int rs_set_speed_i(RSHD rshd, int joint_id, uint16 I); + +/** + * @brief 设置机械臂速度环参数D + * @param joint_id 机械臂ID（1~6) + * @param D 速度环参数D + * @return + */ +int rs_set_speed_d(RSHD rshd, int joint_id, uint16 D); + +/** + * @brief 设置机械臂速度环参数DS + * @param joint_id 机械臂ID（1~6) + * @param DS 速度环参数DS + * @return + */ +int rs_set_speed_ds(RSHD rshd, int joint_id, uint16 DS); + +/** + * @brief 设置机械臂位置环参数P + * @param joint_id 机械臂ID（1~6) + * @param P 位置环参数P + * @return + */ +int rs_set_pos_p(RSHD rshd, int joint_id, uint16 P); + +/** + * @brief 设置机械臂位置环参数I + * @param joint_id 机械臂ID（1~6) + * @param I 位置环参数I + * @return + */ +int rs_set_pos_i(RSHD rshd, int joint_id, uint16 I); + +/** + * @brief 设置机械臂位置环参数D + * @param joint_id 机械臂ID（1~6) + * @param D 位置环参数D + * @return + */ +int rs_set_pos_d(RSHD rshd, int joint_id, uint16 D); + +/** + * @brief 设置机械臂位置环参数DS + * @param joint_id 机械臂ID（1~6) + * @param DS 位置环参数DS + * @return + */ +int rs_set_pos_ds(RSHD rshd, int joint_id, uint16 DS); + +/** + * @brief 保存机械臂PID参数到关节flash + * @param rshd + * @param joint_id + * @return + */ +int rs_joint_save_data_flash(RSHD rshd, int joint_id); + +#ifdef __cplusplus +} +#endif + +#endif // RSPIDCFG_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/rstype.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/rstype.h new file mode 100644 index 00000000..fa1a2488 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/rstype.h @@ -0,0 +1,29 @@ +#ifndef RSTYPE_H +#define RSTYPE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +/* General types */ +typedef uint8_t boolean; +typedef int8_t int8; +typedef int16_t int16; +typedef int32_t int32; +typedef uint8_t uint8; +typedef uint16_t uint16; +typedef uint32_t uint32; +typedef int64_t int64; +typedef uint64_t uint64; +typedef float float32; +typedef double float64; + +typedef uint16_t RSHD; // robot servcie handle + +#ifdef __cplusplus +} +#endif + +#endif // RSTYPE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/serviceinterface.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/serviceinterface.h new file mode 100644 index 00000000..31355f2b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/serviceinterface.h @@ -0,0 +1,1943 @@ +/** +CopyRight © AUBO Robotics Technology Co.Ltd. All Rights Reserved + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. +2. Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. +3. Neither the name of mosquitto nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. + +*/ + +#ifndef SERVICEINTERFACE_H +#define SERVICEINTERFACE_H + +#include +#include + +#include "AuboRobotMetaType.h" //接口需要用到的数据类型 +#include + +namespace arcs { +namespace aubo_sdk { +class RpcClient; +typedef std::shared_ptr RpcClientPtr; + +class RtdeClient; +typedef std::shared_ptr RtdeClientPtr; +} // namespace aubo_sdk +} // namespace arcs + +// 对外接口类 : 为用户提供开发接口 +class SERVICE_INTERFACE_ABI_EXPORT ServiceInterface +{ +public: + ServiceInterface(); + ~ServiceInterface(); + + /** 数据类型初始化*/ + static void initPosDataType(aubo_robot_namespace::Pos &postion); + static void initOriDataType(aubo_robot_namespace::Ori &ori); + static void initMoveRelativeDataType( + aubo_robot_namespace::MoveRelative &moveRelative); + static void initWayPointDataType( + aubo_robot_namespace::wayPoint_S &wayPoint); + static void initToolInEndDescDataType( + aubo_robot_namespace::ToolInEndDesc &toolInEndDesc); + static void initCoordCalibrateByJointAngleAndToolDataType( + aubo_robot_namespace::CoordCalibrateByJointAngleAndTool &coord); + static void initToolInertiaDataType( + aubo_robot_namespace::ToolInertia &toolInertia); + static void initToolDynamicsParamDataType( + aubo_robot_namespace::ToolDynamicsParam &toolDynamicsParam); + + /********************************************************************************************************************************************** + ***********　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　机械臂系统接口　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　********** + **********************************************************************************************************************************************/ + /** + * @brief 登录　　与机械臂服务器建立网络连接； + * 该接口的成功是调用其他接口的前提。 + * + * @param host 机械臂服务器的IP地址 + * @param port 机械臂服务器的端口号 + * @param userName 用户名 默认为Aubo + * @param possword 密码 　 默认为123456 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceLogin(const char *host, int port, const char *userName, + const char *password); + + int robotServiceLogin(const char *host, int port, const char *userName, + const char *password, + aubo_robot_namespace::RobotType &robotType, + aubo_robot_namespace::RobotDhPara &robotDhPara); + + /** + * @brief robotServiceGetConnectStatus 获取当前的连接状态 + * @param connectStatus　　　　　　　　　　　输出参数 + */ + void robotServiceGetConnectStatus(bool &connectStatus); + + /** + * @brief 退出登录 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceLogout(); + + // + int robotServiceRobotHandShake(bool isBlock); + + aubo_robot_namespace::RobotType getRobotType(); + + /********************************************************************************************************************************************** + *****　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　状态推送　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　******* + **********************************************************************************************************************************************/ + + /** + * @brief robotServiceSetRealTimeJointStatusPush + * 设置是否允许实时关节状态推送 + * @param enable true表示允许　　　false表示不允许 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetRealTimeJointStatusPush(bool enable); + + /** + * @brief robotServiceRegisterRealTimeJointStatusCallback + * 注册用于获取关节状态的回调函数 + * 注册回调函数后,服务器实时推送当前的关节状态信息. + * @param ptr + * 获取实时关节状态信息的函数指针，当ptr==NULL时，相当于取消回调函数的注册,取消该推送信息也可以通过该接口robotServiceSetRealTimeJointStatusPush进行。 + * @param arg + * 这个参数系统不做任何处理，只是进行了缓存，当回调函数触发时该参数会通过回调函数的参数传回。 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceRegisterRealTimeJointStatusCallback( + RealTimeJointStatusCallback ptr, void *arg); + + /** + * @brief robotServiceSetRealTimeRoadPointPush 设置是否允许实时路点信息推送 + * @param enable　　true表示允许　　　false表示不允许 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetRealTimeRoadPointPush(bool enable); + + /** + * @brief robotServiceRegisterRealTimeRoadPointCallback + * 注册用于获取实时路点的回调函数 + * 注册回调函数后,服务器会推送当前的路点信息　当ptr==NULL时，相等于取消回调函数的注册。 + * @param ptr + * 获取实时路点信息的函数指针，当ptr==NULL时，相当于取消回调函数的注册,取消该推送信息也可以通过该接口robotServiceSetRealTimeRoadPointPush进行。 + * @param + * arg　这个参数系统不做任何处理，只是进行了缓存，当回调函数触发时该参数会通过回调函数的参数传回。 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceRegisterRealTimeRoadPointCallback( + const RealTimeRoadPointCallback ptr, void *arg); + + /** + * @brief robotServiceSetRealTimeEndSpeedPush 设置是否允许实时末端速度推送 + * @param enable true表示允许　　　false表示不允许 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetRealTimeEndSpeedPush(bool enable); + + /** + * @brief robotServiceRegisterRealTimeEndSpeedCallback + * 注册用于获取实时末端速度的回调函数 + * @param ptr + * 获取实时末端速度的函数指针　当ptr==NULL时，相等于取消回调函数的注册，取消该推送信息也可以通过该接口robotServiceSetRealTimeEndSpeedPush进行。 + * @param + * arg　这个参数系统不做任何处理，只是进行了缓存，当回调函数触发时该参数会通过回调函数的参数传回。 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceRegisterRealTimeEndSpeedCallback( + const RealTimeEndSpeedCallback ptr, void *arg); + + /** + * @brief robotServiceRegisterRobotEventInfoCallback + * 注册用于获取机械臂事件信息的回调函数 + * 注:关于事件信息信息的推送没有提供是否允许推送的接口，因为机械臂的很多重要通知都是通过事件推送实现的,所以事件信息是系统默认推送的,不允许取消的。 + * @param ptr + * 获取机械臂事件信息的函数指针　当ptr==NULL时，相等于取消回调函数的注册。 + * @param + * arg　　这个参数系统不做任何处理，只是进行了缓存，当回调函数触发时该参数会通过回调函数的参数传回。 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceRegisterRobotEventInfoCallback(RobotEventCallback ptr, + void *arg); + + //注册movep进度通知的回调函数 + int robotServiceRegisterMovepStepNumNotifyCallback( + RealTimeMovepStepNumNotifyCallback ptr, void *arg); + + //注册日志输出回调函数 + int robotServiceRegisterLogPrintCallback(RobotLogPrintCallback ptr, + void *arg); + + /** + * @brief robotServiceInitGlobalMoveProfile 初始化全局的运动属性 + * 调用此函数时机械臂不运动，该函数初始化各个运动属性为默认值。 + * 　　　　初始化后各属性的默认值为: + * 0:关节型运动的最大速度和加速度属性:　关节最大速度默认为25度米每秒；关节最大加速度默认为25度米每秒方 + * 1:末端型运动的最大速度和加速度属性: + * 末端最大速度默认为３米每秒;末端最大加速度３米每秒方 + * 2:路点信息缓存属性:　　默认路点缓存为空 + * 3:交融半径属性: 默认为0.02米 + * 4:圆的圈数属性: 默认为0 + * 5:偏移量属性属性: 默认没有偏移 + * 6:工具参数属性属性: 无工具即工具的位置为０００; + * 7:示教坐标系属性:　 示教坐标系为基座标系 + * + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceInitGlobalMoveProfile(); + + /** + * 设置和获取　关节型　运动的最大速度和加速度 + * 关节型运动包含： + * 　　　　关节运动； + * 　　　　示教运动中的关节示教（JOINT1，JOINT2，JOINT3，JOINT4，JOINT5，JOINT6） + * 　　　　轨迹运动下的（JIONT_CUBICSPLINE，JOINT_UBSPLINEINTP） + * + * 注意：用户在设置速度和加速度时，需要根据运动的类型设置， + * 　　　关节型运动设置关节型运动的最大速度和加速度,关节型运动的最大速度是180度每秒，最大加速度为180度每秒方; + * 　　　末端型运动会设置末端型运动的最大速度和加速度，末端型运动的最大速度为2米每秒，最大加速度为2米每秒方; + * + **/ + int robotServiceSetGlobalMoveJointMaxAcc( + const aubo_robot_namespace::JointVelcAccParam &moveMaxAcc); + + int robotServiceSetGlobalMoveJointMaxVelc( + const aubo_robot_namespace::JointVelcAccParam &moveMaxVelc); + + void robotServiceGetGlobalMoveJointMaxAcc( + aubo_robot_namespace::JointVelcAccParam &moveMaxAcc); + + void robotServiceGetGlobalMoveJointMaxVelc( + aubo_robot_namespace::JointVelcAccParam &moveMaxVelc); + + /** + * 设置和获取　末端型　运动的最大速度和加速度 + * 末端型包含：　直线运动（MODEL）； + * 　　　　示教运动中的位置示教和姿态示教（MOV_X，MOV_Y，MOV_Z，ROT_X，ROT_Y，ROT_Z）； + * 　　　　轨迹运动下的（ARC_CIR,　CARTESIAN_MOVEP,　CARTESIAN_CUBICSPLINE,　CARTESIAN_UBSPLINEINTP） + * + * 注意：用户在设置速度和加速度时，需要根据运动的类型设置， + * 关节型运动设置关节型运动的最大速度和加速度,关节型运动的最大速度是180度每秒，最大加速度为180度每秒方; + * 　　　末端型运动会设置末端型运动的最大速度和加速度，末端型运动的最大速度为2米每秒，最大加速度为2米每秒方; + * + **/ + int robotServiceSetGlobalMoveEndMaxLineAcc(double moveMaxAcc); + + int robotServiceSetGlobalMoveEndMaxLineVelc(double moveMaxVelc); + + void robotServiceGetGlobalMoveEndMaxLineAcc(double &moveMaxAcc); + + void robotServiceGetGlobalMoveEndMaxLineVelc(double &moveMaxVelc); + + int robotServiceSetGlobalMoveEndMaxAngleAcc(double moveMaxAcc); + + int robotServiceSetGlobalMoveEndMaxAngleVelc(double moveMaxVelc); + + void robotServiceGetGlobalMoveEndMaxAngleAcc(double &moveMaxAcc); + + void robotServiceGetGlobalMoveEndMaxAngleVelc(double &moveMaxVelc); + + /** + *　设置加加速度 + */ + int robotServiceSetJerkAccRatio(double acc); + + void robotServiceGetJerkAccRatio(double &acc); + + int robotServiceSetAngleJerkAccRatio(double acc); + + void robotServiceGetAngleJerkAccRatio(double &acc); + + /** 运动属性中的路点设置与获取　多用于轨迹运动**/ + void robotServiceClearGlobalWayPointVector(); + + /** + * @brief robotServiceAddGlobalWayPoint + * 添加路点，一般用于robotServiceTrackMove中 + * @param wayPoint　　法兰盘中心基于基座标系的路点信息 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceAddGlobalWayPoint( + const aubo_robot_namespace::wayPoint_S &wayPoint); + + /** + * @brief robotServiceAddGlobalWayPoint + *添加路点，一般用于robotServiceTrackMove中 + * @param jointAngle　　　 关节信息 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + **/ + + int robotServiceAddGlobalWayPoint( + const double jointAngle[aubo_robot_namespace::ARM_DOF]); + + void robotServiceGetGlobalWayPointVector( + std::vector &wayPointVector); + + /** 运动属性之交融半径的设置与获取　交融半径的范围：0.001m~1m + * 注意：交融半径必须大于或等于 0.001 + **/ + float robotServiceGetGlobalBlendRadius(); + + int robotServiceSetGlobalBlendRadius(float value); + + double robotServiceGetTrackPlaybackCycle(); + + int robotServiceSetTrackPlaybackCycle(double second); + + /** 运动属性之圆轨迹时圆的圈数 + * 当轨迹类型为ARC_CIR时有效，当圆的圈数属性（CircularLoopTimes）为０时，表示圆弧轨迹; + * 当圆的圈数属性（CircularLoopTimes）大于０时，表示圆轨迹。 + **/ + int robotServiceGetGlobalCircularLoopTimes(); + + void robotServiceSetGlobalCircularLoopTimes(int times); + + /** + * @brief robotServiceSetMoveRelativeParam 设置运动属性中的偏移属性 + * @param relativeMove 基于基座标系的偏移 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetMoveRelativeParam( + const aubo_robot_namespace::MoveRelative + &relativeMoveOnBase); //基于基座标系 + + /** + * @brief robotServiceSetMoveRelativeParam 设置运动属性中的偏移属性 + * @param relativeMoveOnUserCoord 基于用户坐标系(下面参数userCoord)下的偏移 + * @param userCoord 用户坐标系 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetMoveRelativeParam( + const aubo_robot_namespace::MoveRelative &relativeMoveOnUserCoord, + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &userCoord); //基于自定义坐标系 + + /** 跟随模式之提前到位　当前仅适用于关节运动**/ + int robotServiceSetNoArrivalAhead(); + + int robotServiceSetArrivalAheadDistanceMode(double distance /*米*/); + + int robotServiceSetArrivalAheadTimeMode(double second /*秒*/); + + int robotServiceSetArrivalAheadBlendDistanceMode(double distance /*米*/); + + /** + * @brief robotServiceSetTeachCoordinateSystem 设置示教运动的坐标系 + * @param coordSystem　　　用户坐标系 + * 通过该参数确定一个坐标系,具体使用参考类型定义处的使用说明 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetTeachCoordinateSystem( + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &coordSystem); + int waitarrive(); + /** + * @brief robotServiceJointMove 运动接口之关节运动 + * 属于关节型运动,调用该函数机械臂开始运动 + * @param wayPoint　　目标路点信息 + * @param IsBolck IsBolck==true + * 代表阻塞，机械臂运动直到到达目标位置或者出现故障后返回。 IsBolck==false + * 代表非阻塞，立即返回，运动指令发送成功就返回，函数返回后机械臂开始运动。 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceJointMove(aubo_robot_namespace::wayPoint_S &wayPoint, + bool IsBolck); + + int robotServiceJointMove(double jointAngle[aubo_robot_namespace::ARM_DOF], + bool IsBolck); + + int robotServiceJointMove(aubo_robot_namespace::MoveProfile_t &moveProfile, + double jointAngle[aubo_robot_namespace::ARM_DOF], + bool IsBolck); + + //基于跟随模式的轴动接口 + int robotServiceFollowModeJointMove( + double jointAngle[aubo_robot_namespace::ARM_DOF]); + + /** + * @brief robotServiceLineMove 运动接口之直线运动 + * 属于末端型运动,调用该函数机械臂开始运动 + * @param wayPoint　　　目标路点信息 + * @param IsBolck 参考robotServiceJointMove函数的解释 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceLineMove(aubo_robot_namespace::wayPoint_S &wayPoint, + bool IsBolck); + + int robotServiceLineMove(double jointAngle[aubo_robot_namespace::ARM_DOF], + bool IsBolck); + + int robotServiceLineMove(aubo_robot_namespace::MoveProfile_t &moveProfile, + double jointAngle[aubo_robot_namespace::ARM_DOF], + bool IsBolck); + + /** + * @brief robotServiceRotateMove 运动接口之保持当前位置变换姿态做旋转运动 + * @param rotateAxis 转轴[x,y,z] 当绕Ｘ转，[１，０，０] + * @param rotateAngle　 转角 + * @param IsBolck 是否阻塞 + * @return + */ + int robotServiceRotateMove( + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &userCoord, + const double rotateAxisOnUserCoord[3], double rotateAngle, + bool IsBolck); + /** 旋转运动到目标路点 **/ + int robotServiceRotateMoveToWaypoint( + const aubo_robot_namespace::wayPoint_S &targetWayPointOnBaseCoord, + bool IsBolck); + + /** + * @brief robotServiceGetRotateTargetWaypiont + * 根据当前位姿及基坐标系下表示的旋转轴、旋转角，获取目标位姿 + * @param originateWayPointOnBaseCoord 起始路点信息 + * @param rotateAxisOnBaseCoord 基坐标系下表示的旋转轴 + * @param rotateAngle 旋转角 + * @param targetWayPointOnBaseCoord 目标路点信息 （传出参数） + * @return + */ + int robotServiceGetRotateTargetWaypiont( + const aubo_robot_namespace::wayPoint_S &originateWayPointOnBaseCoord, + const double rotateAxisOnBaseCoord[], double rotateAngle, + aubo_robot_namespace::wayPoint_S &targetWayPointOnBaseCoord); + + /** + * @brief robotServiceGetRotateAxisUserToBase + * 将用户坐标系描述的旋转轴变换到基坐标系下描述 + * @param oriOnUserCoord 用户坐标系姿态 + * @param rotateAxisOnUserCoord 用户坐标系下描述的旋转轴 + * @param rotateAxisOnBaseCoord 基坐标系下描述的旋转轴（传出参数） + * @return + */ + int robotServiceGetRotateAxisUserToBase( + const aubo_robot_namespace::Ori &oriOnUserCoord, + const double rotateAxisOnUserCoord[], double rotateAxisOnBaseCoord[]); + + /** + * @brief robotServiceTrackMove 运动接口之轨迹运动 + * + * @param subMoveMode + * 当subMoveMode==ARC_CIR,　CARTESIAN_MOVEP,　CARTESIAN_CUBICSPLINE,　CARTESIAN_UBSPLINEINTP时，该运动属于末端型运动； + * 当subMoveMode==JIONT_CUBICSPLINE，JOINT_UBSPLINEINTP时，该运动属于关节型运动； + * + * 当subMoveMode==ARC_CIR　表示圆或者圆弧　　　　当圆的圈数属性（CircularLoopTimes）为０时，表示圆弧轨迹， + * + * 当圆的圈数属性（CircularLoopTimes）大于０时，表示圆轨迹。 + * + * 当subMoveMode==CARTESIAN_MOVEP + * 　　　　　表示MOVEP轨迹，需要用户这只交融半径的属性。 + * + * 当subMoveMode==JOINT_UBSPLINEINTP　　　 轨迹复现接口 + * + * @param IsBolck　　　　参考robotServiceJointMove函数的解释 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceTrackMove(aubo_robot_namespace::move_track subMoveMode, + bool IsBolck); + + /** + * @brief robotMoveLineToTargetPosition + * 保持当前位姿通过直线运动的方式运动到目标位置,其中目标位置是通过相对当前位置的偏移给出 + * @param userCoord + * 用户坐标系　该坐标系参数（userCoord）,表示下面的偏移量参数(relativeMoveOnUserCoord)是基于该平面的。 + * @param toolInEndDesc 工具参数　　　当没有使用工具时，将此参数设置为０； + * @param relativeMoveOnUserCoord 基于用户坐标系下的偏移 + * @param + * IsBolck　　　　　　　　　　　　　　　　是否阻塞　　　参考robotServiceJointMove函数的解释 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotMoveLineToTargetPositionByRelative( + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &userCoord, + const aubo_robot_namespace::MoveRelative + &relativeMoveOnUserCoord, //目标位置相对当前位置的偏移 + bool IsBolck); //是否阻塞 + + /** 保持当前位姿通过关节运动的方式运动到目标位置 + * 参数描述参考robotMoveJointToTargetPosition **/ + int robotMoveJointToTargetPositionByRelative( + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &userCoord, + const aubo_robot_namespace::MoveRelative + &relativeMoveOnUserCoord, //目标位置相对当前位置的偏移 + bool IsBolck = false); //是否阻塞 + + //不进行运动 + int getJointAngleByTargetPositionKeepCurrentOri( + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &coordSystem, + const aubo_robot_namespace::Pos &toolEndPositionOnUserCoord, + const aubo_robot_namespace::ToolInEndDesc + &toolInEndDesc, //相对于用户坐标系的目标位置 + double jointAngle[aubo_robot_namespace::ARM_DOF]); + + int getJointAngleByTargetPositionKeepCurrentOri( + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &userCoordSystem, + const aubo_robot_namespace::Pos &position, + const aubo_robot_namespace::ToolInEndDesc &toolInEndDesc, + aubo_robot_namespace::wayPoint_S &targetWayPointOnBaseCoord); + + /** + * @brief robotMoveLineToTargetPosition + * 保持当前位姿通过直线运动的方式运动到目标位置。 + * @param userCoord + * 用户坐标系　该坐标系参数（userCoord）,表示下面的目标位置(positionOnUserCoord)是基于该平面的。 + * @param positionOnUserCoord 基于用户平面表示的目标位置 + * @param toolInEndDesc + 工具参数　　　当没有使用工具时，将此参数设置为０; + * @param + * IsBolck　　　　　　　　　　　　　　　是否阻塞　　　参考robotServiceJointMove函数的解释 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotMoveLineToTargetPosition( + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &userCoord, + const aubo_robot_namespace::Pos &toolEndPositionOnUserCoord, + const aubo_robot_namespace::ToolInEndDesc + &toolInEndDesc, //相对于用户坐标系的目标位置 + bool IsBolck = false); //是否阻塞 + + /** 保持当前位姿通过关节运动的方式运动到目标位置 + * 参数描述参考robotMoveJointToTargetPosition **/ + int robotMoveJointToTargetPosition( + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &userCoord, + const aubo_robot_namespace::Pos &toolEndPositionOnUserCoord, + const aubo_robot_namespace::ToolInEndDesc + &toolInEndDesc, //相对于用户坐标系的目标位置 + bool IsBolck = false); //是否阻塞 + + /** + * @brief 获取机械臂运动轨迹（目前支持轴动及笛卡尔直线运动） + * @param mode 运动类型： 0为轴动，1为笛卡尔直线运动 + * @param resolution 轨迹点的更新步长，单位:m + * @param joint_start 起始点六个关节弧度值 + * @param joint_end 终点六个关节弧度值 + * @param wayPoint_Vector 两点之间轨迹路点的六个关节角度值 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetTrackAtResolutionLength( + int mode, double resolution, const double joint_start[], + const double joint_end[], + std::vector &way_point); + + /** + * @brief 开始示教 + * @param mode 示教关节:JOINT1,JOINT2,JOINT3, JOINT4,JOINT5,JOINT6, + * 位置示教:MOV_X,MOV_Y,MOV_Z 姿态示教:ROT_X,ROT_Y,ROT_Z + * @param direction 运动方向 正方向true 反方向false + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceTeachStart(aubo_robot_namespace::teach_mode mode, + bool direction); + + /** @brief 结束示教 **/ + int robotServiceTeachStop(); + + /** + * @brief 机械臂运动控制 停止,暂停,继续 + * 注意: 调用前,需要确保已通过robotServiceSetRobotOrpeStop启动规划器 + * @param cmd 控制命令 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int rootServiceRobotMoveControl( + aubo_robot_namespace::RobotMoveControlCommand cmd); + + /** @brief 机械臂运动快速停止 **/ + int robotMoveFastStop(); + + /** @brief 终止机械臂运动**/ + int robotMoveStop(); + + /** + * @brief 等待非阻塞运动到位或结束 + * @param timeout_ms 等待超时时间(ms) 默认 0-不限时 + */ + int robotWaitMotionFinish(int timeout_ms = 0); + + /** + * @brief robotSetReducePara + * @param jerkRatio [0.1,20] + * @param acc 6维数组， + * 1，末端型运动，只使用acc[0] 最大加速度 + * 2，轴动，使用acc[0,5] 关节最大加速度 + * @param size + * @return 0 成功，其他失败 + */ + int robotSetReducePara(const double jerkRatio, const double acc[], + int size); + + /** 离线轨迹 **/ + /** @brief 将离线路点缓存进类成员变量中 + * @param wayPointVector 离线路点 + * @return 调用成功返回ErrnoSucc + */ + int robotServiceOfflineTrackWaypointAppend( + const std::vector &wayPointVector); + + /** + * @brief robotServiceOfflineTrackWaypointAppend + * 从文件中读取路点并缓存进类成员变量 + * @param fileName + * 路点存储文件名 + * @return 调用成功返回ErrnoSucc + */ + int robotServiceOfflineTrackWaypointAppend(const char *fileName); + + /** + * @brief robotServiceOfflineTrackWaypointClear + * 清空离线路点缓存 + * @return 调用成功返回ErrnoSucc + */ + int robotServiceOfflineTrackWaypointClear(); + + /** + * @brief robotServiceOfflineTrackMoveStartup + * 离线轨迹开始运动 + * @param IsBolck + * 是否阻塞 + * @return 调用成功返回ErrnoSucc + */ + int robotServiceOfflineTrackMoveStartup(bool IsBolck); + + /** + * @brief robotServiceOfflineTrackMoveStop + * 终止离线轨迹运动 + * @return 调用成功返回ErrnoSucc + */ + int robotServiceOfflineTrackMoveStop(); + + /** tcp转can透传　**/ + /** + * @brief robotServiceEnterTcp2CanbusMode + * 进入tcp转can透传模式 + * @return 调用成功返回ErrnoSucc + */ + int robotServiceEnterTcp2CanbusMode(); + + /** + * @brief robotServiceLeaveTcp2CanbusMode + * 退出tcp转can透传模式 + * @return 调用成功返回ErrnoSucc + */ + int robotServiceLeaveTcp2CanbusMode(); + + /** + * @brief robotServiceSetRobotPosData2Canbus + * 机械臂位姿tcp转can透传 + * @param jointAngle + * 机械臂关节角度 + * @return 调用成功返回ErrnoSucc + */ + int robotServiceSetRobotPosData2Canbus( + double jointAngle[aubo_robot_namespace::ARM_DOF]); + + /** + * @brief robotServiceSetRobotPosData2Canbus + * 机械臂位姿tcp转can透传 + * @param wayPointVector + * 路点 + * @return 调用成功返回ErrnoSucc + */ + int robotServiceSetRobotPosData2Canbus( + const std::vector &wayPointVector); + + int startupOfflineExcitTrajService( + const char *trackFile, + aubo_robot_namespace::Robot_Dyn_identify_traj type, int subtype, + bool isBolck); + + int getDynIdentifyResultsService(std::vector ¶mVector); + + int startMoveGroup(aubo_robot_namespace::MoveModeType type = + aubo_robot_namespace::MoveModeType::MOVE_GROUP, + bool conveyer = false, int conveyer_index = 0); + + int setEndOfMoveGroup(); + + int waitMoveGroupFinished(); + + /*******************************************************************工具接口************************************************************* + * 工具接口：正解接口, + * 逆解接口, + * 工具标定接口 + * 坐标系标定接口 + * 　　　　　基座标系转用户坐标系接口 + * 　　　　　用户坐标系转基坐标系接口 + * + **************************************************************************************************************************************************/ + /** + * @brief 正解　　　　　此函数为正解函数，已知关节角求对应位置的位置和姿态。 + * @param jointAngle 六个关节的关节角 　　　输入参数 单位:弧度(rad) + * @param size 关节角数组长度 规定为6个 + * @param wayPoint 正解结果 　　　输出参数 + * 　　　结果示例: 六个关节角 {'joint': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0], + * 位置 'pos': [-0.06403157614989634, -0.4185973810159096, + * 0.816883228463401], 姿态 'ori': [-0.11863209307193756, + * 0.3820514380931854, 0.0, 0.9164950251579285]} + * + * @return　调用成功返回ErrnoSucc;错误返回错误号 + * 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceRobotFk(const double *jointAngle, int size, + aubo_robot_namespace::wayPoint_S &wayPoint); + //内部使用 + int robotServiceRobotFk(const double *jointAngle, int size, + std::vector &pose_out); + + /** + * @brief用于计算第五、六关节后盖位置。 + * @param jointAngle 六个关节的关节角 　　　输入参数 单位:弧度(rad) + * @param size 需要计算的关节 规定为 4（五关节）或5（六关节） + * @param wayPoint 结果 　　　输出参数 + *调用示例，计算第六关节后盖位置，size为5，补偿值为-0.0598 + * ret = robotService.robotServiceRobotFk(wp_start, + *5,true,-0.0598,wayPoint); + * @return　调用成功返回ErrnoSucc;错误返回错误号 + *调用成功返回ErrnoSucc;错误返回错误号 + **/ + int robotServiceRobotFk(const double *jointAngle, int size, bool enable, + double compensate, + aubo_robot_namespace::wayPoint_S &wayPoint); + + /** + * @brief + * 逆解　　　　　此函数为机械臂逆解函数，根据位置信息(x,y,z)和对应位置的参考姿态(w,x,y,z)得到对应位置的关节角信息。 + * 机器人运动学方程的逆解，也称机器人的逆运动学问题。 + * 逆运动学问题：对某个机器人，当给出机器人手部（法兰盘中心）在基座标系中所处的位置和姿态时，求出其对应的关节角信息。 + * @param position 目标路点的位置 　　　单位:米 输入参数 + * @param ori 目标路点的参考姿态 + * 　输入参数　　　　例如：可以获取当前位置位姿作为此参数，这样相当于保持当前姿态 + * @param wayPoint 计算结果----目标路点信息 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceRobotIk(const double *startPointJointAngle, + const aubo_robot_namespace::Pos &position, + const aubo_robot_namespace::Ori &ori, + aubo_robot_namespace::wayPoint_S &wayPoint); + + int robotServiceRobotIk( + const aubo_robot_namespace::Pos &position, + const aubo_robot_namespace::Ori &ori, + std::vector &wayPointVector); + + //工具标定 + int robotServiceToolCalibration( + const std::vector &wayPointPosVector, + char poseCalibMethod, + aubo_robot_namespace::ToolInEndDesc &toolInEndDesc); + + /** + * @brief toolCalibration + * 　工具标定　　该函数能标定出工具的位置信息和姿态信息 + * @param wayPointPosCalibVector　　提供４个或４个以上的点用于位置标定 + * @param wayPointOriCalibVector　　提供两个点用于姿态标定 + * @param poseCalibMethod　　　　　　标定方法 + * @param toolInEndDesc　　　　　　　标定的结果 + * @return + */ + int robotServiceToolCalibration( + const std::vector + &wayPointPosCalibVector, + const std::vector + &wayPointOriCalibVector, + aubo_robot_namespace::ToolKinematicsOriCalibrateMathod poseCalibMethod, + aubo_robot_namespace::ToolInEndDesc &toolInEndDesc); + + /** + * @brief robotServiceCheckUserCoordinate 检查提供的参数是否标定出一个坐标系 + * @param coordSystem　　　　坐标系提供的参数 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceCheckUserCoordinate( + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &coordSystem); + int calculate_Feature_Poses( + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &userCoord, + std::vector &coord_arcs); + /** + * @brief robotServiceUserCoordinateCalibration 用户坐标系校准 + * @param coordSystem 坐标系提供的参数 + * @param bInWPos + * @param bInWOri + * @param wInBPos + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceUserCoordinateCalibration( + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &coordSystem, + double bInWPos[3], double bInWOri[9], double wInBPos[3]); + bool circleFourthPoint(const std::vector &p1, + const std::vector &p2, + const std::vector &p3, + std::vector &p4); + int robotServiceOriMatrixToQuaternion(double eerot[], + aubo_robot_namespace::Ori &result); + + /** + * @brief baseToUserCoordinate 基座标系转用户坐标系 + * + * 概述: + * 将法兰盘中心基于基座标系下的位置和姿态　转成　工具末端基于用户座标系下的位置和姿态。 + * + * 　扩展1: + * 法兰盘中心可以看成是一个特殊的工具，即工具的位置为(0,0,0)姿态为（1,0,0,0） + * + * 因此当工具为(0,0,0)时，相当于将法兰盘中心基于基座标系下的位置和姿态　转成　法兰盘中心基于用户座标系下的位置和姿态。 + * + * 　　　　扩展2: + * 用户坐标系也可以选择成基座标系，　　即：userCoord.coordType = + * BaseCoordinate + * 因此当用户平面为基座标系时，相当于将法兰盘中心基于基座标系下的位置和姿态　转成　工具末端基于基座标系下的位置和姿态， + * 即在基座标系加工具。 + * + * @param flangeCenterPositionOnBase + * 基于基座标系的法兰盘中心位置信息（x,y,z） 单位(m) + * @param flangeCenterOrientationOnBase 基于基座标系的姿态信息(w, x, + * y, z) + * @param userCoord 用户坐标系 + * 通过该参数确定一个坐标系 + * @param toolInEndDesc 工具信息 + * @param toolEndPositionOnUserCoord 基于用户座标系的工具末端位置信息 + * 输出参数 + * @param toolEndOrientationOnUserCoord 基于用户座标系的工具末端姿态信息 + * 输出参数 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int baseToUserCoordinate( + const aubo_robot_namespace::Pos + &flangeCenterPositionOnBase, //基于基座标系的法兰盘中心位置信息 + const aubo_robot_namespace::Ori + &flangeCenterOrientationOnBase, //基于基座标系的姿态信息 + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &userCoord, //用户坐标系 + const aubo_robot_namespace::ToolInEndDesc &toolInEndDesc, //工具参数 + aubo_robot_namespace::Pos + &toolEndPositionOnUserCoord, //基于用户座标系的工具末端位置信息 + aubo_robot_namespace::Ori + &toolEndOrientationOnUserCoord //基于用户座标系的工具末端姿态信息 + ); + + /** + * @brief baseToBaseAdditionalTool + * 　基坐标系转基座标得到工具末端点的位置和姿态 + * + * @param flangeCenterPositionOnBase 基于基座标系的法兰盘中心位置信息 + * @param flangeCenterOrientationOnBase 基于基座标系的姿态信息 + * @param toolInEndDesc 工具信息 + * @param toolEndPositionOnUserCoord 基于基座标系的工具末端位置信息 + * 输出参数 + * @param toolEndOrientationOnUserCoord 基于基座标系的工具末端姿态信息 + * 输出参数 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int baseToBaseAdditionalTool( + const aubo_robot_namespace::Pos + &flangeCenterPositionOnBase, //基于基座标系的法兰盘中心位置信息 + const aubo_robot_namespace::Ori + &flangeCenterOrientationOnBase, //基于基座标系的法兰盘姿态信息 + const aubo_robot_namespace::ToolInEndDesc &toolInEndDesc, //工具信息 + aubo_robot_namespace::Pos + &toolEndPositionOnBase, //基于基座标系的工具末端位置信息 + aubo_robot_namespace::Ori + &toolEndOrientationOnBase //基于基座标系的工具末端姿态信息); + ); + + /** + * @brief userToBaseCoordinate + * 用户坐标系位置和姿态信息转基座标系下位置和姿态信息 + * + * 概述: + * 将工具末端基于用户座标系下的位置和姿态　转成　法兰盘中心基于基座标系下的位置和姿态。 + * + * 　扩展1: + * 法兰盘中心可以看成是一个特殊的工具，即工具的位置为(0,0,0)姿态为（1,0,0,0） + * + * 因此当工具工具的位置为(0,0,0)姿态为（1,0,0,0）时，表示toolEndPositionOnUserCoord和toolEndOrientationOnUserCoord是无工具的。 + * + * 　　　　扩展2: + * 用户坐标系也可以选择成基座标系，　　即：userCoord.coordType = + * BaseCoordinate 因此当用户平面为基座标系时，相当于 + * 将工具末端基于基座标系下的位置和姿态　转成　法兰盘中心基于基座标系下的位置和姿态， + * 即在基座标系去工具. + * + * 扩展３: + * 利用该函数和逆解组合实现　　　　　当用户提供自定义坐标系（特殊为基座标系）下工具末端的位置和姿态　得到　基座标系下法兰盘中心的位置和姿态 + * 　　　　　　　　然后在逆解，得到目标路点。 + * + * @param toolEndPositionOnUserCoord 基于用户座标系的工具末端位置信息 + * @param toolEndOrientationOnUserCoord 基于用户座标系的工具末端姿态信息 + * @param userCoord 用户坐标系 + * 通过该参数确定一个坐标系 + * @param toolInEndDesc 工具信息 + * @param flangeCenterPositionOnBase 基于基座标系的法兰盘中心位置信息 + * @param flangeCenterOrientationOnBase 基于基座标系的姿态信息 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + * + * 注：这个的坐标系转换不支持末端系　　即不支持userCoord==EndCoordinate,如果userCoord==EndCoordinate会报参数错误(ErrCode_ParamError) + */ + int userToBaseCoordinate( + const aubo_robot_namespace::Pos + &toolEndPositionOnUserCoord, //基于用户座标系的工具末端位置信息 + const aubo_robot_namespace::Ori + &toolEndOrientationOnUserCoord, //基于用户座标系的工具末端姿态信息 + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &userCoord, //用户坐标系 + const aubo_robot_namespace::ToolInEndDesc &toolInEndDesc, //工具信息 + aubo_robot_namespace::Pos + &flangeCenterPositionOnBase, //基于基座标系的法兰盘中心位置信息 + aubo_robot_namespace::Ori + &flangeCenterOrientationOnBase //基于基座标系的法兰盘中心姿态信息 + ); + + /** + * @brief userCoordPointToBasePoint + * 将空间内一个基于用户坐标系的位置信息(x,y,z)　转换成基于　基座标下的位置信息(x,y,z) + * + * @param userCoordPoint 用户坐标系下的位置信息 + * x,y,z（必须的基于下面参数提供的坐标系下的） + * @param userCoordSystem　　　　用户坐标系描述 + * 通过该参数确定一个坐标系　不能为末端坐标系　如果userCoord==EndCoordinate会报参数错误(ErrCode_ParamError) + * @param basePoint　　　　　　　　基于基坐标系下的位置信息x,y,z + * @return　调用成功返回ErrnoSucc;错误返回错误号 + * + * 注：这个的坐标系转换不支持末端系　　即不支持userCoord==EndCoordinate,如果userCoord==EndCoordinate会报参数错误(ErrCode_ParamError) + */ + int userCoordPointToBasePoint( + const aubo_robot_namespace::Pos &userCoordPoint, + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &userCoordSystem, + aubo_robot_namespace::Pos &basePoint); + + //法兰盘姿态转成工具姿态 + static int endOrientation2ToolOrientation( + aubo_robot_namespace::Ori &tcpOriInEnd, + const aubo_robot_namespace::Ori &endOri, + aubo_robot_namespace::Ori &toolOri); + + //工具姿态转成法兰盘姿态 + static int toolOrientation2EndOrientation( + aubo_robot_namespace::Ori &tcpOriInEnd, + const aubo_robot_namespace::Ori &toolOri, + aubo_robot_namespace::Ori &endOri); + + //根据位置获取目标路点信息 + int getTargetWaypointByPosition( + const aubo_robot_namespace::wayPoint_S &sourceWayPointOnBaseCoord, + const aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + &userCoordSystem, + const aubo_robot_namespace::Pos &toolEndPosition, + const aubo_robot_namespace::ToolInEndDesc &toolInEndDesc, + aubo_robot_namespace::wayPoint_S &targetWayPointOnBaseCoord); + + /** + * @brief quaternionToRPY 四元素转欧拉角 + * @param ori　　　　　姿态的四元素表示方法 + * @param rpy　　　　　姿态的欧拉角表示方法 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + static int quaternionToRPY(const aubo_robot_namespace::Ori &ori, + aubo_robot_namespace::Rpy &rpy); + + /** + * @brief RPYToQuaternion 欧拉角转四元素 + * @param rpy 姿态的欧拉角表示方法 + * @param ori 姿态的四元素表示方法 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + static int RPYToQuaternion(const aubo_robot_namespace::Rpy &rpy, + aubo_robot_namespace::Ori &ori); + + /** + * @brief 坐标变换(F_c_a = F_c_b * F_b_a) + * @param F_b_a: a 相对于 b 的位姿 + * @param F_c_b: b 相对于 c 的位姿 + * @return a 相对于 c 的位姿 + */ + int poseTrans(const aubo_robot_namespace::PositionAndQuaternion &F_b_a, + const aubo_robot_namespace::PositionAndQuaternion &F_c_b, + aubo_robot_namespace::PositionAndQuaternion &F_c_a); + + /** + * @brief 齐次变换矩阵的逆 + * @param F_b_a: a 相对于 b 的位姿 + * @return b 相对于 a 的位姿 + */ + int poseInv(const aubo_robot_namespace::PositionAndQuaternion &F_b_a, + aubo_robot_namespace::PositionAndQuaternion &F_a_b); + + /** + * @brief getErrDescByCode 根据错误号获取错误信息 + * @param code　　错误号 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + std::string getErrDescByCode(aubo_robot_namespace::RobotErrorCode code); + + /********************************************************************************************************************************************** + ************************************************************机械臂控制接口********************************************************************** + **********************************************************************************************************************************************/ + /** + * @brief 机械臂控制 + * @param cmd 控制命令 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int rootServiceRobotControl( + const aubo_robot_namespace::RobotControlCommand cmd); + + /** + * @brief 设置机械臂的电源状态 + * @param value + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServicePowerControl(bool value); + + int robotServiceReleaseBrake(); + + /** + * @brief rootServiceRobotStartup + * 启动机械臂-----该操作会完成机械臂的上电，松刹车，设置碰撞等级，设置动力学参数等功能。 + * @param toolDynamicsParam　　　　　　动力学参数 + * @param collisionClass　　　　　　　　碰撞等级 + * @param readPose 是否允许读取位置　　　默认是true + * @param staticCollisionDetect + * @param boardBaxAcc + * @param result + * @param IsBolck + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int rootServiceRobotStartup( + const aubo_robot_namespace::ToolDynamicsParam &toolDynamicsParam, + uint8 collisionClass, bool readPose, bool staticCollisionDetect, + int boardBaxAcc, aubo_robot_namespace::ROBOT_SERVICE_STATE &result, + bool IsBolck = true); + + /** + * @brief 关机 + * @param IsBolck 是否阻塞 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceRobotShutdown(bool IsBolck = true); + + /********************************************************************************************************************************************** + ********************************************************************************************************************************************** + ************************************************************关于末端工具的接口******************************************************************* + ********************************************************************************************************************************************** + **********************************************************************************************************************************************/ + /** 设置无工具的动力学参数　**/ + int robotServiceSetNoneToolDynamicsParam(); + + /** 设置工具的动力学参数　 **/ + int robotServiceSetToolDynamicsParam( + const aubo_robot_namespace::ToolDynamicsParam &toolDynamicsParam); + + /** 获取工具的动力学参数　 **/ + int robotServiceGetToolDynamicsParam( + aubo_robot_namespace::ToolDynamicsParam &toolDynamicsParam); + + /** 设置无工具运动学参数　 **/ + int robotServiceSetNoneToolKinematicsParam(); + + /** 设置工具的运动学参数　 **/ + int robotServiceSetToolKinematicsParam( + const aubo_robot_namespace::ToolKinematicsParam &toolKinematicsParam); + + /** 获取工具的运动学参数　 **/ + int robotServiceGetToolKinematicsParam( + aubo_robot_namespace::ToolKinematicsParam &toolKinematicsParam); + + /********************************************************************************************************************************************** + ************************************************************机械臂相关参数设置与获取的接口********************************************************* + **********************************************************************************************************************************************/ + /** + * @brief robotServiceGetRobotWorkMode　　　获取当前机械臂模式 + * @param mode 输出参数　　仿真或真实的枚举类型 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetRobotWorkMode(aubo_robot_namespace::RobotWorkMode &mode); + + /** + * @brief robotServiceSetRobotWorkMode 设置当前机械臂模式 仿真或真实 + * @param mode　　　仿真或真实的枚举类型 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetRobotWorkMode(aubo_robot_namespace::RobotWorkMode mode); + + /** + * @brief robotServiceSetEnableForceTeachWhenProjectIsRunning + * 在工程运行的时候使能/失能力控模式 + * @param enable true:使能 false:失能 + * @return + */ + int robotServiceSetEnableForceTeachWhenProjectIsRunning(bool enable); + + /** + * @brief robotServiceSetRobotWorkMode 获取重力分量 + * @param mode　　　输出参数　　仿真或真实的枚举类型 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetRobotGravityComponent( + aubo_robot_namespace::RobotGravityComponent &gravityComponent); + + //业务接口: 获取当前碰撞等级 + int robotServiceGetRobotCollisionCurrentService(int &collisionGrade); + + //业务接口: 设置碰撞等级 + int robotServiceSetRobotCollisionClass(int grade); + int robotServiceSetRobotCollisionClass( + int grade, aubo_robot_namespace::CollisionMode collision_mode); + + //业务接口:获取设备信息 + int robotServiceGetRobotDevInfoService( + aubo_robot_namespace::RobotDevInfo &devInfo); + int robotServiceGetRobotIoConfigService( + aubo_robot_namespace::IoConfig &ioconfig); + + //设置最大加速度 + int robotServiceSetRobotMaxACC(int maxAcc); + + //碰撞恢复 + int robotServiceCollisionRecover(); + + // 关节回复到安全限制以内 + int robotServiceJointPosRecover(bool confirm); + + //获取机械臂当前状态 + int robotServiceGetRobotCurrentState( + aubo_robot_namespace::RobotState &state); + + //获取通讯状态 + int robotServiceGetMacCommunicationStatus(bool &value); + + /** + * @brief robotServiceGetIsRealRobotExist 获取是否存在真实机械臂 + * @param value 输出参数　　存在为true,不存在为false + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetIsRealRobotExist(bool &value); + + /** + * @brief robotServiceGetJoint6Rotate360EnableFlag 获取６关节旋转360使能标志 + * @param value + * @return + */ + int robotServiceGetJoint6Rotate360EnableFlag(bool &value); + + /** + * @brief robotServiceGetRobotJointStatus 获取机械臂关节状态 + * @param jointStatus 关节角缓冲区　　输出参数 + * @param size 关节角缓冲区长度 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetRobotJointStatus( + aubo_robot_namespace::JointStatus *jointStatus, int size); + + /** + * @brief robotServiceGetRobotDiagnosisInfo 获取机械臂诊断信息 + * @param robotDiagnosisInfo 输出参数 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetRobotDiagnosisInfo( + aubo_robot_namespace::RobotDiagnosis &robotDiagnosisInfo); + + /** + * @brief robotServiceGetJointAngleInfo 获取机械臂当前关节角信息 + * @param jointParam 输出参数 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetJointAngleInfo( + aubo_robot_namespace::JointParam &jointParam); + + int robotServiceGetCorrectedWaypoint( + const aubo_robot_namespace::wayPoint_S source, + aubo_robot_namespace::wayPoint_S &waypint); + + /** + * @brief robotServiceGetCurrentWaypointInfo 获取机械臂当前路点信息 + * @param wayPoint 输出参数 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetCurrentWaypointInfo( + aubo_robot_namespace::wayPoint_S &wayPoint); + + /** + * @brief robotServerGetToolForceSensorData 获取力传感器数据 + * @param data 输出力传感器数据 + * @return 调用成功返回ErrnoSucc + */ + int robotServerGetToolForceSensorData( + aubo_robot_namespace::ForceSensorData &data); + + /** + * @brief robotServiceSetJointRangeOfMotion 设置关节运动范围 + * @param rangeOfMotion + * @return + */ + int robotServiceSetJointRangeOfMotion( + const aubo_robot_namespace::JointRangeOfMotion &rangeOfMotion); + + /** + * @brief robotServiceGetJointRangeOfMotion 获取关节运动范围 + * @param rangeOfMotion + * @return + */ + int robotServiceGetJointRangeOfMotion( + aubo_robot_namespace::JointRangeOfMotion &rangeOfMotion); + int robotServiceGetJointPositionLimit( + aubo_robot_namespace::JointRangeOfMotion &rangeOfMotion); + + /*****************************************************************************************************************************************************/ + /* 安全ＩＯ相关 */ + /* */ + /****************************************************************************************************************************************************/ + int robotServiceSetRobotAtOriginPose(); + + /** + * @brief 通知接口板上位机暂停状态 + * @param data 0x01-暂停 0x02-恢复 + * @return + */ + int robotServiceSetRobotOrpePause(uint8 data); + + /** + * @brief 通知接口板上位机停止状态 + * @param data 0x02-启动 0x01-停止 + * @return + */ + int robotServiceSetRobotOrpeStop(uint8 data); + + /** + * @brief 通知机械臂工程启动，服务器同时开始检测安全IO + * @return + */ + int robotServiceSetRobotProjectStartup(); + + /** + * @brief 通知机械臂工程停止，服务器停止检测安全IO + * @return + */ + int robotServiceSetRobotProjectStop(); + + /** + * @brief 通知接口板上位机错误 + * @param 16个字节的错误数据，每个错误占一个bit + * @return + */ + int robotServiceSetRobotOrpeError(uint8 data[], int len); + + /** + * @brief 解除系统紧急停止输出信号 0-无动作 1-解除 + * @param data + * @return + */ + int robotServiceClearSystemEmergencyStop(uint8 data); + + /** + * @brief 解除缩减模式错误 0-无效 1-解除 + * @param data + * @return + */ + int robotServiceClearReducedModeError(uint8 data); + + /** + * @brief 防护重置成功 0-无动作 1-解除 + * @param data + * @return + */ + int robotServiceRobotSafetyguardResetSucc(uint8 data); + + /** + * @brief 设置机械臂运动进入缩减模式 + * @return + */ + bool robotServiceEnterRobotReduceMode(); + + /** + * @brief 设置机械臂运动退出缩减模式 + * @return + */ + bool robotServiceExitRobotReduceMode(); + + /********************************************************************************************************************************************** + ************************************************************关于接口板IO的接口********************************************************************** + **********************************************************************************************************************************************/ + /** + * @brief 获取接口板指定IO集合的配置信息 + * @param ioType IO类型的集合 输入参数 + * @param configVector IO配置信息的集合 输出参数 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetBoardIOConfig( + const std::vector &ioType, + std::vector &configVector); + + /** + * @brief 获取接口板指定IO集合的状态信息 + * @param ioType + * @param statusVector + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetBoardIOStatus( + const std::vector ioType, + std::vector &statusVector); + + /** + * @brief 根据接口板IO类型和名称设置IO状态 + * @param type IO类型 + * @param name IO名称 + * @param value IO状态 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetBoardIOStatus(aubo_robot_namespace::RobotIoType type, + std::string name, double value); + + /** + * @brief 根据接口板IO类型和地址设置IO状态 + * @param type IO类型 + * @param addr IO地址 + * @param value IO状态 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetBoardIOStatus(aubo_robot_namespace::RobotIoType type, + int addr, double value); + + /** + * @brief 根据接口板IO类型和名称设置脉冲 + * @param type IO类型 + * @param addr IO地址 + * @param value IO状态 + * @param duration 脉冲时长(ms) + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetBoardIOPulse(aubo_robot_namespace::RobotIoType type, + std::string name, double value, + int millisecond); + + /** + * @brief 根据接口板IO类型和地址设置脉冲 + * @param type IO类型 + * @param addr IO地址 + * @param value IO状态 + * @param duration 脉冲时长(ms) + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetBoardIOPulse(aubo_robot_namespace::RobotIoType type, + int addr, double value, int millisecond); + + /** + * @brief 根据接口板IO类型和名称获取IO状态 + * @param type IO类型 + * @param name IO名称 + * @param value IO状态 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetBoardIOStatus(aubo_robot_namespace::RobotIoType type, + std::string name, double &value); + + /** + * @brief 根据接口板IO类型和地址获取IO状态 + * @param type IO类型 + * @param addr IO地址 + * @param value IO状态 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetBoardIOStatus(aubo_robot_namespace::RobotIoType type, + int addr, double &value); + + /** + * @brief 返回当前机械臂是否运行在联机模式 + * @param isOnlineMode true：联机 false：非联机 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceIsOnlineMode(bool &isOnlineMode); + + /** + * @brief 返回当前机械臂是否运行在联机主模式 + * @param isOnlineMode true：联机主模式 false：联机从模式 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceIsOnlineMasterMode(bool &isOnlineMasterMode); + + //业务接口: 获取机械臂安全配置 + int robotServiceGetRobotSafetyConfig( + aubo_robot_namespace::RobotSafetyConfig &safetyConfig); + + //业务接口: 设置机械臂安全配置 + int robotServiceSetRobotSafetyConfig( + const aubo_robot_namespace::RobotSafetyConfig &safetyConfig); + + //业务接口: 获取机械臂安全状态 + int robotServiceGetOrpeSafetyStatus( + aubo_robot_namespace::OrpeSafetyStatus &safetyStatus); + + /********************************************************************************************************************************************** + ************************************************************关于tool + *IO的接口********************************************************************** + **********************************************************************************************************************************************/ + /** + * @brief 设置工具端电源电压类型 + * @param type 电源电压类型 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetToolPowerVoltageType( + aubo_robot_namespace::ToolPowerType type); + + /** + * @brief 获取工具端电源电压类型 + * @param 输出参数 接口调用成功后返回的电源电压类型 + * @return + */ + int robotServiceGetToolPowerVoltageType( + aubo_robot_namespace::ToolPowerType &type); + + /** + * @brief 获取工具端的电源电压 + * @param value 输出参数 + * @return + */ + int robotServiceGetToolPowerVoltageStatus(double &value); + + /** + * @brief robotServiceSetToolPowerTypeAndDigitalIOType + * 设置工具端电源电压类型and所有数字量IO的类型 + * @param type + * @param io0 + * @param io1 + * @param io2 + * @param io3 + * @return + */ + int robotServiceSetToolPowerTypeAndDigitalIOType( + aubo_robot_namespace::ToolPowerType type, + aubo_robot_namespace::ToolIOType io0, + aubo_robot_namespace::ToolIOType io1, + aubo_robot_namespace::ToolIOType io2, + aubo_robot_namespace::ToolIOType io3); + + /** + * @brief 设置工具端数字量IO的类型 输入或者输出 + * @param 地址 + * @param 类型 输入或者输出 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetToolDigitalIOType( + aubo_robot_namespace::ToolDigitalIOAddr addr, + aubo_robot_namespace::ToolIOType type); + + /** + * @brief 获取工具端所有数字量IO的状态 + * @param statusVector 输出参数 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetAllToolDigitalIOStatus( + std::vector &statusVector); + + /** + * @brief 根据地址设置工具端数字量IO的状态 + * @param addr IO地址 + * @param value IO状态 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetToolDOStatus( + aubo_robot_namespace::ToolDigitalIOAddr addr, + aubo_robot_namespace::IO_STATUS value); + + /** + * @brief 根据名称设置工具端数字量IO的状态 + * @param addr IO地址 + * @param value IO状态 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetToolDOStatus(std::string name, + aubo_robot_namespace::IO_STATUS value); + + /** + * @brief 根据地址设置工具端数字量IO的脉冲 + * @param addr IO地址 + * @param value IO状态 + * @param duration 脉冲时长(ms) + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetToolDOPulse(int addr, double value, int millisecond); + + /** + * @brief 根据名称设置工具端数字量IO的脉冲 + * @param addr IO地址 + * @param value IO状态 + * @param duration 脉冲时长(ms) + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetToolDOPulse(std::string name, double value, + int millisecond); + + /** + * @brief 根据名称获取工具端IO的状态 + * @param name IO名称 + * @param value IO状态 输出参数 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetToolIoStatus(std::string name, double &value); + + /** + * @brief 获取工具端所有AI的状态 + * @param 输出参数 + * @return　调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetAllToolAIStatus( + std::vector &statusVector); + + /** + * @brief robotServiceUpdateRobotBoardFirmware 接口板固件升级 + * @param cmd 接口板固件升级类型 + * @param data + * @param length z + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceUpdateRobotBoardFirmware( + aubo_robot_namespace::update_board_firmware_cmd cmd, const void *data, + uint16 length); + + /** + * @brief robotServiceGetBoardFirmwareUpdateResultService + * 获取接口板固件升级结果 + * @param value 返回是否成功 + * @return + */ + int robotServiceGetBoardFirmwareUpdateResultService(bool &value); + + /** + * @brief robotServiceGetRobotEthernetDeviceName 获取网卡设备名称 + * @param ethernetDeviceName 返回网卡设备名称 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetRobotEthernetDeviceName(std::string ðernetDeviceName); + + //获取服务器版本信息 + int robotServiceGetServerVersionInfo(std::string &versionInfo); + + /** + * @brief 设置关节碰撞补偿（范围0.00~0.51度） + * @param jointOffset + * @return + */ + int robotServiceSetRobotJointOffset( + aubo_robot_namespace::RobotJointOffset &jointOffset); + + int robotServiceSetConveyorEncoderReset(void); + + /** + * @brief 启动传送带 + * @return + */ + int robotServiceSetConveyorStartup(void); + + /** + * @brief 停止传送带 + * @return + */ + int robotServiceSetConveyorStop(void); + + /** + * @brief 设置传送带方向 + * @param dir + * @return + */ + int robotServiceSetConveyorDir(int dir); + + /** + * @brief 设置手眼标定结果关系 + * @param robotCameraCalib + */ + int robotServiceSetRobotCameraCalib( + const aubo_robot_namespace::RobotCameraCalib &robotCameraCalib); + + /** + * @brief 设置传送带线速度 + * @param conveyorVelc (米/秒） + */ + int robotServiceSetConveyorVelc(const double conveyorVelc); + + /** + * @brief 设置编码器距离关系 + * @param encoderValPerMeter 编码器距离关系（编码器脉冲个数/米) + */ + int robotServiceSetEncoderValPerMeter(const uint32_t &encoderValPerMeter); + + /** + * @brief 设置传送带起始窗口上限 + * @param startWindowUpstream　单位：米 + */ + int robotServiceSetStartWindowUpstream(double startWindowUpstream); + + /** + * @brief 设置传送带起始窗口下限 + * @param startWindowDownstream 单位：米 + */ + int robotServiceSetStartWindowDownstream(double startWindowDownstream); + + /** + * @brief 设置传送带跟踪轨迹下限 单位：米 + * @param trackDownstream + */ + int robotServiceSetConveyorTrackDownstream(double trackDownstream); + + /** + * @brief robotServiceAppendObject2ConveyorTrackQueue + * 在传送带队列中添加object + * @param objectPos object位置 + * @param objectOri object姿态 + * @param timestamp + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceAppendObject2ConveyorTrackQueue( + const aubo_robot_namespace::Pos &objectPos, + const aubo_robot_namespace::Ori &objectOri, uint32_t timestamp); + + /** + * @brief robotServiceEnableConveyorTrack 使能传送带跟踪 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceEnableConveyorTrack(); + + /** + * @brief robotServiceGetConveyorEncoderVal 获取传送带编码器速度 + * @param value 返回的速度值 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetConveyorEncoderVal(int &value); + + //设置传送带跟踪的最大速度 + int robotServiceSetRobotConveyorTrackMaxVelc( + double robotConveyorTrackMaxVelc); + + //设置传送带跟踪的最大加速度 + int robotServiceSetRobotConveyorTrackMaxAcc( + double robotConveyorTrackMaxAcc); + + //设置传送带跟踪的系统延时时间 + int robotServiceSetRobotConveyorSystemDelay( + double robotConveyorSystemDelay); + + //设置机械臂工具 + int robotServiceSetRobotTool( + const aubo_robot_namespace::ToolInEndDesc &robotTool); + /** + * @brief robotServiceSetWeaveMoveParameters 设置焊接摇摆 + * @param weaveMove 焊接摇摆结构体 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetWeaveMoveParameters( + const aubo_robot_namespace::WeaveMove &weaveMove); + + /** + * @brief robotServiceSetRobotRecognitionParam 设置机械臂辨识参数 + * @param param 机械臂辨识参数 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetRobotRecognitionParam( + const aubo_robot_namespace::RobotRecongnitionParam ¶m); + + /** + * @brief robotServiceGetRobotRecognitionParam 获取机械臂辨识参数 + * @param type + * @param param 机械臂辨识参数 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetRobotRecognitionParam( + int type, aubo_robot_namespace::RobotRecongnitionParam ¶m); + + /** + * @brief robotServiceSetSeamTrackingParameters 设置焊缝跟踪参数 + * @param seamTrack 焊缝跟踪参数 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetSeamTrackingParameters( + const aubo_robot_namespace::SeamTracking &seamTrack); + + /** + * @brief robotServiceGetSeamTrackingParameters 获取焊缝跟踪参数 + * @param seamTrack 焊缝跟踪参数 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetSeamTrackingParameters( + aubo_robot_namespace::SeamTracking &seamTrack); + + /** + * @brief robotServiceGetJointCommonData 获取机械臂关节数据 + * @param jointCommonDataArray 机械臂关节数据 + * @param size + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetJointCommonData( + aubo_robot_namespace::JointCommonData jointCommonDataArray[], int size); + + /** + * @brief robotServiceSetJointParam_CurrentIP 设置关节电流Ｐ值 + * @param jointID 关节角ID + * @param P P值 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetJointParam_CurrentIP(int jointID, uint16 P); + + /** + * @brief robotServiceSetJointParam_CurrentII 设置关节电流I值 + * @param jointID 关节角ID + * @param I I值 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetJointParam_CurrentII(int jointID, uint16 I); + + /** + * @brief robotServiceSetJointParam_CurrentID 设置关节电流D值 + * @param jointID 关节角ID + * @param D D值 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetJointParam_CurrentID(int jointID, uint16 D); + + /** + * @brief robotServiceSetJointParam_SpeedP 设置关节速度Ｐ值 + * @param jointID 关节角ID + * @param P Ｐ值 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetJointParam_SpeedP(int jointID, uint16 P); + + /** + * @brief robotServiceSetJointParam_SpeedI 设置关节速度I值 + * @param jointID 关节角ID + * @param I I值 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetJointParam_SpeedI(int jointID, uint16 I); + + /** + * @brief robotServiceSetJointParam_SpeedD 设置关节速度D值 + * @param jointID 关节角ID + * @param D D值 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetJointParam_SpeedD(int jointID, uint16 D); + + /** + * @brief robotServiceSetJointParam_SpeedDS 设置关节速度死区 + * @param jointID 关节角ID + * @param DS 死区 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetJointParam_SpeedDS(int jointID, uint16 DS); + + /** + * @brief robotServiceSetJointParam_PosP 设置关节位置Ｐ值 + * @param jointID 关节角ID + * @param P P值 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetJointParam_PosP(int jointID, uint16 P); + + /** + * @brief robotServiceSetJointParam_PosI 设置关节位置I值 + * @param jointID 关节角ID + * @param I I值 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetJointParam_PosI(int jointID, uint16 I); + + /** + * @brief robotServiceSetJointParam_PosD 设置关节位置D值 + * @param jointID 关节角ID + * @param D D值 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetJointParam_PosD(int jointID, uint16 D); + + /** + * @brief robotServiceSetJointParam_PosDS 设置关节位置DS值 + * @param jointID 关节角ID + * @param DS DS值 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetJointParam_PosDS(int jointID, uint16 DS); + + int robotServiceJointSaveDataFlash(int jointID); + + /** + * @brief robotServiceSetRobotBaseParameters 设置机械臂基础数据 + * @param baseParameters 机械臂基础数据 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetRobotBaseParameters( + const aubo_robot_namespace::RobotBaseParameters &baseParameters); + + //设置调速模式配置 + int robotServiceSetRegulateSpeedModeParam( + const aubo_robot_namespace::RegulateSpeedModeParamConfig_t + ®ulateSpeedModeConfig); + + /** + * @brief robotServiceGetRobotBaseParameters 获取机械臂基础数据 + * @param baseParameters 机械臂基础数据 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetRobotBaseParameters( + aubo_robot_namespace::RobotBaseParameters &baseParameters); + + //获取调速模式配置 + int robotServiceGetRegulateSpeedModeParam( + aubo_robot_namespace::RegulateSpeedModeParamConfig_t + ®ulateSpeedModeConfig); + + /** + * @brief robotServiceSetRobotJointsParameter 设置机械臂关节数据 + * @param jointsParameter 机械臂关节数据 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceSetRobotJointsParameter( + const aubo_robot_namespace::RobotJointsParameter &jointsParameter); + + //使能/失能调速模式 + int robotServiceEnableRegulateSpeedMode(bool enbaleFlag); + + /** + * @brief robotServiceGetRobotJointsParameter 获取机械臂关节数据 + * @param jointsParameter 机械臂关节数据 + * @return 调用成功返回ErrnoSucc;错误返回错误号 + */ + int robotServiceGetRobotJointsParameter( + aubo_robot_namespace::RobotJointsParameter &jointsParameter); + + //获取力控参数 + int robotServiceGetForceControlModeAdmittancePatam( + aubo_robot_namespace::AdmittancePatam_t &admittancePatam); + + int robotServiceRefreshRobotArmParamter(); + //设置力控参数 + int robotServiceSetForceControlModeAdmittancePatam( + const aubo_robot_namespace::AdmittancePatam_t &admittancePatam); + + //获取"主动探寻力"参数 + int robotServiceGetForceControlModeExploreForceParam(double &forceLimit, + double &distLimit); + + // int robotServiceGetForceSensorData(WrenchParam &data); + //设置"主动探寻力"参数 + int robotServiceSetForceControlModeExploreForceParam(double forceLimit, + double distLimit); + + // int robotServiceCalibToolAndSensor(aubo_robot_namespace::JointParam + // JointParamGroup[3], WrenchParam wrenchParamGroup[3], FtSensorCalResult + // &result); 使能/失能力控模式 + int robotServicEnableForceControlModeService(bool enbaleFlag); + + int robotServiceEnableForceControlPlan(bool enableFlag); + //获取实时力数据 + int robotServiceGetRealtimeForceData(double forceData[6]); + + int robotServiceSetForceDeviation(double data[6]); + + /** + * @brief parseFileAsRoadpointCollection + * 将一个轨迹文件(位置+姿态)转换为路点容器，进行平滑处理和限制条件检查 + * @param filePath 轨迹文件路径 输入参数 + * @param referPointJointAngle 逆解参考点的关节角 输入参数 + * @param toolInEndDesc 末端工具的信息 输入参数 + * @param wayPointVector 路点集合 输出参数 + * @return + */ + int parseFileAsRoadpointCollection( + const char *filePath, + aubo_robot_namespace::POSITION_ORIENTATION_TYPE poseType, + const double *referPointJointAngle, + const aubo_robot_namespace::ToolInEndDesc &toolInEndDesc, + std::vector &wayPointVector); + + int robotServiceSetForceMaxValue(double data[6]); + /** + * @brief parsePoseListeAsRoadpointCollection + * 将位姿集合(位置+四元数)转换为路点容器， 进行平滑处理和限制条件检查 + * @param referPointJointAngle 逆解参考点的关节角 输入参数 + * @param toolInEndDesc 末端工具的信息 输入参数 + * @param toolEndPoseVector 位姿集合 输入参数 + * @param wayPointVector 路点集合 输出参数 + * @return + */ + int parsePoseListeAsRoadpointCollection( + const double *referPointJointAngle, + const aubo_robot_namespace::ToolInEndDesc &toolInEndDesc, + const std::vector + &toolEndPoseVector, + std::vector &wayPointVector); + + int robotServiceSetForceControlStiffness(double data[6]); + + int robotServiceSetForceControlDamp(double data[6]); + //解析路点文件并缓存结果 + int parseRoadPointFileAndCacheResult( + const char *filePath, const double *referPointJointAngle, + aubo_robot_namespace::ToolInEndDesc &toolInEndDesc, + aubo_robot_namespace::wayPoint_S &firstWayPoint); + + int robotServiceSetForceControlMass(double data[6]); + //运行缓存轨迹（parseRoadPointFileAndCacheResult 结果） + int moveCacheTrack(); + + int robotServiceForceControlCalibrationZero(); + + int HandlePosesFromFile( + const char *filePath, const double *referPointJointAngle, + aubo_robot_namespace::ToolInEndDesc &toolInEndDesc, + std::vector &wayPointVector); + + // 脚本管理 + int robotServiceScriptRunSetSpeedLimitPercent(const double speedLimit); + + //针对瀚维的轨迹处理 + int hanweiRoadPointHandle( + const char *filePath, const double *referPointJointAngle, + aubo_robot_namespace::ToolInEndDesc &toolInEndDesc, + aubo_robot_namespace::wayPoint_S &firstWayPoint); + + //针对瀚维使用 + int moveHanweiTrack(); + + //获取SDK版本 + std::string getVersion(); + + arcs::aubo_sdk::RpcClientPtr getRpcClient(); + arcs::aubo_sdk::RtdeClientPtr getRtdeClient(); + + // private: + class PrivateData; + PrivateData *pd_ = nullptr; + + bool fast_stop_{ false }; + int standard_do_count_{ 0 }; + int standard_di_count_{ 0 }; +}; +#endif // SERVICEINTERFACE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/skill_interface/force_control.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/skill_interface/force_control.h new file mode 100644 index 00000000..37cdd3f4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/skill_interface/force_control.h @@ -0,0 +1,330 @@ +// 力控相关的工艺封装接口 +#ifndef AUBO_SDK_SKILL_INTERFACE_H +#define AUBO_SDK_SKILL_INTERFACE_H + +#include +#include +#include +#include +#include + +using namespace arcs::common_interface; + +namespace arcs { +namespace aubo_sdk { + +class RtdeClient; +class RpcClient; +using RtdeClientPtr = std::shared_ptr; +using RpcClientPtr = std::shared_ptr; + +class GuideTrajMove; +using GuideTrajMovePtr = std::shared_ptr; + +class ARCS_ABI ForceControl +{ +public: + enum ForceStage + { + TOUCH = 1, // 接近 + SEARCH = 2, // 搜孔 + INSERT = 3, // 插孔 + CONSTANT = 4, // 恒力 + + }; // enum ForceStage + + enum StateCode + { + // 失败状态码 + TimeOut = -100, // 超时 + Search_MaxForce = -4, // 搜孔达到最大力 + Insert_MaxForce = -3, // 插入达到最大力 + Constant_NotTouch = -2, // 恒力过程中未接触 + Touch_Distance = -1, // 超出探寻距离 + + Running = 0, // 力控执行中 + + // 成功状态码 + Touch_Succeed = 1, // 接触成功 + Insert_Succeed = 2, // 插孔成功 + Search_Succeed = 3, // 搜孔成功 + Constant_Succeed = 4, // 接触成功 + + }; // StateCode + + // 轨迹类型 + enum GuideTrajType + { + NONE = 0, // 无参考轨迹 + LINE1 = 1, // 直线 speedLine + LINE2 = 2, // 直线 moveLine + SPIRAL = 3, // 螺旋线 + WEAVE = 4, // 摆线 + }; + + // 螺旋线平面 + enum class SpiralPlane + { + xy = 0, + yz = 1, + zx = 2 + }; + + // 螺旋线轨迹参数 + struct SpiralTrajParams + { + double step = 0.0; // 圈数 + double direction = -1; // 旋转方向 -1顺时针旋转，1逆时针旋转 + SpiralPlane plane = SpiralPlane::xy; // 参考平面选择 + double spiral = 0.0; // 螺旋线外扩 + double helix = 0.0; // 螺旋上升 m + double radius = 0.0; // 第一圈半径 m + }; + + // 摆线方向 + enum class WeaveSelect + { + x = 1, + y = 2, + z = 3, + rx = 4, + ry = 5, + rz = 6 + }; + + // 摆线轨迹参数 + struct WeaveTrajParams + { + double step = 0.0; // 周期 + double amplitude = 0.0; // 幅度 + WeaveSelect direction = WeaveSelect::x; // 方向 + double hold_distance = 0.0; // 保持距离 m + double angle = 0.0; // 角度 + double type; // 类型 + }; + + // 插孔方向 + enum class InsertSelect + { + x = 1, + y = 2, + z = 3, + }; + + // 插孔参数 + struct InsertParams + { + InsertSelect insert_select = InsertSelect::z; // 插入方向,可选x\y\z + double hole_diameter = 0.0; // 轴孔直径 m + double insert_max_speed = 0.01; // 插入速度限制 m/s + double insert_time = 1000; // 插入时间限制 ms + GuideTrajType guide_traj_type = NONE; // 主动轨迹类型 + std::vector insert_max_force = { + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 + }; // 最大力限制 + double insert_max_depth = 0.01; // 插入距离限制 m + double insert_guide_force = 10; // 插入引导力 + // 力控调节参数 + std::vector insert_damp_scale = { + 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 + }; + std::vector insert_stiff_scale = { + 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 + }; + + SpiralTrajParams spiral_param; // 螺旋轨迹参数 + WeaveTrajParams weave_param; // 摆动轨迹参数 + }; + + // 搜孔平面 + enum class SearchPlane + { + yz = 1, + xz = 2, + xy = 3 + }; + + // 搜孔参数 + struct SearchParams + { + SearchPlane search_plane = SearchPlane::xy; // 搜孔平面 + double hole_diameter = 0.0; // 轴孔直径 m + double search_range = 0.1; // 搜孔范围 + double search_time = 1000; // 搜孔时间限制 ms + GuideTrajType guide_traj_type = NONE; // 搜孔过程主动轨迹类型 + double search_max_force = 10; // 最大力限制 + double search_guide_force = 1; // 搜孔引导力 + // 力控调节参数 + std::vector search_damp_scale = { + 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 + }; + std::vector search_stiff_scale = { + 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 + }; + + SpiralTrajParams spiral_param; + WeaveTrajParams weave_param; + }; + + struct ConstantParams + { + TaskFrameType frame_type = MOTION_FORCE; + std::vector feature = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + std::vector compliance = { true, true, true, true, true, true }; + std::vector wrench = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + + // 力控调节参数 + std::vector env_stiff = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + std::vector damp_scale = { 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 }; + std::vector stiff_scale = { 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 }; + + std::vector contact_threshold = { + 1.0, 1.0, 1.0, 0.2, 0.2, 0.2 + }; // 接触判断阈值 + double constant_time = 5000; // 默认5s + }; + + struct TouchParams + { + TaskFrameType frame_type = TOOL_FORCE; + std::vector feature = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + std::vector compliance = { true, true, true, true, true, true }; + std::vector wrench = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + std::vector env_stiff = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + // std::vector damp_scale = { 0.5, 0.5, 0.5, 0.5, 0.5, + // 0.5 }; + std::vector stiff_scale = { 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 }; + std::vector speed = { 0.1, 0.1, 0.1, 0.1, 0.1, 0.1 }; + double distance = 0.0; + double touch_time = 1000; // 默认5s + }; + + ForceControl(const RpcClientPtr rpc, const RtdeClientPtr rtde); + ~ForceControl(); + + /** + * @brief 获取实时力控参考系下的力描述 + * + * @return 未开启力控时返回全0 + */ + std::vector getTaskForce(const TaskFrameType &type, + const std::vector &feature); + + // 接近 + int fcTouch(const TouchParams ¶m); + + // 恒力 + int fcConstant(const ConstantParams ¶m); + + // 插入 + int fcInsert(const InsertParams ¶m); + + // 搜孔 + int fcSearch(const SearchParams ¶m); + + // 等待力控结束 + int fcWaitCondition(); + + int fcExit(); + + // 注册状态回调函数 + void registerStateCallBack(std::function func); + +private: + // 注册实时状态订阅 + void subscribeRealtimeState(); + + // 力控过程监控线程 + void monitor(); + + // 超时监控 + void timeoutMonitor(); + + // 距离监控 + void distanceMonitor(); + + // 单方向距离监控 + void signalDistanceMonitor(); + + // 力监控 + void forceMonitor(); + + // 接触监控 + void contactMonitor(); + +private: + RpcClientPtr rpc_; + RtdeClientPtr rtde_; + + std::atomic_bool is_exit_; + std::atomic_bool is_stop_; + std::mutex monitor_thread_mutex_; + std::condition_variable monitor_cond_; + std::thread *monitor_thread_ptr_; + + // 用于恒力和接近之间的切换 + std::atomic_bool last_is_contact_; + + // 记录当前参数 + std::shared_mutex mutex_; + TaskFrameType frame_type_; + std::vector feature_; + ForceStage cur_process_type_; + std::vector compliance_; + std::vector env_stiff_; + std::vector damp_scale_; + std::vector stiff_scale_; + std::vector wrench_; + std::vector start_tcp_pose_; // 开始力控位姿 + double distance_; // 力控执行距离 + double direction_; // 搜孔/插孔方向 + std::chrono::steady_clock::time_point start_time_; // 开启力控时间点 + double interval_; // 超时间隔 + + // 参考轨迹运行 + GuideTrajMovePtr guide_traj_move_; + + // 状态回调函数 + std::atomic state_code_ = Running; + std::function func_; + + // RTDE相关 + std::shared_mutex rtde_mutex_; + std::vector actual_tcp_pose_; + std::vector actual_tcp_speed_; + std::vector actual_tcp_force_; + std::vector actual_tcp_force_sensor_; +}; // namespace aubo_sdk + +class GuideTrajMove +{ +public: + GuideTrajMove(const RpcClientPtr rpc); + ~GuideTrajMove(); + + void speedLine(const std::vector &speed, const double &time); + void moveLine(const std::vector &target_pose, const double &speed); + void moveSpiral(const ForceControl::SpiralTrajParams &spiral_param); + void moveWeave(const ForceControl::WeaveTrajParams &weave_param, + const int &move_direction); + + void stop(); + +private: + int waitArrival(); + + RpcClientPtr rpc_; + + std::atomic_bool is_exit_; + std::atomic_bool is_stop_; + std::mutex thread_mutex_; + std::condition_variable cond_; + std::thread thread_; + + ForceControl::GuideTrajType traj_type_ = ForceControl::NONE; +}; + +} // namespace aubo_sdk +} // namespace arcs + +#endif // AUBO_SDK_SKILL_INTERFACE_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/skill_interface/force_control_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/skill_interface/force_control_c.h new file mode 100644 index 00000000..44a3734e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/skill_interface/force_control_c.h @@ -0,0 +1,200 @@ +#ifndef AUBO_SDK_ForceControl_C_H +#define AUBO_SDK_ForceControl_C_H +#include + +typedef void *FC_HANDLER; + +enum ForceStage_C +{ + TOUCH = 1, // 接近 + SEARCH = 2, // 搜孔 + INSERT = 3, // 插孔 + CONSTANT = 4, // 恒力 + +}; // enum ForceStage + +enum StateCode_C +{ + // 失败状态码 + TimeOut = -100, // 超时 + Search_MaxForce = -4, // 搜孔达到最大力 + Insert_MaxForce = -3, // 插入达到最大力 + Constant_NotTouch = -2, // 恒力过程中未接触 + Touch_Distance = -1, // 超出探寻距离 + + Running = 0, // 力控执行中 + + // 成功状态码 + Touch_Succeed = 1, // 接触成功 + Insert_Succeed = 2, // 插孔成功 + Search_Succeed = 3, // 搜孔成功 + Constant_Succeed = 4, // 接触成功 + +}; // StateCode + +// 轨迹类型 +enum GuideTrajType_C +{ + NONE = 0, // 无参考轨迹 + LINE1 = 1, // 直线 speedLine + LINE2 = 2, // 直线 moveLine + SPIRAL = 3, // 螺旋线 + WEAVE = 4, // 摆线 +}; + +// 螺旋线平面 +enum class SpiralPlane_C +{ + xy = 0, + yz = 1, + zx = 2 +}; + +// 螺旋线轨迹参数 +struct SpiralTrajParams_C +{ + double step = 0.0; // 圈数 + double direction = -1; // 旋转方向 -1顺时针旋转，1逆时针旋转 + SpiralPlane_C plane = SpiralPlane_C::xy; // 参考平面选择 + double spiral = 0.0; // 螺旋线外扩 + double helix = 0.0; // 螺旋上升 m + double radius = 0.0; // 第一圈半径 m +}; + +// 摆线方向 +enum class WeaveSelect_C +{ + x = 1, + y = 2, + z = 3, + rx = 4, + ry = 5, + rz = 6 +}; + +// 摆线轨迹参数 +struct WeaveTrajParams_C +{ + double step = 0.0; // 周期 + double amplitude = 0.0; // 幅度 + WeaveSelect_C direction = WeaveSelect_C::x; // 方向 + double hold_distance = 0.0; // 保持距离 m + double angle = 0.0; // 角度 + double type; // 类型 +}; + +// 插孔方向 +enum class InsertSelect_C +{ + x = 1, + y = 2, + z = 3, +}; + +// 插孔参数 +struct InsertParams_C +{ + InsertSelect_C insert_select = InsertSelect_C::z; // 插入方向,可选x\y\z + double hole_diameter = 0.0; // 轴孔直径 m + double insert_max_speed = 0.01; // 插入速度限制 m/s + double insert_time = 1000; // 插入时间限制 ms + GuideTrajType_C guide_traj_type = NONE; // 主动轨迹类型 + double insert_max_force[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; // 最大力限制 + double insert_max_depth = 0.01; // 插入距离限制 m + double insert_guide_force = 10; // 插入引导力 + // 力控调节参数 + double insert_damp_scale[6] = { 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 }; + double insert_stiff_scale[6] = { 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 }; + + SpiralTrajParams_C spiral_param; // 螺旋轨迹参数 + WeaveTrajParams_C weave_param; // 摆动轨迹参数 +}; + +// 搜孔平面 +enum class SearchPlane_C +{ + yz = 1, + xz = 2, + xy = 3 +}; + +// 搜孔参数 +struct SearchParams_C +{ + SearchPlane_C search_plane = SearchPlane_C::xy; // 搜孔平面 + double hole_diameter = 0.0; // 轴孔直径 m + double search_range = 0.1; // 搜孔范围 + double search_time = 1000; // 搜孔时间限制 ms + GuideTrajType_C guide_traj_type = NONE; // 搜孔过程主动轨迹类型 + double search_max_force = 10; // 最大力限制 + double search_guide_force = 1; // 搜孔引导力 + // 力控调节参数 + double search_damp_scale[6] = { 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 }; + double search_stiff_scale[6] = { 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 }; + + SpiralTrajParams_C spiral_param; + WeaveTrajParams_C weave_param; +}; + +struct ConstantParams_C +{ + TaskFrameType_C frame_type = TaskFrameType_MOTION_FORCE; + double feature[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + bool compliance[6] = { true, true, true, true, true, true }; + double wrench[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + + // 力控调节参数 + double env_stiff[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + double damp_scale[6] = { 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 }; + double stiff_scale[6] = { 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 }; + + double contact_threshold[6] = { + 1.0, 1.0, 1.0, 0.2, 0.2, 0.2 + }; // 接触判断阈值 + double constant_time = 5000; // 默认5s +}; + +struct TouchParams_C +{ + TaskFrameType_C frame_type = TaskFrameType_TOOL_FORCE; + double feature[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + bool compliance[6] = { true, true, true, true, true, true }; + double wrench[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + double env_stiff[6] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + // std::vector damp_scale = { 0.5, 0.5, 0.5, 0.5, 0.5, + // 0.5 }; + double stiff_scale[6] = { 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 }; + double speed[6] = { 0.1, 0.1, 0.1, 0.1, 0.1, 0.1 }; + double distance = 0.0; + double touch_time = 1000; // 默认5s +}; + +#ifdef __cplusplus +extern "C" { +#endif + +ARCS_ABI FC_HANDLER create_fc_ptr(void *rpc, void *rtde); +ARCS_ABI void destroy_fc_ptr(void *ptr); + +ARCS_ABI int getTaskForce(FORCE_CONTROL_HANDLER h, TaskFrameType_C type, + const double *feature, double *result); + +ARCS_ABI int fcTouch(FORCE_CONTROL_HANDLER h, const TouchParams_C ¶m); + +ARCS_ABI int fcConstant(FORCE_CONTROL_HANDLER h, const ConstantParams_C ¶m); + +ARCS_ABI int fcInsert(FORCE_CONTROL_HANDLER h, const InsertParams_C ¶m); + +ARCS_ABI int fcSearch(FORCE_CONTROL_HANDLER h, const SearchParams_C ¶m); + +ARCS_ABI int fcWaitCondition(FORCE_CONTROL_HANDLER h); + +ARCS_ABI int fcExit(FORCE_CONTROL_HANDLER h); + +// ARCS_ABI void registerStateCallBack(std::function func); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/skill_interface/tcp_auto_calib.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/skill_interface/tcp_auto_calib.h new file mode 100644 index 00000000..067567c5 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/skill_interface/tcp_auto_calib.h @@ -0,0 +1,138 @@ +#ifndef TCP_AUTO_CALIB_H +#define TCP_AUTO_CALIB_H + +#include +#include + +#include + +using namespace arcs::common_interface; + +namespace arcs { +namespace aubo_sdk { + +class RtdeClient; +class RpcClient; +using RtdeClientPtr = std::shared_ptr; +using RpcClientPtr = std::shared_ptr; + +using Vec3 = std::array; + +class ARCS_ABI TcpAutoCalib +{ +public: + TcpAutoCalib(RpcClientPtr rpc, RtdeClientPtr rtde); + + /** + * @brief setTcpAutoCalibParam + * 设置TCP自动标定参数 + * @param circle_radius 圆周运动半径,单位:m,默认值:0.01m + * @param second_plane_offset 第二个圆周运动相对于第一个圆周运动在当前TCP + * Z+方向偏移的距离,单位:m,默认值:0.01m + * @param move_line_speed 运动速度,单位:m/s,默认值:0.005m/s + * @param move_line_r_speed 运动角速度,单位:rad/s,默认值:0.05rad/s + * @param rotation_angle + * TCP自动标定计算姿态角度,单位:rad,默认值:0.523599(30°) + * @param depth_offset + * TCP自动标定向下移动距离,单位:m,默认值:0.005m + * @return + */ + int setTcpAutoCalibParam(const double circle_radius, + const double second_plane_offset, + const double move_line_speed, + const double move_line_r_speed, + const double rotation_angle, + const double depth_offset); + + /** + * @brief tcpAutoCalibrate + * 基于交叉激光传感器的TCP位置自动标定 + * 要求： + * 1. 调用该接口前需要设置估计的TCP位置 + * 2. 示教TCP位于传感器中心并且TCP Z方向垂直于传感器平面 + * @param io_index_1 DI索引 + * @param io_index_2 DI索引 + * @return 成功返回0和TCP位置（x,y,z），失败返回-1 + */ + ResultWithErrno tcpAutoCalibrate(const int io_index_1, + const int io_index_2); + + /** + * @brief tcpAutoCorrect + * 基于交叉激光传感器的TCP自动纠偏 + * 要求： + * 1. 调用该接口前需要示教TCP位于传感器中心并且TCP Z方向垂直于传感器平面 + * @param sensor_pose 传感器位姿 + * @param io_index_1 DI索引 + * @param io_index_2 DI索引 + * @return 成功返回0和纠偏后的TCP，失败返回-1 + */ + ResultWithErrno tcpAutoCorrect(const std::vector &sensor_pose, + const int io_index_1, const int io_index_2); + + /** + * @brief calibrateSensorPoseWithTCP + * 已知TCP标定传感器位姿 + * 要求： + * 1. 调用该接口前需要示教TCP位于传感器中心并且TCP Z方向垂直于传感器平面 + * @param io_index_1 DI索引 + * @param io_index_2 DI索引 + * @return 成功返回0和传感器位姿，失败返回-1 + */ + ResultWithErrno calibrateSensorPoseWithTCP(const int io_index_1, + const int io_index_2); + +private: + void subscribeRealtimeState(); + + std::pair>, + std::vector>> + runTwoCirclesCapture(const bool checkOccl = true); + + std::vector> runOneCircleAndCaptureFlange( + const std::vector &circle_center, const bool flag = true); + + std::vector> genCirclePoints( + const std::vector ¢er, double radius, int npts, + bool is_offset = false); + + void moveTcpPoseAlignZ(const Vec3 &target_z); + + std::vector alignTcpZToBaseZ(); + + std::vector probeAlongAxisFromPointWithZOffset( + const Vec3 &axis_origin, const Vec3 &axis_z, double start_along_z); + + int waitArrival(); + + int waitDIEdgeChanged(const int timeout); + +private: + double second_plane_offset_ = 0.01; + double circle_radius_ = 0.01; + double move_line_acc_ = 0.8; + double move_line_speed_ = 0.005; + double move_line_r_speed_ = 0.05; + double rotation_angle_ = 0.523599; // TCP自动标定计算位姿角度，默认30° + double depth_offset_ = 0.005; // TCP自动标定向下移动距离 + + RpcClientPtr rpc_; + RtdeClientPtr rtde_; + RobotInterfacePtr robot_; + int task_id_{ -1 }; + + std::atomic_int io_index_1_{ 0 }; + std::atomic_int io_index_2_{ 0 }; + + std::shared_mutex tool_poses_mutex_; + std::vector> tool_poses_; + std::atomic_bool io_1_state_{ false }; + std::atomic_bool io_2_state_{ false }; + + bool offset_45_{ false }; +}; + +} // namespace aubo_sdk +} // namespace arcs + +#endif // TCP_AUTO_CALIB_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/include/skill_interface/type_convert.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/skill_interface/type_convert.h new file mode 100644 index 00000000..b5156202 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/include/skill_interface/type_convert.h @@ -0,0 +1,135 @@ +#ifndef AUBO_SDK_FORCE_CONTROL_TYPE_CONVERT_C_H +#define AUBO_SDK_FORCE_CONTROL_TYPE_CONVERT_C_H + +#include +#include + +// 用于将SpiralTrajParams_C转化为SpiralTrajParams +inline arcs::aubo_sdk::ForceControl::SpiralTrajParams convertToSpiralTrajParams( + const SpiralTrajParams_C &source) +{ + arcs::aubo_sdk::ForceControl::SpiralTrajParams result; + + result.step = source.step; + result.direction = source.direction; + result.plane = (arcs::aubo_sdk::ForceControl::SpiralPlane)source.plane; + result.spiral = source.spiral; + result.helix = source.helix; + result.radius = source.radius; + + return result; +} + +// 用于将WeaveTrajParams_C转化为WeaveTrajParams +inline arcs::aubo_sdk::ForceControl::WeaveTrajParams convertToWeaveTrajParams( + const WeaveTrajParams_C &source) +{ + arcs::aubo_sdk::ForceControl::WeaveTrajParams result; + + result.step = source.step; + result.amplitude = source.amplitude; + result.direction = + (arcs::aubo_sdk::ForceControl::WeaveSelect)source.direction; + result.hold_distance = source.hold_distance; + result.angle = source.angle; + result.type = source.type; + + return result; +} + +// 用于将TouchParams_C转化为TouchParams +inline arcs::aubo_sdk::ForceControl::TouchParams convertToTouchParams( + const TouchParams_C &source) +{ + arcs::aubo_sdk::ForceControl::TouchParams result; + + result.frame_type = + (arcs::common_interface::TaskFrameType)source.frame_type; + + for (int i = 0; i < 6; i++) { + result.feature[i] = source.feature[i]; + result.compliance[i] = source.compliance[i]; + result.wrench[i] = source.wrench[i]; + result.env_stiff[i] = source.env_stiff[i]; + result.stiff_scale[i] = source.stiff_scale[i]; + result.speed[i] = source.speed[i]; + } + result.distance = source.distance; + result.touch_time = source.touch_time; + + return result; +} + +inline arcs::aubo_sdk::ForceControl::ConstantParams convertToConstantParams( + const ConstantParams_C &source) +{ + arcs::aubo_sdk::ForceControl::ConstantParams result; + + result.frame_type = + (arcs::common_interface::TaskFrameType)source.frame_type; + for (int i = 0; i < 6; i++) { + result.feature[i] = source.feature[i]; + result.compliance[i] = source.compliance[i]; + result.wrench[i] = source.wrench[i]; + result.env_stiff[i] = source.env_stiff[i]; + result.damp_scale[i] = source.damp_scale[i]; + result.stiff_scale[i] = source.stiff_scale[i]; + result.contact_threshold[i] = source.contact_threshold[i]; + } // 接触判断阈值 + result.constant_time = source.constant_time; // 默认5sams result; + + return result; +} + +inline arcs::aubo_sdk::ForceControl::InsertParams convertToInsertParams( + const InsertParams_C &source) +{ + arcs::aubo_sdk::ForceControl::InsertParams result; + + result.insert_select = + (arcs::aubo_sdk::ForceControl::InsertSelect)source.insert_select; + result.hole_diameter = source.hole_diameter; + result.insert_max_speed = source.insert_max_speed; + result.insert_time = source.insert_time; + result.guide_traj_type = + (arcs::aubo_sdk::ForceControl::GuideTrajType)source.guide_traj_type; + result.insert_max_depth = source.insert_max_depth; + result.insert_guide_force = source.insert_guide_force; + for (int i = 0; i < 6; i++) { + result.insert_max_force[i] = source.insert_max_force[i]; + result.insert_damp_scale[i] = source.insert_damp_scale[i]; + result.insert_stiff_scale[i] = source.insert_stiff_scale[i]; + } + + result.spiral_param = convertToSpiralTrajParams(source.spiral_param); + result.weave_param = convertToWeaveTrajParams(source.weave_param); + + return result; +} + +// 用于将SearchParams_C转化为SearchParams +inline arcs::aubo_sdk::ForceControl::SearchParams convertToSearchParams( + const SearchParams_C &source) +{ + arcs::aubo_sdk::ForceControl::SearchParams result; + + result.search_plane = + (arcs::aubo_sdk::ForceControl::SearchPlane)source.search_plane; + result.hole_diameter = source.hole_diameter; + result.search_range = source.search_range; + result.search_time = source.search_time; + result.guide_traj_type = + (arcs::aubo_sdk::ForceControl::GuideTrajType)source.guide_traj_type; + result.search_max_force = source.search_max_force; + result.search_guide_force = source.search_guide_force; + for (int i = 0; i < 6; i++) { + result.search_damp_scale[i] = source.search_damp_scale[i]; + result.search_stiff_scale[i] = source.search_stiff_scale[i]; + } + result.spiral_param = convertToSpiralTrajParams(source.spiral_param); + result.weave_param = convertToWeaveTrajParams(source.weave_param); + + return result; +} + +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkConfig.cmake b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkConfig.cmake new file mode 100644 index 00000000..4ee1eb53 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkConfig.cmake @@ -0,0 +1,11 @@ +include(CMakeFindDependencyMacro) + +# 如果想要获取Config阶段的变量，可以使用这个 +# set(my-config-var ) + +# 如果你的项目需要依赖其他的库，可以使用下面语句，用法与find_package相同 +# find_dependency(MYDEP REQUIRED) + +# Any extra setup +# Add the targets file +include("${CMAKE_CURRENT_LIST_DIR}/aubo_sdkTargets.cmake") diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkConfigVersion.cmake b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkConfigVersion.cmake new file mode 100644 index 00000000..00f8ba94 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkConfigVersion.cmake @@ -0,0 +1,48 @@ +# This is a basic version file for the Config-mode of find_package(). +# It is used by write_basic_package_version_file() as input file for configure_file() +# to create a version-file which can be installed along a config.cmake file. +# +# The created file sets PACKAGE_VERSION_EXACT if the current version string and +# the requested version string are exactly the same and it sets +# PACKAGE_VERSION_COMPATIBLE if the current version is >= requested version. +# The variable CVF_VERSION must be set before calling configure_file(). + +set(PACKAGE_VERSION "0.26.0") + +if (PACKAGE_FIND_VERSION_RANGE) + # Package version must be in the requested version range + if ((PACKAGE_FIND_VERSION_RANGE_MIN STREQUAL "INCLUDE" AND PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION_MIN) + OR ((PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "INCLUDE" AND PACKAGE_VERSION VERSION_GREATER PACKAGE_FIND_VERSION_MAX) + OR (PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "EXCLUDE" AND PACKAGE_VERSION VERSION_GREATER_EQUAL PACKAGE_FIND_VERSION_MAX))) + set(PACKAGE_VERSION_COMPATIBLE FALSE) + else() + set(PACKAGE_VERSION_COMPATIBLE TRUE) + endif() +else() + if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) + set(PACKAGE_VERSION_COMPATIBLE FALSE) + else() + set(PACKAGE_VERSION_COMPATIBLE TRUE) + if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION) + set(PACKAGE_VERSION_EXACT TRUE) + endif() + endif() +endif() + + +# if the installed project requested no architecture check, don't perform the check +if("FALSE") + return() +endif() + +# if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it: +if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "8" STREQUAL "") + return() +endif() + +# check that the installed version has the same 32/64bit-ness as the one which is currently searching: +if(NOT CMAKE_SIZEOF_VOID_P STREQUAL "8") + math(EXPR installedBits "8 * 8") + set(PACKAGE_VERSION "${PACKAGE_VERSION} (${installedBits}bit)") + set(PACKAGE_VERSION_UNSUITABLE TRUE) +endif() diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkTargets-debug.cmake b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkTargets-debug.cmake new file mode 100644 index 00000000..da9656a7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkTargets-debug.cmake @@ -0,0 +1,29 @@ +#---------------------------------------------------------------- +# Generated CMake target import file for configuration "Debug". +#---------------------------------------------------------------- + +# Commands may need to know the format version. +set(CMAKE_IMPORT_FILE_VERSION 1) + +# Import target "aubo_sdk::aubo_sdk" for configuration "Debug" +set_property(TARGET aubo_sdk::aubo_sdk APPEND PROPERTY IMPORTED_CONFIGURATIONS DEBUG) +set_target_properties(aubo_sdk::aubo_sdk PROPERTIES + IMPORTED_LOCATION_DEBUG "${_IMPORT_PREFIX}/lib/libaubo_sdkd.so" + IMPORTED_SONAME_DEBUG "libaubo_sdkd.so" + ) + +list(APPEND _IMPORT_CHECK_TARGETS aubo_sdk::aubo_sdk ) +list(APPEND _IMPORT_CHECK_FILES_FOR_aubo_sdk::aubo_sdk "${_IMPORT_PREFIX}/lib/libaubo_sdkd.so" ) + +# Import target "aubo_sdk::robot_proxy" for configuration "Debug" +set_property(TARGET aubo_sdk::robot_proxy APPEND PROPERTY IMPORTED_CONFIGURATIONS DEBUG) +set_target_properties(aubo_sdk::robot_proxy PROPERTIES + IMPORTED_LOCATION_DEBUG "${_IMPORT_PREFIX}/lib/librobot_proxyd.so" + IMPORTED_SONAME_DEBUG "librobot_proxyd.so" + ) + +list(APPEND _IMPORT_CHECK_TARGETS aubo_sdk::robot_proxy ) +list(APPEND _IMPORT_CHECK_FILES_FOR_aubo_sdk::robot_proxy "${_IMPORT_PREFIX}/lib/librobot_proxyd.so" ) + +# Commands beyond this point should not need to know the version. +set(CMAKE_IMPORT_FILE_VERSION) diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkTargets-release.cmake b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkTargets-release.cmake new file mode 100644 index 00000000..b050b4e8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkTargets-release.cmake @@ -0,0 +1,29 @@ +#---------------------------------------------------------------- +# Generated CMake target import file for configuration "Release". +#---------------------------------------------------------------- + +# Commands may need to know the format version. +set(CMAKE_IMPORT_FILE_VERSION 1) + +# Import target "aubo_sdk::aubo_sdk" for configuration "Release" +set_property(TARGET aubo_sdk::aubo_sdk APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE) +set_target_properties(aubo_sdk::aubo_sdk PROPERTIES + IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libaubo_sdk.so" + IMPORTED_SONAME_RELEASE "libaubo_sdk.so" + ) + +list(APPEND _IMPORT_CHECK_TARGETS aubo_sdk::aubo_sdk ) +list(APPEND _IMPORT_CHECK_FILES_FOR_aubo_sdk::aubo_sdk "${_IMPORT_PREFIX}/lib/libaubo_sdk.so" ) + +# Import target "aubo_sdk::robot_proxy" for configuration "Release" +set_property(TARGET aubo_sdk::robot_proxy APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE) +set_target_properties(aubo_sdk::robot_proxy PROPERTIES + IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/librobot_proxy.so" + IMPORTED_SONAME_RELEASE "librobot_proxy.so" + ) + +list(APPEND _IMPORT_CHECK_TARGETS aubo_sdk::robot_proxy ) +list(APPEND _IMPORT_CHECK_FILES_FOR_aubo_sdk::robot_proxy "${_IMPORT_PREFIX}/lib/librobot_proxy.so" ) + +# Commands beyond this point should not need to know the version. +set(CMAKE_IMPORT_FILE_VERSION) diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkTargets.cmake b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkTargets.cmake new file mode 100644 index 00000000..39078bbe --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/cmake/aubo_sdk/aubo_sdkTargets.cmake @@ -0,0 +1,114 @@ +# Generated by CMake + +if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5) + message(FATAL_ERROR "CMake >= 2.6.0 required") +endif() +cmake_policy(PUSH) +cmake_policy(VERSION 2.6...3.18) +#---------------------------------------------------------------- +# Generated CMake target import file. +#---------------------------------------------------------------- + +# Commands may need to know the format version. +set(CMAKE_IMPORT_FILE_VERSION 1) + +# Protect against multiple inclusion, which would fail when already imported targets are added once more. +set(_targetsDefined) +set(_targetsNotDefined) +set(_expectedTargets) +foreach(_expectedTarget aubo_sdk::aubo_sdk aubo_sdk::common_interface aubo_sdk::robot_proxy) + list(APPEND _expectedTargets ${_expectedTarget}) + if(NOT TARGET ${_expectedTarget}) + list(APPEND _targetsNotDefined ${_expectedTarget}) + endif() + if(TARGET ${_expectedTarget}) + list(APPEND _targetsDefined ${_expectedTarget}) + endif() +endforeach() +if("${_targetsDefined}" STREQUAL "${_expectedTargets}") + unset(_targetsDefined) + unset(_targetsNotDefined) + unset(_expectedTargets) + set(CMAKE_IMPORT_FILE_VERSION) + cmake_policy(POP) + return() +endif() +if(NOT "${_targetsDefined}" STREQUAL "") + message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n") +endif() +unset(_targetsDefined) +unset(_targetsNotDefined) +unset(_expectedTargets) + + +# Compute the installation prefix relative to this file. +get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +if(_IMPORT_PREFIX STREQUAL "/") + set(_IMPORT_PREFIX "") +endif() + +# Create imported target aubo_sdk::aubo_sdk +add_library(aubo_sdk::aubo_sdk SHARED IMPORTED) + +set_target_properties(aubo_sdk::aubo_sdk PROPERTIES + INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include" + INTERFACE_LINK_LIBRARIES "aubo_sdk::common_interface" +) + +# Create imported target aubo_sdk::common_interface +add_library(aubo_sdk::common_interface INTERFACE IMPORTED) + +set_target_properties(aubo_sdk::common_interface PROPERTIES + INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include" +) + +# Create imported target aubo_sdk::robot_proxy +add_library(aubo_sdk::robot_proxy SHARED IMPORTED) + +set_target_properties(aubo_sdk::robot_proxy PROPERTIES + INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include" + INTERFACE_LINK_LIBRARIES "aubo_sdk::aubo_sdk;Qt5::Core" +) + +if(CMAKE_VERSION VERSION_LESS 3.0.0) + message(FATAL_ERROR "This file relies on consumers using CMake 3.0.0 or greater.") +endif() + +# Load information for each installed configuration. +get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) +file(GLOB CONFIG_FILES "${_DIR}/aubo_sdkTargets-*.cmake") +foreach(f ${CONFIG_FILES}) + include(${f}) +endforeach() + +# Cleanup temporary variables. +set(_IMPORT_PREFIX) + +# Loop over all imported files and verify that they actually exist +foreach(target ${_IMPORT_CHECK_TARGETS} ) + foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} ) + if(NOT EXISTS "${file}" ) + message(FATAL_ERROR "The imported target \"${target}\" references the file + \"${file}\" +but this file does not exist. Possible reasons include: +* The file was deleted, renamed, or moved to another location. +* An install or uninstall procedure did not complete successfully. +* The installation package was faulty and contained + \"${CMAKE_CURRENT_LIST_FILE}\" +but not all the files it references. +") + endif() + endforeach() + unset(_IMPORT_CHECK_FILES_FOR_${target}) +endforeach() +unset(_IMPORT_CHECK_TARGETS) + +# This file does not depend on other imported targets which have +# been exported from the same project but in a separate export set. + +# Commands beyond this point should not need to know the version. +set(CMAKE_IMPORT_FILE_VERSION) +cmake_policy(POP) diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/libaubo_sdk.so b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/libaubo_sdk.so new file mode 100644 index 00000000..17d357f0 Binary files /dev/null and b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/libaubo_sdk.so differ diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/libaubo_sdkd.so b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/libaubo_sdkd.so new file mode 100644 index 00000000..063efed8 Binary files /dev/null and b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/libaubo_sdkd.so differ diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/librobot_proxy.so b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/librobot_proxy.so new file mode 100644 index 00000000..11ff15ae Binary files /dev/null and b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/librobot_proxy.so differ diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/librobot_proxyd.so b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/librobot_proxyd.so new file mode 100644 index 00000000..dd54cd32 Binary files /dev/null and b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/librobot_proxyd.so differ diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/libstdc++.so.6 b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/libstdc++.so.6 new file mode 120000 index 00000000..470f7733 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/libstdc++.so.6 @@ -0,0 +1 @@ +libstdc++.so.6.0.25 \ No newline at end of file diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/libstdc++.so.6.0.25 b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/libstdc++.so.6.0.25 new file mode 100644 index 00000000..c47b099c Binary files /dev/null and b/dependency/x86/third_party/aubo_sdk/v0.27.1/lib/libstdc++.so.6.0.25 differ diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/CMakeLists.txt b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/CMakeLists.txt new file mode 100644 index 00000000..578da520 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/CMakeLists.txt @@ -0,0 +1,25 @@ +cmake_minimum_required(VERSION 3.5) +project(aubo_interfaces) + +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(builtin_interfaces REQUIRED) + +set(INTERFACE_LIST_FILE "${CMAKE_CURRENT_SOURCE_DIR}/generated_interfaces.txt") + +if(EXISTS "${INTERFACE_LIST_FILE}") + file(STRINGS "${INTERFACE_LIST_FILE}" INTERFACES) +else() + message(FATAL_ERROR "generated_interfaces.txt not found: ${INTERFACE_LIST_FILE}") +endif() + +list(FILTER INTERFACES EXCLUDE REGEX "^[ \t]*$") + +rosidl_generate_interfaces(${PROJECT_NAME} + ${INTERFACES} + DEPENDENCIES builtin_interfaces +) + +ament_export_dependencies(rosidl_default_runtime) +ament_package() + diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/action/ServoMode.action b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/action/ServoMode.action new file mode 100644 index 00000000..3801a5e4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/action/ServoMode.action @@ -0,0 +1,11 @@ +string robot_name +uint32 dof +float64 watchdog_timeout +--- +int32 code +string message +uint64 accepted_commands +--- +bool active +uint64 accepted_commands +float64[] target_positions diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/generated_interfaces.txt b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/generated_interfaces.txt new file mode 100644 index 00000000..1bb2d8f3 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/generated_interfaces.txt @@ -0,0 +1,664 @@ +srv/PoseAdd.srv +srv/PoseSub.srv +srv/InterpolatePose.srv +srv/PoseTrans.srv +srv/PoseTransInv.srv +srv/PoseInverse.srv +srv/PoseDistance.srv +srv/PoseAngleDistance.srv +srv/PoseEqual.srv +srv/TransferRefFrame.srv +srv/PoseRotation.srv +srv/RpyToQuaternion.srv +srv/QuaternionToRpy.srv +srv/TcpOffsetIdentify.srv +srv/CalibrateCoordinate.srv +srv/CalculateCircleFourthPoint.srv +srv/ForceTrans.srv +srv/GetDeltaPoseBySensorDistance.srv +srv/DeltaPoseTrans.srv +srv/DeltaPoseAdd.srv +srv/SerialOpen.srv +srv/SerialClose.srv +srv/SerialReadByte.srv +srv/SerialReadByteList.srv +srv/SerialReadString.srv +srv/SerialSendByte.srv +srv/SerialSendInt.srv +srv/SerialSendLine.srv +srv/SerialSendString.srv +srv/SerialSendAllString.srv +srv/SocketOpen.srv +srv/SocketClose.srv +srv/SocketReadAsciiFloat.srv +srv/SocketReadBinaryInteger.srv +srv/SocketReadByteList.srv +srv/SocketReadString.srv +srv/SocketReadAllString.srv +srv/SocketSendByte.srv +srv/SocketSendInt.srv +srv/SocketSendLine.srv +srv/SocketSendString.srv +srv/SocketSendAllString.srv +srv/SocketHasConnected.srv +srv/GetControlSoftwareVersionCode.srv +srv/GetControlSoftwareFullVersion.srv +srv/GetInterfaceVersionCode.srv +srv/GetControlSoftwareBuildDate.srv +srv/GetControlSoftwareVersionHash.srv +srv/GetControlSystemTime.srv +srv/NewTask.srv +srv/DeleteTask.srv +srv/DetachTask.srv +srv/IsTaskAlive.srv +srv/GetTaskQueueSize.srv +srv/Nop.srv +srv/SwitchTask.srv +srv/SetLabel.srv +srv/SetPlanContext.srv +srv/GotoLine.srv +srv/GetAdvancePlanContext.srv +srv/GetAdvancePtr.srv +srv/GetMainPtr.srv +srv/GetInterpPtr.srv +srv/GetPlanContext.srv +srv/GetExecutionStatus.srv +srv/GetExecutionStatus1.srv +srv/LoadProgram.srv +srv/PreloadProgram.srv +srv/GetPreloadProgram.srv +srv/ClearPreloadPrograms.srv +srv/RunProgram.srv +srv/Start.srv +srv/Stop.srv +srv/Abort.srv +srv/Pause.srv +srv/Step.srv +srv/SetResumeWait.srv +srv/Resume.srv +srv/EnterCritical.srv +srv/ExitCritical.srv +srv/ArbitraryResume.srv +srv/GetStatus.srv +srv/GetRuntimeState.srv +srv/SetBreakPoint.srv +srv/RemoveBreakPoint.srv +srv/ClearBreakPoints.srv +srv/TimerStart.srv +srv/TimerStop.srv +srv/TimerReset.srv +srv/TimerDelete.srv +srv/GetTimer.srv +srv/TriggBegin.srv +srv/TriggEnd.srv +srv/TriggInterrupt.srv +srv/GetTriggInterrupts.srv +srv/GetBoolInput.srv +srv/SetBoolInput.srv +srv/GetInt32Input.srv +srv/SetInt32Input.srv +srv/GetFloatInput.srv +srv/SetFloatInput.srv +srv/GetDoubleInput.srv +srv/SetDoubleInput.srv +srv/GetBoolOutput.srv +srv/SetBoolOutput.srv +srv/GetInt32Output.srv +srv/SetInt32Output.srv +srv/GetFloatOutput.srv +srv/SetFloatOutput.srv +srv/GetDoubleOutput.srv +srv/SetDoubleOutput.srv +srv/GetInt16Register.srv +srv/SetInt16Register.srv +srv/GetInt16RegisterBit.srv +srv/SetInt16RegisterBit.srv +srv/VariableUpdated.srv +srv/HasNamedVariable.srv +srv/GetNamedVariableType.srv +srv/GetBool.srv +srv/SetBool.srv +srv/GetVecChar.srv +srv/SetVecChar.srv +srv/GetInt32.srv +srv/SetInt32.srv +srv/GetVecInt32.srv +srv/SetVecInt32.srv +srv/GetFloat.srv +srv/SetFloat.srv +srv/GetVecFloat.srv +srv/SetVecFloat.srv +srv/GetDouble.srv +srv/SetDouble.srv +srv/GetVecDouble.srv +srv/SetVecDouble.srv +srv/GetString.srv +srv/SetString.srv +srv/ClearNamedVariable.srv +srv/SetWatchDog.srv +srv/GetWatchDogAction.srv +srv/GetWatchDogTimeout.srv +srv/ModbusAddSignal.srv +srv/ModbusDeleteSignal.srv +srv/ModbusDeleteAllSignals.srv +srv/ModbusGetSignalStatus.srv +srv/ModbusGetSignalNames.srv +srv/ModbusGetSignalTypes.srv +srv/ModbusGetSignalValues.srv +srv/ModbusGetSignalErrors.srv +srv/ModbusSendCustomCommand.srv +srv/ModbusSetDigitalInputAction.srv +srv/ModbusSetOutputRunstate.srv +srv/ModbusSetOutputSignal.srv +srv/ModbusSetOutputSignal1.srv +srv/ModbusSetOutputSignalWithTimeout.srv +srv/ModbusSetOutputSignalPulse.srv +srv/ModbusSetSignalUpdateFrequency.srv +srv/ModbusGetSignalIndex.srv +srv/ModbusGetSignalError.srv +srv/GetModbusDeviceStatus.srv +srv/AddModbusEncoder.srv +srv/AddInt32RegEncoder.srv +srv/DeleteVirtualEncoder.srv +srv/SyncMoveOn.srv +srv/SyncMoveSegment.srv +srv/SyncMoveOff.srv +srv/SyncMoveUndo.srv +srv/WaitSyncTasks.srv +srv/IsSyncMoveOn.srv +srv/SyncMoveSuspend.srv +srv/SyncMoveResume.srv +srv/FrameAdd.srv +srv/FrameAttach.srv +srv/FrameDeleteAll.srv +srv/FrameDelete.srv +srv/FrameMove.srv +srv/FrameGetPose.srv +srv/FrameConvertPose.srv +srv/FrameExist.srv +srv/FrameGetParent.srv +srv/FrameGetChildren.srv +srv/AxisGroupAdd.srv +srv/AxisGroupDelete.srv +srv/AxisGroupAddAxis.srv +srv/AxisGroupUpdateAxis.srv +srv/AxisGroupGetAxisIndex.srv +srv/AxisGroupGetAxisName.srv +srv/AxisGroupGetTargetPositions.srv +srv/AxisGroupGetActualPositions.srv +srv/AxisGroupOffsetPositions.srv +srv/AxisGroupMoveJoint.srv +srv/AxisGroupSpeedJoint.srv +srv/Alarm.srv +srv/Popup.srv +srv/Textmsg.srv +srv/Notify.srv +srv/Peek.srv +srv/GetDof.srv +srv/GetName.srv +srv/GetCycletime.srv +srv/SetSlowDownFraction.srv +srv/GetSlowDownFraction.srv +srv/GetRobotType.srv +srv/GetRobotSubType.srv +srv/GetControlBoxType.srv +srv/GetDefaultToolAcc.srv +srv/GetDefaultToolSpeed.srv +srv/GetDefaultJointAcc.srv +srv/GetDefaultJointSpeed.srv +srv/SetMountingPose.srv +srv/GetMountingPose.srv +srv/SetCollisionLevel.srv +srv/GetCollisionLevel.srv +srv/SetCollisionStopType.srv +srv/GetCollisionStopType.srv +srv/SetHomePosition.srv +srv/GetHomePosition.srv +srv/SetFreedriveDamp.srv +srv/GetFreedriveDamp.srv +srv/SetHandguidDamp.srv +srv/GetHandguidDamp.srv +srv/GetTcpForceSensorNames.srv +srv/SelectTcpForceSensor.srv +srv/HasTcpForceSensor.srv +srv/SetTcpForceOffset.srv +srv/GetTcpForceOffset.srv +srv/GetBaseForceSensorNames.srv +srv/SelectBaseForceSensor.srv +srv/HasBaseForceSensor.srv +srv/SetBaseForceOffset.srv +srv/GetBaseForceOffset.srv +srv/SetPersistentParameters.srv +srv/SetKinematicsCompensate.srv +srv/SetHardwareCustomParameters.srv +srv/GetHardwareCustomParameters.srv +srv/SetRobotZero.srv +srv/GetKinematicsParam.srv +srv/GetKinematicsCompensate.srv +srv/GetSafetyParametersCheckSum.srv +srv/ConfirmSafetyParameters.srv +srv/CalcSafetyParametersCheckSum.srv +srv/GetJointMaxPositions.srv +srv/GetJointMinPositions.srv +srv/GetJointMaxSpeeds.srv +srv/GetJointMaxAccelerations.srv +srv/GetTcpMaxSpeeds.srv +srv/GetTcpMaxAccelerations.srv +srv/ToolSpaceInRange.srv +srv/SetPayload.srv +srv/GetPayload.srv +srv/GetTcpOffset.srv +srv/GetGravity.srv +srv/SetGravity.srv +srv/SetTcpOffset.srv +srv/SetToolInertial.srv +srv/FirmwareUpdate.srv +srv/GetFirmwareUpdateProcess.srv +srv/SetTcpForceSensorPose.srv +srv/GetTcpForceSensorPose.srv +srv/GetLimitJointMaxPositions.srv +srv/GetLimitJointMinPositions.srv +srv/GetLimitJointMaxSpeeds.srv +srv/GetLimitJointMaxAccelerations.srv +srv/GetLimitTcpMaxSpeed.srv +srv/GetSafeguardStopType.srv +srv/GetSafeguardStopSource.srv +srv/AttachRobotBaseTo.srv +srv/GetRobotBaseParent.srv +srv/SetWorkObjectData.srv +srv/GetRobotEmergencyStopSource.srv +srv/GetSelectedTcpForceSensorName.srv +srv/AttachWeldingGun.srv +srv/SetCollisionThreshold.srv +srv/GetCollisionThreshold.srv +srv/EnableAxisGroup.srv +srv/DisableAxisGroup.srv +srv/EnableEndCollisionCheck.srv +srv/IsEndCollisionCheckEnabled.srv +srv/GetEqradius.srv +srv/SetEqradius.srv +srv/GetSpeedFraction.srv +srv/SetSpeedFraction.srv +srv/SpeedFractionCritical.srv +srv/IsSpeedFractionCritical.srv +srv/IsBlending.srv +srv/PathOffsetEnable.srv +srv/PathOffsetSet.srv +srv/PathOffsetDisable.srv +srv/JointOffsetEnable.srv +srv/JointOffsetSet.srv +srv/JointOffsetDisable.srv +srv/GetTrajectoryQueueSize.srv +srv/GetQueueSize.srv +srv/GetExecId.srv +srv/GetDuration.srv +srv/GetMotionLeftTime.srv +srv/GetProgress.srv +srv/SetWorkObjectHold.srv +srv/GetWorkObjectHold.srv +srv/GetPauseJointPositions.srv +srv/SetResumeStartPoint.srv +srv/GetResumeMode.srv +srv/SetServoMode.srv +srv/IsServoModeEnabled.srv +srv/SetServoModeSelect.srv +srv/GetServoModeSelect.srv +srv/ServoJoint.srv +srv/ServoCartesian.srv +srv/ServoJointWithAxes.srv +srv/ServoJointWithAxisGroup.srv +srv/ServoCartesianWithAxes.srv +srv/ServoCartesianWithAxisGroup.srv +srv/TrackJoint.srv +srv/TrackCartesian.srv +srv/FollowJoint.srv +srv/FollowLine.srv +srv/SpeedJoint.srv +srv/ResumeSpeedJoint.srv +srv/SpeedLine.srv +srv/ResumeSpeedLine.srv +srv/MoveSpline.srv +srv/MoveJoint.srv +srv/MoveJointWithAxisGroup.srv +srv/ResumeMoveJoint.srv +srv/MoveLine.srv +srv/MoveLineWithAxisGroup.srv +srv/MoveProcess.srv +srv/ResumeMoveLine.srv +srv/MoveCircle.srv +srv/MoveCircleWithAxisGroup.srv +srv/SetCirclePathMode.srv +srv/MoveCircle2.srv +srv/PathBufferAlloc.srv +srv/PathBufferAppend.srv +srv/PathBufferEval.srv +srv/PathBufferValid.srv +srv/PathBufferFree.srv +srv/PathBufferList.srv +srv/MovePathBuffer.srv +srv/MoveIntersection.srv +srv/StopJoint.srv +srv/ResumeStopJoint.srv +srv/StopLine.srv +srv/ResumeStopLine.srv +srv/WeaveStart.srv +srv/WeaveEnd.srv +srv/StorePath.srv +srv/StopMove.srv +srv/StartMove.srv +srv/ClearPath.srv +srv/RestoPath.srv +srv/SetFuturePointSamplePeriod.srv +srv/GetFuturePathPointsJoint.srv +srv/ConveyorTrackCircle.srv +srv/ConveyorTrackLine.srv +srv/ConveyorTrackStop.srv +srv/ConveyorTrackSwitch.srv +srv/HasItemOnConveyorToTrack.srv +srv/ConveyorTrackCreatItem.srv +srv/SetConveyorTrackEncoder.srv +srv/SetConveyorTrackCompensate.srv +srv/SetConveyorTrackLimit.srv +srv/SetConveyorTrackStartWindow.srv +srv/SetConveyorTrackSensorOffset.srv +srv/SetConveyorTrackSyncSeparation.srv +srv/IsConveyorTrackExceed.srv +srv/IsConveyorTrackSync.srv +srv/ConveyorTrackClearItems.srv +srv/GetConveyorTrackQueue.srv +srv/GetConveyorTrackNextItem.srv +srv/MoveSpiral.srv +srv/PathOffsetLimits.srv +srv/PathOffsetCoordinate.srv +srv/GetLookAheadSize.srv +srv/SetLookAheadSize.srv +srv/PathOffsetSupv.srv +srv/PathBufferFilter.srv +srv/WeaveUpdateParameters.srv +srv/EnableJointSoftServo.srv +srv/DisableJointSoftServo.srv +srv/IsJointSoftServoEnabled.srv +srv/EnableVibrationSuppress.srv +srv/DisbaleVibrationSuppress.srv +srv/SetTimeOptimalEnable.srv +srv/IsTimeOptimalEnabled.srv +srv/IsSupportedTimeOptimal.srv +srv/SetTcpMaxLinearVelocity.srv +srv/GetTcpMaxLinearVelocity.srv +srv/ResetTcpMaxLinearVelocity.srv +srv/SetEndPath.srv +srv/FcEnable.srv +srv/FcDisable.srv +srv/IsFcEnabled.srv +srv/SetTargetForce.srv +srv/FcSetSensorThresholds.srv +srv/FcSetSensorLimits.srv +srv/GetFcSensorThresholds.srv +srv/GetFcSensorLimits.srv +srv/SetDynamicModel1.srv +srv/FcCalDynamicModel.srv +srv/SetDynamicModelSearch.srv +srv/SetDynamicModelInsert.srv +srv/SetDynamicModelContact.srv +srv/SetDynamicModel.srv +srv/GetDynamicModel.srv +srv/SetCondForce.srv +srv/SetCondOrient.srv +srv/SetCondPlane.srv +srv/SetCondCylinder.srv +srv/SetCondSphere.srv +srv/SetCondTcpSpeed.srv +srv/SetCondActive.srv +srv/SetCondDistance.srv +srv/SetCondAdvanced.srv +srv/IsCondFullfiled.srv +srv/SetSupvForce.srv +srv/SetSupvOrient.srv +srv/SetSupvPosBox.srv +srv/SetSupvPosCylinder.srv +srv/SetSupvPosSphere.srv +srv/SetSupvReoriSpeed.srv +srv/SetSupvTcpSpeed.srv +srv/SetLpFilter.srv +srv/ResetLpFilter.srv +srv/SpeedChangeTune.srv +srv/SpeedChangeEnable.srv +srv/SpeedChangeDisable.srv +srv/SetDamping.srv +srv/ResetDamping.srv +srv/SoftFloatEnable.srv +srv/SoftFloatDisable.srv +srv/IsSoftFloatEnabled.srv +srv/SetSoftFloatParams.srv +srv/ToolContact.srv +srv/GetActualJointPositionsHistory.srv +srv/GetStandardDigitalInputNum.srv +srv/GetToolDigitalInputNum.srv +srv/GetConfigurableDigitalInputNum.srv +srv/GetStandardDigitalOutputNum.srv +srv/GetToolDigitalOutputNum.srv +srv/SetToolIoInput.srv +srv/IsToolIoInput.srv +srv/GetConfigurableDigitalOutputNum.srv +srv/GetStandardAnalogInputNum.srv +srv/GetToolAnalogInputNum.srv +srv/GetStandardAnalogOutputNum.srv +srv/GetToolAnalogOutputNum.srv +srv/SetDigitalInputActionDefault.srv +srv/SetStandardDigitalInputAction.srv +srv/SetToolDigitalInputAction.srv +srv/SetConfigurableDigitalInputAction.srv +srv/GetStandardDigitalInputAction.srv +srv/GetToolDigitalInputAction.srv +srv/GetConfigurableDigitalInputAction.srv +srv/SetDigitalOutputRunstateDefault.srv +srv/SetStandardDigitalOutputRunstate.srv +srv/SetToolDigitalOutputRunstate.srv +srv/SetConfigurableDigitalOutputRunstate.srv +srv/GetStandardDigitalOutputRunstate.srv +srv/GetToolDigitalOutputRunstate.srv +srv/GetConfigurableDigitalOutputRunstate.srv +srv/SetStandardAnalogOutputRunstate.srv +srv/SetToolAnalogOutputRunstate.srv +srv/GetStandardAnalogOutputRunstate.srv +srv/GetToolAnalogOutputRunstate.srv +srv/SetDigitalOutputAfterEStopDefault.srv +srv/SetAnalogOutputAfterEStopDefault.srv +srv/SetStandardDigitalOutputAfterEStop.srv +srv/SetConfigurableDigitalOutputAfterEStop.srv +srv/SetStandardAnalogOutputAfterEStop.srv +srv/SetStandardAnalogInputDomain.srv +srv/SetToolAnalogInputDomain.srv +srv/GetStandardAnalogInputDomain.srv +srv/GetToolAnalogInputDomain.srv +srv/SetStandardAnalogOutputDomain.srv +srv/SetToolAnalogOutputDomain.srv +srv/SetToolVoltageOutputDomain.srv +srv/GetToolVoltageOutputDomain.srv +srv/GetStandardAnalogOutputDomain.srv +srv/GetToolAnalogOutputDomain.srv +srv/SetStandardDigitalOutput.srv +srv/SetStandardDigitalOutputPulse.srv +srv/SetToolDigitalOutput.srv +srv/SetToolDigitalOutputPulse.srv +srv/SetConfigurableDigitalOutput.srv +srv/SetConfigurableDigitalOutputPulse.srv +srv/SetStandardAnalogOutput.srv +srv/SetToolAnalogOutput.srv +srv/GetStandardDigitalInput.srv +srv/GetStandardDigitalInputs.srv +srv/GetToolDigitalInput.srv +srv/GetToolDigitalInputs.srv +srv/GetConfigurableDigitalInput.srv +srv/GetConfigurableDigitalInputs.srv +srv/GetStandardAnalogInput.srv +srv/GetToolAnalogInput.srv +srv/GetStandardDigitalOutput.srv +srv/GetStandardDigitalOutputs.srv +srv/GetToolDigitalOutput.srv +srv/GetToolDigitalOutputs.srv +srv/GetConfigurableDigitalOutput.srv +srv/GetConfigurableDigitalOutputs.srv +srv/GetStandardAnalogOutput.srv +srv/GetToolAnalogOutput.srv +srv/GetStaticLinkInputNum.srv +srv/GetStaticLinkOutputNum.srv +srv/GetStaticLinkInputs.srv +srv/GetStaticLinkOutputs.srv +srv/HasEncoderSensor.srv +srv/SetEncDecoderType.srv +srv/SetEncTickCount.srv +srv/GetEncDecoderType.srv +srv/GetEncTickCount.srv +srv/UnwindEncDeltaTickCount.srv +srv/GetToolButtonStatus.srv +srv/GetHandleIoStatus.srv +srv/GetHandleType.srv +srv/CalibrateTcpForceSensor.srv +srv/CalibrateTcpForceSensor2.srv +srv/CalibrateTcpForceSensor3.srv +srv/PayloadIdentify.srv +srv/PayloadIdentify1.srv +srv/PayloadCalculateFinished.srv +srv/GetPayloadIdentifyResult.srv +srv/GeneratePayloadIdentifyTraj.srv +srv/PayloadIdentifyTrajGenFinished.srv +srv/FrictionModelIdentify.srv +srv/CalibWorkpieceCoordinatePara.srv +srv/ForwardDynamics.srv +srv/ForwardKinematics.srv +srv/ForwardKinematicsAll.srv +srv/ForwardToolKinematics.srv +srv/ForwardDynamics1.srv +srv/ForwardKinematics1.srv +srv/InverseKinematics.srv +srv/InverseKinematicsAll.srv +srv/InverseKinematics1.srv +srv/InverseKinematicsAll1.srv +srv/InverseToolKinematics.srv +srv/InverseToolKinematicsAll.srv +srv/GetRobotConfiguration.srv +srv/PathMovej.srv +srv/PathBlend3Points.srv +srv/CalcJacobian.srv +srv/PathMoveS.srv +srv/CalibVibrationParams.srv +srv/CalibVibrationParams1.srv +srv/NeedVibrationRecalib.srv +srv/ValidatePath.srv +srv/Poweron.srv +srv/Startup.srv +srv/ReleaseRobotBrake.srv +srv/LockRobotBrake.srv +srv/Poweroff.srv +srv/Backdrive.srv +srv/Freedrive.srv +srv/SetHandguideParams.srv +srv/GetHandguideFreeAxes.srv +srv/GetHandguideFeature.srv +srv/HandguideMode.srv +srv/ExitHandguideMode.srv +srv/GetHandguideStatus.srv +srv/GetHandguideTrigger.srv +srv/IsHandguideEnabled.srv +srv/SetSim.srv +srv/SetOperationalMode.srv +srv/GetOperationalMode.srv +srv/GetRobotControlMode.srv +srv/IsSimulationEnabled.srv +srv/IsFreedriveEnabled.srv +srv/IsBackdriveEnabled.srv +srv/SetUnlockProtectiveStop.srv +srv/RecordCacheFree.srv +srv/StartRecordCache.srv +srv/StopRecordCache.srv +srv/PauseRecordCache.srv +srv/StartRecord.srv +srv/StopRecord.srv +srv/PauseRecord.srv +srv/RestartInterfaceBoard.srv +srv/SetLinkModeEnable.srv +srv/IsLinkModeEnabled.srv +srv/GenerateDiagnoseFile.srv +srv/GetRobotModeType.srv +srv/GetSafetyModeType.srv +srv/IsPowerOn.srv +srv/IsSteady.srv +srv/IsCollisionOccurred.srv +srv/IsWithinSafetyLimits.srv +srv/GetTcpPose.srv +srv/GetActualTcpOffset.srv +srv/GetTargetTcpPose.srv +srv/GetToolPose.srv +srv/GetTcpSpeed.srv +srv/GetTcpForce.srv +srv/GetElbowPosistion.srv +srv/GetElbowVelocity.srv +srv/GetBaseForce.srv +srv/GetTcpTargetPose.srv +srv/GetTcpTargetSpeed.srv +srv/GetTcpTargetForce.srv +srv/GetJointState.srv +srv/GetJointServoMode.srv +srv/GetJointPositions.srv +srv/GetJointPositionsHistory.srv +srv/GetJointSpeeds.srv +srv/GetJointAccelerations.srv +srv/GetJointTorqueSensors.srv +srv/GetJointContactTorques.srv +srv/GetJointGravityTorques.srv +srv/GetBaseForceSensor.srv +srv/GetTcpForceSensors.srv +srv/GetJointCurrents.srv +srv/GetJointVoltages.srv +srv/GetJointTemperatures.srv +srv/GetJointUniqueIds.srv +srv/GetJointFirmwareVersions.srv +srv/GetJointHardwareVersions.srv +srv/GetMasterBoardUniqueId.srv +srv/GetMasterBoardFirmwareVersion.srv +srv/GetMasterBoardHardwareVersion.srv +srv/GetSlaveBoardUniqueId.srv +srv/GetSlaveBoardFirmwareVersion.srv +srv/GetSlaveBoardHardwareVersion.srv +srv/GetToolUniqueId.srv +srv/GetToolFirmwareVersion.srv +srv/GetToolHardwareVersion.srv +srv/GetToolCommMode.srv +srv/GetPedestalUniqueId.srv +srv/GetPedestalFirmwareVersion.srv +srv/GetPedestalHardwareVersion.srv +srv/GetJointTargetPositions.srv +srv/GetJointTargetSpeeds.srv +srv/GetJointTargetAccelerations.srv +srv/GetJointTargetTorques.srv +srv/GetJointTargetCurrents.srv +srv/IsTeachPendantEnabled.srv +srv/IsToolFlangeEnabled.srv +srv/GetControlBoxTemperature.srv +srv/GetControlBoxHumidity.srv +srv/GetMainVoltage.srv +srv/GetMainCurrent.srv +srv/GetRobotVoltage.srv +srv/GetRobotCurrent.srv +srv/GetSlowDownLevel.srv +srv/GetTcpForceSensorStatus.srv +msg/Float64Array.msg +msg/Float64ArrayList.msg +msg/StringFloat64ArrayKV.msg +msg/StringFloat64ArrayMap.msg +msg/RobotSafetyParameterRange.msg +msg/WObjectData.msg +msg/CircleParameters.msg +msg/SpiralParameters.msg +msg/TrajConfig.msg +msg/VibrationRecalibrationParameter.msg +msg/Vector3f.msg +msg/Vector4f.msg +msg/Vector6f.msg +msg/RobotSafetyParameterRangeParam.msg +msg/RobotSafetyParameterTriggerPlane.msg +msg/RobotSafetyParameterCubic.msg +msg/Enveloping.msg +msg/Float64Row.msg +action/ServoMode.action diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/CircleParameters.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/CircleParameters.msg new file mode 100644 index 00000000..95540ac6 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/CircleParameters.msg @@ -0,0 +1,10 @@ +float64[] pose_via +float64[] pose_to +float64 a +float64 v +float64 blend_radius +float64 duration +float64 helix +float64 spiral +float64 direction +int32 loop_times diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Enveloping.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Enveloping.msg new file mode 100644 index 00000000..8e2d440c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Enveloping.msg @@ -0,0 +1,3 @@ +int32 shape +float64[] ep_args +string stl_path diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Float64Array.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Float64Array.msg new file mode 100644 index 00000000..922220fa --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Float64Array.msg @@ -0,0 +1 @@ +float64[] data diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Float64ArrayList.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Float64ArrayList.msg new file mode 100644 index 00000000..50cf1f16 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Float64ArrayList.msg @@ -0,0 +1 @@ +Float64Array[] rows diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Float64Row.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Float64Row.msg new file mode 100644 index 00000000..922220fa --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Float64Row.msg @@ -0,0 +1 @@ +float64[] data diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/RobotSafetyParameterCubic.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/RobotSafetyParameterCubic.msg new file mode 100644 index 00000000..025b1e89 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/RobotSafetyParameterCubic.msg @@ -0,0 +1,3 @@ +Vector6f orig +Vector3f size +int32 restrict_elbow diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/RobotSafetyParameterRange.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/RobotSafetyParameterRange.msg new file mode 100644 index 00000000..0522e63d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/RobotSafetyParameterRange.msg @@ -0,0 +1,28 @@ +uint32 crc32 +RobotSafetyParameterRangeParam[] params +RobotSafetyParameterTriggerPlane[] trigger_planes +RobotSafetyParameterCubic[] cubic +Vector4f[] tools +float32 tool_inclination +float32 tool_azimuth +float32[] safety_home +uint32 safety_input_emergency_stop +uint32 safety_input_safeguard_stop +uint32 safety_input_safeguard_reset +uint32 safety_input_auto_safeguard_stop +uint32 safety_input_auto_safeguard_reset +uint32 safety_input_three_position_switch +uint32 safety_input_operational_mode +uint32 safety_input_reduced_mode +uint32 safety_input_handguide +uint32 safety_output_emergency_stop +uint32 safety_output_not_emergency_stop +uint32 safety_output_robot_moving +uint32 safety_output_robot_steady +uint32 safety_output_reduced_mode +uint32 safety_output_not_reduced_mode +uint32 safety_output_safe_home +uint32 safety_output_robot_not_stopping +uint32 safety_output_safetyguard_stop +int32 tp_3pe_for_handguide +int32 allow_manual_high_speed diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/RobotSafetyParameterRangeParam.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/RobotSafetyParameterRangeParam.msg new file mode 100644 index 00000000..e110d459 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/RobotSafetyParameterRangeParam.msg @@ -0,0 +1,19 @@ +float32 power +float32 momentum +float32 stop_time +float32 stop_distance +float32 reduced_entry_time +float32 reduced_entry_distance +float32 tcp_speed +float32 elbow_speed +float32 tcp_force +float32 elbow_force +float32[] qmin +float32[] qmax +float32[] qdmax +float32[] joint_torque +Vector3f tool_orientation +float32 tool_deviation +uint32 planes_size +Vector4f[] planes +int32[] restrict_elbow diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/RobotSafetyParameterTriggerPlane.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/RobotSafetyParameterTriggerPlane.msg new file mode 100644 index 00000000..bab90d2c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/RobotSafetyParameterTriggerPlane.msg @@ -0,0 +1,2 @@ +Vector4f plane +int32 restrict_elbow diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/SpiralParameters.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/SpiralParameters.msg new file mode 100644 index 00000000..47be8ca2 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/SpiralParameters.msg @@ -0,0 +1,5 @@ +float64[] frame +int32 plane +float64 angle +float64 spiral +float64 helix diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/StringFloat64ArrayKV.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/StringFloat64ArrayKV.msg new file mode 100644 index 00000000..8cf7bc77 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/StringFloat64ArrayKV.msg @@ -0,0 +1,2 @@ +string key +float64[] value diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/StringFloat64ArrayMap.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/StringFloat64ArrayMap.msg new file mode 100644 index 00000000..91d86195 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/StringFloat64ArrayMap.msg @@ -0,0 +1 @@ +StringFloat64ArrayKV[] items diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/TrajConfig.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/TrajConfig.msg new file mode 100644 index 00000000..5c75c96c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/TrajConfig.msg @@ -0,0 +1,7 @@ +Enveloping[] envelopings +int32 move_axis +float64[] init_joint +float64[] upper_joint_bound +float64[] lower_joint_bound +float64[] max_velocity +float64[] max_acceleration diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Vector3f.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Vector3f.msg new file mode 100644 index 00000000..a8f73e8b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Vector3f.msg @@ -0,0 +1 @@ +float64[3] data diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Vector4f.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Vector4f.msg new file mode 100644 index 00000000..742e7241 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Vector4f.msg @@ -0,0 +1 @@ +float64[4] data diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Vector6f.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Vector6f.msg new file mode 100644 index 00000000..7e2f5c35 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/Vector6f.msg @@ -0,0 +1 @@ +float64[6] data diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/VibrationRecalibrationParameter.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/VibrationRecalibrationParameter.msg new file mode 100644 index 00000000..6b1d0022 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/VibrationRecalibrationParameter.msg @@ -0,0 +1,6 @@ +float64 mass +float64[] cog +float64[] inertia +Float64Row[] points +Float64Row[] stiff_section +Float64Row[] stiff_param diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/WObjectData.msg b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/WObjectData.msg new file mode 100644 index 00000000..97f2b0f4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/msg/WObjectData.msg @@ -0,0 +1,4 @@ +bool remote_tool +string attach_frame +float64[] user_coord +float64[] obj_coord diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/package.xml b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/package.xml new file mode 100644 index 00000000..a8ad01e6 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/package.xml @@ -0,0 +1,24 @@ + + + aubo_interfaces + 0.0.1 + AUBO generated ROS2 interfaces (.srv/.msg) + + aubo_peter + BSD-3-Clause + + aubo_peter + + ament_cmake + + rosidl_default_generators + rosidl_default_runtime + + builtin_interfaces + + rosidl_interface_packages + + + ament_cmake + + diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Abort.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Abort.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Abort.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AddInt32RegEncoder.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AddInt32RegEncoder.srv new file mode 100644 index 00000000..0b3c346e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AddInt32RegEncoder.srv @@ -0,0 +1,7 @@ +int32 encoder_id +int32 range_id +string key +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AddModbusEncoder.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AddModbusEncoder.srv new file mode 100644 index 00000000..e836c0fc --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AddModbusEncoder.srv @@ -0,0 +1,7 @@ +int32 encoder_id +int32 range_id +string signal_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Alarm.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Alarm.srv new file mode 100644 index 00000000..3672e3f9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Alarm.srv @@ -0,0 +1,7 @@ +int32 level +int32 code +string[] args +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ArbitraryResume.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ArbitraryResume.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ArbitraryResume.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AttachRobotBaseTo.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AttachRobotBaseTo.srv new file mode 100644 index 00000000..9b9e5af7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AttachRobotBaseTo.srv @@ -0,0 +1,5 @@ +string frame +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AttachWeldingGun.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AttachWeldingGun.srv new file mode 100644 index 00000000..144c3d0c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AttachWeldingGun.srv @@ -0,0 +1,7 @@ +float64 m +float64[] cog +float64[] inertial +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupAdd.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupAdd.srv new file mode 100644 index 00000000..43f1188d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupAdd.srv @@ -0,0 +1,7 @@ +string name +float64[] pose +string ref_frame +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupAddAxis.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupAddAxis.srv new file mode 100644 index 00000000..cebef6b4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupAddAxis.srv @@ -0,0 +1,8 @@ +string group_name +string name +string parent +float64[] pose +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupDelete.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupDelete.srv new file mode 100644 index 00000000..6bf4dbfb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupDelete.srv @@ -0,0 +1,5 @@ +string name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupGetActualPositions.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupGetActualPositions.srv new file mode 100644 index 00000000..f48dc76d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupGetActualPositions.srv @@ -0,0 +1,5 @@ +string group_name +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupGetAxisIndex.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupGetAxisIndex.srv new file mode 100644 index 00000000..6bf4dbfb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupGetAxisIndex.srv @@ -0,0 +1,5 @@ +string name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupGetAxisName.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupGetAxisName.srv new file mode 100644 index 00000000..278764f8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupGetAxisName.srv @@ -0,0 +1,5 @@ +int32 index +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupGetTargetPositions.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupGetTargetPositions.srv new file mode 100644 index 00000000..f48dc76d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupGetTargetPositions.srv @@ -0,0 +1,5 @@ +string group_name +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupMoveJoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupMoveJoint.srv new file mode 100644 index 00000000..cb8ec9e5 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupMoveJoint.srv @@ -0,0 +1,8 @@ +string group_name +float64[] q +float64 a +float64 v +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupOffsetPositions.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupOffsetPositions.srv new file mode 100644 index 00000000..c9d4f648 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupOffsetPositions.srv @@ -0,0 +1,6 @@ +string group_name +float64[] offset +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupSpeedJoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupSpeedJoint.srv new file mode 100644 index 00000000..244bbf9a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupSpeedJoint.srv @@ -0,0 +1,8 @@ +string group_name +float64[] qd +float64 a +float64 t +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupUpdateAxis.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupUpdateAxis.srv new file mode 100644 index 00000000..1f9c6413 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/AxisGroupUpdateAxis.srv @@ -0,0 +1,6 @@ +string name +float64[] pose +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Backdrive.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Backdrive.srv new file mode 100644 index 00000000..2813e03d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Backdrive.srv @@ -0,0 +1,5 @@ +bool enable +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalcJacobian.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalcJacobian.srv new file mode 100644 index 00000000..3b532d66 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalcJacobian.srv @@ -0,0 +1,6 @@ +float64[] q +bool base_or_end +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalcSafetyParametersCheckSum.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalcSafetyParametersCheckSum.srv new file mode 100644 index 00000000..d629a543 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalcSafetyParametersCheckSum.srv @@ -0,0 +1,5 @@ +RobotSafetyParameterRange parameters +--- +uint32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalculateCircleFourthPoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalculateCircleFourthPoint.srv new file mode 100644 index 00000000..cfe91ea6 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalculateCircleFourthPoint.srv @@ -0,0 +1,8 @@ +float64[] p1 +float64[] p2 +float64[] p3 +int32 mode +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibVibrationParams.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibVibrationParams.srv new file mode 100644 index 00000000..ce835df8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibVibrationParams.srv @@ -0,0 +1,10 @@ +Float64ArrayList q +Float64ArrayList qd +Float64ArrayList target_q +Float64ArrayList target_qd +Float64ArrayList target_qdd +float64[] tool_offset +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibVibrationParams1.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibVibrationParams1.srv new file mode 100644 index 00000000..4fbbb8ad --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibVibrationParams1.srv @@ -0,0 +1,6 @@ +string record_cache_name +float64[] tool_offset +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibWorkpieceCoordinatePara.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibWorkpieceCoordinatePara.srv new file mode 100644 index 00000000..c3e2593b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibWorkpieceCoordinatePara.srv @@ -0,0 +1,6 @@ +Float64ArrayList q +int32 type +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibrateCoordinate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibrateCoordinate.srv new file mode 100644 index 00000000..15f8b573 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibrateCoordinate.srv @@ -0,0 +1,6 @@ +Float64ArrayList poses +int32 type +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibrateTcpForceSensor.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibrateTcpForceSensor.srv new file mode 100644 index 00000000..35c9b23a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibrateTcpForceSensor.srv @@ -0,0 +1,6 @@ +Float64ArrayList forces +Float64ArrayList poses +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibrateTcpForceSensor2.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibrateTcpForceSensor2.srv new file mode 100644 index 00000000..35c9b23a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibrateTcpForceSensor2.srv @@ -0,0 +1,6 @@ +Float64ArrayList forces +Float64ArrayList poses +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibrateTcpForceSensor3.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibrateTcpForceSensor3.srv new file mode 100644 index 00000000..932f369e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/CalibrateTcpForceSensor3.srv @@ -0,0 +1,8 @@ +Float64ArrayList forces +Float64ArrayList poses +float64 mass +float64[] cog +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ClearBreakPoints.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ClearBreakPoints.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ClearBreakPoints.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ClearNamedVariable.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ClearNamedVariable.srv new file mode 100644 index 00000000..cc4e7aa9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ClearNamedVariable.srv @@ -0,0 +1,5 @@ +string key +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ClearPath.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ClearPath.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ClearPath.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ClearPreloadPrograms.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ClearPreloadPrograms.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ClearPreloadPrograms.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConfirmSafetyParameters.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConfirmSafetyParameters.srv new file mode 100644 index 00000000..ee99aaa1 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConfirmSafetyParameters.srv @@ -0,0 +1,5 @@ +RobotSafetyParameterRange parameters +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackCircle.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackCircle.srv new file mode 100644 index 00000000..d39df19f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackCircle.srv @@ -0,0 +1,7 @@ +int32 encoder_id +float64[] center +bool rotate_tool +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackClearItems.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackClearItems.srv new file mode 100644 index 00000000..18c60a3e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackClearItems.srv @@ -0,0 +1,5 @@ +int32 encoder_id +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackCreatItem.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackCreatItem.srv new file mode 100644 index 00000000..f2b2c46b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackCreatItem.srv @@ -0,0 +1,7 @@ +int32 encoder_id +int32 item_id +float64[] offset +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackLine.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackLine.srv new file mode 100644 index 00000000..856c8ed5 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackLine.srv @@ -0,0 +1,6 @@ +int32 encoder_id +float64[] direction +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackStop.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackStop.srv new file mode 100644 index 00000000..e4fe073c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackStop.srv @@ -0,0 +1,6 @@ +int32 encoder_id +float64 a +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackSwitch.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackSwitch.srv new file mode 100644 index 00000000..5a69f93e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ConveyorTrackSwitch.srv @@ -0,0 +1,5 @@ +int32 encoder_id +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DeleteTask.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DeleteTask.srv new file mode 100644 index 00000000..4a927407 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DeleteTask.srv @@ -0,0 +1,5 @@ +int32 tid +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DeleteVirtualEncoder.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DeleteVirtualEncoder.srv new file mode 100644 index 00000000..18c60a3e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DeleteVirtualEncoder.srv @@ -0,0 +1,5 @@ +int32 encoder_id +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DeltaPoseAdd.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DeltaPoseAdd.srv new file mode 100644 index 00000000..0112566e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DeltaPoseAdd.srv @@ -0,0 +1,6 @@ +float64[] pose_a_in_b +float64[] v_in_b +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DeltaPoseTrans.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DeltaPoseTrans.srv new file mode 100644 index 00000000..00f39240 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DeltaPoseTrans.srv @@ -0,0 +1,6 @@ +float64[] pose_a_in_b +float64[] ft_in_a +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DetachTask.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DetachTask.srv new file mode 100644 index 00000000..4a927407 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DetachTask.srv @@ -0,0 +1,5 @@ +int32 tid +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DisableAxisGroup.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DisableAxisGroup.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DisableAxisGroup.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DisableJointSoftServo.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DisableJointSoftServo.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DisableJointSoftServo.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DisbaleVibrationSuppress.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DisbaleVibrationSuppress.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/DisbaleVibrationSuppress.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnableAxisGroup.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnableAxisGroup.srv new file mode 100644 index 00000000..d2029422 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnableAxisGroup.srv @@ -0,0 +1,5 @@ +string group_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnableEndCollisionCheck.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnableEndCollisionCheck.srv new file mode 100644 index 00000000..2813e03d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnableEndCollisionCheck.srv @@ -0,0 +1,5 @@ +bool enable +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnableJointSoftServo.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnableJointSoftServo.srv new file mode 100644 index 00000000..568390c8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnableJointSoftServo.srv @@ -0,0 +1,5 @@ +float64[] stiffness +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnableVibrationSuppress.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnableVibrationSuppress.srv new file mode 100644 index 00000000..1dc291f7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnableVibrationSuppress.srv @@ -0,0 +1,7 @@ +float64[] omega +float64[] zeta +int32 level +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnterCritical.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnterCritical.srv new file mode 100644 index 00000000..63a985d4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/EnterCritical.srv @@ -0,0 +1,5 @@ +float64 timeout +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ExitCritical.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ExitCritical.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ExitCritical.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ExitHandguideMode.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ExitHandguideMode.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ExitHandguideMode.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcCalDynamicModel.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcCalDynamicModel.srv new file mode 100644 index 00000000..ee00a601 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcCalDynamicModel.srv @@ -0,0 +1,7 @@ +float64[] env_stiff +float64[] damp_scale +float64[] stiff_scale +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcDisable.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcDisable.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcDisable.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcEnable.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcEnable.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcEnable.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcSetSensorLimits.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcSetSensorLimits.srv new file mode 100644 index 00000000..eb04cc34 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcSetSensorLimits.srv @@ -0,0 +1,5 @@ +float64[] limits +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcSetSensorThresholds.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcSetSensorThresholds.srv new file mode 100644 index 00000000..e63cb0ad --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FcSetSensorThresholds.srv @@ -0,0 +1,5 @@ +float64[] thresholds +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FirmwareUpdate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FirmwareUpdate.srv new file mode 100644 index 00000000..0942f728 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FirmwareUpdate.srv @@ -0,0 +1,5 @@ +string fw +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FollowJoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FollowJoint.srv new file mode 100644 index 00000000..e7cd072b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FollowJoint.srv @@ -0,0 +1,5 @@ +float64[] q +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FollowLine.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FollowLine.srv new file mode 100644 index 00000000..02be3046 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FollowLine.srv @@ -0,0 +1,5 @@ +float64[] pose +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForceTrans.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForceTrans.srv new file mode 100644 index 00000000..74d053d6 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForceTrans.srv @@ -0,0 +1,6 @@ +float64[] pose_a_in_b +float64[] force_in_a +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardDynamics.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardDynamics.srv new file mode 100644 index 00000000..d974d736 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardDynamics.srv @@ -0,0 +1,6 @@ +float64[] q +float64[] torqs +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardDynamics1.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardDynamics1.srv new file mode 100644 index 00000000..5ba5c783 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardDynamics1.srv @@ -0,0 +1,7 @@ +float64[] q +float64[] torqs +float64[] tcp_offset +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardKinematics.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardKinematics.srv new file mode 100644 index 00000000..4c36fd86 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardKinematics.srv @@ -0,0 +1,5 @@ +float64[] q +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardKinematics1.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardKinematics1.srv new file mode 100644 index 00000000..87ed660c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardKinematics1.srv @@ -0,0 +1,6 @@ +float64[] q +float64[] tcp_offset +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardKinematicsAll.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardKinematicsAll.srv new file mode 100644 index 00000000..4c36fd86 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardKinematicsAll.srv @@ -0,0 +1,5 @@ +float64[] q +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardToolKinematics.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardToolKinematics.srv new file mode 100644 index 00000000..4c36fd86 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ForwardToolKinematics.srv @@ -0,0 +1,5 @@ +float64[] q +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameAdd.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameAdd.srv new file mode 100644 index 00000000..a6e0f74e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameAdd.srv @@ -0,0 +1,7 @@ +string name +float64[] pose +string ref_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameAttach.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameAttach.srv new file mode 100644 index 00000000..f7042d9c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameAttach.srv @@ -0,0 +1,6 @@ +string child +string parent +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameConvertPose.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameConvertPose.srv new file mode 100644 index 00000000..4a348d6d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameConvertPose.srv @@ -0,0 +1,7 @@ +float64[] pose +string from_frame +string to_frame +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameDelete.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameDelete.srv new file mode 100644 index 00000000..6bf4dbfb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameDelete.srv @@ -0,0 +1,5 @@ +string name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameDeleteAll.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameDeleteAll.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameDeleteAll.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameExist.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameExist.srv new file mode 100644 index 00000000..699bfd48 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameExist.srv @@ -0,0 +1,5 @@ +string name +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameGetChildren.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameGetChildren.srv new file mode 100644 index 00000000..e029de96 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameGetChildren.srv @@ -0,0 +1,5 @@ +string name +--- +string[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameGetParent.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameGetParent.srv new file mode 100644 index 00000000..1e7aa705 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameGetParent.srv @@ -0,0 +1,5 @@ +string name +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameGetPose.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameGetPose.srv new file mode 100644 index 00000000..c68c853f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameGetPose.srv @@ -0,0 +1,7 @@ +string name +string rel_frame +string ref_frame +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameMove.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameMove.srv new file mode 100644 index 00000000..a6e0f74e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrameMove.srv @@ -0,0 +1,7 @@ +string name +float64[] pose +string ref_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Freedrive.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Freedrive.srv new file mode 100644 index 00000000..2813e03d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Freedrive.srv @@ -0,0 +1,5 @@ +bool enable +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrictionModelIdentify.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrictionModelIdentify.srv new file mode 100644 index 00000000..f6b06505 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/FrictionModelIdentify.srv @@ -0,0 +1,8 @@ +Float64ArrayList q +Float64ArrayList qd +Float64ArrayList qdd +Float64ArrayList temp +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GenerateDiagnoseFile.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GenerateDiagnoseFile.srv new file mode 100644 index 00000000..2debbcb2 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GenerateDiagnoseFile.srv @@ -0,0 +1,5 @@ +string reason +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GeneratePayloadIdentifyTraj.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GeneratePayloadIdentifyTraj.srv new file mode 100644 index 00000000..de70c774 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GeneratePayloadIdentifyTraj.srv @@ -0,0 +1,6 @@ +string name +TrajConfig trajconfig +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetActualJointPositionsHistory.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetActualJointPositionsHistory.srv new file mode 100644 index 00000000..1c016c9f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetActualJointPositionsHistory.srv @@ -0,0 +1,5 @@ +int32 steps +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetActualTcpOffset.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetActualTcpOffset.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetActualTcpOffset.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetAdvancePlanContext.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetAdvancePlanContext.srv new file mode 100644 index 00000000..ae854729 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetAdvancePlanContext.srv @@ -0,0 +1,5 @@ +int32 tid +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetAdvancePtr.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetAdvancePtr.srv new file mode 100644 index 00000000..4a927407 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetAdvancePtr.srv @@ -0,0 +1,5 @@ +int32 tid +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBaseForce.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBaseForce.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBaseForce.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBaseForceOffset.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBaseForceOffset.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBaseForceOffset.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBaseForceSensor.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBaseForceSensor.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBaseForceSensor.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBaseForceSensorNames.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBaseForceSensorNames.srv new file mode 100644 index 00000000..faa93f22 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBaseForceSensorNames.srv @@ -0,0 +1,4 @@ +--- +string[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBool.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBool.srv new file mode 100644 index 00000000..a1061a68 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBool.srv @@ -0,0 +1,6 @@ +string key +bool default_value +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBoolInput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBoolInput.srv new file mode 100644 index 00000000..728a912b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBoolInput.srv @@ -0,0 +1,5 @@ +uint32 address +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBoolOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBoolOutput.srv new file mode 100644 index 00000000..728a912b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetBoolOutput.srv @@ -0,0 +1,5 @@ +uint32 address +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetCollisionLevel.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetCollisionLevel.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetCollisionLevel.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetCollisionStopType.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetCollisionStopType.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetCollisionStopType.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetCollisionThreshold.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetCollisionThreshold.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetCollisionThreshold.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalInput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalInput.srv new file mode 100644 index 00000000..2629b638 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalInput.srv @@ -0,0 +1,5 @@ +int32 index +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalInputAction.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalInputAction.srv new file mode 100644 index 00000000..0830491f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalInputAction.srv @@ -0,0 +1,5 @@ +int32 index +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalInputNum.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalInputNum.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalInputNum.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalInputs.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalInputs.srv new file mode 100644 index 00000000..71765cc9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalInputs.srv @@ -0,0 +1,4 @@ +--- +uint32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalOutput.srv new file mode 100644 index 00000000..2629b638 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalOutput.srv @@ -0,0 +1,5 @@ +int32 index +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalOutputNum.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalOutputNum.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalOutputNum.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalOutputRunstate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalOutputRunstate.srv new file mode 100644 index 00000000..0830491f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalOutputRunstate.srv @@ -0,0 +1,5 @@ +int32 index +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalOutputs.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalOutputs.srv new file mode 100644 index 00000000..71765cc9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConfigurableDigitalOutputs.srv @@ -0,0 +1,4 @@ +--- +uint32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlBoxHumidity.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlBoxHumidity.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlBoxHumidity.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlBoxTemperature.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlBoxTemperature.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlBoxTemperature.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlBoxType.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlBoxType.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlBoxType.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSoftwareBuildDate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSoftwareBuildDate.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSoftwareBuildDate.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSoftwareFullVersion.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSoftwareFullVersion.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSoftwareFullVersion.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSoftwareVersionCode.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSoftwareVersionCode.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSoftwareVersionCode.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSoftwareVersionHash.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSoftwareVersionHash.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSoftwareVersionHash.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSystemTime.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSystemTime.srv new file mode 100644 index 00000000..96d2afc8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetControlSystemTime.srv @@ -0,0 +1,4 @@ +--- +uint64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConveyorTrackNextItem.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConveyorTrackNextItem.srv new file mode 100644 index 00000000..18c60a3e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConveyorTrackNextItem.srv @@ -0,0 +1,5 @@ +int32 encoder_id +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConveyorTrackQueue.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConveyorTrackQueue.srv new file mode 100644 index 00000000..2e34f540 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetConveyorTrackQueue.srv @@ -0,0 +1,5 @@ +int32 encoder_id +--- +int32[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetCycletime.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetCycletime.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetCycletime.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDefaultJointAcc.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDefaultJointAcc.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDefaultJointAcc.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDefaultJointSpeed.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDefaultJointSpeed.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDefaultJointSpeed.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDefaultToolAcc.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDefaultToolAcc.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDefaultToolAcc.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDefaultToolSpeed.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDefaultToolSpeed.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDefaultToolSpeed.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDeltaPoseBySensorDistance.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDeltaPoseBySensorDistance.srv new file mode 100644 index 00000000..cdcf0deb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDeltaPoseBySensorDistance.srv @@ -0,0 +1,8 @@ +float64[] distances +float64 position +float64 radius +float64 track_scale +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDof.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDof.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDof.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDouble.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDouble.srv new file mode 100644 index 00000000..9739da39 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDouble.srv @@ -0,0 +1,6 @@ +string key +float64 default_value +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDoubleInput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDoubleInput.srv new file mode 100644 index 00000000..10d58e57 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDoubleInput.srv @@ -0,0 +1,5 @@ +uint32 address +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDoubleOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDoubleOutput.srv new file mode 100644 index 00000000..10d58e57 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDoubleOutput.srv @@ -0,0 +1,5 @@ +uint32 address +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDuration.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDuration.srv new file mode 100644 index 00000000..2623a1be --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDuration.srv @@ -0,0 +1,5 @@ +int32 id +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDynamicModel.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDynamicModel.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetDynamicModel.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetElbowPosistion.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetElbowPosistion.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetElbowPosistion.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetElbowVelocity.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetElbowVelocity.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetElbowVelocity.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetEncDecoderType.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetEncDecoderType.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetEncDecoderType.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetEncTickCount.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetEncTickCount.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetEncTickCount.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetEqradius.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetEqradius.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetEqradius.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetExecId.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetExecId.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetExecId.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetExecutionStatus.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetExecutionStatus.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetExecutionStatus.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetExecutionStatus1.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetExecutionStatus1.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetExecutionStatus1.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFcSensorLimits.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFcSensorLimits.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFcSensorLimits.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFcSensorThresholds.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFcSensorThresholds.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFcSensorThresholds.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFirmwareUpdateProcess.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFirmwareUpdateProcess.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFirmwareUpdateProcess.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFloat.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFloat.srv new file mode 100644 index 00000000..ecdfaa83 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFloat.srv @@ -0,0 +1,6 @@ +string key +float32 default_value +--- +float32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFloatInput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFloatInput.srv new file mode 100644 index 00000000..9b62a5c7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFloatInput.srv @@ -0,0 +1,5 @@ +uint32 address +--- +float32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFloatOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFloatOutput.srv new file mode 100644 index 00000000..9b62a5c7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFloatOutput.srv @@ -0,0 +1,5 @@ +uint32 address +--- +float32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFreedriveDamp.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFreedriveDamp.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFreedriveDamp.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFuturePathPointsJoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFuturePathPointsJoint.srv new file mode 100644 index 00000000..fe5e6c18 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetFuturePathPointsJoint.srv @@ -0,0 +1,4 @@ +--- +Float64ArrayList result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetGravity.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetGravity.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetGravity.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguidDamp.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguidDamp.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguidDamp.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguideFeature.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguideFeature.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguideFeature.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguideFreeAxes.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguideFreeAxes.srv new file mode 100644 index 00000000..ed479d29 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguideFreeAxes.srv @@ -0,0 +1,4 @@ +--- +int32[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguideStatus.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguideStatus.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguideStatus.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguideTrigger.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguideTrigger.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandguideTrigger.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandleIoStatus.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandleIoStatus.srv new file mode 100644 index 00000000..71765cc9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandleIoStatus.srv @@ -0,0 +1,4 @@ +--- +uint32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandleType.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandleType.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHandleType.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHardwareCustomParameters.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHardwareCustomParameters.srv new file mode 100644 index 00000000..01bbdd58 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHardwareCustomParameters.srv @@ -0,0 +1,5 @@ +string param +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHomePosition.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHomePosition.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetHomePosition.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt16Register.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt16Register.srv new file mode 100644 index 00000000..2e4453d7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt16Register.srv @@ -0,0 +1,5 @@ +uint32 address +--- +int16 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt16RegisterBit.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt16RegisterBit.srv new file mode 100644 index 00000000..97d1fa05 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt16RegisterBit.srv @@ -0,0 +1,6 @@ +uint32 address +uint8 bit_offset +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt32.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt32.srv new file mode 100644 index 00000000..e00e88d7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt32.srv @@ -0,0 +1,6 @@ +string key +int32 default_value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt32Input.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt32Input.srv new file mode 100644 index 00000000..0fe8bff1 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt32Input.srv @@ -0,0 +1,5 @@ +uint32 address +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt32Output.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt32Output.srv new file mode 100644 index 00000000..0fe8bff1 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInt32Output.srv @@ -0,0 +1,5 @@ +uint32 address +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInterfaceVersionCode.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInterfaceVersionCode.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInterfaceVersionCode.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInterpPtr.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInterpPtr.srv new file mode 100644 index 00000000..4a927407 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetInterpPtr.srv @@ -0,0 +1,5 @@ +int32 tid +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointAccelerations.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointAccelerations.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointAccelerations.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointContactTorques.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointContactTorques.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointContactTorques.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointCurrents.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointCurrents.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointCurrents.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointFirmwareVersions.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointFirmwareVersions.srv new file mode 100644 index 00000000..ed479d29 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointFirmwareVersions.srv @@ -0,0 +1,4 @@ +--- +int32[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointGravityTorques.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointGravityTorques.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointGravityTorques.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointHardwareVersions.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointHardwareVersions.srv new file mode 100644 index 00000000..ed479d29 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointHardwareVersions.srv @@ -0,0 +1,4 @@ +--- +int32[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointMaxAccelerations.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointMaxAccelerations.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointMaxAccelerations.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointMaxPositions.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointMaxPositions.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointMaxPositions.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointMaxSpeeds.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointMaxSpeeds.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointMaxSpeeds.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointMinPositions.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointMinPositions.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointMinPositions.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointPositions.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointPositions.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointPositions.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointPositionsHistory.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointPositionsHistory.srv new file mode 100644 index 00000000..1c016c9f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointPositionsHistory.srv @@ -0,0 +1,5 @@ +int32 steps +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointServoMode.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointServoMode.srv new file mode 100644 index 00000000..ed479d29 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointServoMode.srv @@ -0,0 +1,4 @@ +--- +int32[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointSpeeds.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointSpeeds.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointSpeeds.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointState.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointState.srv new file mode 100644 index 00000000..ed479d29 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointState.srv @@ -0,0 +1,4 @@ +--- +int32[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetAccelerations.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetAccelerations.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetAccelerations.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetCurrents.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetCurrents.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetCurrents.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetPositions.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetPositions.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetPositions.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetSpeeds.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetSpeeds.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetSpeeds.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetTorques.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetTorques.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTargetTorques.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTemperatures.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTemperatures.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTemperatures.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTorqueSensors.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTorqueSensors.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointTorqueSensors.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointUniqueIds.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointUniqueIds.srv new file mode 100644 index 00000000..faa93f22 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointUniqueIds.srv @@ -0,0 +1,4 @@ +--- +string[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointVoltages.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointVoltages.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetJointVoltages.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetKinematicsCompensate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetKinematicsCompensate.srv new file mode 100644 index 00000000..8cca4b40 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetKinematicsCompensate.srv @@ -0,0 +1,5 @@ +float64 ref_temperature +--- +StringFloat64ArrayMap result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetKinematicsParam.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetKinematicsParam.srv new file mode 100644 index 00000000..58b0b544 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetKinematicsParam.srv @@ -0,0 +1,5 @@ +bool real +--- +StringFloat64ArrayMap result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitJointMaxAccelerations.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitJointMaxAccelerations.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitJointMaxAccelerations.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitJointMaxPositions.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitJointMaxPositions.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitJointMaxPositions.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitJointMaxSpeeds.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitJointMaxSpeeds.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitJointMaxSpeeds.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitJointMinPositions.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitJointMinPositions.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitJointMinPositions.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitTcpMaxSpeed.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitTcpMaxSpeed.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLimitTcpMaxSpeed.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLookAheadSize.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLookAheadSize.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetLookAheadSize.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMainCurrent.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMainCurrent.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMainCurrent.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMainPtr.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMainPtr.srv new file mode 100644 index 00000000..4a927407 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMainPtr.srv @@ -0,0 +1,5 @@ +int32 tid +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMainVoltage.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMainVoltage.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMainVoltage.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMasterBoardFirmwareVersion.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMasterBoardFirmwareVersion.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMasterBoardFirmwareVersion.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMasterBoardHardwareVersion.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMasterBoardHardwareVersion.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMasterBoardHardwareVersion.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMasterBoardUniqueId.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMasterBoardUniqueId.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMasterBoardUniqueId.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetModbusDeviceStatus.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetModbusDeviceStatus.srv new file mode 100644 index 00000000..0adc6b26 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetModbusDeviceStatus.srv @@ -0,0 +1,5 @@ +string device_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMotionLeftTime.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMotionLeftTime.srv new file mode 100644 index 00000000..2623a1be --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMotionLeftTime.srv @@ -0,0 +1,5 @@ +int32 id +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMountingPose.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMountingPose.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetMountingPose.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetName.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetName.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetName.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetNamedVariableType.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetNamedVariableType.srv new file mode 100644 index 00000000..e93f8854 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetNamedVariableType.srv @@ -0,0 +1,5 @@ +string key +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetOperationalMode.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetOperationalMode.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetOperationalMode.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPauseJointPositions.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPauseJointPositions.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPauseJointPositions.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPayload.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPayload.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPayload.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPayloadIdentifyResult.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPayloadIdentifyResult.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPayloadIdentifyResult.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPedestalFirmwareVersion.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPedestalFirmwareVersion.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPedestalFirmwareVersion.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPedestalHardwareVersion.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPedestalHardwareVersion.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPedestalHardwareVersion.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPedestalUniqueId.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPedestalUniqueId.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPedestalUniqueId.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPlanContext.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPlanContext.srv new file mode 100644 index 00000000..ae854729 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPlanContext.srv @@ -0,0 +1,5 @@ +int32 tid +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPreloadProgram.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPreloadProgram.srv new file mode 100644 index 00000000..278764f8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetPreloadProgram.srv @@ -0,0 +1,5 @@ +int32 index +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetProgress.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetProgress.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetProgress.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetQueueSize.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetQueueSize.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetQueueSize.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetResumeMode.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetResumeMode.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetResumeMode.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotBaseParent.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotBaseParent.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotBaseParent.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotConfiguration.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotConfiguration.srv new file mode 100644 index 00000000..4c36fd86 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotConfiguration.srv @@ -0,0 +1,5 @@ +float64[] q +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotControlMode.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotControlMode.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotControlMode.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotCurrent.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotCurrent.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotCurrent.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotEmergencyStopSource.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotEmergencyStopSource.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotEmergencyStopSource.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotModeType.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotModeType.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotModeType.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotSubType.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotSubType.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotSubType.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotType.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotType.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotType.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotVoltage.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotVoltage.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRobotVoltage.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRuntimeState.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRuntimeState.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetRuntimeState.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSafeguardStopSource.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSafeguardStopSource.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSafeguardStopSource.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSafeguardStopType.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSafeguardStopType.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSafeguardStopType.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSafetyModeType.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSafetyModeType.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSafetyModeType.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSafetyParametersCheckSum.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSafetyParametersCheckSum.srv new file mode 100644 index 00000000..71765cc9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSafetyParametersCheckSum.srv @@ -0,0 +1,4 @@ +--- +uint32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSelectedTcpForceSensorName.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSelectedTcpForceSensorName.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSelectedTcpForceSensorName.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetServoModeSelect.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetServoModeSelect.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetServoModeSelect.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlaveBoardFirmwareVersion.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlaveBoardFirmwareVersion.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlaveBoardFirmwareVersion.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlaveBoardHardwareVersion.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlaveBoardHardwareVersion.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlaveBoardHardwareVersion.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlaveBoardUniqueId.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlaveBoardUniqueId.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlaveBoardUniqueId.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlowDownFraction.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlowDownFraction.srv new file mode 100644 index 00000000..e2231c2f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlowDownFraction.srv @@ -0,0 +1,5 @@ +int32 level +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlowDownLevel.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlowDownLevel.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSlowDownLevel.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSpeedFraction.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSpeedFraction.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetSpeedFraction.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogInput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogInput.srv new file mode 100644 index 00000000..e6a4b090 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogInput.srv @@ -0,0 +1,5 @@ +int32 index +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogInputDomain.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogInputDomain.srv new file mode 100644 index 00000000..0830491f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogInputDomain.srv @@ -0,0 +1,5 @@ +int32 index +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogInputNum.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogInputNum.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogInputNum.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogOutput.srv new file mode 100644 index 00000000..e6a4b090 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogOutput.srv @@ -0,0 +1,5 @@ +int32 index +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogOutputDomain.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogOutputDomain.srv new file mode 100644 index 00000000..0830491f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogOutputDomain.srv @@ -0,0 +1,5 @@ +int32 index +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogOutputNum.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogOutputNum.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogOutputNum.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogOutputRunstate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogOutputRunstate.srv new file mode 100644 index 00000000..0830491f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardAnalogOutputRunstate.srv @@ -0,0 +1,5 @@ +int32 index +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalInput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalInput.srv new file mode 100644 index 00000000..2629b638 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalInput.srv @@ -0,0 +1,5 @@ +int32 index +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalInputAction.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalInputAction.srv new file mode 100644 index 00000000..0830491f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalInputAction.srv @@ -0,0 +1,5 @@ +int32 index +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalInputNum.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalInputNum.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalInputNum.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalInputs.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalInputs.srv new file mode 100644 index 00000000..71765cc9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalInputs.srv @@ -0,0 +1,4 @@ +--- +uint32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalOutput.srv new file mode 100644 index 00000000..2629b638 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalOutput.srv @@ -0,0 +1,5 @@ +int32 index +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalOutputNum.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalOutputNum.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalOutputNum.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalOutputRunstate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalOutputRunstate.srv new file mode 100644 index 00000000..0830491f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalOutputRunstate.srv @@ -0,0 +1,5 @@ +int32 index +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalOutputs.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalOutputs.srv new file mode 100644 index 00000000..71765cc9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStandardDigitalOutputs.srv @@ -0,0 +1,4 @@ +--- +uint32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStaticLinkInputNum.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStaticLinkInputNum.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStaticLinkInputNum.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStaticLinkInputs.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStaticLinkInputs.srv new file mode 100644 index 00000000..71765cc9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStaticLinkInputs.srv @@ -0,0 +1,4 @@ +--- +uint32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStaticLinkOutputNum.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStaticLinkOutputNum.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStaticLinkOutputNum.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStaticLinkOutputs.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStaticLinkOutputs.srv new file mode 100644 index 00000000..71765cc9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStaticLinkOutputs.srv @@ -0,0 +1,4 @@ +--- +uint32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStatus.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStatus.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetStatus.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetString.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetString.srv new file mode 100644 index 00000000..5cc9f0d0 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetString.srv @@ -0,0 +1,6 @@ +string key +string default_value +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTargetTcpPose.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTargetTcpPose.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTargetTcpPose.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTaskQueueSize.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTaskQueueSize.srv new file mode 100644 index 00000000..4a927407 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTaskQueueSize.srv @@ -0,0 +1,5 @@ +int32 tid +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForce.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForce.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForce.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceOffset.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceOffset.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceOffset.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceSensorNames.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceSensorNames.srv new file mode 100644 index 00000000..faa93f22 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceSensorNames.srv @@ -0,0 +1,4 @@ +--- +string[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceSensorPose.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceSensorPose.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceSensorPose.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceSensorStatus.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceSensorStatus.srv new file mode 100644 index 00000000..699bfd48 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceSensorStatus.srv @@ -0,0 +1,5 @@ +string name +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceSensors.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceSensors.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpForceSensors.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpMaxAccelerations.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpMaxAccelerations.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpMaxAccelerations.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpMaxLinearVelocity.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpMaxLinearVelocity.srv new file mode 100644 index 00000000..d3b6d184 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpMaxLinearVelocity.srv @@ -0,0 +1,4 @@ +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpMaxSpeeds.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpMaxSpeeds.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpMaxSpeeds.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpOffset.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpOffset.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpOffset.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpPose.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpPose.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpPose.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpSpeed.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpSpeed.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpSpeed.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpTargetForce.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpTargetForce.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpTargetForce.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpTargetPose.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpTargetPose.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpTargetPose.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpTargetSpeed.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpTargetSpeed.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTcpTargetSpeed.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTimer.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTimer.srv new file mode 100644 index 00000000..b5b31a5d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTimer.srv @@ -0,0 +1,5 @@ +string name +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogInput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogInput.srv new file mode 100644 index 00000000..e6a4b090 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogInput.srv @@ -0,0 +1,5 @@ +int32 index +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogInputDomain.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogInputDomain.srv new file mode 100644 index 00000000..0830491f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogInputDomain.srv @@ -0,0 +1,5 @@ +int32 index +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogInputNum.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogInputNum.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogInputNum.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogOutput.srv new file mode 100644 index 00000000..e6a4b090 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogOutput.srv @@ -0,0 +1,5 @@ +int32 index +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogOutputDomain.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogOutputDomain.srv new file mode 100644 index 00000000..0830491f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogOutputDomain.srv @@ -0,0 +1,5 @@ +int32 index +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogOutputNum.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogOutputNum.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogOutputNum.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogOutputRunstate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogOutputRunstate.srv new file mode 100644 index 00000000..0830491f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolAnalogOutputRunstate.srv @@ -0,0 +1,5 @@ +int32 index +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolButtonStatus.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolButtonStatus.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolButtonStatus.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolCommMode.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolCommMode.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolCommMode.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalInput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalInput.srv new file mode 100644 index 00000000..2629b638 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalInput.srv @@ -0,0 +1,5 @@ +int32 index +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalInputAction.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalInputAction.srv new file mode 100644 index 00000000..0830491f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalInputAction.srv @@ -0,0 +1,5 @@ +int32 index +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalInputNum.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalInputNum.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalInputNum.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalInputs.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalInputs.srv new file mode 100644 index 00000000..71765cc9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalInputs.srv @@ -0,0 +1,4 @@ +--- +uint32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalOutput.srv new file mode 100644 index 00000000..2629b638 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalOutput.srv @@ -0,0 +1,5 @@ +int32 index +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalOutputNum.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalOutputNum.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalOutputNum.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalOutputRunstate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalOutputRunstate.srv new file mode 100644 index 00000000..0830491f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalOutputRunstate.srv @@ -0,0 +1,5 @@ +int32 index +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalOutputs.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalOutputs.srv new file mode 100644 index 00000000..71765cc9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolDigitalOutputs.srv @@ -0,0 +1,4 @@ +--- +uint32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolFirmwareVersion.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolFirmwareVersion.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolFirmwareVersion.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolHardwareVersion.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolHardwareVersion.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolHardwareVersion.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolPose.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolPose.srv new file mode 100644 index 00000000..6d8b000a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolPose.srv @@ -0,0 +1,4 @@ +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolUniqueId.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolUniqueId.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolUniqueId.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolVoltageOutputDomain.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolVoltageOutputDomain.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetToolVoltageOutputDomain.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTrajectoryQueueSize.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTrajectoryQueueSize.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTrajectoryQueueSize.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTriggInterrupts.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTriggInterrupts.srv new file mode 100644 index 00000000..ed479d29 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetTriggInterrupts.srv @@ -0,0 +1,4 @@ +--- +int32[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetVecChar.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetVecChar.srv new file mode 100644 index 00000000..3497b312 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetVecChar.srv @@ -0,0 +1,6 @@ +string key +int8[] default_value +--- +int8[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetVecDouble.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetVecDouble.srv new file mode 100644 index 00000000..3bfb22ca --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetVecDouble.srv @@ -0,0 +1,6 @@ +string key +float64[] default_value +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetVecFloat.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetVecFloat.srv new file mode 100644 index 00000000..0650d4d8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetVecFloat.srv @@ -0,0 +1,6 @@ +string key +float32[] default_value +--- +float32[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetVecInt32.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetVecInt32.srv new file mode 100644 index 00000000..e5b76dcc --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetVecInt32.srv @@ -0,0 +1,6 @@ +string key +int32[] default_value +--- +int32[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetWatchDogAction.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetWatchDogAction.srv new file mode 100644 index 00000000..cc4e7aa9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetWatchDogAction.srv @@ -0,0 +1,5 @@ +string key +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetWatchDogTimeout.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetWatchDogTimeout.srv new file mode 100644 index 00000000..cc4e7aa9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetWatchDogTimeout.srv @@ -0,0 +1,5 @@ +string key +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetWorkObjectHold.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetWorkObjectHold.srv new file mode 100644 index 00000000..307f710a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GetWorkObjectHold.srv @@ -0,0 +1,4 @@ +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GotoLine.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GotoLine.srv new file mode 100644 index 00000000..6be5711e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/GotoLine.srv @@ -0,0 +1,5 @@ +int32 lineno +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HandguideMode.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HandguideMode.srv new file mode 100644 index 00000000..932c17aa --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HandguideMode.srv @@ -0,0 +1,6 @@ +int32[] freeaxes +float64[] feature +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasBaseForceSensor.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasBaseForceSensor.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasBaseForceSensor.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasEncoderSensor.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasEncoderSensor.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasEncoderSensor.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasItemOnConveyorToTrack.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasItemOnConveyorToTrack.srv new file mode 100644 index 00000000..5a69f93e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasItemOnConveyorToTrack.srv @@ -0,0 +1,5 @@ +int32 encoder_id +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasNamedVariable.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasNamedVariable.srv new file mode 100644 index 00000000..9a8d304e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasNamedVariable.srv @@ -0,0 +1,5 @@ +string key +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasTcpForceSensor.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasTcpForceSensor.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/HasTcpForceSensor.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InterpolatePose.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InterpolatePose.srv new file mode 100644 index 00000000..3787560c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InterpolatePose.srv @@ -0,0 +1,7 @@ +float64[] p1 +float64[] p2 +float64 alpha +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseKinematics.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseKinematics.srv new file mode 100644 index 00000000..e1fe7414 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseKinematics.srv @@ -0,0 +1,6 @@ +float64[] qnear +float64[] pose +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseKinematics1.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseKinematics1.srv new file mode 100644 index 00000000..f81acd23 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseKinematics1.srv @@ -0,0 +1,7 @@ +float64[] qnear +float64[] pose +float64[] tcp_offset +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseKinematicsAll.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseKinematicsAll.srv new file mode 100644 index 00000000..539dda09 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseKinematicsAll.srv @@ -0,0 +1,5 @@ +float64[] pose +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseKinematicsAll1.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseKinematicsAll1.srv new file mode 100644 index 00000000..2b7957c5 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseKinematicsAll1.srv @@ -0,0 +1,6 @@ +float64[] pose +float64[] tcp_offset +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseToolKinematics.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseToolKinematics.srv new file mode 100644 index 00000000..e1fe7414 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseToolKinematics.srv @@ -0,0 +1,6 @@ +float64[] qnear +float64[] pose +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseToolKinematicsAll.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseToolKinematicsAll.srv new file mode 100644 index 00000000..539dda09 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/InverseToolKinematicsAll.srv @@ -0,0 +1,5 @@ +float64[] pose +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsBackdriveEnabled.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsBackdriveEnabled.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsBackdriveEnabled.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsBlending.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsBlending.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsBlending.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsCollisionOccurred.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsCollisionOccurred.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsCollisionOccurred.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsCondFullfiled.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsCondFullfiled.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsCondFullfiled.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsConveyorTrackExceed.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsConveyorTrackExceed.srv new file mode 100644 index 00000000..5a69f93e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsConveyorTrackExceed.srv @@ -0,0 +1,5 @@ +int32 encoder_id +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsConveyorTrackSync.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsConveyorTrackSync.srv new file mode 100644 index 00000000..5a69f93e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsConveyorTrackSync.srv @@ -0,0 +1,5 @@ +int32 encoder_id +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsEndCollisionCheckEnabled.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsEndCollisionCheckEnabled.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsEndCollisionCheckEnabled.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsFcEnabled.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsFcEnabled.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsFcEnabled.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsFreedriveEnabled.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsFreedriveEnabled.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsFreedriveEnabled.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsHandguideEnabled.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsHandguideEnabled.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsHandguideEnabled.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsJointSoftServoEnabled.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsJointSoftServoEnabled.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsJointSoftServoEnabled.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsLinkModeEnabled.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsLinkModeEnabled.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsLinkModeEnabled.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsPowerOn.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsPowerOn.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsPowerOn.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsServoModeEnabled.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsServoModeEnabled.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsServoModeEnabled.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSimulationEnabled.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSimulationEnabled.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSimulationEnabled.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSoftFloatEnabled.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSoftFloatEnabled.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSoftFloatEnabled.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSpeedFractionCritical.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSpeedFractionCritical.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSpeedFractionCritical.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSteady.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSteady.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSteady.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSupportedTimeOptimal.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSupportedTimeOptimal.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSupportedTimeOptimal.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSyncMoveOn.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSyncMoveOn.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsSyncMoveOn.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsTaskAlive.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsTaskAlive.srv new file mode 100644 index 00000000..60180ff8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsTaskAlive.srv @@ -0,0 +1,5 @@ +int32 tid +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsTeachPendantEnabled.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsTeachPendantEnabled.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsTeachPendantEnabled.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsTimeOptimalEnabled.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsTimeOptimalEnabled.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsTimeOptimalEnabled.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsToolFlangeEnabled.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsToolFlangeEnabled.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsToolFlangeEnabled.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsToolIoInput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsToolIoInput.srv new file mode 100644 index 00000000..2629b638 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsToolIoInput.srv @@ -0,0 +1,5 @@ +int32 index +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsWithinSafetyLimits.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsWithinSafetyLimits.srv new file mode 100644 index 00000000..4034f697 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/IsWithinSafetyLimits.srv @@ -0,0 +1,4 @@ +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/JointOffsetDisable.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/JointOffsetDisable.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/JointOffsetDisable.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/JointOffsetEnable.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/JointOffsetEnable.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/JointOffsetEnable.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/JointOffsetSet.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/JointOffsetSet.srv new file mode 100644 index 00000000..efd0ef56 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/JointOffsetSet.srv @@ -0,0 +1,6 @@ +float64[] offset +int32 type +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/LoadProgram.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/LoadProgram.srv new file mode 100644 index 00000000..d57581b0 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/LoadProgram.srv @@ -0,0 +1,5 @@ +string program +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/LockRobotBrake.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/LockRobotBrake.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/LockRobotBrake.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusAddSignal.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusAddSignal.srv new file mode 100644 index 00000000..55843ae7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusAddSignal.srv @@ -0,0 +1,10 @@ +string device_info +int32 slave_number +int32 signal_address +int32 signal_type +string signal_name +bool sequential_mode +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusDeleteAllSignals.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusDeleteAllSignals.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusDeleteAllSignals.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusDeleteSignal.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusDeleteSignal.srv new file mode 100644 index 00000000..8ca5875f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusDeleteSignal.srv @@ -0,0 +1,5 @@ +string signal_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalError.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalError.srv new file mode 100644 index 00000000..8ca5875f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalError.srv @@ -0,0 +1,5 @@ +string signal_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalErrors.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalErrors.srv new file mode 100644 index 00000000..ed479d29 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalErrors.srv @@ -0,0 +1,4 @@ +--- +int32[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalIndex.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalIndex.srv new file mode 100644 index 00000000..8ca5875f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalIndex.srv @@ -0,0 +1,5 @@ +string signal_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalNames.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalNames.srv new file mode 100644 index 00000000..faa93f22 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalNames.srv @@ -0,0 +1,4 @@ +--- +string[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalStatus.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalStatus.srv new file mode 100644 index 00000000..8ca5875f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalStatus.srv @@ -0,0 +1,5 @@ +string signal_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalTypes.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalTypes.srv new file mode 100644 index 00000000..ed479d29 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalTypes.srv @@ -0,0 +1,4 @@ +--- +int32[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalValues.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalValues.srv new file mode 100644 index 00000000..ed479d29 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusGetSignalValues.srv @@ -0,0 +1,4 @@ +--- +int32[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSendCustomCommand.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSendCustomCommand.srv new file mode 100644 index 00000000..39e9adbd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSendCustomCommand.srv @@ -0,0 +1,8 @@ +string ip +int32 slave_number +int32 function_code +uint8[] data +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetDigitalInputAction.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetDigitalInputAction.srv new file mode 100644 index 00000000..43b01eb2 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetDigitalInputAction.srv @@ -0,0 +1,7 @@ +string robot_name +string signal_name +int32 action +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputRunstate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputRunstate.srv new file mode 100644 index 00000000..b91aca73 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputRunstate.srv @@ -0,0 +1,7 @@ +string robot_name +string signal_name +int32 runstate +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputSignal.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputSignal.srv new file mode 100644 index 00000000..72cab1dc --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputSignal.srv @@ -0,0 +1,6 @@ +string signal_name +uint16 value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputSignal1.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputSignal1.srv new file mode 100644 index 00000000..63af2003 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputSignal1.srv @@ -0,0 +1,6 @@ +string signal_name +uint16[] values +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputSignalPulse.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputSignalPulse.srv new file mode 100644 index 00000000..29451658 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputSignalPulse.srv @@ -0,0 +1,7 @@ +string signal_name +uint16 value +float64 duration +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputSignalWithTimeout.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputSignalWithTimeout.srv new file mode 100644 index 00000000..47b578ff --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetOutputSignalWithTimeout.srv @@ -0,0 +1,7 @@ +string signal_name +uint16 value +float64 timeout +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetSignalUpdateFrequency.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetSignalUpdateFrequency.srv new file mode 100644 index 00000000..1e6888ed --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ModbusSetSignalUpdateFrequency.srv @@ -0,0 +1,6 @@ +string signal_name +int32 update_frequency +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveCircle.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveCircle.srv new file mode 100644 index 00000000..ed5ceec8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveCircle.srv @@ -0,0 +1,10 @@ +float64[] via_pose +float64[] end_pose +float64 a +float64 v +float64 blend_radius +float64 duration +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveCircle2.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveCircle2.srv new file mode 100644 index 00000000..789b86d3 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveCircle2.srv @@ -0,0 +1,5 @@ +CircleParameters param +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveCircleWithAxisGroup.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveCircleWithAxisGroup.srv new file mode 100644 index 00000000..871c5df7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveCircleWithAxisGroup.srv @@ -0,0 +1,12 @@ +float64[] via_pose +float64[] end_pose +float64 a +float64 v +float64 blend_radius +float64 duration +string group_name +float64[] extq +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveIntersection.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveIntersection.srv new file mode 100644 index 00000000..70114191 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveIntersection.srv @@ -0,0 +1,11 @@ +Float64ArrayList poses +float64 a +float64 v +float64 main_pipe_radius +float64 sub_pipe_radius +float64 normal_distance +float64 normal_alpha +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveJoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveJoint.srv new file mode 100644 index 00000000..67dcbb25 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveJoint.srv @@ -0,0 +1,9 @@ +float64[] q +float64 a +float64 v +float64 blend_radius +float64 duration +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveJointWithAxisGroup.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveJointWithAxisGroup.srv new file mode 100644 index 00000000..1c9fdc18 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveJointWithAxisGroup.srv @@ -0,0 +1,11 @@ +float64[] q +float64 a +float64 v +float64 blend_radius +float64 duration +string group_name +float64[] extq +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveLine.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveLine.srv new file mode 100644 index 00000000..23935d67 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveLine.srv @@ -0,0 +1,9 @@ +float64[] pose +float64 a +float64 v +float64 blend_radius +float64 duration +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveLineWithAxisGroup.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveLineWithAxisGroup.srv new file mode 100644 index 00000000..5299b9bd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveLineWithAxisGroup.srv @@ -0,0 +1,11 @@ +float64[] pose +float64 a +float64 v +float64 blend_radius +float64 duration +string group_name +float64[] extq +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MovePathBuffer.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MovePathBuffer.srv new file mode 100644 index 00000000..6bf4dbfb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MovePathBuffer.srv @@ -0,0 +1,5 @@ +string name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveProcess.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveProcess.srv new file mode 100644 index 00000000..4d3cf4f3 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveProcess.srv @@ -0,0 +1,8 @@ +float64[] pose +float64 a +float64 v +float64 blend_radius +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveSpiral.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveSpiral.srv new file mode 100644 index 00000000..b3f04698 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveSpiral.srv @@ -0,0 +1,9 @@ +SpiralParameters param +float64 blend_radius +float64 v +float64 a +float64 t +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveSpline.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveSpline.srv new file mode 100644 index 00000000..f9f3b5e8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/MoveSpline.srv @@ -0,0 +1,8 @@ +float64[] q +float64 a +float64 v +float64 duration +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/NeedVibrationRecalib.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/NeedVibrationRecalib.srv new file mode 100644 index 00000000..ea636c95 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/NeedVibrationRecalib.srv @@ -0,0 +1,7 @@ +VibrationRecalibrationParameter param1 +VibrationRecalibrationParameter param2 +float64 threshold +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/NewTask.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/NewTask.srv new file mode 100644 index 00000000..9f930d10 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/NewTask.srv @@ -0,0 +1,5 @@ +bool daemon +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Nop.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Nop.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Nop.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Notify.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Notify.srv new file mode 100644 index 00000000..c78cf00b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Notify.srv @@ -0,0 +1,5 @@ +string msg +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBlend3Points.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBlend3Points.srv new file mode 100644 index 00000000..5138b2c5 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBlend3Points.srv @@ -0,0 +1,10 @@ +int32 type +float64[] q_start +float64[] q_via +float64[] q_to +float64 r +float64 d +--- +Float64ArrayList result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferAlloc.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferAlloc.srv new file mode 100644 index 00000000..a6fba2f1 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferAlloc.srv @@ -0,0 +1,7 @@ +string name +int32 type +int32 size +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferAppend.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferAppend.srv new file mode 100644 index 00000000..1003fc26 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferAppend.srv @@ -0,0 +1,6 @@ +string name +Float64ArrayList waypoints +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferEval.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferEval.srv new file mode 100644 index 00000000..bb6f462d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferEval.srv @@ -0,0 +1,8 @@ +string name +float64[] a +float64[] v +float64 t +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferFilter.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferFilter.srv new file mode 100644 index 00000000..96696a4a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferFilter.srv @@ -0,0 +1,8 @@ +string name +int32 order +float64 fd +float64 fs +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferFree.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferFree.srv new file mode 100644 index 00000000..6bf4dbfb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferFree.srv @@ -0,0 +1,5 @@ +string name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferList.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferList.srv new file mode 100644 index 00000000..faa93f22 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferList.srv @@ -0,0 +1,4 @@ +--- +string[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferValid.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferValid.srv new file mode 100644 index 00000000..699bfd48 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathBufferValid.srv @@ -0,0 +1,5 @@ +string name +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathMoveS.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathMoveS.srv new file mode 100644 index 00000000..76ba36dd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathMoveS.srv @@ -0,0 +1,6 @@ +Float64ArrayList qs +float64 d +--- +Float64ArrayList result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathMovej.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathMovej.srv new file mode 100644 index 00000000..a6bdf56b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathMovej.srv @@ -0,0 +1,9 @@ +float64[] q1 +float64 r1 +float64[] q2 +float64 r2 +float64 d +--- +Float64ArrayList result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetCoordinate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetCoordinate.srv new file mode 100644 index 00000000..30bcf853 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetCoordinate.srv @@ -0,0 +1,5 @@ +int32 ref_coord +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetDisable.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetDisable.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetDisable.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetEnable.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetEnable.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetEnable.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetLimits.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetLimits.srv new file mode 100644 index 00000000..35a95992 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetLimits.srv @@ -0,0 +1,6 @@ +float64 v +float64 a +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetSet.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetSet.srv new file mode 100644 index 00000000..efd0ef56 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetSet.srv @@ -0,0 +1,6 @@ +float64[] offset +int32 type +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetSupv.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetSupv.srv new file mode 100644 index 00000000..707a8c99 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PathOffsetSupv.srv @@ -0,0 +1,7 @@ +float64[] min +float64[] max +int32 strategy +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Pause.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Pause.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Pause.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PauseRecord.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PauseRecord.srv new file mode 100644 index 00000000..427998da --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PauseRecord.srv @@ -0,0 +1,5 @@ +bool pause +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PauseRecordCache.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PauseRecordCache.srv new file mode 100644 index 00000000..427998da --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PauseRecordCache.srv @@ -0,0 +1,5 @@ +bool pause +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PayloadCalculateFinished.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PayloadCalculateFinished.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PayloadCalculateFinished.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PayloadIdentify.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PayloadIdentify.srv new file mode 100644 index 00000000..917c6d46 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PayloadIdentify.srv @@ -0,0 +1,6 @@ +string data_no_payload +string data_with_payload +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PayloadIdentify1.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PayloadIdentify1.srv new file mode 100644 index 00000000..eec3efef --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PayloadIdentify1.srv @@ -0,0 +1,5 @@ +string file_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PayloadIdentifyTrajGenFinished.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PayloadIdentifyTrajGenFinished.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PayloadIdentifyTrajGenFinished.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Peek.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Peek.srv new file mode 100644 index 00000000..a9f1e80e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Peek.srv @@ -0,0 +1,6 @@ +uint64 num +uint64 last_time +--- +string[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Popup.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Popup.srv new file mode 100644 index 00000000..97b9e4ca --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Popup.srv @@ -0,0 +1,8 @@ +int32 level +string title +string msg +int32 mode +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseAdd.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseAdd.srv new file mode 100644 index 00000000..3fbef018 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseAdd.srv @@ -0,0 +1,6 @@ +float64[] p1 +float64[] p2 +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseAngleDistance.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseAngleDistance.srv new file mode 100644 index 00000000..9a71a02b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseAngleDistance.srv @@ -0,0 +1,6 @@ +float64[] p1 +float64[] p2 +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseDistance.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseDistance.srv new file mode 100644 index 00000000..9a71a02b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseDistance.srv @@ -0,0 +1,6 @@ +float64[] p1 +float64[] p2 +--- +float64 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseEqual.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseEqual.srv new file mode 100644 index 00000000..c34f90d8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseEqual.srv @@ -0,0 +1,7 @@ +float64[] p1 +float64[] p2 +float64 eps +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseInverse.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseInverse.srv new file mode 100644 index 00000000..e0cf036e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseInverse.srv @@ -0,0 +1,5 @@ +float64[] pose +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseRotation.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseRotation.srv new file mode 100644 index 00000000..f911eb02 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseRotation.srv @@ -0,0 +1,6 @@ +float64[] pose +float64[] rotv +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseSub.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseSub.srv new file mode 100644 index 00000000..3fbef018 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseSub.srv @@ -0,0 +1,6 @@ +float64[] p1 +float64[] p2 +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseTrans.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseTrans.srv new file mode 100644 index 00000000..b12feead --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseTrans.srv @@ -0,0 +1,6 @@ +float64[] pose_from +float64[] pose_from_to +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseTransInv.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseTransInv.srv new file mode 100644 index 00000000..d70d2fe4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PoseTransInv.srv @@ -0,0 +1,6 @@ +float64[] pose_from +float64[] pose_to_from +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Poweroff.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Poweroff.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Poweroff.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Poweron.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Poweron.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Poweron.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PreloadProgram.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PreloadProgram.srv new file mode 100644 index 00000000..1cc55b66 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/PreloadProgram.srv @@ -0,0 +1,6 @@ +int32 index +string program +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/QuaternionToRpy.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/QuaternionToRpy.srv new file mode 100644 index 00000000..5ba0228e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/QuaternionToRpy.srv @@ -0,0 +1,5 @@ +float64[] quant +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RecordCacheFree.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RecordCacheFree.srv new file mode 100644 index 00000000..6bf4dbfb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RecordCacheFree.srv @@ -0,0 +1,5 @@ +string name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ReleaseRobotBrake.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ReleaseRobotBrake.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ReleaseRobotBrake.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RemoveBreakPoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RemoveBreakPoint.srv new file mode 100644 index 00000000..6be5711e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RemoveBreakPoint.srv @@ -0,0 +1,5 @@ +int32 lineno +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResetDamping.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResetDamping.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResetDamping.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResetLpFilter.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResetLpFilter.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResetLpFilter.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResetTcpMaxLinearVelocity.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResetTcpMaxLinearVelocity.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResetTcpMaxLinearVelocity.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RestartInterfaceBoard.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RestartInterfaceBoard.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RestartInterfaceBoard.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RestoPath.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RestoPath.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RestoPath.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Resume.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Resume.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Resume.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeMoveJoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeMoveJoint.srv new file mode 100644 index 00000000..f9f3b5e8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeMoveJoint.srv @@ -0,0 +1,8 @@ +float64[] q +float64 a +float64 v +float64 duration +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeMoveLine.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeMoveLine.srv new file mode 100644 index 00000000..db2862f1 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeMoveLine.srv @@ -0,0 +1,8 @@ +float64[] pose +float64 a +float64 v +float64 duration +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeSpeedJoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeSpeedJoint.srv new file mode 100644 index 00000000..3c9682b5 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeSpeedJoint.srv @@ -0,0 +1,7 @@ +float64[] qd +float64 a +float64 t +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeSpeedLine.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeSpeedLine.srv new file mode 100644 index 00000000..328a78aa --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeSpeedLine.srv @@ -0,0 +1,7 @@ +float64[] xd +float64 a +float64 t +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeStopJoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeStopJoint.srv new file mode 100644 index 00000000..513dce41 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeStopJoint.srv @@ -0,0 +1,5 @@ +float64 acc +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeStopLine.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeStopLine.srv new file mode 100644 index 00000000..42dc41df --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ResumeStopLine.srv @@ -0,0 +1,6 @@ +float64 acc +float64 acc_rot +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RpyToQuaternion.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RpyToQuaternion.srv new file mode 100644 index 00000000..28171a0e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RpyToQuaternion.srv @@ -0,0 +1,5 @@ +float64[] rpy +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RunProgram.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RunProgram.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/RunProgram.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SelectBaseForceSensor.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SelectBaseForceSensor.srv new file mode 100644 index 00000000..6bf4dbfb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SelectBaseForceSensor.srv @@ -0,0 +1,5 @@ +string name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SelectTcpForceSensor.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SelectTcpForceSensor.srv new file mode 100644 index 00000000..6bf4dbfb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SelectTcpForceSensor.srv @@ -0,0 +1,5 @@ +string name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialClose.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialClose.srv new file mode 100644 index 00000000..3b549c5c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialClose.srv @@ -0,0 +1,5 @@ +string serial_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialOpen.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialOpen.srv new file mode 100644 index 00000000..61eb88aa --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialOpen.srv @@ -0,0 +1,9 @@ +string device +int32 baud +float32 stop_bits +int32 even +string serial_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialReadByte.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialReadByte.srv new file mode 100644 index 00000000..b3cb6e22 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialReadByte.srv @@ -0,0 +1,6 @@ +string variable +string serial_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialReadByteList.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialReadByteList.srv new file mode 100644 index 00000000..498e9ff9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialReadByteList.srv @@ -0,0 +1,7 @@ +int32 number +string variable +string serial_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialReadString.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialReadString.srv new file mode 100644 index 00000000..35f8cfb4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialReadString.srv @@ -0,0 +1,9 @@ +string variable +string serial_name +string prefix +string suffix +bool interpret_escape +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendAllString.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendAllString.srv new file mode 100644 index 00000000..ec92f908 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendAllString.srv @@ -0,0 +1,7 @@ +bool is_check +int8[] str +string serial_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendByte.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendByte.srv new file mode 100644 index 00000000..ad23a4bf --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendByte.srv @@ -0,0 +1,6 @@ +int8 value +string serial_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendInt.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendInt.srv new file mode 100644 index 00000000..0f26b11c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendInt.srv @@ -0,0 +1,6 @@ +int32 value +string serial_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendLine.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendLine.srv new file mode 100644 index 00000000..c18024a4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendLine.srv @@ -0,0 +1,6 @@ +string str +string serial_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendString.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendString.srv new file mode 100644 index 00000000..c18024a4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SerialSendString.srv @@ -0,0 +1,6 @@ +string str +string serial_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoCartesian.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoCartesian.srv new file mode 100644 index 00000000..ded6447f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoCartesian.srv @@ -0,0 +1,10 @@ +float64[] pose +float64 a +float64 v +float64 t +float64 lookahead_time +float64 gain +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoCartesianWithAxes.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoCartesianWithAxes.srv new file mode 100644 index 00000000..1a3ff415 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoCartesianWithAxes.srv @@ -0,0 +1,11 @@ +float64[] pose +float64[] extq +float64 a +float64 v +float64 t +float64 lookahead_time +float64 gain +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoCartesianWithAxisGroup.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoCartesianWithAxisGroup.srv new file mode 100644 index 00000000..bfcf0d8f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoCartesianWithAxisGroup.srv @@ -0,0 +1,12 @@ +float64[] pose +float64 a +float64 v +float64 t +float64 lookahead_time +float64 gain +string group_name +float64[] extq +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoJoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoJoint.srv new file mode 100644 index 00000000..b4e848f7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoJoint.srv @@ -0,0 +1,10 @@ +float64[] q +float64 a +float64 v +float64 t +float64 lookahead_time +float64 gain +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoJointWithAxes.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoJointWithAxes.srv new file mode 100644 index 00000000..d2d2eb9d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoJointWithAxes.srv @@ -0,0 +1,11 @@ +float64[] q +float64[] extq +float64 a +float64 v +float64 t +float64 lookahead_time +float64 gain +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoJointWithAxisGroup.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoJointWithAxisGroup.srv new file mode 100644 index 00000000..b6f345b8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ServoJointWithAxisGroup.srv @@ -0,0 +1,12 @@ +float64[] q +float64 a +float64 v +float64 t +float64 lookahead_time +float64 gain +string group_name +float64[] extq +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetAnalogOutputAfterEStopDefault.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetAnalogOutputAfterEStopDefault.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetAnalogOutputAfterEStopDefault.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBaseForceOffset.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBaseForceOffset.srv new file mode 100644 index 00000000..60951cbd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBaseForceOffset.srv @@ -0,0 +1,5 @@ +float64[] force_offset +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBool.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBool.srv new file mode 100644 index 00000000..97f2c140 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBool.srv @@ -0,0 +1,6 @@ +string key +bool value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBoolInput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBoolInput.srv new file mode 100644 index 00000000..803d3488 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBoolInput.srv @@ -0,0 +1,6 @@ +uint32 address +bool value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBoolOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBoolOutput.srv new file mode 100644 index 00000000..803d3488 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBoolOutput.srv @@ -0,0 +1,6 @@ +uint32 address +bool value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBreakPoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBreakPoint.srv new file mode 100644 index 00000000..6be5711e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetBreakPoint.srv @@ -0,0 +1,5 @@ +int32 lineno +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCirclePathMode.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCirclePathMode.srv new file mode 100644 index 00000000..3e9ac6c2 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCirclePathMode.srv @@ -0,0 +1,5 @@ +int32 mode +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCollisionLevel.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCollisionLevel.srv new file mode 100644 index 00000000..1e8aaa45 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCollisionLevel.srv @@ -0,0 +1,5 @@ +int32 level +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCollisionStopType.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCollisionStopType.srv new file mode 100644 index 00000000..1da8127f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCollisionStopType.srv @@ -0,0 +1,5 @@ +int32 type +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCollisionThreshold.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCollisionThreshold.srv new file mode 100644 index 00000000..4d1c365d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCollisionThreshold.srv @@ -0,0 +1,5 @@ +float64[] threshold +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondActive.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondActive.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondActive.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondAdvanced.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondAdvanced.srv new file mode 100644 index 00000000..ef9bf380 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondAdvanced.srv @@ -0,0 +1,7 @@ +string type +float64[] args +float64 timeout +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondCylinder.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondCylinder.srv new file mode 100644 index 00000000..bd660f70 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondCylinder.srv @@ -0,0 +1,8 @@ +float64[] axis +float64 radius +bool outside +float64 timeout +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondDistance.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondDistance.srv new file mode 100644 index 00000000..2ea718c2 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondDistance.srv @@ -0,0 +1,6 @@ +float64 distance +float64 timeout +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondForce.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondForce.srv new file mode 100644 index 00000000..815b3768 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondForce.srv @@ -0,0 +1,8 @@ +float64[] min +float64[] max +bool outside +float64 timeout +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondOrient.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondOrient.srv new file mode 100644 index 00000000..0bc27874 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondOrient.srv @@ -0,0 +1,9 @@ +float64[] frame +float64 max_angle +float64 max_rot +bool outside +float64 timeout +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondPlane.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondPlane.srv new file mode 100644 index 00000000..8a2b9b16 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondPlane.srv @@ -0,0 +1,6 @@ +float64[] plane +float64 timeout +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondSphere.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondSphere.srv new file mode 100644 index 00000000..10828a6c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondSphere.srv @@ -0,0 +1,8 @@ +float64[] center +float64 radius +bool outside +float64 timeout +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondTcpSpeed.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondTcpSpeed.srv new file mode 100644 index 00000000..815b3768 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetCondTcpSpeed.srv @@ -0,0 +1,8 @@ +float64[] min +float64[] max +bool outside +float64 timeout +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalInputAction.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalInputAction.srv new file mode 100644 index 00000000..4d087d51 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalInputAction.srv @@ -0,0 +1,6 @@ +int32 index +int32 action +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalOutput.srv new file mode 100644 index 00000000..b0958034 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalOutput.srv @@ -0,0 +1,6 @@ +int32 index +bool value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalOutputAfterEStop.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalOutputAfterEStop.srv new file mode 100644 index 00000000..b0958034 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalOutputAfterEStop.srv @@ -0,0 +1,6 @@ +int32 index +bool value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalOutputPulse.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalOutputPulse.srv new file mode 100644 index 00000000..c1147114 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalOutputPulse.srv @@ -0,0 +1,7 @@ +int32 index +bool value +float64 duration +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalOutputRunstate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalOutputRunstate.srv new file mode 100644 index 00000000..16be2877 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConfigurableDigitalOutputRunstate.srv @@ -0,0 +1,6 @@ +int32 index +int32 runstate +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackCompensate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackCompensate.srv new file mode 100644 index 00000000..52e8c85b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackCompensate.srv @@ -0,0 +1,6 @@ +int32 encoder_id +float64 comp +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackEncoder.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackEncoder.srv new file mode 100644 index 00000000..7134f078 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackEncoder.srv @@ -0,0 +1,6 @@ +int32 encoder_id +int32 tick_per_meter +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackLimit.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackLimit.srv new file mode 100644 index 00000000..10ae36d1 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackLimit.srv @@ -0,0 +1,6 @@ +int32 encoder_id +float64 limit +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackSensorOffset.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackSensorOffset.srv new file mode 100644 index 00000000..3c31505d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackSensorOffset.srv @@ -0,0 +1,6 @@ +int32 encoder_id +float64 offset +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackStartWindow.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackStartWindow.srv new file mode 100644 index 00000000..65fbd53e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackStartWindow.srv @@ -0,0 +1,7 @@ +int32 encoder_id +float64 window_min +float64 window_max +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackSyncSeparation.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackSyncSeparation.srv new file mode 100644 index 00000000..02e96d48 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetConveyorTrackSyncSeparation.srv @@ -0,0 +1,7 @@ +int32 encoder_id +float64 distance +float64 time +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDamping.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDamping.srv new file mode 100644 index 00000000..8c652245 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDamping.srv @@ -0,0 +1,6 @@ +float64[] damping +float64 ramp_time +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDigitalInputActionDefault.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDigitalInputActionDefault.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDigitalInputActionDefault.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDigitalOutputAfterEStopDefault.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDigitalOutputAfterEStopDefault.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDigitalOutputAfterEStopDefault.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDigitalOutputRunstateDefault.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDigitalOutputRunstateDefault.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDigitalOutputRunstateDefault.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDouble.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDouble.srv new file mode 100644 index 00000000..16e92949 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDouble.srv @@ -0,0 +1,6 @@ +string key +float64 value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDoubleInput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDoubleInput.srv new file mode 100644 index 00000000..96640fad --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDoubleInput.srv @@ -0,0 +1,6 @@ +uint32 address +float64 value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDoubleOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDoubleOutput.srv new file mode 100644 index 00000000..96640fad --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDoubleOutput.srv @@ -0,0 +1,6 @@ +uint32 address +float64 value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModel.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModel.srv new file mode 100644 index 00000000..5c1b71ed --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModel.srv @@ -0,0 +1,7 @@ +float64[] m +float64[] d +float64[] k +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModel1.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModel1.srv new file mode 100644 index 00000000..987a432e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModel1.srv @@ -0,0 +1,7 @@ +float64[] env_stiff +float64[] damp_scale +float64[] stiff_scale +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModelContact.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModelContact.srv new file mode 100644 index 00000000..987a432e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModelContact.srv @@ -0,0 +1,7 @@ +float64[] env_stiff +float64[] damp_scale +float64[] stiff_scale +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModelInsert.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModelInsert.srv new file mode 100644 index 00000000..fe608363 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModelInsert.srv @@ -0,0 +1,6 @@ +float64[] damp_scale +float64[] stiff_scale +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModelSearch.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModelSearch.srv new file mode 100644 index 00000000..fe608363 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetDynamicModelSearch.srv @@ -0,0 +1,6 @@ +float64[] damp_scale +float64[] stiff_scale +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetEncDecoderType.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetEncDecoderType.srv new file mode 100644 index 00000000..e30934bb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetEncDecoderType.srv @@ -0,0 +1,6 @@ +int32 type +int32 range_id +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetEncTickCount.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetEncTickCount.srv new file mode 100644 index 00000000..d0d3b60a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetEncTickCount.srv @@ -0,0 +1,5 @@ +int32 tick +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetEndPath.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetEndPath.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetEndPath.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetEqradius.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetEqradius.srv new file mode 100644 index 00000000..7d19ac7f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetEqradius.srv @@ -0,0 +1,5 @@ +float64 eqradius +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFloat.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFloat.srv new file mode 100644 index 00000000..9b3094fc --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFloat.srv @@ -0,0 +1,6 @@ +string key +float32 value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFloatInput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFloatInput.srv new file mode 100644 index 00000000..f005a73d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFloatInput.srv @@ -0,0 +1,6 @@ +uint32 address +float32 value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFloatOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFloatOutput.srv new file mode 100644 index 00000000..f005a73d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFloatOutput.srv @@ -0,0 +1,6 @@ +uint32 address +float32 value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFreedriveDamp.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFreedriveDamp.srv new file mode 100644 index 00000000..864daaac --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFreedriveDamp.srv @@ -0,0 +1,5 @@ +float64[] damp +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFuturePointSamplePeriod.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFuturePointSamplePeriod.srv new file mode 100644 index 00000000..b129f346 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetFuturePointSamplePeriod.srv @@ -0,0 +1,5 @@ +float64 sample_time +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetGravity.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetGravity.srv new file mode 100644 index 00000000..55341bb3 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetGravity.srv @@ -0,0 +1,5 @@ +float64[] gravity +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetHandguidDamp.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetHandguidDamp.srv new file mode 100644 index 00000000..864daaac --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetHandguidDamp.srv @@ -0,0 +1,5 @@ +float64[] damp +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetHandguideParams.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetHandguideParams.srv new file mode 100644 index 00000000..932c17aa --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetHandguideParams.srv @@ -0,0 +1,6 @@ +int32[] freeaxes +float64[] feature +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetHardwareCustomParameters.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetHardwareCustomParameters.srv new file mode 100644 index 00000000..f608e4c7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetHardwareCustomParameters.srv @@ -0,0 +1,5 @@ +string param +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetHomePosition.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetHomePosition.srv new file mode 100644 index 00000000..1029ecb4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetHomePosition.srv @@ -0,0 +1,5 @@ +float64[] positions +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt16Register.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt16Register.srv new file mode 100644 index 00000000..a1bb347c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt16Register.srv @@ -0,0 +1,6 @@ +uint32 address +int16 value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt16RegisterBit.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt16RegisterBit.srv new file mode 100644 index 00000000..91201423 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt16RegisterBit.srv @@ -0,0 +1,7 @@ +uint32 address +uint8 bit_offset +bool value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt32.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt32.srv new file mode 100644 index 00000000..84a03f63 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt32.srv @@ -0,0 +1,6 @@ +string key +int32 value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt32Input.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt32Input.srv new file mode 100644 index 00000000..c65315c3 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt32Input.srv @@ -0,0 +1,6 @@ +uint32 address +int32 value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt32Output.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt32Output.srv new file mode 100644 index 00000000..c65315c3 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetInt32Output.srv @@ -0,0 +1,6 @@ +uint32 address +int32 value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetKinematicsCompensate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetKinematicsCompensate.srv new file mode 100644 index 00000000..f1e0c0ab --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetKinematicsCompensate.srv @@ -0,0 +1,5 @@ +StringFloat64ArrayMap param +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetLabel.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetLabel.srv new file mode 100644 index 00000000..5df2456a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetLabel.srv @@ -0,0 +1,6 @@ +int32 tid +string lineno +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetLinkModeEnable.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetLinkModeEnable.srv new file mode 100644 index 00000000..2813e03d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetLinkModeEnable.srv @@ -0,0 +1,5 @@ +bool enable +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetLookAheadSize.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetLookAheadSize.srv new file mode 100644 index 00000000..1ff39f0b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetLookAheadSize.srv @@ -0,0 +1,5 @@ +int32 size +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetLpFilter.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetLpFilter.srv new file mode 100644 index 00000000..728a58f0 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetLpFilter.srv @@ -0,0 +1,5 @@ +float64[] cutoff_freq +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetMountingPose.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetMountingPose.srv new file mode 100644 index 00000000..02be3046 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetMountingPose.srv @@ -0,0 +1,5 @@ +float64[] pose +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetOperationalMode.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetOperationalMode.srv new file mode 100644 index 00000000..3e9ac6c2 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetOperationalMode.srv @@ -0,0 +1,5 @@ +int32 mode +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetPayload.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetPayload.srv new file mode 100644 index 00000000..b77eee11 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetPayload.srv @@ -0,0 +1,8 @@ +float64 m +float64[] cog +float64[] aom +float64[] inertia +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetPersistentParameters.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetPersistentParameters.srv new file mode 100644 index 00000000..f608e4c7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetPersistentParameters.srv @@ -0,0 +1,5 @@ +string param +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetPlanContext.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetPlanContext.srv new file mode 100644 index 00000000..91262c56 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetPlanContext.srv @@ -0,0 +1,7 @@ +int32 tid +int32 lineno +string comment +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetResumeStartPoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetResumeStartPoint.srv new file mode 100644 index 00000000..123c5b22 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetResumeStartPoint.srv @@ -0,0 +1,11 @@ +float64[] q +int32 move_type +float64 blend_radius +float64[] qdmax +float64[] qddmax +float64[] vmax +float64[] amax +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetResumeWait.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetResumeWait.srv new file mode 100644 index 00000000..e36c9c96 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetResumeWait.srv @@ -0,0 +1,5 @@ +bool wait +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetRobotZero.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetRobotZero.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetRobotZero.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetServoMode.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetServoMode.srv new file mode 100644 index 00000000..2813e03d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetServoMode.srv @@ -0,0 +1,5 @@ +bool enable +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetServoModeSelect.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetServoModeSelect.srv new file mode 100644 index 00000000..3e9ac6c2 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetServoModeSelect.srv @@ -0,0 +1,5 @@ +int32 mode +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSim.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSim.srv new file mode 100644 index 00000000..2813e03d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSim.srv @@ -0,0 +1,5 @@ +bool enable +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSlowDownFraction.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSlowDownFraction.srv new file mode 100644 index 00000000..87bce36c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSlowDownFraction.srv @@ -0,0 +1,6 @@ +int32 level +float64 fraction +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSoftFloatParams.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSoftFloatParams.srv new file mode 100644 index 00000000..74bce352 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSoftFloatParams.srv @@ -0,0 +1,10 @@ +bool joint_space +bool[] select +float64[] stiff_percent +float64[] stiff_damp_ratio +float64[] force_threshold +float64[] force_limit +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSpeedFraction.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSpeedFraction.srv new file mode 100644 index 00000000..3edecb86 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSpeedFraction.srv @@ -0,0 +1,5 @@ +float64 fraction +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogInputDomain.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogInputDomain.srv new file mode 100644 index 00000000..36614e26 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogInputDomain.srv @@ -0,0 +1,6 @@ +int32 index +int32 domain +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogOutput.srv new file mode 100644 index 00000000..551e9426 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogOutput.srv @@ -0,0 +1,6 @@ +int32 index +float64 value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogOutputAfterEStop.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogOutputAfterEStop.srv new file mode 100644 index 00000000..551e9426 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogOutputAfterEStop.srv @@ -0,0 +1,6 @@ +int32 index +float64 value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogOutputDomain.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogOutputDomain.srv new file mode 100644 index 00000000..36614e26 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogOutputDomain.srv @@ -0,0 +1,6 @@ +int32 index +int32 domain +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogOutputRunstate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogOutputRunstate.srv new file mode 100644 index 00000000..16be2877 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardAnalogOutputRunstate.srv @@ -0,0 +1,6 @@ +int32 index +int32 runstate +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalInputAction.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalInputAction.srv new file mode 100644 index 00000000..4d087d51 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalInputAction.srv @@ -0,0 +1,6 @@ +int32 index +int32 action +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalOutput.srv new file mode 100644 index 00000000..b0958034 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalOutput.srv @@ -0,0 +1,6 @@ +int32 index +bool value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalOutputAfterEStop.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalOutputAfterEStop.srv new file mode 100644 index 00000000..b0958034 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalOutputAfterEStop.srv @@ -0,0 +1,6 @@ +int32 index +bool value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalOutputPulse.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalOutputPulse.srv new file mode 100644 index 00000000..c1147114 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalOutputPulse.srv @@ -0,0 +1,7 @@ +int32 index +bool value +float64 duration +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalOutputRunstate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalOutputRunstate.srv new file mode 100644 index 00000000..16be2877 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetStandardDigitalOutputRunstate.srv @@ -0,0 +1,6 @@ +int32 index +int32 runstate +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetString.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetString.srv new file mode 100644 index 00000000..c2ce837b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetString.srv @@ -0,0 +1,6 @@ +string key +string value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvForce.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvForce.srv new file mode 100644 index 00000000..144eff36 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvForce.srv @@ -0,0 +1,6 @@ +float64[] min +float64[] max +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvOrient.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvOrient.srv new file mode 100644 index 00000000..1cb9a466 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvOrient.srv @@ -0,0 +1,8 @@ +float64[] frame +float64 max_angle +float64 max_rot +bool outside +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvPosBox.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvPosBox.srv new file mode 100644 index 00000000..bedc5edd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvPosBox.srv @@ -0,0 +1,6 @@ +float64[] frame +float64[] box +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvPosCylinder.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvPosCylinder.srv new file mode 100644 index 00000000..50b0b741 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvPosCylinder.srv @@ -0,0 +1,6 @@ +float64[] frame +float64[] cylinder +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvPosSphere.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvPosSphere.srv new file mode 100644 index 00000000..8d80d309 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvPosSphere.srv @@ -0,0 +1,6 @@ +float64[] frame +float64[] sphere +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvReoriSpeed.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvReoriSpeed.srv new file mode 100644 index 00000000..a1c82f1e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvReoriSpeed.srv @@ -0,0 +1,7 @@ +float64[] speed_limit +bool outside +float64 timeout +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvTcpSpeed.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvTcpSpeed.srv new file mode 100644 index 00000000..a1c82f1e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetSupvTcpSpeed.srv @@ -0,0 +1,7 @@ +float64[] speed_limit +bool outside +float64 timeout +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTargetForce.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTargetForce.srv new file mode 100644 index 00000000..4fd14a39 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTargetForce.srv @@ -0,0 +1,9 @@ +float64[] feature +bool[] compliance +float64[] wrench +float64[] limits +int32 type +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTcpForceOffset.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTcpForceOffset.srv new file mode 100644 index 00000000..60951cbd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTcpForceOffset.srv @@ -0,0 +1,5 @@ +float64[] force_offset +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTcpForceSensorPose.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTcpForceSensorPose.srv new file mode 100644 index 00000000..c8e1bee4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTcpForceSensorPose.srv @@ -0,0 +1,5 @@ +float64[] sensor_pose +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTcpMaxLinearVelocity.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTcpMaxLinearVelocity.srv new file mode 100644 index 00000000..b089c203 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTcpMaxLinearVelocity.srv @@ -0,0 +1,5 @@ +float64 v +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTcpOffset.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTcpOffset.srv new file mode 100644 index 00000000..c3a7b681 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTcpOffset.srv @@ -0,0 +1,5 @@ +float64[] offset +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTimeOptimalEnable.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTimeOptimalEnable.srv new file mode 100644 index 00000000..2813e03d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetTimeOptimalEnable.srv @@ -0,0 +1,5 @@ +bool enable +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolAnalogInputDomain.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolAnalogInputDomain.srv new file mode 100644 index 00000000..36614e26 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolAnalogInputDomain.srv @@ -0,0 +1,6 @@ +int32 index +int32 domain +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolAnalogOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolAnalogOutput.srv new file mode 100644 index 00000000..551e9426 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolAnalogOutput.srv @@ -0,0 +1,6 @@ +int32 index +float64 value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolAnalogOutputDomain.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolAnalogOutputDomain.srv new file mode 100644 index 00000000..36614e26 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolAnalogOutputDomain.srv @@ -0,0 +1,6 @@ +int32 index +int32 domain +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolAnalogOutputRunstate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolAnalogOutputRunstate.srv new file mode 100644 index 00000000..16be2877 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolAnalogOutputRunstate.srv @@ -0,0 +1,6 @@ +int32 index +int32 runstate +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolDigitalInputAction.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolDigitalInputAction.srv new file mode 100644 index 00000000..4d087d51 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolDigitalInputAction.srv @@ -0,0 +1,6 @@ +int32 index +int32 action +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolDigitalOutput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolDigitalOutput.srv new file mode 100644 index 00000000..b0958034 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolDigitalOutput.srv @@ -0,0 +1,6 @@ +int32 index +bool value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolDigitalOutputPulse.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolDigitalOutputPulse.srv new file mode 100644 index 00000000..c1147114 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolDigitalOutputPulse.srv @@ -0,0 +1,7 @@ +int32 index +bool value +float64 duration +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolDigitalOutputRunstate.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolDigitalOutputRunstate.srv new file mode 100644 index 00000000..16be2877 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolDigitalOutputRunstate.srv @@ -0,0 +1,6 @@ +int32 index +int32 runstate +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolInertial.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolInertial.srv new file mode 100644 index 00000000..7e5df87a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolInertial.srv @@ -0,0 +1,7 @@ +float64 m +float64[] com +float64[] inertial +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolIoInput.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolIoInput.srv new file mode 100644 index 00000000..d0fe8c11 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolIoInput.srv @@ -0,0 +1,6 @@ +int32 index +bool input +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolVoltageOutputDomain.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolVoltageOutputDomain.srv new file mode 100644 index 00000000..e0310eb3 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetToolVoltageOutputDomain.srv @@ -0,0 +1,5 @@ +int32 domain +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetUnlockProtectiveStop.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetUnlockProtectiveStop.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetUnlockProtectiveStop.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetVecChar.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetVecChar.srv new file mode 100644 index 00000000..3d0e3aff --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetVecChar.srv @@ -0,0 +1,6 @@ +string key +int8[] value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetVecDouble.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetVecDouble.srv new file mode 100644 index 00000000..09305316 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetVecDouble.srv @@ -0,0 +1,6 @@ +string key +float64[] value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetVecFloat.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetVecFloat.srv new file mode 100644 index 00000000..b4018011 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetVecFloat.srv @@ -0,0 +1,6 @@ +string key +float32[] value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetVecInt32.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetVecInt32.srv new file mode 100644 index 00000000..88fb9f05 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetVecInt32.srv @@ -0,0 +1,6 @@ +string key +int32[] value +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetWatchDog.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetWatchDog.srv new file mode 100644 index 00000000..61442690 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetWatchDog.srv @@ -0,0 +1,7 @@ +string key +float64 timeout +int32 action +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetWorkObjectData.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetWorkObjectData.srv new file mode 100644 index 00000000..aadcfd8b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetWorkObjectData.srv @@ -0,0 +1,5 @@ +WObjectData wobj +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetWorkObjectHold.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetWorkObjectHold.srv new file mode 100644 index 00000000..711c4c93 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SetWorkObjectHold.srv @@ -0,0 +1,6 @@ +string module_name +float64[] mounting_pose +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketClose.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketClose.srv new file mode 100644 index 00000000..c31b6788 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketClose.srv @@ -0,0 +1,5 @@ +string socket_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketHasConnected.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketHasConnected.srv new file mode 100644 index 00000000..a1e7fe86 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketHasConnected.srv @@ -0,0 +1,5 @@ +string socket_name +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketOpen.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketOpen.srv new file mode 100644 index 00000000..6bd236e7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketOpen.srv @@ -0,0 +1,7 @@ +string address +int32 port +string socket_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadAllString.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadAllString.srv new file mode 100644 index 00000000..4611fa3f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadAllString.srv @@ -0,0 +1,6 @@ +string variable +string socket_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadAsciiFloat.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadAsciiFloat.srv new file mode 100644 index 00000000..bcde36fd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadAsciiFloat.srv @@ -0,0 +1,7 @@ +int32 number +string variable +string socket_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadBinaryInteger.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadBinaryInteger.srv new file mode 100644 index 00000000..bcde36fd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadBinaryInteger.srv @@ -0,0 +1,7 @@ +int32 number +string variable +string socket_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadByteList.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadByteList.srv new file mode 100644 index 00000000..bcde36fd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadByteList.srv @@ -0,0 +1,7 @@ +int32 number +string variable +string socket_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadString.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadString.srv new file mode 100644 index 00000000..1fee1ed7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketReadString.srv @@ -0,0 +1,9 @@ +string variable +string socket_name +string prefix +string suffix +bool interpret_escape +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendAllString.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendAllString.srv new file mode 100644 index 00000000..5724cb24 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendAllString.srv @@ -0,0 +1,7 @@ +bool is_check +int8[] str +string socket_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendByte.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendByte.srv new file mode 100644 index 00000000..e4e6b141 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendByte.srv @@ -0,0 +1,6 @@ +int8 value +string socket_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendInt.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendInt.srv new file mode 100644 index 00000000..c3825b17 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendInt.srv @@ -0,0 +1,6 @@ +int32 value +string socket_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendLine.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendLine.srv new file mode 100644 index 00000000..cfd335bf --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendLine.srv @@ -0,0 +1,6 @@ +string str +string socket_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendString.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendString.srv new file mode 100644 index 00000000..cfd335bf --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SocketSendString.srv @@ -0,0 +1,6 @@ +string str +string socket_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SoftFloatDisable.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SoftFloatDisable.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SoftFloatDisable.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SoftFloatEnable.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SoftFloatEnable.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SoftFloatEnable.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedChangeDisable.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedChangeDisable.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedChangeDisable.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedChangeEnable.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedChangeEnable.srv new file mode 100644 index 00000000..a52f44a8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedChangeEnable.srv @@ -0,0 +1,5 @@ +float64 ref_force +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedChangeTune.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedChangeTune.srv new file mode 100644 index 00000000..f082d364 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedChangeTune.srv @@ -0,0 +1,6 @@ +int32 speed_levels +float64 speed_ratio_min +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedFractionCritical.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedFractionCritical.srv new file mode 100644 index 00000000..2813e03d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedFractionCritical.srv @@ -0,0 +1,5 @@ +bool enable +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedJoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedJoint.srv new file mode 100644 index 00000000..3c9682b5 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedJoint.srv @@ -0,0 +1,7 @@ +float64[] qd +float64 a +float64 t +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedLine.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedLine.srv new file mode 100644 index 00000000..328a78aa --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SpeedLine.srv @@ -0,0 +1,7 @@ +float64[] xd +float64 a +float64 t +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Start.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Start.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Start.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StartMove.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StartMove.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StartMove.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StartRecord.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StartRecord.srv new file mode 100644 index 00000000..eec3efef --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StartRecord.srv @@ -0,0 +1,5 @@ +string file_name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StartRecordCache.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StartRecordCache.srv new file mode 100644 index 00000000..6bf4dbfb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StartRecordCache.srv @@ -0,0 +1,5 @@ +string name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Startup.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Startup.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Startup.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Step.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Step.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Step.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Stop.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Stop.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Stop.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopJoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopJoint.srv new file mode 100644 index 00000000..513dce41 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopJoint.srv @@ -0,0 +1,5 @@ +float64 acc +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopLine.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopLine.srv new file mode 100644 index 00000000..42dc41df --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopLine.srv @@ -0,0 +1,6 @@ +float64 acc +float64 acc_rot +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopMove.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopMove.srv new file mode 100644 index 00000000..a277c8fc --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopMove.srv @@ -0,0 +1,6 @@ +bool quick +bool all_tasks +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopRecord.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopRecord.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopRecord.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopRecordCache.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopRecordCache.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StopRecordCache.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StorePath.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StorePath.srv new file mode 100644 index 00000000..9e8478b7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/StorePath.srv @@ -0,0 +1,5 @@ +bool keep_sync +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SwitchTask.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SwitchTask.srv new file mode 100644 index 00000000..4a927407 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SwitchTask.srv @@ -0,0 +1,5 @@ +int32 tid +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveOff.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveOff.srv new file mode 100644 index 00000000..8f268f46 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveOff.srv @@ -0,0 +1,5 @@ +string syncident +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveOn.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveOn.srv new file mode 100644 index 00000000..44110844 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveOn.srv @@ -0,0 +1,6 @@ +string syncident +string[] taskset +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveResume.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveResume.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveResume.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveSegment.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveSegment.srv new file mode 100644 index 00000000..6f15f740 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveSegment.srv @@ -0,0 +1,5 @@ +int32 id +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveSuspend.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveSuspend.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveSuspend.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveUndo.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveUndo.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/SyncMoveUndo.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TcpOffsetIdentify.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TcpOffsetIdentify.srv new file mode 100644 index 00000000..70090d2a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TcpOffsetIdentify.srv @@ -0,0 +1,5 @@ +Float64ArrayList poses +--- +string result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Textmsg.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Textmsg.srv new file mode 100644 index 00000000..c78cf00b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/Textmsg.srv @@ -0,0 +1,5 @@ +string msg +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TimerDelete.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TimerDelete.srv new file mode 100644 index 00000000..6bf4dbfb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TimerDelete.srv @@ -0,0 +1,5 @@ +string name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TimerReset.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TimerReset.srv new file mode 100644 index 00000000..6bf4dbfb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TimerReset.srv @@ -0,0 +1,5 @@ +string name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TimerStart.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TimerStart.srv new file mode 100644 index 00000000..6bf4dbfb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TimerStart.srv @@ -0,0 +1,5 @@ +string name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TimerStop.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TimerStop.srv new file mode 100644 index 00000000..6bf4dbfb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TimerStop.srv @@ -0,0 +1,5 @@ +string name +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ToolContact.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ToolContact.srv new file mode 100644 index 00000000..b10d3193 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ToolContact.srv @@ -0,0 +1,5 @@ +bool[] direction +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ToolSpaceInRange.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ToolSpaceInRange.srv new file mode 100644 index 00000000..249058d6 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ToolSpaceInRange.srv @@ -0,0 +1,5 @@ +float64[] pose +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TrackCartesian.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TrackCartesian.srv new file mode 100644 index 00000000..64f6fd28 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TrackCartesian.srv @@ -0,0 +1,8 @@ +float64[] pose +float64 t +float64 smooth_scale +float64 delay_sacle +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TrackJoint.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TrackJoint.srv new file mode 100644 index 00000000..16e6f255 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TrackJoint.srv @@ -0,0 +1,8 @@ +float64[] q +float64 t +float64 smooth_scale +float64 delay_sacle +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TransferRefFrame.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TransferRefFrame.srv new file mode 100644 index 00000000..72b63ca1 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TransferRefFrame.srv @@ -0,0 +1,7 @@ +float64[] f_b_a_old +float64[3] v_in_a +int32 type +--- +float64[] result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TriggBegin.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TriggBegin.srv new file mode 100644 index 00000000..99ff4adb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TriggBegin.srv @@ -0,0 +1,6 @@ +float64 distance +float64 delay +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TriggEnd.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TriggEnd.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TriggEnd.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TriggInterrupt.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TriggInterrupt.srv new file mode 100644 index 00000000..99ff4adb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/TriggInterrupt.srv @@ -0,0 +1,6 @@ +float64 distance +float64 delay +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/UnwindEncDeltaTickCount.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/UnwindEncDeltaTickCount.srv new file mode 100644 index 00000000..f784367f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/UnwindEncDeltaTickCount.srv @@ -0,0 +1,5 @@ +int32 delta_count +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ValidatePath.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ValidatePath.srv new file mode 100644 index 00000000..997dca0e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/ValidatePath.srv @@ -0,0 +1,10 @@ +int32 type +float64[] start +float64 r1 +float64[] end +float64 r2 +float64 d +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/VariableUpdated.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/VariableUpdated.srv new file mode 100644 index 00000000..bad98f67 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/VariableUpdated.srv @@ -0,0 +1,6 @@ +string key +uint64 since +--- +bool result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/WaitSyncTasks.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/WaitSyncTasks.srv new file mode 100644 index 00000000..44110844 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/WaitSyncTasks.srv @@ -0,0 +1,6 @@ +string syncident +string[] taskset +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/WeaveEnd.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/WeaveEnd.srv new file mode 100644 index 00000000..da36592c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/WeaveEnd.srv @@ -0,0 +1,4 @@ +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/WeaveStart.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/WeaveStart.srv new file mode 100644 index 00000000..2ed6313d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/WeaveStart.srv @@ -0,0 +1,5 @@ +string params +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/WeaveUpdateParameters.srv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/WeaveUpdateParameters.srv new file mode 100644 index 00000000..2ed6313d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/aubo_interfaces/srv/WeaveUpdateParameters.srv @@ -0,0 +1,5 @@ +string params +--- +int32 result +int32 code +string message diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/doc/error_code.md b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/doc/error_code.md new file mode 100644 index 00000000..9b197409 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/doc/error_code.md @@ -0,0 +1,555 @@ +--- +layout: doc +title: "错误码" +--- + +# 错误码 + +最后更新时间: 2026-06-29 + +## 系统错误 (0 - 102) + +| 错误码 | 名称 | 描述 | 描述(中文) | 建议 | +|--------|------|------|------------|------| +| 0 | `DEBUG` | Debug message {} | | | +| 1 | `POPUP` | Popup title: {}, msg: {}, mode: {} | | | +| 2 | `POPUP_DISMISS` | {} | | | +| 3 | `SYSTEM_HALT` | {} | | | +| 4 | `INV_ARGUMENTS` | Invalid arguments. | | | +| 5 | `USER_NOTIFY` | {} | | | +| 6 | `POPUP_DISMISS_BY_ID` | {} | | | +| 10 | `MODBUS_SIGNAL_CREATED` | Modbus signal {} created. | | | +| 11 | `MODBUS_SIGNAL_REMOVED` | Modbus signal {} removed. | | | +| 12 | `MODBUS_SIGNAL_VALUE_CHANGED` | Modbus signal {} value changed to {} | | | +| 13 | `RUNTIME_CONTEXT` | tid: {} lineno: {} index: {} comment: {} | | | +| 14 | `INTERP_CONTEXT` | tid: {} lineno: {} index: {} comment: {} | | | +| 15 | `PROGRAM_LOADED` | program loaded: {} | | | +| 16 | `TASK_DELETED` | tid: {} | | was deleted | +| 20 | `MODBUS_SLAVE_BIT` | Modbus slave address: {} value {} | | | +| 21 | `MODBUS_SLAVE_REG` | Modbus slave address: {} value {} | | | +| 30 | `PNIO_SLAVE_SLOT_VALUE` | PNIO slot: {} subslot {} index {} value {} | | | +| 31 | `PNIO_CONNECT_STATUS` | PNIO connection status changed to {} | | | +| 32 | `PNIO_DEVICE_NAME` | PNIO device name changed to {} | | | +| 33 | `PNIO_IP` | PNIO ip {} mask {} gateway {} | | | +| 40 | `ICM_SERVER_STATUS` | ICM server status changed to {} | | | +| 50 | `EIP_SLAVE_VALUE` | EIP slave: trans_type {} index {} value {} | | | +| 51 | `EIP_SLAVE_CONNECT_STATUS` | EIP slave connection status changed to {} | | | +| 100 | `LOG_PROGRAM_SUCCESS` | [{}] Load program {} successful | | | +| 101 | `LOG_PROGRAM_FAILED` | [{}] Load program {} failed, file not found | | | +| 102 | `LOG_PROGRAM_FAILED2` | [{}] Load program {} failed, configuration file (.ins) does not match | | | + +## 关节错误 (10001 - 10044) + +| 错误码 | 名称 | 描述 | 描述(中文) | 建议 | +|--------|------|------|------------|------| +| 10001 | `JOINT_ERR_OVER_CURRENET` | joint{} error: over current | | (a) Check for short circuit. (b) Do a Complete rebooting sequence. (c) If this happens more than two times in a row, replace joint | +| 10002 | `JOINT_ERR_OVER_VOLTAGE` | joint{} error: over voltage | | (a) Do a Complete rebooting sequence. (b) Check 48 V Power supply, current distributer, energy eater and Control Board for issues | +| 10003 | `JOINT_ERR_LOW_VOLTAGE` | joint{} error: low voltage | | (a) Do a Complete rebooting sequence. (b) Check for short circuit in robot arm. (c) Check 48 V Power supply, current distributer, energy eater and Control Board for issues | +| 10004 | `JOINT_ERR_OVER_TEMP` | joint{} error: over temperature | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10005 | `JOINT_ERR_HALL` | joint{} error: hall | | | +| 10006 | `JOINT_ERR_ENCODER` | joint{} error: encoder | | Check encoder connections | +| 10007 | `JOINT_ERR_ABS_ENCODER` | joint{} error: abs encoder | | | +| 10008 | `JOINT_ERR_Q_CURRENT` | joint{} error: detect current | | | +| 10009 | `JOINT_ERR_ENC_POLL` | joint{} error: encoder pollustion | | | +| 10010 | `JOINT_ERR_ENC_Z_SIGNAL` | joint{} error: enocder z signal | | | +| 10011 | `JOINT_ERR_ENC_CAL` | joint{} error: encoder calibrate | | | +| 10012 | `JOINT_ERR_IMU_SENS` | joint{} error: IMU sensor | | | +| 10013 | `JOINT_ERR_TEMP_SENS` | joint{} error: TEMP sensor | | | +| 10014 | `JOINT_ERR_CAN_BUS` | joint{} error: CAN bus error | | | +| 10015 | `JOINT_ERR_SYS_CUR` | joint{} error: system current error | | | +| 10016 | `JOINT_ERR_SYS_POS` | joint{} error: system position error | | | +| 10017 | `JOINT_ERR_OVER_SP` | joint{} error: over speed | | | +| 10018 | `JOINT_ERR_OVER_ACC` | joint{} error: over accelerate | | | +| 10019 | `JOINT_ERR_TRACE` | joint{} error: trace accuracy | | | +| 10020 | `JOINT_ERR_TAG_POS_OVER` | joint{} error: target position out of range | | | +| 10021 | `JOINT_ERR_TAG_SP_OVER` | joint{} error: target speed out of range | | | +| 10022 | `JOINT_ERR_COLLISION` | joint{} error: collision | | | +| 10023 | `JOINT_ERR_COMMON` | joint{} error: unkown error. Check communication with joint. | | | +| 10024 | `JOINT_ERR_SWITCH_SERVO_MODE` | joint{} error: switch servo mode timeout. | | | +| 10025 | `JOINT_ERR_MOTOR_STUCK` | joint{} error: motor stucked. | | | +| 10026 | `JOINT_ERR_REDUCER_OVER_TEMP` | joint{} error: reducer over temperature | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10027 | `JOINT_ERR_REDUCER_NTC` | joint{} error: reducer TEMP sensor failure | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10028 | `JOINT_ERR_ABS_MULTITURN` | joint{} error: absolute encoder multiturn error | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10029 | `JOINT_ERR_ADC_ZERO_OFFSET` | joint{} error: ADC zero offset failure | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10030 | `JOINT_ERR_SHORT_CIRCUIT` | joint{} error: short circuit | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10031 | `JOINT_ERR_PHASE_LOST` | joint{} error: motor phase lost | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10032 | `JOINT_ERR_BRAKE` | joint{} error: brake failure | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10033 | `JOINT_ERR_FIRMWARE_UPDATE` | joint{} error: firmware update failure | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10034 | `JOINT_ERR_BATTERY_LOW` | joint{} error: battery low | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10035 | `JOINT_ERR_PHASE_ALIGN` | joint{} error: phase align | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10036 | `JOINT_ERR_CAN_HW_FAULT` | joint{} error: CAN bus hw fault | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10037 | `JOINT_ERR_POS_DISCONTINUOUS` | joint{} error: target position discontinuous | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10038 | `JOINT_ERR_POS_INIT` | joint{} error: position initiallization failure | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10039 | `JOINT_ERR_TORQUE_SENSOR` | joint{} error: torqure sensor failure | | (a) Check robot’s environment and make sure the robot is operating within recommended limits. (b) Do a Complete rebooting sequence | +| 10040 | `JOINT_ERR_OFFLINE` | joint{} error: joint may be offline | | (a) Check joint's hardware. (b) Check joint's id. | +| 10041 | `JOINT_ERR_BOOTLOADER` | joint{} error: The joint is in bootloader mode. Retry firmware update. | | | +| 10042 | `JOINT_ERR_SLAVE_OFFLINE` | slave joint{} error: slave joint may be offline | | (a) Check slave joint's hardware. (b) Check slave joint's id. | +| 10043 | `JOINT_ERR_SLAVE_BOOTLOADER` | slave joint{} error: The slave joint is in bootloader mode. Retry firmware update. | | | +| 10044 | `JOINT_ERR_ETHERCAT_BUS` | joint{} error: ETHERCAT bus error | | | + +## 关节扩展错误 (10401 - 10800) + +| 错误码 | 名称 | 描述 | 描述(中文) | 建议 | +|--------|------|------|------------|------| +| 10401 | `EX_JOINT_EC_SHORT_CIRCUIT` | joint{} error: short circuit protection | | | +| 10402 | `EX_JOINT_EC_SHORT_CURRENT` | joint{} error: over current | | | +| 10403 | `EX_JOINT_EC_PHASEA_CURRENT` | joint{} error: phase A over current | | | +| 10404 | `EX_JOINT_EC_PHASEB_CURRENT` | joint{} error: phase B over current | | | +| 10405 | `EX_JOINT_EC_PHASEC_CURRENT` | joint{} error: phase C over current | | | +| 10406 | `EX_JOINT_EC_PHASE_CURRENT` | joint{} error: phase over current | | | +| 10407 | `EX_JOINT_EC_MOTOR_PHASE_LOSE` | joint{} error: motor phase loss | | | +| 10408 | `EX_JOINT_EC_BUS_OVER_VOLTAGE` | joint{} error: bus over voltage | | | +| 10409 | `EX_JOINT_EC_BUS_LOW_VOLTAGE` | joint{} error: bus under voltage | | | +| 10410 | `EX_JOINT_EC_OVERLOAD` | joint{} error: overload | | | +| 10411 | `EX_JOINT_EC_IPM_OVER_TEMP` | joint{} error: IPM over temperature | | | +| 10412 | `EX_JOINT_EC_REDUCER_OVER_TEMP` | joint{} error: reducer over temperature | | | +| 10413 | `EX_JOINT_EC_ADC_ZERO_OFFSET` | joint{} error: ADC zero offset | | | +| 10414 | `EX_JOINT_EC_REDUCER_NTC` | joint{} error: reducer NTC fault | | | +| 10415 | `EX_JOINT_EC_IPM_NTC` | joint{} error: IPM NTC fault | | | +| 10416 | `EX_JOINT_EC_TORQUE_SENSOR` | joint{} error: torque sensor fault | | | +| 10417 | `EX_JOINT_EC_TORQUE_SENSOR_COMM` | joint{} error: torque sensor communication fault | | | +| 10418 | `EX_JOINT_EC_MOTOR_ABS_ENC_COMM` | joint{} error: motor-side absolute encoder communication fault | | | +| 10419 | `EX_JOINT_EC_REDUCER_ABS_ENC_COMM` | joint{} error: reducer-side absolute encoder communication fault | | | +| 10420 | `EX_JOINT_EC_REDUCER_ABS_ENC_DATA` | joint{} error: reducer-side absolute encoder data channel disabled warning | | | +| 10421 | `EX_JOINT_EC_REDUCER_ABS_ENC_CMD` | joint{} error: reducer-side absolute encoder command invalid warning | | | +| 10422 | `EX_JOINT_EC_REDUCER_ABS_ENC_ERR` | joint{} error: reducer-side absolute encoder fault | | | +| 10423 | `EX_JOINT_EC_REDUCER_ABS_ENC_WARNING` | joint{} error: reducer-side absolute encoder warning | | | +| 10424 | `EX_JOINT_EC_BRAKE` | joint{} error: brake fault | | | +| 10425 | `EX_JOINT_EC_COMM_HWL` | joint{} error: communication hardware layer error | | | +| 10426 | `EX_JOINT_EC_FIRMWARE_UPDATE` | joint{} error: firmware update failed | | | +| 10427 | `EX_JOINT_EC_FLASH_OP` | joint{} error: flash operation failed | | | +| 10428 | `EX_JOINT_EC_MU_SAVE` | joint{} error: multi-turn data error | | | +| 10429 | `EX_JOINT_EC_DEMADATA_LOST` | joint{} error: calibration zero point data lost | | | +| 10430 | `EX_JOINT_EC_PARAMETER` | joint{} error: parameter error | | | +| 10431 | `EX_JOINT_EC_UVW_LOGIC` | joint{} error: hall signal fault | | | +| 10432 | `EX_JOINT_EC_UVW_ABZ` | joint{} error: incremental encoder fault | | | +| 10433 | `EX_JOINT_EC_ENC_Z_LOST` | joint{} error: encoder Z signal lost | | | +| 10434 | `EX_JOINT_EC_ENC_POLLUTE` | joint{} error: encoder pollution | | | +| 10435 | `EX_JOINT_EC_ENC_CALI` | joint{} error: encoder calibration failed | | | +| 10436 | `EX_JOINT_EC_MT_ABS_DATA` | joint{} error: multi-turn absolute data error | | | +| 10437 | `EX_JOINT_EC_ENC_TYPE_INFO` | joint{} error: encoder type identified and saved | | | +| 10438 | `EX_JOINT_EC_ENC_TYPE_ERROR` | joint{} error: encoder type error | | | +| 10439 | `EX_JOINT_EC_ENC_VERIFY` | joint{} error: encoder verification failed | | | +| 10440 | `EX_JOINT_EC_DUAL_ENC_ERROR` | joint{} error: dual encoder deviation too large | | | +| 10441 | `EX_JOINT_EC_DUAL_ENC_EANGLE` | joint{} error: dual encoder electrical angle deviation too large | | | +| 10442 | `EX_JOINT_EC_OBJECT_DICT_ERROR` | joint{} error: object dictionary data error | | | +| 10443 | `EX_JOINT_EC_MOTOR_STALL` | joint{} error: motor stall protection | | | +| 10444 | `EX_JOINT_EC_ABS_ENC_LOW_VOLT` | joint{} error: absolute encoder low voltage | | | +| 10445 | `EX_JOINT_EC_MT_BATTERY_LOW` | joint{} error: multi-turn battery low voltage | | | +| 10446 | `EX_JOINT_EC_POS_CMD` | joint{} error: position command discontinuous | | | +| 10447 | `EX_JOINT_EC_POS_OVER_LIMIT` | joint{} error: position over limit | | | +| 10448 | `EX_JOINT_EC_COMM_PROTO` | joint{} error: communication protocol layer error | | | +| 10449 | `EX_JOINT_EC_GRAVITY_PARA_WARNING` | joint{} error: gravity compensation parameter invalid | | | +| 10450 | `EX_JOINT_EC_GRAVITY_COMPENSATE_ERROR` | joint{} error: gravity compensation value sudden change | | | +| 10451 | `EX_JOINT_EC_LOW_RIGIDITY` | joint{} error: collision soft float abnormal | | | +| 10452 | `EX_JOINT_EC_POS_CMD_WARNING` | joint{} error: position command unchanged during motion | | | +| 10453 | `EX_JOINT_EC_SLAVE_COMM` | joint{} error: master-slave MCU communication fault | | | +| 10454 | `EX_JOINT_EC_POS_ERR` | joint{} error: position following error too large | | | +| 10455 | `EX_JOINT_EC_DUAL_POS_ERR` | joint{} error: dual servo position sync error too large | | | +| 10456 | `EX_JOINT_EC_DUAL_COMM_ERR` | joint{} error: dual servo communication | | | +| 10457 | `EX_JOINT_EC_CAN_BUSOFF` | joint{} error: CAN bus-off warning | | | +| 10458 | `EX_JOINT_EC_SYNC_SNAKE` | joint{} error: sync frame jitter warning | | | +| 10459 | `EX_JOINT_EC_SYNC_DISCON` | joint{} error: sync frame discontinuous warning | | | +| 10460 | `EX_JOINT_EC_RPDO_LOST` | joint{} error: RPDO lost warning | | | +| 10461 | `EX_JOINT_EC_RPDO_MANY` | joint{} error: multiple RPDO in one sync cycle warning | | | +| 10462 | `EX_JOINT_EC_GRAVITY_LOST` | joint{} error: gravity compensation value lost | | | +| 10463 | `EX_JOINT_EC_MAININT_TIME_WARN` | joint{} error: servo main interrupt runtime warning | | | +| 10464 | `EX_JOINT_EC_MAININT_TIME_ERROR` | joint{} error: servo main interrupt runtime error | | | +| 10465 | `EX_JOINT_EC_SPDINT_TIME_WARN` | joint{} error: servo speed loop interrupt runtime warning | | | +| 10466 | `EX_JOINT_EC_SPDINT_TIME_ERROR` | joint{} error: servo speed loop interrupt runtime error | | | +| 10467 | `EX_JOINT_EC_POS_CMD_JUMP_WARNING` | joint{} error: position command sudden jump during motion | | | +| 10468 | `EX_JOINT_EC_SYNC_TIMCOARSE` | joint{} error: clock sync compensation status | | | +| 10469 | `EX_JOINT_EC_ENC_Z_CNTS_ERR` | joint{} error: incremental encoder Z signal or CNTS abnormal | | | +| 10470 | `EX_JOINT_EC_SLAVE_OVER_CURRENT` | joint{} error: slave MCU detected motor phase current over safe threshold | | | +| 10471 | `EX_JOINT_EC_SLAVE_OVER_VOLTAGE` | joint{} error: slave MCU detected DC bus voltage over upper threshold | | | +| 10472 | `EX_JOINT_EC_SLAVE_UNDER_VOLTAGE` | joint{} error: slave MCU detected DC bus voltage below lower threshold | | | +| 10473 | `EX_JOINT_EC_SLAVE_POS_ERR` | joint{} error: slave MCU detected master-slave motor position deviation out of range | | | +| 10474 | `EX_JOINT_EC_SLAVE_SPEED_ERR` | joint{} error: slave MCU detected master-slave motor speed deviation out of range | | | +| 10475 | `EX_JOINT_EC_SLAVE_TRACE_ERR` | joint{} error: slave MCU detected position following error out of control range | | | +| 10476 | `EX_JOINT_EC_SLAVE_ABS_ERR` | joint{} error: slave MCU detected absolute encoder feedback abnormal | | | +| 10477 | `EX_JOINT_EC_SLAVE_ADC_ZERO_OFFSET` | joint{} error: slave MCU detected current sampling zero offset out of calibration range | | | +| 10478 | `EX_JOINT_EC_SLAVE_ENC_POLLUTE` | joint{} error: slave MCU detected encoder signal quality degradation | | | +| 10479 | `EX_JOINT_EC_SLAVE_ENC_Z_LOST` | joint{} error: slave MCU detected encoder Z reference signal lost | | | +| 10480 | `EX_JOINT_EC_SLAVE_COMM_OVER_TM` | joint{} error: slave MCU detected master-slave communication timeout | | | +| 10481 | `EX_JOINT_EC_SLAVE_TRQ_ERR` | joint{} error: slave MCU detected master-slave motor torque deviation out of range | | | +| 10482 | `EX_JOINT_EC_BRAKE_TYPE_ERR` | joint{} error: brake type config mismatch with hardware | | | +| 10483 | `EX_JOINT_EC_PHASE_ALIGN` | joint{} error: phase alignment failed | | | +| 10484 | `EX_JOINT_EC_POS_OVER_LIMIT_WARNING` | joint{} error: position over limit | | | +| 10485 | `EX_JOINT_EC_PHASE_ALIGN_WARNING` | joint{} error: phase alignment warning | | | +| 10486 | `EX_JOINT_EC_TASK_STACK_SHORTAGE` | joint{} error: task stack insufficient | | | +| 10487 | `EX_JOINT_EC_TASK_STACK_OVERFLOW` | joint{} error: task stack overflow | | | +| 10488 | `EX_JOINT_EC_SERVO_STEP` | joint{} servo process step | | For information only. No action required. | +| 10800 | `EX_JOINT_EC_UNKNOWN` | joint{} error: unknown error | | | + +## 扩展轴错误 (11001 - 11066) + +| 错误码 | 名称 | 描述 | 描述(中文) | 建议 | +|--------|------|------|------------|------| +| 11001 | `EXT_AXIS_ERR_COMMON` | ext axis{} error: common | | Check communication with ext axis drive. | +| 11002 | `EXT_AXIS_ERR_OVER_CURRENT` | ext axis{} error: over current | | Check wiring/short circuit; reboot; if repeated replace drive/motor. | +| 11003 | `EXT_AXIS_ERR_OVER_VOLTAGE` | ext axis{} error: over voltage | | Check DC supply, regen, energy eater; reboot. | +| 11004 | `EXT_AXIS_ERR_LOW_VOLTAGE` | ext axis{} error: low voltage | | Check DC supply and cabling; reboot. | +| 11005 | `EXT_AXIS_ERR_OVER_TEMP` | ext axis{} error: over temperature | | Check environment/cooling; reboot. | +| 11006 | `EXT_AXIS_ERR_HALL` | ext axis{} error: hall fault | | Check hall sensor and motor cabling. | +| 11007 | `EXT_AXIS_ERR_ENCODER` | ext axis{} error: encoder fault | | Check encoder connection/cable/noise. | +| 11008 | `EXT_AXIS_ERR_ABS_ENCODER` | ext axis{} error: absolute encoder fault | | Check abs encoder power/cable; reboot. | +| 11009 | `EXT_AXIS_ERR_CUR_CALIB` | ext axis{} error: current calibration fault | | Reboot; check current sensing circuit. | +| 11010 | `EXT_AXIS_ERR_Q_CURRENT` | ext axis{} error: current detect fault | | Reboot; check current sensing circuit. | +| 11011 | `EXT_AXIS_ERR_ENC_POLL` | ext axis{} error: encoder pollution | | Check encoder contamination/noise; improve shielding. | +| 11012 | `EXT_AXIS_ERR_ENC_Z_SIGNAL` | ext axis{} error: encoder Z signal fault | | Check encoder Z channel and wiring. | +| 11013 | `EXT_AXIS_ERR_ENC_CAL` | ext axis{} error: encoder calibrate invalid | | Redo calibration; check encoder. | +| 11014 | `EXT_AXIS_ERR_IMU` | ext axis{} error: IMU fault | | Check IMU sensor and connection. | +| 11015 | `EXT_AXIS_ERR_TEMP_SENSOR` | ext axis{} error: temperature sensor fault | | Check temp sensor wiring; reboot. | +| 11016 | `EXT_AXIS_ERR_ECAT_BUS` | ext axis{} error: EtherCAT bus error | | Check EtherCAT cabling/topology/sync; reboot master/drive. | +| 11017 | `EXT_AXIS_ERR_ECAT_CONFIG` | ext axis{} error: EtherCAT config/ESI/SM/PDO fault | | Check ESI, Mailbox/SM/PDO mapping, vendor/product/revision match. | +| 11018 | `EXT_AXIS_ERR_ECAT_SYNC` | ext axis{} error: EtherCAT sync/frame/period fault | | Check DC sync, cycle time, frame loss; verify NIC/IRQ affinity. | +| 11019 | `EXT_AXIS_ERR_SYS_CUR` | ext axis{} error: system current fault | | Check current loop and load; reboot. | +| 11020 | `EXT_AXIS_ERR_SYS_POS` | ext axis{} error: position out of range | | Check encoder/scale/limits; reboot. | +| 11021 | `EXT_AXIS_ERR_OVER_SPEED` | ext axis{} error: over speed | | Check command limits and tuning parameters. | +| 11022 | `EXT_AXIS_ERR_OVER_ACC` | ext axis{} error: over acceleration | | Reduce acceleration/jerk; check tuning. | +| 11023 | `EXT_AXIS_ERR_FOLLOW_ERROR` | ext axis{} error: following error | | Check gains, load, saturation; verify feedback. | +| 11024 | `EXT_AXIS_ERR_TAG_POS_OVER` | ext axis{} error: target position out of range | | Check target limits and homing. | +| 11025 | `EXT_AXIS_ERR_TAG_SPEED_OVER` | ext axis{} error: target speed out of range | | Clamp speed; check profile settings. | +| 11026 | `EXT_AXIS_ERR_TAG_CURRENT_OVER` | ext axis{} error: target current out of range | | Clamp current/torque; check load. | +| 11027 | `EXT_AXIS_ERR_COLLISION` | ext axis{} error: collision | | Remove obstruction; check torque/force limits. | +| 11028 | `EXT_AXIS_ERR_ADC_ZERO_OFFSET` | ext axis{} error: ADC zero offset | | Reboot; check ADC/current sensor offset. | +| 11029 | `EXT_AXIS_ERR_IPM_NTC` | ext axis{} error: IPM NTC fault | | Check power module temperature sensing. | +| 11030 | `EXT_AXIS_ERR_SHORT_CIRCUIT` | ext axis{} error: short circuit | | Check motor phase wiring; insulation test. | +| 11031 | `EXT_AXIS_ERR_MOTOR_STALL` | ext axis{} error: motor stall | | Check mechanical jam/load; reduce accel; reboot. | +| 11032 | `EXT_AXIS_ERR_ABS_MULTITURN` | ext axis{} error: abs encoder multiturn fault | | Check abs encoder battery/params; reboot. | +| 11033 | `EXT_AXIS_ERR_PHASE_LOST` | ext axis{} error: motor phase lost | | Check phase wiring/connector; measure continuity. | +| 11034 | `EXT_AXIS_ERR_BRAKE` | ext axis{} error: brake fault | | Check brake wiring/power; verify brake release. | +| 11035 | `EXT_AXIS_ERR_REDUCER_OVER_TEMP` | ext axis{} error: reducer over temperature | | Check reducer temperature/cooling. | +| 11036 | `EXT_AXIS_ERR_REDUCER_NTC` | ext axis{} error: reducer NTC fault | | Check reducer temperature sensor. | +| 11037 | `EXT_AXIS_ERR_FIRMWARE_UPDATE` | ext axis{} error: firmware update fault | | Retry update; check power stability. | +| 11038 | `EXT_AXIS_ERR_FLASH_OP` | ext axis{} error: flash operation fault | | Retry; if persistent replace drive. | +| 11039 | `EXT_AXIS_ERR_EXT_ABS_ENC` | ext axis{} error: motor-side abs encoder comm fault | | Check external abs encoder link/power. | +| 11040 | `EXT_AXIS_ERR_DRIVE_FAULT` | ext axis{} error: drive fault | | Check drive alarm code; reboot; replace if repeated. | +| 11041 | `EXT_AXIS_ERR_OVERLOAD` | ext axis{} error: overload | | Reduce load; check mechanics and tuning. | +| 11042 | `EXT_AXIS_ERR_HARDWARE_LIMIT` | ext axis{} error: hardware limit triggered | | Move away from limit; check limit switch. | +| 11043 | `EXT_AXIS_ERR_SERVO_MODE_TIMEOUT` | ext axis{} error: switch servo mode timeout | | Check mode transition and comm; reboot. | +| 11044 | `EXT_AXIS_ERR_UVW_ABZ` | ext axis{} error: UVW/ABZ fault | | Check phase/encoder signals wiring. | +| 11045 | `EXT_AXIS_ERR_BATTERY_LOW` | ext axis{} error: battery low | | Replace encoder battery; reboot. | +| 11046 | `EXT_AXIS_ERR_PHASE_ALIGN` | ext axis{} error: phase align fail | | Redo phase alignment; check motor params. | +| 11047 | `EXT_AXIS_ERR_POS_DISCONTINUOUS` | ext axis{} error: position command discontinuous | | Check trajectory generation and limits. | +| 11048 | `EXT_AXIS_ERR_POS_INIT` | ext axis{} error: position initialization failure | | Check encoder init/homing procedure. | +| 11049 | `EXT_AXIS_ERR_TORQUE_SENSOR` | ext axis{} error: torque sensor fault | | Check torque sensor wiring/calibration. | +| 11050 | `EXT_AXIS_ERR_ABS_ENC_LOW_VOLT` | ext axis{} error: abs encoder low voltage | | Check encoder supply voltage and cable. | +| 11051 | `EXT_AXIS_ERR_OFFLINE` | ext axis{} error: ext axis offline | | Check hardware and axis id; check EtherCAT state. | +| 11052 | `EXT_AXIS_ERR_BOOTLOADER` | ext axis{} error: ext axis in bootloader | | Retry firmware update. | +| 11053 | `EXT_AXIS_ERR_SLAVE_OFFLINE` | ext axis slave{} error: slave offline | | Check slave hardware and id. | +| 11054 | `EXT_AXIS_ERR_SLAVE_BOOTLOADER` | ext axis slave{} error: slave in bootloader | | Retry firmware update. | +| 11055 | `EXT_AXIS_ERR_EEPROM` | ext axis{} error: EEPROM/param store fault | | Check EEPROM/parameter storage; power cycle. | +| 11056 | `EXT_AXIS_ERR_PARAM_CONFIG` | ext axis{} error: parameter/config fault | | Verify parameter set; restore defaults if needed. | +| 11057 | `EXT_AXIS_ERR_STO` | ext axis{} error: STO safety fault | | Check STO wiring/safety chain; reset safety. | +| 11058 | `EXT_AXIS_ERR_ENCRYPT_CHIP` | ext axis{} error: encrypt chip/key fault | | Check encryption chip/keys/firmware compatibility. | +| 11059 | `EXT_AXIS_ERR_BRAKE_RES_OVERLOAD` | ext axis{} error: brake resistor overload | | Check brake resistor/regen circuit; duty cycle. | +| 11060 | `EXT_AXIS_ERR_POWER_LINE_OPEN` | ext axis{} error: motor power line open | | Check motor power cable continuity/connector. | +| 11061 | `EXT_AXIS_ERR_HOMING` | ext axis{} error: homing fault | | Check homing sensor/origin procedure; retry. | +| 11062 | `EXT_AXIS_ERR_TUNING_FAIL` | ext axis{} error: tuning fail | | Redo tuning; reduce resonance; check mechanics. | +| 11063 | `EXT_AXIS_ERR_INERTIA_ID_FAIL` | ext axis{} error: inertia identification fail | | Check load; redo inertia ID; adjust conditions. | +| 11064 | `EXT_AXIS_ERR_FLYAWAY` | ext axis{} error: flyaway | | Emergency stop; check feedback polarity/scale; inspect drive params. | +| 11065 | `EXT_AXIS_ERR_SPEED_PULSE_OVER` | ext axis{} error: feedback pulse overspeed | | Check encoder feedback and scaling; reduce speed. | +| 11066 | `EXT_AXIS_ERR_CTRL_LOOP` | ext axis{} error: control loop/timeout fault | | Check sampling/current loop/comm timeout; reboot. | + +## 安全接口板错误 (20001 - 20027) + +| 错误码 | 名称 | 描述 | 描述(中文) | 建议 | +|--------|------|------|------------|------| +| 20001 | `IFB_ERR_ROBOTTYPE` | Robot error type! | | | +| 20002 | `IFB_ERR_ADXL_SENS` | Base Acceleration sensor error! | | | +| 20003 | `IFB_ERR_EN_LINE` | Encoder line error! | | | +| 20004 | `IFB_ERR_ENTER_HDG_MODE` | Robot enter handguide mode! | | | +| 20005 | `IFB_ERR_EXIT_HDG_MODE` | Robot exit handguide mode! | | | +| 20006 | `IFB_ERR_MAC_DATA_BREAK` | MAC data break! | | | +| 20007 | `IFB_ERR_DRV_FIRMWARE_VERSION` | Motor driver firmware version error! | | | +| 20008 | `INIT_ERR_EN_DRV` | Motor driver enable failed! | | | +| 20009 | `INIT_ERR_EN_AUTO_BACK` | Motor driver enable auto back failed! | | | +| 20010 | `INIT_ERR_EN_CUR_LOOP` | Motor driver enable current loop failed! | | | +| 20011 | `INIT_ERR_SET_TAG_CUR` | Motor driver set target current failed! | | | +| 20012 | `INIT_ERR_RELEASE_BRAKE` | Motor driver release brake failed! | | | +| 20013 | `INIT_ERR_EN_POS_LOOP` | Motor driver enable postion loop failed! | | | +| 20014 | `INIT_ERR_SET_MAX_ACC` | Motor set max accelerate failed! | | | +| 20015 | `SAFETY_ERR_PROTECTION_STOP_TIMEOUT` | Protective stop timeout! | | | +| 20016 | `SAFETY_ERR_REDUCED_MODE_TIMEOUT` | Reduced mode timeout! | | | +| 20017 | `SYS_ERR_MCU_COM` | Robot system error: mcu communication error! | | | +| 20018 | `SYS_ERR_RS485_COM` | Robot system error: RS485 communication error! | | | +| 20019 | `IFB_ERR_DISCONNECTED` | Interface board may be disconnected. Please check connection between IPC and Interface board. | | | +| 20020 | `IFB_ERR_PAYLOAD_ERROR` | Payload error. | | | +| 20021 | `IFB_OFFLINE` | ifaceboard error: ifaceboard may be offline | | (a) Check ifaceboard's hardware. (b) Check ifaceboard's id. | +| 20022 | `IFB_ERR_BOOTLOADER` | ifaceboard error: The ifaceboard is in bootloader mode. Retry firmware update. | | | +| 20023 | `IFB_SLAVE_OFFLINE` | interface slave board error: interface slave board may be offline | | (a) Check interface slave board's hardware. (b) Check interface slave board's id. | +| 20024 | `IFB_SLAVE_ERR_BOOTLOADER` | interface slave board error: The interface slave board is in bootloader mode. Retry firmware update. | | | +| 20025 | `IFB_TOOL_ERR_ADXL_SENS` | Tool Acceleration sensor error! | | | +| 20026 | `HANDLE_OFFLINE` | handle error: handle may be offline | | (a) Check handle's hardware. (b) Check handle's id. | +| 20027 | `HANDLE_ERR_BOOTLOADER` | handle error: The handle is in bootloader mode. Retry firmware update. | | | + +## 运行时错误 (30001 - 30444) + +| 错误码 | 名称 | 描述 | 描述(中文) | 建议 | +|--------|------|------|------------|------| +| 30001 | `ROBOT_BE_PULLING` | Something is pulling the robot. | | Please check TCP configuration,payload and mounting settings | +| 30002 | `PSTOP_ELBOW_POS` | Protective Stop: Elbow position close to safety plane limits. | | Please move robot Elbow joint away from the safety plane | +| 30003 | `PSTOP_STOP_TIME` | Protective Stop: Exceeding user safety settings for stopping time. | | (a) Check speeds and accelerations in the program (b) Check usage of TCP,payload and CoG correctly (c) Check external equipmentactivation if correctly set | +| 30004 | `PSTOP_STOP_DISTANCE` | Protective Stop: Exceeding user safety settings for stopping distance. | | (a) Check speeds and accelerations in the program (b) Check usage of TCP,payload and CoG correctly (c) Check external equipmentactivation if correctly set | +| 30005 | `PSTOP_CLAMP` | Protective Stop: Danger of clamping between the Robot’s lower arm and tool. | | (a) Check speeds and accelerations in the program (b) Check usage of TCP,payload and CoG correctly (c) Check external equipmentactivation if correctly set | +| 30006 | `PSTOP_POS_LIMIT` | Protective Stop: Position close to joint limits | | | +| 30007 | `PSTOP_ORI_LIMIT` | Protective Stop: Tool orientation close to limits | | | +| 30008 | `PSTOP_PLANE_LIMIT` | Protective Stop: Position close to safety plane limits | | | +| 30009 | `PSTOP_POS_DEVIATE` | Protective Stop: Position deviates from path | | Check payload, center of gravity and acceleration settings. | +| 30010 | `JOINT_CHK_PAYLOAD` | Joint {}: Check payload, center of gravity and acceleration settings. Log screen may contain additional information. | | | +| 30011 | `PSTOP_SINGULARITY` | Protective Stop: Position in singularity. | | Please use MoveJ or change the motion | +| 30012 | `PSTOP_CANNOT_MAINTAIN` | Protective Stop: Robot cannot maintain its position, check if payload is correct | | | +| 30013 | `PSTOP_WRONG_PAYLOAD` | Protective Stop: Wrong payload or mounting detected, or something is pushing the robot when entering Freedrive mode | | Verify that the TCP configuration and mounting in the used installation is correct | +| 30014 | `PSTOP_JOINT_COLLISION` | Protective Stop: Collision detected by joint {} | | Make sure no objects are in the path of the robot and resume the program | +| 30015 | `PSTOP_POS_DISAGREE` | Protective stop: The robot was powered off last time due to a joint position disagreement. | | (a) Verify that the robot position in the 3D graphics matches the real robot, to ensure that the encoders function before releasing the brakes. Stand back and monitor the robot performing its first program cycle as expected. (b) If the position is not correct, the robot must be repaired. In this case, click Power Off Robot. (c) If the position is correct, please tick the check box below the 3D graphics and click Robot Position Verified | +| 30016 | `TARGET_JOINT_SPEED_EXCEED` | Target joint speed exceed limits | | | +| 30017 | `TARGET_POS_SUDDEN_CHG` | Sudden change in target position | | | +| 30018 | `SUDDEN_STOP` | Sudden stop. | | To abort a motion, use "stopj" or "stopl" script commands to generate a smooth deceleration before using "wait". Avoid aborting motions between waypoints with blend” | +| 30019 | `ROBOT_STOP_ABNORMAL` | Robot has not stopped in the allowed reaction and braking time | | | +| 30020 | `PROG_INVALID_SETP` | Robot program resulted in invalid setpoint. | | Please review waypoints in the program | +| 30021 | `BLEND_INVALID_SETP` | Blending failed and resulted in an invalid setpoint. | | Try changing the blend radius or contact technical support | +| 30022 | `APPROACH_SINGULARITY` | Robot approaching singularity – Acceleration threshold failed. | | Review waypoints in the program, try using MoveJ instead of MoveL in the position close to singularity | +| 30023 | `TSPEED_UNMATCH_POS` | Target speed does not match target position | | | +| 30024 | `INCONSIS_TPOS_SPD` | Inconsistency between target position and speed | | | +| 30025 | `JOINT_TSPD_UNMATCH_POS` | Target joint speed does not match target joint position change – Joint {} | | | +| 30026 | `FIELDBUS_INPUT_DISCONN` | Fieldbus input disconnected. | | Please check fieldbus connections (RTDE, ModBus, EtherNet/IP and Profinet) or disable the fieldbus in the installation. Check RTDE watchdog feature. Check if a URCap is using this feature. | +| 30027 | `OPMODE_CHANGED` | Operational mode changed: {} | | | +| 30028 | `NO_KIN_CALIB` | No Kinematic Calibration found (calibration.conf file is either corrupt or missing). | | A new kinematics calibration may be needed if the robot needs to improve its kinematics, otherwise, ignore this message) | +| 30029 | `KIN_CALIB_UNMATCH_JOINT` | Kinematic Calibration for the robot does not match the joint(s). | | If moving a program from a different robot to this one, rekinematic calibrate the second robot to improve kinematics, otherwise ignore this message. | +| 30030 | `KIN_CALIB_UNMATCH_ROBOT` | Kinematic Calibration does not match the robot. | | Please check if the serial number of the robot arm matches the Control Box | +| 30031 | `JOINT_OFFSET_CHANGED` | Large movement of the robot detected while it was powered off. The joints were moved while it was powered off, or the encoders do not function | | | +| 30032 | `OFFSET_CHANGE_HIGH` | Change in offset is too high | | | +| 30033 | `JOINT_SPEED_LIMIT` | Close to joint speed safety limit. | | Review program speed and acceleration | +| 30034 | `TOOL_SPEED_LIMIT` | Close to tool speed safety limit. | | Review program speed and acceleration | +| 30035 | `MOMENTUM_LIMIT` | Close to momentum safety limit. | | Review program speed and acceleration | +| 30036 | `ROBOT_MV_STOP` | Robot is moving when in Stop Mode | | | +| 30037 | `HAND_PROTECTION` | Hand protection: Tool is too close to the lower arm: {} meter. | | (a) Check wrist position. (b) Verify mounting (c) Do a Complete rebooting sequence (d) Update software (e) Contact your local AUBO Robots service provider for assistance | +| 30038 | `WRONG_SAFETYMODE` | Wrong safety mode: {} | | | +| 30039 | `SAFETYMODE_CHANGED` | Safety mode changed: {} | | | +| 30040 | `JOINT_ACC_LIMIT` | Close to joint acceleration safety limit | | | +| 30041 | `TOOL_ACC_LIMIT` | Close to tool acceleration safety limit | | | +| 30042 | `JOINT_TEMPERATURE_LIMIT` | Joint {} temperature too high(>{}℃) | | | +| 30043 | `CONTROL_BOX_TEMPERATURE_LIMIT` | Control box temperature too high(>{}℃) | | | +| 30044 | `ROBOT_EMERGENCY_STOP` | Robot emergency stop | | | +| 30045 | `ROBOTMODE_CHANGED` | Robot mode changed: {} | | | +| 30046 | `ROBOTMODE_ERROR` | Wrong robot mode: {} | | | +| 30047 | `POSE_OUT_OF_REACH` | Target pose [{}] out of reach | | | +| 30048 | `TP_PLAN_FAILED` | Trajectory plan FAILED. | | | +| 30049 | `START_FORCE_FAILED` | Start force control failed, because force sensor does not exist. | | | +| 30050 | `OVER_SAFE_PLANE_LIMIT` | {} axis exceeds the safety plane limit (Move_type:{} id:{}). | | Please move the robot to the safety plane range. | +| 30051 | `POWERON_FAIL_VIOLATION` | Failed to power on because the robot safety mode is in violation | | | +| 30052 | `POWERON_FAIL_SYSTEMEMERGENCYSTOP` | Failed to power on because the robot safety mode is in system emergency stop | | | +| 30053 | `POWERON_FAIL_ROBOTEMERGENCYSTOP` | Failed to power on because the robot safety mode is in robot emergency stop | | Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion | +| 30054 | `POWERON_FAIL_FAULT` | Failed to power on because the robot safety mode is in fault | | | +| 30055 | `STARTUP_FAIL_VIOLATION` | Failed to startup because the robot safety mode is in violation | | | +| 30056 | `STARTUP_FAIL_SYSTEMEMERGENCYSTOP` | Failed to startup because the robot safety mode is in system emergency stop | | | +| 30057 | `STARTUP_FAIL_ROBOTEMERGENCYSTOP` | Failed to startup because the robot safety mode is in robot emergency stop | | Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion | +| 30058 | `STARTUP_FAIL_FAULT` | Failed to startup because the robot safety mode is in fault | | | +| 30059 | `BACKDRIVE_FAIL_VIOLATION` | Failed to backdrive because the robot safety mode is in violation | | | +| 30060 | `BACKDRIVE_FAIL_SYSTEMEMERGENCYSTOP` | Failed to backdrive because the robot safety mode is in system emergency stop | | | +| 30061 | `BACKDRIVE_FAIL_ROBOTEMERGENCYSTOP` | Failed to backdrive because the robot safety mode is in robot emergency stop | | Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion | +| 30062 | `BACKDRIVE_FAIL_FAULT` | Failed to backdrive because the robot safety mode is in fault | | | +| 30063 | `SETSIM_FAIL_VIOLATION` | Switch sim mode failed because the robot safety mode is in violation | | | +| 30064 | `SETSIM_FAIL_SYSTEMEMERGENCYSTOP` | Switch sim mode failed because the robot safety mode is in system emergency stop | | | +| 30065 | `SETSIM_FAIL_ROBOTEMERGENCYSTOP` | Switch sim mode failed because the robot safety mode is in robot emergency stop | | Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion | +| 30066 | `SETSIM_FAIL_FAULT` | Switch sim mode failed because the robot safety mode is in fault | | | +| 30067 | `FREEDRIVE_FAIL_VIOLATION` | Enable handguide mode failed because the robot safety mode is in violation | | | +| 30068 | `FREEDRIVE_FAIL_SYSTEMEMERGENCYSTOP` | Enable handguide mode failed because the robot safety mode is in system emergency stop | | | +| 30069 | `FREEDRIVE_FAIL_ROBOTEMERGENCYSTOP` | Enable handguide mode failed because the robot safety mode is in robot emergency stop | | Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion | +| 30070 | `FREEDRIVE_FAIL_FAULT` | Enable handguide mode failed because the robot safety mode is in fault | | | +| 30071 | `UPFIRMWARE_FAIL_VIOLATION` | Firmware update failed because the robot safety mode is in violation | | | +| 30072 | `UPFIRMWARE_FAIL_SYSTEMEMERGENCYSTOP` | Firmware update failed because the robot safety mode is in system emergency stop | | | +| 30073 | `UPFIRMWARE_FAIL_ROBOTEMERGENCYSTOP` | Firmware update failed because the robot safety mode is in robot emergency stop | | Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion | +| 30074 | `UPFIRMWARE_FAIL_FAULT` | Firmware update failed because the robot safety mode is in fault | | | +| 30075 | `SETPERSOSTENT_FAIL_VIOLATION` | Set persistent parameter failed because the robot safety mode is in violation | | | +| 30076 | `SETPERSOSTENT_FAIL_SYSTEMEMERGENCYSTOP` | Set persistent parameter failed because the robot safety mode is in system emergency stop | | | +| 30077 | `SETPERSOSTENT_FAIL_ROBOTEMERGENCYSTOP` | Set persistent parameter failed because the robot safety mode is in robot emergency stop | | Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion | +| 30078 | `SETPERSOSTENT_FAIL_FAULT` | Set persistent parameter failed because the robot safety mode is in fault | | | +| 30079 | `SETPERSOSTENT_FAIL_PARAM_ERR` | Set persistent parameter failed | | (a) Check the parameter format, whether all are floating point numbers | +| 30080 | `ROBOT_CABLE_DISCONN` | Robot cable not connected | | (a) Make sure the cable between Control Box and Robot Arm is correctly connected and it has no damage. (b) Check for loose connections (c) Do a Complete rebooting sequence (d) Update software (e) Contact your local AUBO Robots service provider for assistance Contact your local AUBO Robots service provider for assistance. | +| 30081 | `TP_TOO_SHORT` | The generated trajectory is ignored because it is too short | | (a) Please check if the added waypoints are coincident (b) If it is an arc movement, please check whether the three points are collinear | +| 30082 | `INV_KIN_FAIL` | Inverse kinematics solution failed. The target pose may be in a singular position or exceed the joint limits | | (a) Change the target pose and try moving again | +| 30083 | `FREEDRIVE_ENABLED` | Freedrive status changed to {} | | | +| 30084 | `TP_INV_FAIL_REFERENCE_JOINT_OUT_OF_LIMIT` | Inverse kinematics solution failed. Reference angle [{}] exceeds joint limit [{}]. | | | +| 30085 | `TP_INV_FAIL_NO_SOLUTION` | Inverse kinematics solution failed. The reference angle [{}] and the target angle [{}] are used as parameters. there is no solution in the calculation of the inverse solution process. | | | +| 30086 | `SERVO_FAIL_VIOLATION` | Switch servo mode failed because the robot safety mode is in violation | | | +| 30087 | `SERVO_FAIL_SYSTEMEMERGENCYSTOP` | Switch servo mode failed because the robot safety mode is in system emergency stop | | | +| 30088 | `SERVO_FAIL_ROBOTEMERGENCYSTOP` | Switch servo mode failed because the robot safety mode is in robot emergency stop | | Pop up the red emergency stop button on the teach pendant when the robot is in a safe range of motion | +| 30089 | `SERVO_FAIL_FAULT` | Switch servo mode failed because the robot safety mode is in fault | | | +| 30090 | `FREEDRIVE_FAIL_NO_RUNNING` | Enable handguide mode failed because the robot mode type is {}(not running) | | | +| 30091 | `RUNTIME_MACHINE_ERROR` | The state of the running machine is {}, not {}. {} function execution failed because the state is wrong. | | | +| 30092 | `RESUME_FAR_PAUSE_PT` | Cannot resume from joint position [{}].\nToo far away from paused point [{}]. | | | +| 30093 | `PAYLOAD_LIGHTER_ERROR` | The payload setting is too small! | | | +| 30094 | `PAYLOAD_OVERLOAD_ERROR` | The payload setting is too large! | | | +| 30095 | `PAUSE_FAIL_NOT_POSITION_PLAN_MODE` | This motion does not support the pause function. The motion is stopping. | | | +| 30096 | `TP_PLAN_FAILED_CIRCULAR_WAYPOINTS_COINCIDE` | The planning failed because the three waypoints of the arc were determined to coincide. | | Check the circular waypoints to make sure they are different. | +| 30097 | `SERVO_WRONG_SAFETYMODE` | Switch servo mode failed because the robot safety mode is in {}. | | Check the circular waypoints to make sure they are different. | +| 30098 | `SET_PERSTPARAM_WRONG_SAFETYMODE` | Set persistent parameter failed because the robot safety mode is in {} | | | +| 30099 | `SET_KINPARAM_WRONG_SAFETYMODE` | Set Kinematics Compensate parameters failed because the robot safety mode is in {} | | | +| 30100 | `SET_ROBOT_ZERO_WRONG_SAFETYMODE` | Set current joint angles to zero failed because the robot safety mode is in {} | | | +| 30101 | `UPFIRMWARE_WRONG_SAFETYMODE` | Firmware update failed because the robot safety mode is in {} | | | +| 30102 | `POWERON_WRONG_SAFETYMODE` | Failed to power on because the robot safety mode is in {} | | | +| 30103 | `STARTUP_WRONG_SAFETYMODE` | Failed to startup because the robot safety mode is in {} | | | +| 30104 | `BACKDRIVE_WRONG_SAFETYMODE` | Failed to backdrive because the robot safety mode is in system emergency stop | | | +| 30105 | `SETSIM_WRONG_SAFETYMODE` | Switch sim mode failed because the robot safety mode is in violation | | | +| 30106 | `FREEDRIVE_WRONG_SAFETYMODE` | Enable handguide mode failed because the robot safety mode is in wrong safety mode: {} | | | +| 30107 | `TP_PLAN_FAILED_JOINT_JUMP_BIGGER` | Inverse kinematics solution failed. The target point and the current point are in different robot configuration spaces. | | Add a few more points between the target point and the current point. | +| 30108 | `RUN_PROGRAM_FAILED` | Run program {} failed. | | | +| 30109 | `FREEDRIVE_FAIL_WRONG_RTMSTATE` | Unable to enter the HandGuide mode as the robot is not currently in a stopped or paused state. | | | +| 30110 | `SAFEGUARDSTOP_CONFIGURABLE_INPUT` | Configurable safety input is triggered. | | | +| 30111 | `SAFEGUARDSTOP_3PE` | 3PE is triggered. | | | +| 30112 | `SAFEGUARDSTOP_SI` | SI0/SI1 is triggered. | | | +| 30200 | `ROBOT_TYPE_CHANGED` | Robot type changed to '{}', and robot subtype changed to '{}' | | | +| 30201 | `LINKMODE_CHANGED` | Link mode changed to {} | | | +| 30301 | `ROBOT_SELF_COLLISION` | Detect risk of robot self collision | | | +| 30302 | `CONSTANT_INVALID` | Joint torque constants are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake. | | | +| 30303 | `GRAVITY_INVALID` | Abnormal value of gravity acceleration sensor. HandGuide will be disabled, and the collision protection may be triggered by mistake. | | | +| 30304 | `DYNAMICS_INVALID` | Robot dynamics parameters are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake. | | | +| 30305 | `FRICTION_INVALID` | Joint friction parameters are invalid. HandGuide will be disabled, and the collision protection may be triggered by mistake. | | | +| 30306 | `HANDGUIDE_UNDER_DEVELOP` | Robot type of {} function under development. HandGuide will be disabled, and the collision protection may be triggered by mistake. | | | +| 30307 | `SLOW_DOWN_INFO` | Slow down level changed to {}({}%) | | | +| 30308 | `WRONG_JOINT_DESIGNED_LIMIT` | Joint designed ranges exceeds ranges read from hardware interface. | | | +| 30309 | `FREEDRIVE_IN_SIMULATION` | Enable handguide mode failed because the robot is in simulation mode. | | | +| 30310 | `ROBOT_STOPPING_TIMEOUT` | Robot stopping timeout. | | | +| 30311 | `PSTOP_INCORRECT_FORCE_OFFSET` | Protective Stop: Sudden change in force control target position. Force sensor offset may be incorrect or force sensor fault. | | | +| 30312 | `WRONG_JOINT_SAFETY_LIMIT` | Joint safety ranges exceeds designed ranges. | | | +| 30401 | `PSTOP_TCP_PLANE_VIOLATION` | Protective Stop: TCP position close to safety plane limits. | | | +| 30402 | `PSTOP_ELBOW_PLANE_VIOLATION` | Protective Stop: elbow position close to safety plane limits. | | | +| 30403 | `PSTOP_JOINT_TORQUE_VIOLATION` | Protective Stop: joint{} exceeds torque limit. | | | +| 30404 | `PSTOP_JOINT_POSITION_VIOLATION` | Protective Stop: joint{} exceeds position limit. | | | +| 30405 | `PSTOP_JOINT_SPEED_VIOLATION` | Protective Stop: joint{} exceeds speed limit. | | | +| 30406 | `PSTOP_TCP_SPEED_VIOLATION` | Protective Stop: TCP speed close to safety limits. | | | +| 30407 | `PSTOP_ELBOW_SPEED_VIOLATION` | Protective Stop: elbow speed close to safety limits. | | | +| 30408 | `PSTOP_TCP_FORCE_VIOLATION` | Protective Stop: TCP foece close to safety limits. | | | +| 30409 | `PSTOP_ELBOW_TORQUE_VIOLATION` | Protective Stop: elbow torque close to safety limits. | | | +| 30410 | `PSTOP_POWER_VIOLATION` | Protective Stop: robot power close to safety limits. | | | +| 30411 | `PSTOP_MOMENTUM_VIOLATION` | Protective Stop: robot momentum close to safety limits. | | | +| 30412 | `PSTOP_TCP_CUBE_VIOLATION` | Protective Stop: TCP position close to safety cube. | | | +| 30413 | `PSTOP_ELBOW_CUBE_VIOLATION` | Protective Stop: TCP position close to safety cube. | | | +| 30414 | `REDUCE_ELBOW_PLANE_TRIGGER` | Reduce mode: elbow close to safety plane triggers reduction mode. | | | +| 30415 | `REDUCE_TCP_PLANE_TRIGGER` | Reduce mode: TCP close to safety plane triggers reduction mode. | | | +| 30416 | `PSTOP_MOVE_OUT_RANGE` | Joint {} has exceeded the limit, please do not continue to move out of the range | | | +| 30417 | `RESUME_PAUSE_FAILED` | Resume Failed: Safety mode type is {} | | | +| 30418 | `FIRMWARE_UPDATE_FAIL_EMERGENCYSTOP` | Failed to firmware update because the robot safety mode is in {} | | Release emergency stop when the robot is in a safe range of motion | +| 30419 | `TOOL_SENSOR_CHANGED` | Tool sensor type changed to {} | | | +| 30420 | `TOOL_SENSOR_REMOVED` | Tool sensor is removed. | | | +| 30421 | `CAL_TARGET_CURRENT_ERR` | The calculation of the target current failed. Please try again later. | | | +| 30422 | `CONVEYOR_MODE_CHANGED` | Conveyor{}: track mode changed to {}, track item id is {} | | | +| 30423 | `CONVEYOR_ENQUEUE` | Conveyor{}: the queue has been changed, item{} is enqueue | | | +| 30424 | `CONVEYOR_DEQUEUE_FINISH` | Conveyor{}: the queue has been changed, item{} dequeue due to track finished | | | +| 30425 | `CONVEYOR_DEQUEUE_STARTWINDOW` | Conveyor{}: the queue has been changed, item{} dequeue due to exceeds startwindow | | | +| 30426 | `CONVEYOR_DEQUEUE_LIMIT` | Conveyor{}: the queue has been changed, item{} dequeue due to exceed limit area | | | +| 30427 | `CONVEYOR_DEQUEUE_CLEAR` | Conveyor{}: item queue is cleared | | | +| 30428 | `CONVEYOR_NEXT_TRACK` | Conveyor{}: item{} inside the start window that can be tracked | | | +| 30429 | `CONVEYOR_EXCEED_LIMIT` | Conveyor{}: item{} exceeds the limit area during tracking | | | +| 30430 | `WRONG_POWER_SAFETY_LIMIT` | Robot power safety value exceeds designed value. | | | +| 30431 | `WRONG_POWER_DESIGNED_LIMIT` | Power designed value exceeds value read from hardware interface. | | | +| 30432 | `TOOL_SENSOR_STATUS_CHANGED` | Tool sensor status changed to {} | | | +| 30433 | `COLLISION_THRESHOLD_INVALID` | Robot collision threshold parameters are invalid.Please reidentify the threshold or modify the configuration to ensure that it does not cause accidental collisions. | | | +| 30434 | `GRIPPER_DISCONNECT` | The gripper {} is disconnected. | | | +| 30435 | `GRIPPER_UNKNOWN_FAULT` | There is an unknown fault with the gripper {} | | | +| 30436 | `GRIPPER_CURRENT_ANOMALY_FAULT` | There is an abnormal current fault with the gripper {} | | | +| 30437 | `GRIPPER_VOLTAGE_ANOMALY_FAULT` | There is an abnormal voltage fault with the gripper {} | | | +| 30438 | `GRIPPER_OVER_TEMPERATURE_FAULT` | There is an over-temperature fault with the gripper {} | | | +| 30439 | `GRIPPER_INTERNAL_FAULT` | There is an internal fault with the gripper {} | | | +| 30440 | `GRIPPER_COMMUNICATION_FAULT` | There is an communication fault with the gripper {} | | | +| 30441 | `GRIPPER_CONTROL_COMMAND_FAULT` | There is an control command fault with the gripper {} | | | +| 30442 | `GRIPPER_ENABLE_FAULT` | There is an enable fault with the gripper {} | | | +| 30443 | `WRIST_SINGULARITY_RISK` | Wrist singularity detected. Linear motion may cause excessive joint speed.Adjust robot posture to avoid J5 near 0° or 180°, or use joint motion instead of linear motion. | | | +| 30444 | `PSTOP_PATH_OFFSET_OVER_LIMIT` | Protective Stop: the offset of the robot has exceeded the limit. | | | + +## 工具错误 (40001 - 40034) + +| 错误码 | 名称 | 描述 | 描述(中文) | 建议 | +|--------|------|------|------------|------| +| 40001 | `TOOL_FLASH_VERIFY_FAILED` | Flash write verify failed | | | +| 40002 | `TOOL_PROGRAM_CRC_FAILED` | Program flash checksum failed during bootloading | | | +| 40003 | `TOOL_PROGRAM_CRC_FAILED2` | Program flash checksum failed at runtime | | | +| 40004 | `TOOL_ID_UNDIFINED` | Tool ID is undefined | | | +| 40005 | `TOOL_ILLEGAL_BL_CMD` | Illegal bootloader command | | | +| 40006 | `TOOL_FW_WRONG` | Wrong firmware at the joint | | | +| 40007 | `TOOL_HW_INVALID` | Invalid hardware revision | | | +| 40011 | `TOOL_SHORT_CURCUIT_H` | Short circuit detected on Digital Output: {} high side | | | +| 40012 | `TOOL_SHORT_CURCUIT_L` | Short circuit detected on Digital Output: {} low side | | | +| 40013 | `TOOL_AVERAGE_CURR_HIGH` | 10 second Average tool IO Current of {} A is outside of the allowed range. | | | +| 40014 | `TOOL_POWER_PIN_OVER_CURR` | Current of {} A on the POWER pin is outside of the allowed range. | | | +| 40015 | `TOOL_DOUT_PIN_OVER_CURR` | Current of {} A on the Digital Output pins is outside of the allowed range. | | | +| 40016 | `TOOL_GROUND_PIN_OVER_CURR` | Current of {} A on the ground pin is outside of the allowed range. | | | +| 40021 | `TOOL_RX_FRAMING` | RX framing error | | | +| 40022 | `TOOL_RX_PARITY` | RX Parity error | | | +| 40031 | `TOOL_48V_LOW` | 48V input is too low | | | +| 40032 | `TOOL_48V_HIGH` | 48V input is too high | | | +| 40033 | `TOOL_ERR_OFFLINE` | tool error: tool may be offline | | (a) Check tool's hardware. (b) Check joint's id. | +| 40034 | `TOOL_ERR_BOOTLOADER` | tool error: The tool is in bootloader mode. Retry firmware update. | | | + +## 工具扩展错误 (40101 - 40200) + +| 错误码 | 名称 | 描述 | 描述(中文) | 建议 | +|--------|------|------|------------|------| +| 40101 | `EX_TOOL_EC_LOW_VOLTAGE` | tool error: low voltage | | check tool power supply voltage | +| 40102 | `EX_TOOL_EC_FORCESENSOR_COMM` | tool error: external force sensor communication error | | check external force sensor communication connection | +| 40103 | `EX_TOOL_485_SENDFULL_COMM` | tool error: 485 transparent transmission buffer full | | check 485 communication load and transmission frequency | +| 40104 | `EX_TOOL_FORCESENSOR_FILTER_ZERO` | tool error: force sensor filter parameter is zero | | check force sensor filter parameter configuration | +| 40200 | `EX_TOOL_EC_UNKNOWN` | tool error: unknown error | | check controller logs and hardware status | + +## 基座错误 (50001 - 50003) + +| 错误码 | 名称 | 描述 | 描述(中文) | 建议 | +|--------|------|------|------------|------| +| 50001 | `PKG_LOST` | Lost package from pedestal | | | +| 50002 | `PEDSTRAL_OFFLINE` | pedestal error: pedestal may be offline | | (a) Check pedestal's hardware. (b) Check pedestal's id. | +| 50003 | `PEDESTAL_ERR_BOOTLOADER` | pedestal error: The pedestal is in bootloader mode. Retry firmware update. | | | + +## 基座扩展错误 (50101 - 50200) + +| 错误码 | 名称 | 描述 | 描述(中文) | 建议 | +|--------|------|------|------------|------| +| 50101 | `EX_BASE_EC_LOW_VOLTAGE` | pedstral error: low voltage | | check power supply voltage and battery status | +| 50102 | `EX_BASE_EC_OVER_TEMPERATURE_RES` | pedstral error: resistor over temperature | | check braking resistor temperature and cooling condition | +| 50103 | `EX_BASE_EC_OVER_TARGET_BRAKE_OPEN_VOLT` | pedstral error: input voltage close to or exceeds regenerative brake activation voltage | | check input power voltage and regenerative braking configuration | +| 50104 | `EX_BASE_EC_RES_BREAKAGE` | pedstral error: brake resistor breakage | | check whether the brake resistor is disconnected or damaged | +| 50105 | `EX_BASE_EC_IMU_CALIBRATE` | pedstral error: IMU calibration required | | perform IMU calibration according to maintenance procedure | +| 50106 | `EX_BASE_EC_TEMP_SENSOR_SHORT` | pedstral error: temperature sensor short circuit | | check temperature sensor wiring and solder joints for short circuit | +| 50107 | `EX_BASE_EC_TEMP_SENSOR_BREAK` | pedstral error: temperature sensor open circuit | | check temperature sensor connection and cable continuity | +| 50108 | `EX_BASE_EC_96V_INSTANT_OVER_VOLTAGE` | pedstral error: 96V instantaneous over voltage after regenerative braking | | check regenerative braking behavior and power bus voltage | +| 50200 | `EX_BASE_EC_UNKNOWN` | pedstral error: unknown error | | check controller logs and hardware status | + +## 硬件接口错误 (60001 - 60080) + +| 错误码 | 名称 | 描述 | 描述(中文) | 建议 | +|--------|------|------|------------|------| +| 60001 | `HW_SCB_SETUP_FAILED` | Setup of Interface Board failed | | | +| 60002 | `HW_PKG_CNT_DISAGEE` | Packet counter disagreements | | | +| 60003 | `HW_SCB_DISCONNECT` | Connection to Interface Board lost | | | +| 60004 | `HW_SCB_PKG_LOST` | Package lost from Interface Board | | | +| 60005 | `HW_SCB_CONN_INIT_FAILED` | Ethernet connection initialization with Interface Board failed | | | +| 60006 | `HW_LOST_JOINT_PKG` | Lost package from joint {} | | | +| 60007 | `HW_LOST_TOOL_PKG` | Lost package from tool | | | +| 60008 | `HW_JOINT_PKG_CNT_DISAGREE` | Packet counter disagreement in packet from joint {} | | | +| 60009 | `HW_TOOL_PKG_CNT_DISAGREE` | Packet counter disagreement in packet from tool | | | +| 60011 | `HW_JOINTS_FAULT` | {} joint entered the Fault State | | | +| 60012 | `HW_JOINTS_VIOLATION` | {} joint entered the Violation State | | | +| 60013 | `HW_TP_FAULT` | Teach Pendant entered the Fault State | | | +| 60014 | `HW_TP_VIOLATION` | Teach Pendant entered the Violation State | | | +| 60021 | `HW_JOINT_MV_TOO_FAR` | {} joint moved too far before robot entered RUNNING State | | | +| 60022 | `HW_JOINT_STOP_NOT_FAST` | Joint Not stopping fast enough | | | +| 60023 | `HW_JOINT_MV_LIMIT` | Joint moved more than allowable limit | | | +| 60024 | `HW_FT_SENSOR_DATA_INVALID` | Force-Torque Sensor data invalid | | | +| 60025 | `HW_NO_FT_SENSOR` | Force-Torque sensor is expected, but it cannot be detected | | | +| 60026 | `HW_FT_SENSOR_NOT_CALIB` | Force-Torque sensor is detected but not calibrated | | | +| 60030 | `HW_RELEASE_BRAKE_FAILED` | Robot was not able to brake release, see log for details | | | +| 60040 | `HW_OVERCURR_SHUTDOWN` | Overcurrent shutdown | | | +| 60050 | `HW_ENERGEY_SURPLUS` | Energy surplus shutdown | | | +| 60060 | `HW_IDLE_POWER_HIGH` | Idle power consumption to high | | | +| 60071 | `HW_ENTER_COLLISION_TIMEOUT` | Enter collision stop procedure timeout | | | +| 60072 | `HW_POWERON_TIMEOUT` | Poweron robot timeout | | | +| 60073 | `HW_NO_NIC_FOUND` | No network cards found. | | | +| 60074 | `HW_IFB_NOT_FOUND` | No Interface Board found. | | | +| 60075 | `HW_IFB_BOOTLOAD` | The Interface Board is in bootloader mode. Update firmware firstly. | | | +| 60076 | `HW_TOOL_NOT_FOUND` | No Tool Board found. | | | +| 60077 | `HW_BASE_NOT_FOUND` | No Base Board found. | | | +| 60078 | `HW_BRINGUP_TIMEOUT` | Poweron robot timeout | | | +| 60079 | `HW_COLLISION_RECOVERY_FAILED` | Collision recovery failed | | | +| 60080 | `HW_TP_ENABLED` | Teach pendant enabled status changed to {} | | | + diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/doc/rtde_recipe.md b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/doc/rtde_recipe.md new file mode 100644 index 00000000..fe1023fe --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/doc/rtde_recipe.md @@ -0,0 +1,422 @@ +
+

Aubo Sdk RTDE Recipe

+
+ +## 输入菜单 +| 名称 | 数据类型 | 说明 | +| :----:| :----: | :----: | +|set_recipe|RtdeRecipe|Set | +|input_bit_registers0_to_31|int|General purpose bits This range of the boolean input registers is reserved forFieldBus/PLC interface usage.| +|input_bit_registers32_to_63|int|General purpose bits This range of the boolean input registers is reserved forFieldBus/PLC interface usage.| +|input_bit_registers64_to_127|int64_t|64 general purpose bits X: [64..127] - The upper range of the boolean input registers canbe used by external RTDE clients (i.e aubo_studio plugins).| +|input_int_registers_0|int|48 general purpose integer registers X: [0..23] - The lower range of the integer input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the integer input registers can be used byexternal RTDE clients (i.e aubo_studio plugins).| +|input_float_registers_0|float|48 general purpose integer registers X: [0..23] - The lower range of the integer input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the integer input registers can be used byexternal RTDE clients (i.e aubo_studio plugins).| +|input_double_registers_0|double|48 general purpose double registersX: [0..23] - The lower range of the double input registers is reserved for FieldBus/PLC interface usage.X: [24..47] - The upper range of the double input registers can be used by external RTDE clients (i.e aubo_studio plugins).| +|input_int16_registers_0|int16_t|| +|input_int16_registers0_to_63|std::vector|| +|pn_input_int16_registers_256_to_287|std::vector|32 PN specific int16 registers| +|pn_input_int16_registers_288_to_319|std::vector|32 PN specific int16 registers| +|eip_input_int16_registers_320_to_351|std::vector|32 EIP specific int16 registers| +|eip_input_int16_registers_352_to_383|std::vector|32 EIP specific int16 registers| +|R1_speed_slider_mask|double|0 = don't change speed slider with this input
= use speed_slider_fraction to set speed slider value| +|R1_speed_slider_fraction|double|new speed slider value | +|R1_standard_digital_output_mask|uint32_t|Standard digital outputs | +|R1_configurable_digital_output_mask|uint32_t|Configurable digital outputs| +|R1_standard_digital_output|uint32_t|Standard digital outputs | +|R1_configurable_digital_output|uint32_t|Configurable digital outputs| +|R1_tool_digital_output|uint32_t|Tool digital outputs
its 0-1: output state, remaining bits are reserved for future use| +|R1_standard_analog_output_type|std::vector|Output domain {0=current[A], 1=voltage[V]}
Bits 0-1: standard_analog_output_0 | standard_analog_output_1| +|R1_standard_analog_output_mask|uint32_t|Standard analog output 0 (ratio) [0..1] | +|R1_standard_analog_output|std::vector|Standard analog output 1 (ratio) [0..1] | +|R1_debug|uint32_t|Debug for internal use | +|R1_tool_digital_output_mask|uint32_t|Tool digital outputs mask| +|R1_rtde_input_max|int|| +|R2_speed_slider_mask|double|0 = don't change speed slider with this input
= use speed_slider_fraction to set speed slider value| +|R2_speed_slider_fraction|double|new speed slider value | +|R2_standard_digital_output_mask|uint32_t|Standard digital outputs | +|R2_configurable_digital_output_mask|uint32_t|Configurable digital outputs| +|R2_standard_digital_output|uint32_t|Standard digital outputs | +|R2_configurable_digital_output|uint32_t|Configurable digital outputs| +|R2_tool_digital_output|uint32_t|Tool digital outputs
its 0-1: output state, remaining bits are reserved for future use| +|R2_standard_analog_output_type|std::vector|Output domain {0=current[A], 1=voltage[V]}
Bits 0-1: standard_analog_output_0 | standard_analog_output_1| +|R2_standard_analog_output_mask|uint32_t|Standard analog output 0 (ratio) [0..1] | +|R2_standard_analog_output|std::vector|Standard analog output 1 (ratio) [0..1] | +|R2_debug|uint32_t|Debug for internal use | +|R2_tool_digital_output_mask|uint32_t|Tool digital outputs mask| +|R2_rtde_input_max|int|| +|R3_speed_slider_mask|double|0 = don't change speed slider with this input
= use speed_slider_fraction to set speed slider value| +|R3_speed_slider_fraction|double|new speed slider value | +|R3_standard_digital_output_mask|uint32_t|Standard digital outputs | +|R3_configurable_digital_output_mask|uint32_t|Configurable digital outputs| +|R3_standard_digital_output|uint32_t|Standard digital outputs | +|R3_configurable_digital_output|uint32_t|Configurable digital outputs| +|R3_tool_digital_output|uint32_t|Tool digital outputs
its 0-1: output state, remaining bits are reserved for future use| +|R3_standard_analog_output_type|std::vector|Output domain {0=current[A], 1=voltage[V]}
Bits 0-1: standard_analog_output_0 | standard_analog_output_1| +|R3_standard_analog_output_mask|uint32_t|Standard analog output 0 (ratio) [0..1] | +|R3_standard_analog_output|std::vector|Standard analog output 1 (ratio) [0..1] | +|R3_debug|uint32_t|Debug for internal use | +|R3_tool_digital_output_mask|uint32_t|Tool digital outputs mask| +|R3_rtde_input_max|int|| +|R4_speed_slider_mask|double|0 = don't change speed slider with this input
= use speed_slider_fraction to set speed slider value| +|R4_speed_slider_fraction|double|new speed slider value | +|R4_standard_digital_output_mask|uint32_t|Standard digital outputs | +|R4_configurable_digital_output_mask|uint32_t|Configurable digital outputs| +|R4_standard_digital_output|uint32_t|Standard digital outputs | +|R4_configurable_digital_output|uint32_t|Configurable digital outputs| +|R4_tool_digital_output|uint32_t|Tool digital outputs
its 0-1: output state, remaining bits are reserved for future use| +|R4_standard_analog_output_type|std::vector|Output domain {0=current[A], 1=voltage[V]}
Bits 0-1: standard_analog_output_0 | standard_analog_output_1| +|R4_standard_analog_output_mask|uint32_t|Standard analog output 0 (ratio) [0..1] | +|R4_standard_analog_output|std::vector|Standard analog output 1 (ratio) [0..1] | +|R4_debug|uint32_t|Debug for internal use | +|R4_tool_digital_output_mask|uint32_t|Tool digital outputs mask| +|R4_rtde_input_max|int|| +## 输出菜单 +| 名称 | 数据类型 | 说明 | +| :----:| :----: | :----: | +|timestamp|double|Time elapsed since the controller was started [s]| +|line_number|int|line number set by setPlanContext| +|runtime_state|RuntimeState|Program state| +|output_bit_registers_0_to_63|int64_t|64 [000..063] General purpose bits| +|output_bit_registers_64_to_127|int64_t|64 [064..127] general purpose bits| +|output_int_registers_0|int|48 general purpose integer registersX: [0..23] - The lower range of the integer output registers isreserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer output registers can be used by external RTDE clients (i.e aubo_studio plugins).| +|output_float_registers_0|int|48 general purpose integer registersX: [0..23] - The lower range of the integer output registers isreserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer output registers can be used by external RTDE clients (i.e aubo_studio plugins).| +|output_double_registers_0|double|48 general purpose double registersX: [0..23] - The lower range of the double output registers isreserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the double output registers can be used by external RTDE clients (i.e aubo_studio plugins).| +|input_bit_registers_r0_to_63|int64_t|[0..63] General purpose bits This range of the boolean outputregisters is reserved for FieldBus/PLC interface usage.| +|input_bit_registers_r64_to_127|int64_t|64 [64..127] general purpose bits| +|input_int_registers_r0|int|([0 .. 48]) 48 general purpose integer registersX: [0..23] - The lower range of the integer input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the integer input registers can be used byexternal RTDE clients (i.e aubo_studio plugins).| +|input_float_registers_r0|int|([0 .. 48]) 48 general purpose integer registersX: [0..23] - The lower range of the integer input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the integer input registers can be used byexternal RTDE clients (i.e aubo_studio plugins).| +|input_double_registers_r0|double|([0 .. 48]) 48 general purpose double registersX: [0..23] - The lower range of the double input registers isreserved for FieldBus/PLC interface usage. X: [24..47] - Theupper range of the double input registers can be used byexternal RTDE clients (i.e aubo_studio plugins).| +|modbus_signals|std::vector|Modbus signals from connected modbus slaves| +|modbus_signals_errors|std::vector|Modbus signals request status from connected modbus slaves| +|input_int16_registers_r0|int16_t|input_int16_registers_r0| +|input_int16_registers_0_to_63|std::vector| | +|pn_input_int16_registers256_to_287|std::vector|32 PN specific int16 registers| +|pn_input_int16_registers288_to_319|std::vector|32 PN specific int16 registers| +|eip_input_int16_registers320_to_351|std::vector|32 EIP specific int16 registers| +|eip_input_int16_registers352_to_383|std::vector|32 EIP specific int16 registers| +|runtime_context|std::vector| | +|gripper_status|GripperStatus| | +|axis_actual_positions|std::vector|Actual axis positions| +|axis_actual_velocities|std::vector|Actual axis velocities| +|axis_actual_accelerations|std::vector|Actual axis accelerations| +|axis_actual_currents|std::vector|Actual axis currents| +|R1_message|RobotMsg|Robot message from controller| +|R1_target_q|std::vector|Target joint positions| +|R1_target_qd|std::vector|Target joint velocities| +|R1_target_qdd|std::vector|Target joint accelerations| +|R1_target_current|std::vector|Target joint currents| +|R1_target_moment|std::vector|Target joint moments (torques)| +|R1_actual_q|std::vector|Actual joint positions| +|R1_actual_qd|std::vector|Actual joint velocities| +|R1_actual_current|std::vector|Actual joint currents| +|R1_joint_control_output|std::vector|Joint control currents| +|R1_joint_temperatures|std::vector|Temperature of each joint in degrees Celsius| +|R1_actual_joint_voltage|std::vector|Actual joint voltages| +|R1_joint_mode|std::vector|Joint control modes Please see Remote Control Via TCP/IP - 16496| +|R1_actual_execution_time|double|Controller real-time thread execution time| +|R1_robot_mode|RobotModeType|Robot mode Please see Remote Control Via TCP/IP - 16496| +|R1_safety_mode|SafetyModeType|Safety mode Please see Remote Control Via TCP/IP - 16496| +|R1_safety_status|unknown|Safety ststus| +|R1_robot_status_bits|unknown|Bits 0-3: Is power on | Is program running | Isteach button pressed | Is power button pressed| +|R1_safety_status_bits|unknown|Bits 0-10: Is normal mode | Is reduced mode | | Is protectivestopped | Is recovery mode | Is safeguard stopped | Is systememergency stopped | Is robot emergency stopped | Is emergencystopped | Is violation | Is fault | Is stopped due to safety| +|R1_speed_scaling|double|Speed scaling of the trajectory limiter| +|R1_target_speed_fraction|double|Target speed fraction| +|R1_actual_TCP_pose|std::vector|Actual Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation| +|R1_actual_TCP_speed|std::vector|Actual speed of the tool given in Cartesian coordinates| +|R1_actual_TCP_force|std::vector|Generalized forces in the TCP| +|R1_target_TCP_pose|std::vector|Target Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation| +|R1_target_TCP_speed|std::vector|Target speed of the tool given in Cartesian coordinates| +|R1_elbow_position|std::vector|Position of robot elbow in Cartesian Base Coordinates| +|R1_elbow_velocity|std::vector|Velocity of robot elbow in Cartesian Base Coordinates| +|R1_actual_momentum|std::vector|Norm of Cartesian linear momentum| +|R1_tcp_force_scalar|std::vector|TCP force scalar [N]| +|R1_future_path_points|std::vector>|Get future path points joint| +|R1_actual_main_voltage|unknown|Safety Control Board: Main voltage| +|R1_actual_robot_voltage|unknown|Safety Control Board: Robot voltage (48V)| +|R1_actual_robot_current|unknown|Safety Control Board: Robot current| +|R1_joint_torque_sensor|std::vector|Joint torque sensor| +|R1_joint_torque|std::vector|Calibrated joint torques| +|R1_operationalModeSelectorInput|OperationalModeType|Current state of the operational mode selector input| +|R1_threePositionEnablingDeviceInput|unknown|| +|R1_masterboard_temperature|unknown|| +|R1_standard_digital_input_bits|uint64_t|Current state of the standard digital inputs.| +|R1_tool_digital_input_bits|uint64_t|Current state of the tool digital inputs and outputs.| +|R1_configurable_digital_input_bits|uint64_t|Current state of the safety inputs.| +|R1_link_digital_input_bits|uint64_t|Current state of the link digital inputs.| +|R1_standard_digital_output_bits|uint64_t|Current state of the standard digital outputs.| +|R1_tool_digital_output_bits|uint64_t|Current state of the tool digital inputs and outputs.| +|R1_configurable_digital_output_bits|uint64_t|Current state of the safety outputs.| +|R1_link_digital_output_bits|uint64_t|Current state of the link digital outputs.| +|R1_standard_analog_input_values|std::vector|Current values of the standard analog inputs.| +|R1_tool_analog_input_values|std::vector|Current values of the tool analog inputs.| +|R1_standard_analog_output_values|std::vector|Current values of the standard analog outputs.| +|R1_tool_analog_output_values|std::vector|Current values of the tool analog outputs.| +|R1_is_simulation_enabled|bool|| +|R1_collision_level|int|| +|R1_master_io_current|unknown|I/O current [A]| +|R1_euromap67_input_bits|unknown|Euromap67 input bits| +|R1_euromap67_output_bits|unknown|Euromap67 output bits| +|R1_euromap67_24V_voltage|unknown|Euromap 24V voltage [V]| +|R1_euromap67_24V_current|unknown|Euromap 24V current [A]| +|R1_tool_mode|unknown|Tool mode Please see Remote Control Via TCP/IP - 16496| +|R1_tool_output_mode|unknown|The current output mode| +|R1_tool_output_voltage|unknown|Tool output voltage [V]| +|R1_tool_output_current|unknown|Tool current [A]| +|R1_tool_voltage_48V|unknown|| +|R1_tool_current|unknown|| +|R1_tool_temperature|unknown|Tool temperature in degrees Celsius| +|R1_actual_tool_accelerometer|unknown|Tool x, y and z accelerometer values| +|R1_motion_progress|unknown|Trajectory running progress| +|R1_actual_qdd|unknown|Actual joint accelerations| +|R1_controlbox_humidity|double|Controbox humidity| +|R1_actual_tool_pose|std::vector|Actual Cartesian coordinates of the tool(without TCP)| +|R1_rtde_output_max|int|| +|R1_actual_TCP_force_sensor|std::vector|TCP force sensor| +|R1_fc_cond_fullfiled|bool|| +|R1_actual_payload|Payload|Actual payload| +|R1_tool_button_status|bool|Tool button status| +|R1_handle_status|uint64_t|Handle button io status| +|R1_enc_tick_count|std::vector|Enc tick count| +|R1_weave_direction|int|Get current weave trajectory direction| +|R1_handle_dev_state|int|Get handle dev state| +|R1_handle_dev_type|int|Get handle dev type| +|R2_message|RobotMsg|Robot message from controller| +|R2_target_q|std::vector|Target joint positions| +|R2_target_qd|std::vector|Target joint velocities| +|R2_target_qdd|std::vector|Target joint accelerations| +|R2_target_current|std::vector|Target joint currents| +|R2_target_moment|std::vector|Target joint moments (torques)| +|R2_actual_q|std::vector|Actual joint positions| +|R2_actual_qd|std::vector|Actual joint velocities| +|R2_actual_current|std::vector|Actual joint currents| +|R2_joint_control_output|std::vector|Joint control currents| +|R2_joint_temperatures|std::vector|Temperature of each joint in degrees Celsius| +|R2_actual_joint_voltage|std::vector|Actual joint voltages| +|R2_joint_mode|std::vector|Joint control modes Please see Remote Control Via TCP/IP - 16496| +|R2_actual_execution_time|double|Controller real-time thread execution time| +|R2_robot_mode|RobotModeType|Robot mode Please see Remote Control Via TCP/IP - 16496| +|R2_safety_mode|SafetyModeType|Safety mode Please see Remote Control Via TCP/IP - 16496| +|R2_safety_status|unknown|Safety ststus| +|R2_robot_status_bits|unknown|Bits 0-3: Is power on | Is program running | Isteach button pressed | Is power button pressed| +|R2_safety_status_bits|unknown|Bits 0-10: Is normal mode | Is reduced mode | | Is protectivestopped | Is recovery mode | Is safeguard stopped | Is systememergency stopped | Is robot emergency stopped | Is emergencystopped | Is violation | Is fault | Is stopped due to safety| +|R2_speed_scaling|double|Speed scaling of the trajectory limiter| +|R2_target_speed_fraction|double|Target speed fraction| +|R2_actual_TCP_pose|std::vector|Actual Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation| +|R2_actual_TCP_speed|std::vector|Actual speed of the tool given in Cartesian coordinates| +|R2_actual_TCP_force|std::vector|Generalized forces in the TCP| +|R2_target_TCP_pose|std::vector|Target Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation| +|R2_target_TCP_speed|std::vector|Target speed of the tool given in Cartesian coordinates| +|R2_elbow_position|std::vector|Position of robot elbow in Cartesian Base Coordinates| +|R2_elbow_velocity|std::vector|Velocity of robot elbow in Cartesian Base Coordinates| +|R2_actual_momentum|std::vector|Norm of Cartesian linear momentum| +|R2_tcp_force_scalar|std::vector|TCP force scalar [N]| +|R2_future_path_points|std::vector>|Get future path points joint| +|R2_actual_main_voltage|unknown|Safety Control Board: Main voltage| +|R2_actual_robot_voltage|unknown|Safety Control Board: Robot voltage (48V)| +|R2_actual_robot_current|unknown|Safety Control Board: Robot current| +|R2_joint_torque_sensor|std::vector|Joint torque sensor| +|R2_joint_torque|std::vector|Calibrated joint torques| +|R2_operationalModeSelectorInput|OperationalModeType|Current state of the operational mode selector input| +|R2_threePositionEnablingDeviceInput|unknown|| +|R2_masterboard_temperature|unknown|| +|R2_standard_digital_input_bits|uint64_t|Current state of the standard digital inputs.| +|R2_tool_digital_input_bits|uint64_t|Current state of the tool digital inputs and outputs.| +|R2_configurable_digital_input_bits|uint64_t|Current state of the safety inputs.| +|R2_link_digital_input_bits|uint64_t|Current state of the link digital inputs.| +|R2_standard_digital_output_bits|uint64_t|Current state of the standard digital outputs.| +|R2_tool_digital_output_bits|uint64_t|Current state of the tool digital inputs and outputs.| +|R2_configurable_digital_output_bits|uint64_t|Current state of the safety outputs.| +|R2_link_digital_output_bits|uint64_t|Current state of the link digital outputs.| +|R2_standard_analog_input_values|std::vector|Current values of the standard analog inputs.| +|R2_tool_analog_input_values|std::vector|Current values of the tool analog inputs.| +|R2_standard_analog_output_values|std::vector|Current values of the standard analog outputs.| +|R2_tool_analog_output_values|std::vector|Current values of the tool analog outputs.| +|R2_is_simulation_enabled|bool|| +|R2_collision_level|int|| +|R2_master_io_current|unknown|I/O current [A]| +|R2_euromap67_input_bits|unknown|Euromap67 input bits| +|R2_euromap67_output_bits|unknown|Euromap67 output bits| +|R2_euromap67_24V_voltage|unknown|Euromap 24V voltage [V]| +|R2_euromap67_24V_current|unknown|Euromap 24V current [A]| +|R2_tool_mode|unknown|Tool mode Please see Remote Control Via TCP/IP - 16496| +|R2_tool_output_mode|unknown|The current output mode| +|R2_tool_output_voltage|unknown|Tool output voltage [V]| +|R2_tool_output_current|unknown|Tool current [A]| +|R2_tool_voltage_48V|unknown|| +|R2_tool_current|unknown|| +|R2_tool_temperature|unknown|Tool temperature in degrees Celsius| +|R2_actual_tool_accelerometer|unknown|Tool x, y and z accelerometer values| +|R2_motion_progress|unknown|Trajectory running progress| +|R2_actual_qdd|unknown|Actual joint accelerations| +|R2_controlbox_humidity|double|Controbox humidity| +|R2_actual_tool_pose|std::vector|Actual Cartesian coordinates of the tool(without TCP)| +|R2_rtde_output_max|int|| +|R2_actual_TCP_force_sensor|std::vector|TCP force sensor| +|R2_fc_cond_fullfiled|bool|| +|R2_actual_payload|Payload|Actual payload| +|R2_tool_button_status|bool|Tool button status| +|R2_handle_status|uint64_t|Handle button io status| +|R2_enc_tick_count|std::vector|Enc tick count| +|R2_weave_direction|int|Get current weave trajectory direction| +|R2_handle_dev_state|int|Get handle dev state| +|R2_handle_dev_type|int|Get handle dev type| +|R3_message|RobotMsg|Robot message from controller| +|R3_target_q|std::vector|Target joint positions| +|R3_target_qd|std::vector|Target joint velocities| +|R3_target_qdd|std::vector|Target joint accelerations| +|R3_target_current|std::vector|Target joint currents| +|R3_target_moment|std::vector|Target joint moments (torques)| +|R3_actual_q|std::vector|Actual joint positions| +|R3_actual_qd|std::vector|Actual joint velocities| +|R3_actual_current|std::vector|Actual joint currents| +|R3_joint_control_output|std::vector|Joint control currents| +|R3_joint_temperatures|std::vector|Temperature of each joint in degrees Celsius| +|R3_actual_joint_voltage|std::vector|Actual joint voltages| +|R3_joint_mode|std::vector|Joint control modes Please see Remote Control Via TCP/IP - 16496| +|R3_actual_execution_time|double|Controller real-time thread execution time| +|R3_robot_mode|RobotModeType|Robot mode Please see Remote Control Via TCP/IP - 16496| +|R3_safety_mode|SafetyModeType|Safety mode Please see Remote Control Via TCP/IP - 16496| +|R3_safety_status|unknown|Safety ststus| +|R3_robot_status_bits|unknown|Bits 0-3: Is power on | Is program running | Isteach button pressed | Is power button pressed| +|R3_safety_status_bits|unknown|Bits 0-10: Is normal mode | Is reduced mode | | Is protectivestopped | Is recovery mode | Is safeguard stopped | Is systememergency stopped | Is robot emergency stopped | Is emergencystopped | Is violation | Is fault | Is stopped due to safety| +|R3_speed_scaling|double|Speed scaling of the trajectory limiter| +|R3_target_speed_fraction|double|Target speed fraction| +|R3_actual_TCP_pose|std::vector|Actual Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation| +|R3_actual_TCP_speed|std::vector|Actual speed of the tool given in Cartesian coordinates| +|R3_actual_TCP_force|std::vector|Generalized forces in the TCP| +|R3_target_TCP_pose|std::vector|Target Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation| +|R3_target_TCP_speed|std::vector|Target speed of the tool given in Cartesian coordinates| +|R3_elbow_position|std::vector|Position of robot elbow in Cartesian Base Coordinates| +|R3_elbow_velocity|std::vector|Velocity of robot elbow in Cartesian Base Coordinates| +|R3_actual_momentum|std::vector|Norm of Cartesian linear momentum| +|R3_tcp_force_scalar|std::vector|TCP force scalar [N]| +|R3_future_path_points|std::vector>|Get future path points joint| +|R3_actual_main_voltage|unknown|Safety Control Board: Main voltage| +|R3_actual_robot_voltage|unknown|Safety Control Board: Robot voltage (48V)| +|R3_actual_robot_current|unknown|Safety Control Board: Robot current| +|R3_joint_torque_sensor|std::vector|Joint torque sensor| +|R3_joint_torque|std::vector|Calibrated joint torques| +|R3_operationalModeSelectorInput|OperationalModeType|Current state of the operational mode selector input| +|R3_threePositionEnablingDeviceInput|unknown|| +|R3_masterboard_temperature|unknown|| +|R3_standard_digital_input_bits|uint64_t|Current state of the standard digital inputs.| +|R3_tool_digital_input_bits|uint64_t|Current state of the tool digital inputs and outputs.| +|R3_configurable_digital_input_bits|uint64_t|Current state of the safety inputs.| +|R3_link_digital_input_bits|uint64_t|Current state of the link digital inputs.| +|R3_standard_digital_output_bits|uint64_t|Current state of the standard digital outputs.| +|R3_tool_digital_output_bits|uint64_t|Current state of the tool digital inputs and outputs.| +|R3_configurable_digital_output_bits|uint64_t|Current state of the safety outputs.| +|R3_link_digital_output_bits|uint64_t|Current state of the link digital outputs.| +|R3_standard_analog_input_values|std::vector|Current values of the standard analog inputs.| +|R3_tool_analog_input_values|std::vector|Current values of the tool analog inputs.| +|R3_standard_analog_output_values|std::vector|Current values of the standard analog outputs.| +|R3_tool_analog_output_values|std::vector|Current values of the tool analog outputs.| +|R3_is_simulation_enabled|bool|| +|R3_collision_level|int|| +|R3_master_io_current|unknown|I/O current [A]| +|R3_euromap67_input_bits|unknown|Euromap67 input bits| +|R3_euromap67_output_bits|unknown|Euromap67 output bits| +|R3_euromap67_24V_voltage|unknown|Euromap 24V voltage [V]| +|R3_euromap67_24V_current|unknown|Euromap 24V current [A]| +|R3_tool_mode|unknown|Tool mode Please see Remote Control Via TCP/IP - 16496| +|R3_tool_output_mode|unknown|The current output mode| +|R3_tool_output_voltage|unknown|Tool output voltage [V]| +|R3_tool_output_current|unknown|Tool current [A]| +|R3_tool_voltage_48V|unknown|| +|R3_tool_current|unknown|| +|R3_tool_temperature|unknown|Tool temperature in degrees Celsius| +|R3_actual_tool_accelerometer|unknown|Tool x, y and z accelerometer values| +|R3_motion_progress|unknown|Trajectory running progress| +|R3_actual_qdd|unknown|Actual joint accelerations| +|R3_controlbox_humidity|double|Controbox humidity| +|R3_actual_tool_pose|std::vector|Actual Cartesian coordinates of the tool(without TCP)| +|R3_rtde_output_max|int|| +|R3_actual_TCP_force_sensor|std::vector|TCP force sensor| +|R3_fc_cond_fullfiled|bool|| +|R3_actual_payload|Payload|Actual payload| +|R3_tool_button_status|bool|Tool button status| +|R3_handle_status|uint64_t|Handle button io status| +|R3_enc_tick_count|std::vector|Enc tick count| +|R3_weave_direction|int|Get current weave trajectory direction| +|R3_handle_dev_state|int|Get handle dev state| +|R3_handle_dev_type|int|Get handle dev type| +|R4_message|RobotMsg|Robot message from controller| +|R4_target_q|std::vector|Target joint positions| +|R4_target_qd|std::vector|Target joint velocities| +|R4_target_qdd|std::vector|Target joint accelerations| +|R4_target_current|std::vector|Target joint currents| +|R4_target_moment|std::vector|Target joint moments (torques)| +|R4_actual_q|std::vector|Actual joint positions| +|R4_actual_qd|std::vector|Actual joint velocities| +|R4_actual_current|std::vector|Actual joint currents| +|R4_joint_control_output|std::vector|Joint control currents| +|R4_joint_temperatures|std::vector|Temperature of each joint in degrees Celsius| +|R4_actual_joint_voltage|std::vector|Actual joint voltages| +|R4_joint_mode|std::vector|Joint control modes Please see Remote Control Via TCP/IP - 16496| +|R4_actual_execution_time|double|Controller real-time thread execution time| +|R4_robot_mode|RobotModeType|Robot mode Please see Remote Control Via TCP/IP - 16496| +|R4_safety_mode|SafetyModeType|Safety mode Please see Remote Control Via TCP/IP - 16496| +|R4_safety_status|unknown|Safety ststus| +|R4_robot_status_bits|unknown|Bits 0-3: Is power on | Is program running | Isteach button pressed | Is power button pressed| +|R4_safety_status_bits|unknown|Bits 0-10: Is normal mode | Is reduced mode | | Is protectivestopped | Is recovery mode | Is safeguard stopped | Is systememergency stopped | Is robot emergency stopped | Is emergencystopped | Is violation | Is fault | Is stopped due to safety| +|R4_speed_scaling|double|Speed scaling of the trajectory limiter| +|R4_target_speed_fraction|double|Target speed fraction| +|R4_actual_TCP_pose|std::vector|Actual Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation| +|R4_actual_TCP_speed|std::vector|Actual speed of the tool given in Cartesian coordinates| +|R4_actual_TCP_force|std::vector|Generalized forces in the TCP| +|R4_target_TCP_pose|std::vector|Target Cartesian coordinates of the tool:(x,y,z,rx,ry,rz), where rx, ry and rz is a rotationvector representation of the tool orientation| +|R4_target_TCP_speed|std::vector|Target speed of the tool given in Cartesian coordinates| +|R4_elbow_position|std::vector|Position of robot elbow in Cartesian Base Coordinates| +|R4_elbow_velocity|std::vector|Velocity of robot elbow in Cartesian Base Coordinates| +|R4_actual_momentum|std::vector|Norm of Cartesian linear momentum| +|R4_tcp_force_scalar|std::vector|TCP force scalar [N]| +|R4_future_path_points|std::vector>|Get future path points joint| +|R4_actual_main_voltage|unknown|Safety Control Board: Main voltage| +|R4_actual_robot_voltage|unknown|Safety Control Board: Robot voltage (48V)| +|R4_actual_robot_current|unknown|Safety Control Board: Robot current| +|R4_joint_torque_sensor|std::vector|Joint torque sensor| +|R4_joint_torque|std::vector|Calibrated joint torques| +|R4_operationalModeSelectorInput|OperationalModeType|Current state of the operational mode selector input| +|R4_threePositionEnablingDeviceInput|unknown|| +|R4_masterboard_temperature|unknown|| +|R4_standard_digital_input_bits|uint64_t|Current state of the standard digital inputs.| +|R4_tool_digital_input_bits|uint64_t|Current state of the tool digital inputs and outputs.| +|R4_configurable_digital_input_bits|uint64_t|Current state of the safety inputs.| +|R4_link_digital_input_bits|uint64_t|Current state of the link digital inputs.| +|R4_standard_digital_output_bits|uint64_t|Current state of the standard digital outputs.| +|R4_tool_digital_output_bits|uint64_t|Current state of the tool digital inputs and outputs.| +|R4_configurable_digital_output_bits|uint64_t|Current state of the safety outputs.| +|R4_link_digital_output_bits|uint64_t|Current state of the link digital outputs.| +|R4_standard_analog_input_values|std::vector|Current values of the standard analog inputs.| +|R4_tool_analog_input_values|std::vector|Current values of the tool analog inputs.| +|R4_standard_analog_output_values|std::vector|Current values of the standard analog outputs.| +|R4_tool_analog_output_values|std::vector|Current values of the tool analog outputs.| +|R4_is_simulation_enabled|bool|| +|R4_collision_level|int|| +|R4_master_io_current|unknown|I/O current [A]| +|R4_euromap67_input_bits|unknown|Euromap67 input bits| +|R4_euromap67_output_bits|unknown|Euromap67 output bits| +|R4_euromap67_24V_voltage|unknown|Euromap 24V voltage [V]| +|R4_euromap67_24V_current|unknown|Euromap 24V current [A]| +|R4_tool_mode|unknown|Tool mode Please see Remote Control Via TCP/IP - 16496| +|R4_tool_output_mode|unknown|The current output mode| +|R4_tool_output_voltage|unknown|Tool output voltage [V]| +|R4_tool_output_current|unknown|Tool current [A]| +|R4_tool_voltage_48V|unknown|| +|R4_tool_current|unknown|| +|R4_tool_temperature|unknown|Tool temperature in degrees Celsius| +|R4_actual_tool_accelerometer|unknown|Tool x, y and z accelerometer values| +|R4_motion_progress|unknown|Trajectory running progress| +|R4_actual_qdd|unknown|Actual joint accelerations| +|R4_controlbox_humidity|double|Controbox humidity| +|R4_actual_tool_pose|std::vector|Actual Cartesian coordinates of the tool(without TCP)| +|R4_rtde_output_max|int|| +|R4_actual_TCP_force_sensor|std::vector|TCP force sensor| +|R4_fc_cond_fullfiled|bool|| +|R4_actual_payload|Payload|Actual payload| +|R4_tool_button_status|bool|Tool button status| +|R4_handle_status|uint64_t|Handle button io status| +|R4_enc_tick_count|std::vector|Enc tick count| +|R4_weave_direction|int|Get current weave trajectory direction| +|R4_handle_dev_state|int|Get handle dev state| +|R4_handle_dev_type|int|Get handle dev type| diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_algorithm.lua b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_algorithm.lua new file mode 100644 index 00000000..44cd389c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_algorithm.lua @@ -0,0 +1,140 @@ +--[[ + 功能：机械臂正逆解 + 步骤： + 第一步：逆解 + 第二部：正解 +]] +local aubo = require('aubo') +local sched = sched or aubo.sched +local math = aubo.math or math + +local sleep = sched.sleep +local thread = sched.thread +local sync = sched.sync +local run = sched.run +local kill = sched.kill +function p_example_algorithm() + setDigitalInputActionDefault() + setDigitalOutputRunstateDefault() + setPayload(0, {0,0,0}, {0,0,0}, {0,0,0,0,0,0}) + setTcpOffset({0.0003,0.0001,0.00066,0,0,0}) + Base = {0,0,0,0,0,0} + Tool = {0,0,0,0,0,0} + + function waitForMotionComplete() + while (getQueueSize() > 0) or (isSteady() == false) do + sync() + end + end + + local function calculate_point_to_move_towards(feature, direction, position_distance) + local posDir={direction[1], direction[2], direction[3]} + if (math.norm(posDir) < 1e-6) then + return getTargetTcpPose() + end + local direction_vector_normalized=math.normalize(posDir) + local displacement_pose={direction_vector_normalized[1] * position_distance,direction_vector_normalized[2] * position_distance,direction_vector_normalized[3] * position_distance,0,0,0} + + local wanted_displacement_in_base_frame=poseSub(poseTrans(feature, displacement_pose), feature) + return poseAdd(getTargetTcpPose(), wanted_displacement_in_base_frame) + end + setPlanContext(0, 1, "Program") + setPlanContext(0, 2, "example_algorithm.lua") + -- 参考关节角，单位：弧度 + waypoint_0_q = {0.00123059, -0.26063, 1.7441, 0.437503, 1.56957, 0.00107586} + -- 目标位姿 + waypoint_1_p = {0.549273, -0.12094, 0.464501, 3.13802, 0.00122674, 1.57095} + -- 逆解 + -- 对应AUBOPE joint=get_target_pose({0.549273, -0.12094,0.464501}, rpyToQuaternion({3.13802, 0.00122674, 1.57095}),false,{0.0003,0.0001,0.00066},{1,0,0,0}) + waypoint_1_q = inverseKinematics(waypoint_0_q, waypoint_1_p) + textmsg("The result of inverse kinematics is "..table.concat(waypoint_1_q, ', ')) + -- 正解 + waypoint_2_p = forwardKinematics(waypoint_1_q) + textmsg("The result of forward kinematics is "..table.concat(waypoint_2_p, ', ')) + + -- 对应AUBOPE set_global_variable ("V_I_b", 34) + setInt32("V_I_b", 34); + sleep(1) + -- 对应AUBOPE get_global_variable ("V_I_b") + textmsg("V_I_b is "..getInt32("V_I_b", 0)) + + -- 对应AUBOPE set_global_variable ("custom1", true) + setBool("custom1", true) + sleep(1) + -- 对应AUBOPE get_global_variable ("custom1") + custom1 =getBool("custom1", true) + textmsg("custom1 is "..tostring(custom1)) + + -- 对应AUBOPE set_global_variable ("custom3", 0.1) + setFloat("custom3", 0.1) + sleep(1) + -- 对应AUBOPE get_global_variable ("custom3") + textmsg("custom3 is "..getFloat("custom3", 0)) + + -- 对应AUBOPE set_global_variable ("custom4", 0.2) + setDouble("custom4", 0.2) + sleep(1) + -- 对应AUBOPE get_global_variable ("custom4") + textmsg("custom4 is "..getDouble("custom4", 0)) + + -- 对应AUBOPE set_global_variable ("custom5", "test") + setString("custom5", "test") + sleep(1) + -- 对应AUBOPE get_global_variable ("custom5") + textmsg(getString("custom5", "")) + + -- 对应AUBOPE init_global_variables("custom4") + clearNamedVariable("custom4") + textmsg("custom4 is "..getDouble("custom4", 0)) + + --添加保持寄存器(写) + modbusAddSignal( "127.0.0.1,1504", 1, 0x00, 0x05, "READ_HOLDING_REGISTER_W_00", true) + --设置频率 + modbusSetSignalUpdateFrequency("READ_HOLDING_REGISTER_W_00", 1) + --写保持寄存器 + -- 对应AUBOPE set_modbus_io_status("READ_HOLDING_REGISTER_W_00",1) + modbusSetOutputSignal("READ_HOLDING_REGISTER_W_00",0x01) + --删除 + modbusDeleteSignal("READ_HOLDING_REGISTER_W_00") + + --添加保持寄存器(读) + modbusAddSignal( "127.0.0.1,1504", 1, 0x00, 0x03, "READ_HOLDING_REGISTER_R_00", true) + --设置频率 + modbusSetSignalUpdateFrequency("READ_HOLDING_REGISTER_R_00", 1) + --读写保持寄存器 + --AUBOPE get_modbus_io_status("READ_HOLDING_REGISTER_R_00") + textmsg("READ_HOLDING_REGISTER_R_00 is "..modbusGetSignalStatus( "READ_HOLDING_REGISTER_R_00")) + --删除 + modbusDeleteSignal("READ_HOLDING_REGISTER_R_00") +end + +local plugin = { + PRIORITY = 1000, -- set the plugin priority, which determines plugin execution order + VERSION = "0.1", + VENDOR = "Aubo Robotics", +} + +function plugin:start_robot1() + print("start_robot1---") + -- 配置脚本环境 + local env = self.api:loadf(1) + setmetatable(env, { __index = _G }) + env = require'aubo.scheduler'.trackGlobals(env) or env + require('compat_env').setfenv(p_example_algorithm, env) + p_example_algorithm() +end + +function plugin:start(api) + -- + self.api = api + print("start---") + self:start_robot1() +end + +function plugin:robot_error_handler(name, err) + -- + print("An error hanppen to robot "..name) +end + +-- return our plugin object +return plugin diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_client.lua b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_client.lua new file mode 100644 index 00000000..8ad4a5fc --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_client.lua @@ -0,0 +1,94 @@ +local aubo = require('aubo') +local sched = sched or aubo.sched +local math = aubo.math or math + +local sleep = sched.sleep +local thread = sched.thread +local sync = sched.sync +local run = sched.run +local kill = sched.kill +function p_example_client() + setDigitalInputActionDefault() + setDigitalOutputRunstateDefault() + setPayload(0, {0,0,0}, {0,0,0}, {0,0,0,0,0,0}) + setTcpOffset({0.0003,0.0001,0.00066,0,0,0}) + Base = {0,0,0,0,0,0} + Tool = {0,0,0,0,0,0} + + function waitForMotionComplete() + while (getQueueSize() > 0) or (isSteady() == false) do + sync() + end + end + + local function calculate_point_to_move_towards(feature, direction, position_distance) + local posDir={direction[1], direction[2], direction[3]} + if (math.norm(posDir) < 1e-6) then + return getTargetTcpPose() + end + local direction_vector_normalized=math.normalize(posDir) + local displacement_pose={direction_vector_normalized[1] * position_distance,direction_vector_normalized[2] * position_distance,direction_vector_normalized[3] * position_distance,0,0,0} + + local wanted_displacement_in_base_frame=poseSub(poseTrans(feature, displacement_pose), feature) + return poseAdd(getTargetTcpPose(), wanted_displacement_in_base_frame) + end + setPlanContext(0, 1, "Program") + setPlanContext(0, 2, "example_client.lua") + -- client.lua + local socket = require("socket") + local host = "127.0.0.1" + local port = 1234 + --对应AUBOPE　tcp.client.connect (host, port) + local client = assert(socket.connect(host, port)) + client:settimeout(0) + while 1 do + if client then + textmsg("client successfully connect!") + end + while 1 do + --对应AUBOPE recv=tcp.client.recv_str_data(host, port) + command, emsg = client:receive(); + if emsg == "closed" then + --对应AUBOPE tcp.client.disconnect(host, port) + control:close() + break + end + if command then + textmsg(command) + --对应AUBOPE tcp.client.send_str_data(host, port, "send_str_data") + client:send("send_str_data") + end + end + end +end + +local plugin = { + PRIORITY = 1000, -- set the plugin priority, which determines plugin execution order + VERSION = "0.1", + VENDOR = "Aubo Robotics", +} + +function plugin:start_robot1() + print("start_robot1---") + -- 配置脚本环境 + local env = self.api:loadf(1) + setmetatable(env, { __index = _G }) + env = require'aubo.scheduler'.trackGlobals(env) or env + require('compat_env').setfenv(p_example_client, env) + p_example_client() +end + +function plugin:start(api) + -- + self.api = api + print("start---") + self:start_robot1() +end + +function plugin:robot_error_handler(name, err) + -- + print("An error hanppen to robot "..name) +end + +-- return our plugin object +return plugin diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_config.lua b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_config.lua new file mode 100644 index 00000000..66de3bce --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_config.lua @@ -0,0 +1,184 @@ +--[[ + 功能：设置和获取机械臂配置 +]] +local aubo = require('aubo') +local sched = sched or aubo.sched +local math = aubo.math or math + +local sleep = sched.sleep +local thread = sched.thread +local sync = sched.sync +local run = sched.run +local kill = sched.kill +function p_example_config() + setDigitalInputActionDefault() + setDigitalOutputRunstateDefault() + setPayload(0, {0,0,0}, {0,0,0}, {0,0,0,0,0,0}) + setTcpOffset({0.0003,0.0001,0.00066,0,0,0}) + Base = {0,0,0,0,0,0} + Tool = {0,0,0,0,0,0} + + function waitForMotionComplete() + while (getQueueSize() > 0) or (isSteady() == false) do + sync() + end + end + + local function calculate_point_to_move_towards(feature, direction, position_distance) + local posDir={direction[1], direction[2], direction[3]} + if (math.norm(posDir) < 1e-6) then + return getTargetTcpPose() + end + local direction_vector_normalized=math.normalize(posDir) + local displacement_pose={direction_vector_normalized[1] * position_distance,direction_vector_normalized[2] * position_distance,direction_vector_normalized[3] * position_distance,0,0,0} + + local wanted_displacement_in_base_frame=poseSub(poseTrans(feature, displacement_pose), feature) + return poseAdd(getTargetTcpPose(), wanted_displacement_in_base_frame) + end + setPlanContext(0, 1, "Program") + setPlanContext(0, 2, "example_config.lua") + -- 获取机器人的名字 + robot_name = getName() + textmsg("The name of robot is "..robot_name) + -- 获取机器人的自由度(从硬件抽象层读取) + robot_dof = getDof() + textmsg("The dof of robot is "..robot_dof) + -- 获取机器人的伺服控制周期(从硬件抽象层读取) + cycle_time = getCycletime() + textmsg("The cycle time of robot is "..cycle_time) + -- 获取默认的工具端加速度 + default_tool_acc = getDefaultToolAcc() + textmsg("The default tool acceleraion of robot is "..default_tool_acc) + -- 获取默认的工具端速度 + default_tool_speed = getDefaultToolSpeed() + textmsg("The default tool speed of robot is "..default_tool_speed) + -- 获取默认的关节加速度 + default_joint_acc = getDefaultJointAcc() + textmsg("The default joint acceleration of robot is "..default_joint_acc) + -- 获取默认的关节速度 + default_joint_speed = getDefaultJointSpeed() + textmsg("The default joint speed of robot is "..default_joint_speed) + -- 获取机器人类型代码 + robot_type = getRobotType() + textmsg("The type of robot is "..robot_type) + -- 获取机器人子类型代码 + robot_sub_type = getRobotSubType() + textmsg("The sub type of robot is "..robot_sub_type) + -- 获取控制柜类型代码 + control_box_type = getControlBoxType() + textmsg("The type of control box is "..control_box_type) + -- 设置和获取安装位姿 + mounting_pose = {0.54897, -0.12120, 0.26253, -3.11, 0.01, 1.57} + setMountingPose(mounting_pose) + sleep(1) + mounting_pose = getMountingPose() + textmsg("The mounting pose of robot is "..table.concat(mounting_pose, ', ')) + -- 设置和获取碰撞灵敏度等级 + -- 对应AUBOPE set_robot_collision_class(5) + setCollisionLevel(5) + sleep(1) + collision_level = getCollisionLevel() + textmsg("The collision level of robot is "..collision_level) + -- 设置和获取碰撞停止类型 + setCollisionStopType(2) + sleep(1) + collision_stop_type = getCollisionStopType() + textmsg("The type of collision stop is "..collision_stop_type) + -- 设置和获取工具端电压输出范围 + -- 对应AUBOPE set_tool_power_voltage(ToolPowerType.OUT_12V) + setToolVoltageOutputDomain(24) + sleep(1) + tool_voltage_output_domain = getToolVoltageOutputDomain() + textmsg("The domain of tool voltage output is "..tool_voltage_output_domain) + -- 获取机器人DH参数 + kinematics_param = getKinematicsParam(true) + textmsg("The kinematics param of robot is "..table.concat(kinematics_param,', ')) + -- 获取指定温度下的DH参数补偿值 + kinematics_compensate = getKinematicsCompensate(20) + textmsg("The kinematics compensate of robot is "..table.concat(kinematics_compensate,', ')) + -- 获取可用的末端力矩传感器的名字 + tcp_force_sensor_names = getTcpForceSensorNames() + textmsg("The names of tcp force sensor are "..table.concat(tcp_force_sensor_names, ', ')) + -- 设置末端力矩传感器 + name = "kw_ftsensor" + selectTcpForceSensor(name) + sleep(1) + -- 是否安装了末端力矩传感器 + has_tcp_force_sensor = hasTcpForceSensor() + textmsg("Is the sensor installed? "..tostring(has_tcp_force_sensor)) + -- 获取可用的底座力矩传感器的名字 + base_force_sensor_names = getBaseForceSensorNames() + textmsg("The names of base force sensor are "..table.concat(base_force_sensor_names, ', ')) + -- 获取安全参数校验码 CRC32 + safety_parameters_checksum = getSafetyParametersCheckSum() + textmsg("The checksum of safety parameters is "..safety_parameters_checksum) + -- 获取关节最大位置（物理极限） + joint_max_positions = getJointMaxPositions() + textmsg("The maximum positions of joint are "..table.concat(joint_max_positions, ', ')) + -- 获取关节最小位置（物理极限） + joint_min_positions = getJointMinPositions() + textmsg("The minimum positions of joint are "..table.concat(joint_min_positions, ', ')) + -- 获取关节最大速度（物理极限） + joint_max_speeds = getJointMaxSpeeds() + textmsg("The maximum speeds of joint are "..table.concat(joint_max_speeds, ', ')) + -- 获取TCP最大速度（物理极限） + tcp_max_acc = getTcpMaxAccelerations() + textmsg("The maximum accelerations of tcp are "..table.concat(tcp_max_acc, ', ')) + -- 设置和获取机器人 gravity + gravity = {0.6, 0.03, 0.36} + setGravity(gravity) + sleep(1) + gravity = getGravity() + textmsg("The gravity of robot is "..table.concat(gravity, ', ')) + -- 设置和获取TCP偏移 + -- 对应AUBOPE set_tool_kinematics_param({0, 0, 0.1},{1,0, 0, 0}) + offset = {0, 0, 0.1, 0, 0, 0} + setTcpOffset(offset) + sleep(1) + offset = getTcpOffset() + textmsg("The offset of tcp is "..table.concat(offset, ', ')) + -- 设置和获取末端负载 + -- cset_tool_dynamics_param(0.5,{0.001,0.002,0.003},{0.0,0.0,0.0,0.0,0.0,0.0}) + setPayload(0.5,{0.001,0.002,0.003},{0,0,0},{0.0,0.0,0.0,0.0,0.0,0.0}) + sleep(1) + payload = getPayload() + textmsg("The payload of robot is "..payload) + -- 末端位姿是否在安全范围之内 + pose = {100, 0.2, 0.45, 0, 0, 0} + tool_space_in_range = toolSpaceInRange(pose) + textmsg("Is the tool space in range? "..tostring(tool_space_in_range)) + -- 获取固件升级的进程 + firmware_update_process = getFirmwareUpdateProcess() + textmsg("The process of firmware update is "..firmware_update_process) +end + +local plugin = { + PRIORITY = 1000, -- set the plugin priority, which determines plugin execution order + VERSION = "0.1", + VENDOR = "Aubo Robotics", +} + +function plugin:start_robot1() + print("start_robot1---") + -- 配置脚本环境 + local env = self.api:loadf(1) + setmetatable(env, { __index = _G }) + env = require'aubo.scheduler'.trackGlobals(env) or env + require('compat_env').setfenv(p_example_config, env) + p_example_config() +end + +function plugin:start(api) + -- + self.api = api + print("start---") + self:start_robot1() +end + +function plugin:robot_error_handler(name, err) + -- + print("An error hanppen to robot "..name) +end + +-- return our plugin object +return plugin diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_io.lua b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_io.lua new file mode 100644 index 00000000..fff85588 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_io.lua @@ -0,0 +1,198 @@ +--[[ + 功能：设置和获取IO相关配置 +]] +local aubo = require('aubo') +local sched = sched or aubo.sched +local math = aubo.math or math + +local sleep = sched.sleep +local thread = sched.thread +local sync = sched.sync +local run = sched.run +local kill = sched.kill +function p_example_io() + setDigitalInputActionDefault() + setDigitalOutputRunstateDefault() + setPayload(0, {0,0,0}, {0,0,0}, {0,0,0,0,0,0}) + setTcpOffset({0.0003,0.0001,0.00066,0,0,0}) + Base = {0,0,0,0,0,0} + Tool = {0,0,0,0,0,0} + + function waitForMotionComplete() + while (getQueueSize() > 0) or (isSteady() == false) do + sync() + end + end + + local function calculate_point_to_move_towards(feature, direction, position_distance) + local posDir={direction[1], direction[2], direction[3]} + if (math.norm(posDir) < 1e-6) then + return getTargetTcpPose() + end + local direction_vector_normalized=math.normalize(posDir) + local displacement_pose={direction_vector_normalized[1] * position_distance,direction_vector_normalized[2] * position_distance,direction_vector_normalized[3] * position_distance,0,0,0} + + local wanted_displacement_in_base_frame=poseSub(poseTrans(feature, displacement_pose), feature) + return poseAdd(getTargetTcpPose(), wanted_displacement_in_base_frame) + end + setPlanContext(0, 1, "Program") + setPlanContext(0, 2, "example_io.lua") + + -- 获取标准数字IO的输入和输出数量 + standard_digital_input_num = getStandardDigitalInputNum() + textmsg("standard_digital_input_num: "..standard_digital_input_num) + standard_digital_output_num = getStandardDigitalOutputNum() + textmsg("standard_digital_output_num: "..standard_digital_output_num) + -- 设置所有的输入触发动作为 Default + setDigitalInputActionDefault() + -- 获取输入触发动作 + standard_input_action1 = getStandardDigitalInputAction(0x00000001) + textmsg("standard digital input action: "..standard_input_action1) + -- 设置标准数字输入触发动作为 Freedrive + setStandardDigitalInputAction(0x00000001, 1) + sleep(1) + -- 获取输入触发动作 + standard_input_action2 = getStandardDigitalInputAction(0x00000001) + textmsg("standard digital input action: "..standard_input_action2) + -- 设置所有的输出状态选择为 None + setDigitalOutputRunstateDefault() + -- 获取标准数字输出状态选择 + standard_digital_output_runstate1 = getStandardDigitalOutputRunstate(0x00000001) + textmsg("standard digital output runstate: "..standard_digital_output_runstate1) + -- 设置标准数字输出状态选择为 STOP_HIGH + setStandardDigitalOutputRunstate(0x00000001, 2) + sleep(1) + -- 获取标准数字输出状态选择 + standard_digital_output_runstate2 = getStandardDigitalOutputRunstate(0x00000001) + textmsg("standard digital output runstate: "..standard_digital_output_runstate2) + -- 获取所有的标准数字输入值 + input_value = {} + for i = 1, 16, 1 do + input_value[i] = tostring(getStandardDigitalInput(i-1)) + end + textmsg("The standard digital input values are "..table.concat(input_value, ', ')) + -- 获取所有的标准数字输出值 + output_value = {} + for i = 1, 16, 1 do + output_value[i] = tostring(getStandardDigitalOutput(i-1)) + end + textmsg("The standard digital output values are "..table.concat(output_value, ', ')) + + -- 设置标准数字输出 + -- 对应AUBOPE set_robot_io_status(RobotIOType.RobotBoardUserDO, "U_DO_00", 1) + setStandardDigitalOutput(0,true) + --获取标准数字输出值 + -- 对应AUBOPE get_robot_io_status (RobotIOType.RobotBoardUserDO, "U_DO_00") + textmsg("U_DO_00 is "..tostring(getStandardDigitalOutput(0))) + --获取标准数字输入值 + --get_robot_io_status(RobotIOType.RobotBoardUserDI,"U_DI_00") + textmsg("U_DI_00 is "..tostring(getStandardDigitalInput(0))) + + + + -- 获取标准模拟输入数量 + standard_analog_input_num = getStandardAnalogInputNum() + textmsg("standard analog input number: ".. standard_analog_input_num) + -- 获取标准模拟输出数量 + standard_analog_output_num = getStandardAnalogOutputNum() + textmsg("standard analog output number: "..standard_analog_output_num) + -- 设置标准模拟输入范围 + setStandardAnalogInputDomain(0, 13) + sleep(1) + -- 获取标准模拟输出范围 + standard_analog_input_domain = getStandardAnalogInputDomain(0) + textmsg("standard analog input domain: "..standard_analog_input_domain) + -- 设置标准模拟输出范围 + setStandardAnalogOutputDomain(0, 12) + sleep(1) + -- 获取标准模拟输出范围 + standard_analog_output_domain = getStandardAnalogOutputDomain(0) + textmsg("standard analog output domain: "..standard_analog_output_domain) + -- 设置标准模拟输出状态选择为 RUNNING + setStandardAnalogOutputRunstate(0, 3) + sleep(1) + -- 获取标准模拟输出状态选择 + standard_output_runstate = getStandardAnalogOutputRunstate(0) + textmsg("standard output runstate: "..standard_output_runstate) + + -- 设置标准模拟输出 + -- 对应AUBOPE set_robot_io_status(RobotIOType.RobotBoardUserAO, "U_VO_00", 3) + setStandardAnalogOutput(0,3) + sleep(1) + --获取标准模拟输出值 + -- 对应AUBOPE get_robot_io_status (RobotIOType.RobotBoardUserAO, "U_VO_00") + textmsg("U_VO_00 is "..tostring(getStandardAnalogOutput(0))) + --获取标准模拟输入值 + --get_robot_io_status(RobotIOType.RobotBoardUserAI,"U_VI_00") + textmsg("U_VI_00 is "..tostring(getStandardAnalogInput(0))) + + + -- 获取工具数字IO输入数量 + tool_digital_input_num = getToolDigitalInputNum() + textmsg("tool digital input number: "..tool_digital_input_num) + -- 获取工具数字IO输出数量 + tool_digital_output_num = getToolDigitalOutputNum() + textmsg("tool digital output number: "..tool_digital_output_num) + -- 设置指定的工具端IO为输入 + setToolIoInput(1, true) + sleep(1) + -- 判断指定的工具端IO是否为输入 + isInput = isToolIoInput(1) + textmsg("Is it the input: "..tostring(isInput)) + -- 获取工具端数字IO输入 + -- 对应AUBOPE get_robot_io_status (RobotIOType.RobotToolDI, "T_DI_01") + tool_digital_input = getToolDigitalInput(1) + textmsg("tool digital input: "..tostring(tool_digital_input)) + textmsg("T_DI_01 is "..tostring(tool_digital_input)) + -- 获取工具端模拟输入数量 + tool_analog_input_num = getToolAnalogInputNum() + textmsg("tool analog input number: "..tool_analog_input_num) + -- 获取工具端模拟输入 + -- 对应AUBOPE get_robot_io_status (RobotIOType.RobotToolAI, "T_AI_00") + tool_analog_input_value = getToolAnalogInput(0) + textmsg("tool analog input value: "..tool_analog_input_value) + textmsg("T_AI_00 is "..tool_analog_input_value) + + -- 设置指定的工具端IO为输出 + setToolIoInput(3, false) + -- 判断指定的工具端IO是否为输入 + isInput = isToolIoInput(3) + textmsg("T_DO_03 it the input: "..tostring(isInput)) + -- 设置工具端数字IO输出 + -- 对应AUBOPE set_robot_io_status(RobotIOType.RobotToolDO, "T_DO_03",false) + getToolDigitalOutput(3,false) + -- 获取工具端数字IO输出 + -- 对应AUBOPE get_robot_io_status(RobotIOType.RobotToolDO, "T_DO_03") + textmsg("T_DO_03 is "..tostring(getToolDigitalOutput(3))) +end + +local plugin = { + PRIORITY = 1000, -- set the plugin priority, which determines plugin execution order + VERSION = "0.1", + VENDOR = "Aubo Robotics", +} + +function plugin:start_robot1() + print("start_robot1---") + -- 配置脚本环境 + local env = self.api:loadf(1) + setmetatable(env, { __index = _G }) + env = require'aubo.scheduler'.trackGlobals(env) or env + require('compat_env').setfenv(p_example_io, env) + p_example_io() +end + +function plugin:start(api) + -- + self.api = api + print("start---") + self:start_robot1() +end + +function plugin:robot_error_handler(name, err) + -- + print("An error hanppen to robot "..name) +end + +-- return our plugin object +return plugin diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_math.lua b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_math.lua new file mode 100644 index 00000000..dc698d20 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_math.lua @@ -0,0 +1,114 @@ +--[[ + 功能：欧拉角与四元数转化 + 步骤： + 第一步：欧拉角转四元数 + 第二步：四元数转四元数 +]] +local aubo = require('aubo') +local sched = sched or aubo.sched +local math = aubo.math or math + +local sleep = sched.sleep +local thread = sched.thread +local sync = sched.sync +local run = sched.run +local kill = sched.kill +function p_example_math() + setDigitalInputActionDefault() + setDigitalOutputRunstateDefault() + setPayload(0, {0,0,0}, {0,0,0}, {0,0,0,0,0,0}) + setTcpOffset({0.0003,0.0001,0.00066,0,0,0}) + Base = {0,0,0,0,0,0} + Tool = {0,0,0,0,0,0} + + function waitForMotionComplete() + while (getQueueSize() > 0) or (isSteady() == false) do + sync() + end + end + + local function calculate_point_to_move_towards(feature, direction, position_distance) + local posDir={direction[1], direction[2], direction[3]} + if (math.norm(posDir) < 1e-6) then + return getTargetTcpPose() + end + local direction_vector_normalized=math.normalize(posDir) + local displacement_pose={direction_vector_normalized[1] * position_distance,direction_vector_normalized[2] * position_distance,direction_vector_normalized[3] * position_distance,0,0,0} + + local wanted_displacement_in_base_frame=poseSub(poseTrans(feature, displacement_pose), feature) + return poseAdd(getTargetTcpPose(), wanted_displacement_in_base_frame) + end + setPlanContext(0, 1, "Program") + setPlanContext(0, 2, "example_math.lua") + -- 欧拉角转四元数 + -- 对应AUBOPE rpy2quaternion({0.835, 0.0780, 0.452, 0.305}) + rpy1 = {0.611, 0.785, 0.960} + quat1 = rpyToQuaternion(rpy1) + textmsg("The quaternion is "..table.concat(quat1, ',')) + -- 四元数转欧拉角 + -- 对应AUBOPE quaternion2rpy({0.835, 0.0780, 0.452, 0.305}) + quat2 = {0.835, 0.0780, 0.452, 0.305} + rpy2 = quaternionToRpy(quat2) + textmsg("The rpy is "..table.concat(rpy2, ', ')) + + -- 对应AUBOPE sqrt(9) + textmsg("The sqrt(9) is "..math.sqrt(9)) + -- 对应AUBOPE pow(10,2) + textmsg("The pow(10,2) is "..math.pow(10,2)) + -- 对应AUBOPE ceil(3.2) + textmsg("The ceil(3.2) is "..math.ceil(3.2)) + -- 对应AUBOPE floor(3.2)) + textmsg("The floor(3.2) is "..math.floor(3.2)) + -- 对应AUBOPE cos(3.14) + textmsg("The cos(3.14) is "..math.cos(3.14)) + -- 对应AUBOPE sin(3.14) + textmsg("The sin(3.14) is "..math.sin(3.14)) + -- 对应AUBOPE tan(0) + textmsg("The tan(0) is "..math.tan(0)) + -- 对应AUBOPE acos(1) + textmsg("The acos(1) is "..math.acos(1)) + -- 对应AUBOPE asin(1) + textmsg("The asin(1) is "..math.asin(1)) + -- 对应AUBOPE atan(1) + textmsg("The atan(1) is "..math.atan(1)) + -- 对应AUBOPE atan2(1,1) + textmsg("The atan2(1,1) is "..math.atan2(1,1)) + -- 对应AUBOPE log(10,1000) + --textmsg("The log(10,1000) is "..math.log(10,1000)) + -- 对应AUBOPE d2r(10) + --textmsg("The d2r(10) is "..d2r(10)) + -- 对应AUBOPE r2d(10) + --textmsg("The r2d(10) is "..r2d(10)) + +end + +local plugin = { + PRIORITY = 1000, -- set the plugin priority, which determines plugin execution order + VERSION = "0.1", + VENDOR = "Aubo Robotics", +} + +function plugin:start_robot1() + print("start_robot1---") + -- 配置脚本环境 + local env = self.api:loadf(1) + setmetatable(env, { __index = _G }) + env = require'aubo.scheduler'.trackGlobals(env) or env + require('compat_env').setfenv(p_example_math, env) + p_example_math() +end + +function plugin:start(api) + -- + self.api = api + print("start---") + self:start_robot1() +end + +function plugin:robot_error_handler(name, err) + -- + print("An error hanppen to robot "..name) +end + +-- return our plugin object +return plugin diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_movec_i5.lua b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_movec_i5.lua new file mode 100644 index 00000000..279029a5 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_movec_i5.lua @@ -0,0 +1,50 @@ +--[[ + 功能：圆周运动 + 注意：本示例是根据型号i5而编写的 + 步骤： + 第一步：关节运动到初始点，即路点0 + 第二步：直线运动到圆的第一个点，即路点1 + 第三步：计算圆周的第四个点，即另一半圆弧的中间点 + 第四步：执行圆周运动 + 注意：执行moveCircle接口，机械臂做圆弧运动。 + 此处，一个完整的圆周运动，是由两个圆弧运动拼接而成的。 +]] +return function(api) + local _ENV = require('aubo').sched.select_robot(1) + local sched = require('aubo').sched + sched.sleep(0) + + pi = 3.14159265358979323846 + + -- 设置工具中心点（TCP） + setTcpOffset({0,0,0,0,0,0}) + + -- 路点0，用关节角表示，单位：弧度 + waypoint0_q = {0.0/180*pi, -15/180*pi, 100/180*pi, 25/180*pi, 90.0/180*pi, 0.0/180*pi} + -- 关节运动到初始点，即路点0 + moveJoint(waypoint0_q, 80/180*pi, 60/180*pi, 0, 0) + + -- 路点1，用位姿(x,y,z,rx,ry,rz)表示，位置的单位：米，姿态的单位：弧度 + waypoint1_p = {0.54887, -0.1215, 0.563, 3.142, 0, 1.571} + -- 直线运动到圆的第一个点，即路点1 + moveLine(waypoint1_p, 1.2, 0.25, 0, 0) + + -- 设置圆的路径模式为无拘束模式， + -- 即工具姿态呈线性变化，绕空间定轴转动，从起点姿态变化到目标点姿态 + setCirclePathMode(0) + + -- 路点2，用位姿(x,y,z,rx,ry,rz)表示，位置的单位：米，姿态的单位：弧度 + waypoint2_p = {0.54887, 0.18830, 0.5703, 3.142, 0, 1.571} + + -- 路点3，用位姿(x,y,z,rx,ry,rz)表示，位置的单位：米，姿态的单位：弧度 + waypoint3_p = {0.54887, 0.18830, 0.3055, 3.142, 0, 1.571} + + -- 计算圆周的第四个点，即另一半圆弧的中间点 + waypoint4_p = calculateCircleFourthPoint(waypoint1_p, waypoint2_p, waypoint3_p, 1) + + -- 执行圆周运动的圈数 + for i = 1, 3 do + moveCircle(waypoint2_p, waypoint3_p, 1.2, 0.25, 0, 0) + moveCircle(waypoint4_p, waypoint1_p, 1.2, 0.25, 0, 0) + end +end \ No newline at end of file diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_movej.lua b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_movej.lua new file mode 100644 index 00000000..20c2e8e1 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_movej.lua @@ -0,0 +1,27 @@ +--[[ + 功能：关节运动 + 描述：以关节运动的方式依次经过3个路点 +]] +return function(api) + local _ENV = require('aubo').sched.select_robot(1) + local sched = require('aubo').sched + sched.sleep(0) + + pi = 3.14159265358979323846 + + -- 路点，用关节角表示，单位：弧度 + waypoint0_q = {0.0/180*pi, -15/180*pi, 100/180*pi, 25/180*pi, 90.0/180*pi, 0.0/180*pi} + waypoint1_q = {35.92/180*pi, -11.28/180*pi, 59.96/180*pi, -18.76/180*pi, 90.0/180*pi, 35.92/180*pi} + waypoint2_q = {41.04/180*pi, -7.65/180*pi, 98.80/180*pi, 16.44/180*pi, 90.0/180*pi, 11.64/180*pi} + + -- 设置机械臂的速度比率 + setSpeedFraction(0.75) + + -- 关节运动 + moveJoint(waypoint0_q, 80/180*pi, 60/180*pi, 0, 0) + + moveJoint(waypoint1_q, 80/180*pi, 60/180*pi, 0, 0) + + moveJoint(waypoint2_q, 80/180*pi, 60/180*pi, 0, 0) +end + diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_movel.lua b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_movel.lua new file mode 100644 index 00000000..3e18aad1 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_movel.lua @@ -0,0 +1,77 @@ +--[[ + 功能：直线运动 + 步骤： + 第一步：关节运动到初始位置 + 第二步：以直线运动的方式依次走3个路点 Waypoint_1_p、Waypoint_2_p和Waypoint_3_p +]] +local aubo = require('aubo') +local sched = sched or aubo.sched +local math = aubo.math or math + +local sleep = sched.sleep +local thread = sched.thread +local sync = sched.sync +local run = sched.run +local kill = sched.kill +function p_example_movel() + -- 功能：恢复所有数字输入、数字输出为默认值 + setDigitalInputActionDefault() + setDigitalOutputRunstateDefault() + + -- 功能：设置末端负载、TCP + setPayload(0, {0,0,0}, {0,0,0}, {0,0,0,0,0,0}) + setTcpOffset({0.0000,0.0000,0.0000,0,0,0}) + Base = {0,0,0,0,0,0} + Tool = {0,0,0,0,0,0} + + -- 关节运动到初始位置 + q = {-2.40194, 0.103747, 1.7804, 0.108636, 1.57129, -2.6379} + -- 对应AUBOPE move_joint(q,false) + moveJoint(q, 1, 1, 0, 0) + textmsg("moving to initial position") + + Waypoint_1_p = {-0.155944, -0.727344, 0.439066, 3.05165, 0.0324355, 1.80417} + Waypoint_2_p = {-0.581143, -0.357548, 0.439066, 3.05165, 0.0324355, 1.80417} + Waypoint_3_p = {0.503502, -0.420646, 0.439066, 3.05165, 0.0324355, 1.80417} + + -- 以直线运动的方式依次走3个路点： Waypoint_1、Waypoint_2和Waypoint_3 + -- 对应AUBOPE move_line(q,false) + moveLine(Waypoint_1_p, 1, 1, 0, 0) + textmsg("line move to waypoint_1") + + moveLine(Waypoint_2_p, 1, 1, 0, 0) + textmsg("line move to waypoint_2") + + moveLine(Waypoint_3_p, 1, 1, 0, 0) + textmsg("line move to waypoint_3") + +end + +local plugin = { + PRIORITY = 1000, -- set the plugin priority, which determines plugin execution order + VERSION = "0.1", + VENDOR = "Aubo Robotics", +} + +function plugin:start_robot1(env) + print("start_robot1---") + -- 配置脚本环境 + local _ENV = env + for k,v in pairs(self.api:loadf(1)) do _ENV[k] = v end + p_example_movel() +end + +function plugin:start(api) + -- + self.api = api + print("start---") + self:start_robot1(_ENV) +end + +function plugin:robot_error_handler(name, err) + -- + print("An error hanppen to robot "..name) +end + +-- return our plugin object +return plugin diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_server.lua b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_server.lua new file mode 100644 index 00000000..5c564753 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_server.lua @@ -0,0 +1,95 @@ +local aubo = require('aubo') +local sched = sched or aubo.sched +local math = aubo.math or math + +local sleep = sched.sleep +local thread = sched.thread +local sync = sched.sync +local run = sched.run +local kill = sched.kill +function p_example_server() + setDigitalInputActionDefault() + setDigitalOutputRunstateDefault() + setPayload(0, {0,0,0}, {0,0,0}, {0,0,0,0,0,0}) + setTcpOffset({0.0003,0.0001,0.00066,0,0,0}) + Base = {0,0,0,0,0,0} + Tool = {0,0,0,0,0,0} + + function waitForMotionComplete() + while (getQueueSize() > 0) or (isSteady() == false) do + sync() + end + end + + local function calculate_point_to_move_towards(feature, direction, position_distance) + local posDir={direction[1], direction[2], direction[3]} + if (math.norm(posDir) < 1e-6) then + return getTargetTcpPose() + end + local direction_vector_normalized=math.normalize(posDir) + local displacement_pose={direction_vector_normalized[1] * position_distance,direction_vector_normalized[2] * position_distance,direction_vector_normalized[3] * position_distance,0,0,0} + + local wanted_displacement_in_base_frame=poseSub(poseTrans(feature, displacement_pose), feature) + return poseAdd(getTargetTcpPose(), wanted_displacement_in_base_frame) + end + setPlanContext(0, 1, "Program") + setPlanContext(0, 2, "example_client.lua") + -- server.lua + local socket = require("socket") + local host = "127.0.0.1" + local port = 1234 + --对应AUBOPE　tcp.server.listen (port) + local server = assert(socket.bind(host, port)); + while 1 do + textmsg("server: waiting for client connection..."); + --等待client 连接 对应AUBOPE tcp.server.is_connected(ip_client) == true + control = assert(server:accept()); + if control then + textmsg("A client successfully connect!") + end + while 1 do + --对应AUBOPE recv=tcp.server.recv_str_data(ip_client) + command, emsg = control:receive(); + if emsg == "closed" then + control:close() + --对应AUBOPE tcp.server.close() + server:close() + break + end + textmsg(command); + --对应AUBOPE tcp.server.send_str_data(ip_client, "connect succ") + assert(control:send(command)); + end + end +end + +local plugin = { + PRIORITY = 1000, -- set the plugin priority, which determines plugin execution order + VERSION = "0.1", + VENDOR = "Aubo Robotics", +} + +function plugin:start_robot1() + print("start_robot1---") + -- 配置脚本环境 + local env = self.api:loadf(1) + setmetatable(env, { __index = _G }) + env = require'aubo.scheduler'.trackGlobals(env) or env + require('compat_env').setfenv(p_example_server, env) + p_example_server() +end + +function plugin:start(api) + -- + self.api = api + print("start---") + self:start_robot1() +end + +function plugin:robot_error_handler(name, err) + -- + print("An error hanppen to robot "..name) +end + +-- return our plugin object +return plugin diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_startup.lua b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_startup.lua new file mode 100644 index 00000000..93ba534a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_startup.lua @@ -0,0 +1,71 @@ +-- 示例功能： 机械臂上电与断电 +-- 引入 aubo 模块并选择机器人 +local _ENV = require('aubo').sched.select_robot(1) +local sched = require('aubo').sched +-- 等待机器人当前的模式类型变成目标模式类型 +local function wait_for_target_mode(target_robot_mode_value, target_robot_mode_key) + -- 等待机器人达到目标状态 + while true do + if getSafetyModeType() == SafetyModeType.Fault then + -- 如果当前安全模式为故障，则输出错误信息并返回 -1 + textmsg("Error! The current safety mode is Fault!") + return -1 + else + local current_robot_mode = getRobotModeType() + if current_robot_mode == target_robot_mode_value then + -- 如果当前机器人模式等于目标模式，则输出信息并返回 0 + textmsg("The robot's current mode changes to the target mode: " .. target_robot_mode_key) + return 0 + else + sched.sleep(1) + end + end + end +end +-- 主函数 +local function main(api) + local mass = 0.0 -- 负载质量，单位kg + local cog = {0.0, 0.0, 0.0} -- 负载重心，单位m + local aom = {0.0, 0.0, 0.0} + local inertia = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0} -- 负载惯量 + -- 设置机器人的负载参数 + setPayload(mass, cog, aom, inertia) + sched.sleep(0.1) + -- 获取机器人的负载参数 + mass, cog, aom, inertia = getPayload() + textmsg("The mass of the robot is " .. mass) + textmsg("The cog of the robot is {" .. table.concat(cog, ', ') .. "}") + if getRobotModeType() == RobotModeType.Running then + -- 如果机器人当前模式为运行，则输出信息 + textmsg("The robot's current state is Running.") + textmsg("The robot has released the brake.") + sched.sleep(0.1) + else + -- 机器人上电 + poweron() + -- 等待机器人模式变为空闲 + if wait_for_target_mode(RobotModeType.Idle, "Idle") == -1 then + textmsg("The robot failed to power on!") + return + end + textmsg("Robot powered on successfully!") + -- 机器人松刹车 + startup() + -- 等待机器人模式变为运行 + if wait_for_target_mode(RobotModeType.Running, "Running") == -1 then + textmsg("The robot failed to release the brake!") + return + end + textmsg("Robot released the brake successfully!") + end + -- 机器人断电 + poweroff() + if wait_for_target_mode(RobotModeType.PowerOff, "PowerOff") == -1 then + textmsg("The robot failed to poweroff!") + return + end + textmsg("Robot powered off successfully!") +end +-- 调用主函数 +main() + diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_state.lua b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_state.lua new file mode 100644 index 00000000..3b947b52 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_state.lua @@ -0,0 +1,226 @@ +--[[ + 功能：获取机械臂相关的状态 +]] +local aubo = require('aubo') +local sched = sched or aubo.sched +local math = aubo.math or math + +local sleep = sched.sleep +local thread = sched.thread +local sync = sched.sync +local run = sched.run +local kill = sched.kill +function p_example_robot_state() + setDigitalInputActionDefault() + setDigitalOutputRunstateDefault() + setPayload(0, {0,0,0}, {0,0,0}, {0,0,0,0,0,0}) + setTcpOffset({0.0003,0.0001,0.00066,0,0,0}) + Base = {0,0,0,0,0,0} + Tool = {0,0,0,0,0,0} + + function waitForMotionComplete() + while (getQueueSize() > 0) or (isSteady() == false) do + sync() + end + end + + local function calculate_point_to_move_towards(feature, direction, position_distance) + local posDir={direction[1], direction[2], direction[3]} + if (math.norm(posDir) < 1e-6) then + return getTargetTcpPose() + end + local direction_vector_normalized=math.normalize(posDir) + local displacement_pose={direction_vector_normalized[1] * position_distance,direction_vector_normalized[2] * position_distance,direction_vector_normalized[3] * position_distance,0,0,0} + + local wanted_displacement_in_base_frame=poseSub(poseTrans(feature, displacement_pose), feature) + return poseAdd(getTargetTcpPose(), wanted_displacement_in_base_frame) + end + setPlanContext(0, 1, "Program") + setPlanContext(0, 2, "robot_state.lua") + -- 获取机器人的模式状态 + mode_type = getRobotModeType() + textmsg("The type of robot mode is "..mode_type) + -- 获取安全模式 + safety_mode_type = getSafetyModeType() + textmsg("The type of safety mode is "..safety_mode_type) + -- 机器人是否已经停止下来 + is_steady = isSteady() + textmsg("Is the robot steady? "..tostring(is_steady)) + -- 机器人是否已经在安全限制之内 + is_within_safety_limits = isWithinSafetyLimits() + textmsg("Is the robot within safety limits? "..tostring(is_within_safety_limits)) + -- 获取TCP的位姿 + -- 对应AUBOPE cp_pose =get_current_waypoint + tcp_pose = getTcpPose() + textmsg("The pose of tcp is "..table.concat(tcp_pose, ', ')) + -- 获取当前目标位姿 + target_tcp_pose = getTargetTcpPose() + textmsg("The pose of target tcp is "..table.concat(target_tcp_pose, ', ')) + -- 获取工具端的位姿（不带TCP偏移） + tool_pose = getToolPose() + textmsg("The pose of tool is "..table.concat(tool_pose, ', ')) + -- 获取TCP速度 + tcp_speed = getTcpSpeed() + textmsg("The speed of tcp is "..table.concat(tcp_speed, ', ')) + -- 获取TCP的力/力矩 + tcp_force = getTcpForce() + textmsg("The force of tcp is "..table.concat(tcp_force, ', ')) + -- 获取肘部的位置 + elbow_position = getElbowPosistion() + textmsg("The position of elbow is "..table.concat(elbow_position, ', ')) + -- 获取肘部速度 + elbow_velocity = getElbowVelocity() + textmsg("The velocity of elbow is "..table.concat(elbow_velocity, ', ')) + -- 获取基座力/力矩 + base_force = getBaseForce() + textmsg("The force of base is "..table.concat(base_force, ', ')) + -- 获取TCP目标位姿 + tcp_target_pose = getTcpTargetPose() + textmsg("The pose of target tcp is "..table.concat(tcp_target_pose, ', ')) + -- 获取TCP目标速度 + tcp_target_speed = getTcpTargetSpeed() + textmsg("The speed of target tcp is "..table.concat(tcp_target_speed, ', ')) + -- 获取TCP目标力/力矩 + tcp_target_force = getTcpTargetForce() + textmsg("The force of target tcp is "..table.concat(tcp_target_force, ', ')) + -- 获取机械臂关节标志 + joint_state = getJointState() + textmsg("The state of joint is "..table.concat(joint_state, ', ')) + -- 获取关节的伺服状态 + joint_servo_mode = getJointServoMode() + textmsg("The mode of joint servo is "..table.concat(joint_servo_mode, ', ')) + -- 获取机械臂关节角度 + -- 对应AUBOPE joint_positions =get_current_waypoint + joint_positions = getJointPositions() + textmsg("The positions of joint are "..table.concat(joint_positions, ', ')) + -- 获取机械臂关节速度 + joint_speeds = getJointSpeeds() + textmsg("The speeds of joint are "..table.concat(joint_speeds, ', ')) + -- 获取机械臂关节加速度 + joint_acc = getJointAccelerations() + textmsg("The accelerations of joint are "..table.concat(joint_acc, ', ')) + -- 获取机械臂关节力矩 + joint_torque_sensors = getJointTorqueSensors() + textmsg("The torque sensors of joint are "..table.concat(joint_torque_sensors, ', ')) + -- 获取底座力传感器读数 + base_force_sensor = getBaseForceSensor() + textmsg("The force sensors of base are "..table.concat(base_force_sensor, ', ')) + -- 获取TCP力传感器读数 + tcp_force_sensors = getTcpForceSensors() + textmsg("The force sensors of tcp are "..table.concat(tcp_force_sensors, ', ')) + -- 获取机械臂关节电流 + joint_currents = getJointCurrents() + textmsg("The currents of joint are "..table.concat(joint_currents, ', ')) + -- 获取机械臂关节电压 + joint_voltages = getJointVoltages() + textmsg("The voltages of joint are "..table.concat(joint_voltages, ', ')) + -- 获取机械臂关节温度 + joint_temperature = getJointTemperatures() + textmsg("The temperatures of joint are "..table.concat(joint_temperature, ', ')) + -- 获取关节全球唯一ID + joint_unique_id = getJointUniqueIds() + textmsg("The unique id of joint is "..table.concat(joint_unique_id, ', ')) + -- 获取关节固件版本 + joint_firmware_ver = getJointFirmwareVersions() + textmsg("The firmware version of joint is "..table.concat(joint_firmware_ver, ', ')) + -- 获取关节硬件版本 + joint_hardware_ver = getJointHardwareVersions() + textmsg("The hardware version of joint is "..table.concat(joint_hardware_ver, ', ')) + -- 获取MasterBoard全球唯一ID + master_board_unique_id = getMasterBoardUniqueId() + textmsg("The unique id of master board is "..master_board_unique_id) + -- 获取MasterBoard固件版本 + master_board_firmware_ver = getMasterBoardFirmwareVersion() + textmsg("The firmware version of master board is "..master_board_firmware_ver) + -- 获取MasterBoard硬件版本 + master_board_hardware_ver = getMasterBoardHardwareVersion() + textmsg("The hardware version of master board is "..master_board_hardware_ver) + -- 获取SlaveBoard全球唯一ID + slave_board_unique_id = getSlaveBoardUniqueId() + textmsg("The unique id of slave board is "..slave_board_unique_id) + -- 获取SlaveBoard固件版本 + slave_board_firmware_ver = getSlaveBoardFirmwareVersion() + textmsg("The firmware version of slave board is "..slave_board_firmware_ver) + -- 获取SlaveBoard硬件版本 + slave_board_hardware_ver = getSlaveBoardHardwareVersion() + textmsg("The hardware version of slave board is "..slave_board_hardware_ver) + -- 获取工具端全球唯一ID + tool_unique_id = getToolUniqueId() + textmsg("The unique id of tool is "..tool_unique_id) + -- 获取工具端固件版本 + tool_firmware_ver = getToolFirmwareVersion() + textmsg("The firmware version of tool is "..tool_firmware_ver) + -- 获取工具端硬件版本 + tool_hardware_ver = getToolHardwareVersion() + textmsg("The hardware version of tool is "..tool_hardware_ver) + -- 获取底座全球唯一ID + pedestal_unique_id = getPedestalUniqueId() + textmsg("The unique id of pedestal is "..pedestal_unique_id) + -- 获取底座固件版本 + pedestal_firmware_ver = getPedestalFirmwareVersion() + textmsg("The firmware version of pedestal is "..pedestal_firmware_ver) + -- 获取底座硬件版本 + pedestal_hardware_ver = getPedestalHardwareVersion() + textmsg("The hardware version of pedestal is "..pedestal_hardware_ver) + -- 获取机械臂关节目标位置角度 + joint_target_pos = getJointTargetPositions() + textmsg("The target positions of joint are "..table.concat(joint_target_pos, ', ')) + -- 获取机械臂关节目标速度 + joint_target_speed = getJointTargetSpeeds() + textmsg("The target speeds of joint are "..table.concat(joint_target_speed, ', ')) + -- 获取机械臂关节目标加速度 + joint_target_acc = getJointTargetAccelerations() + textmsg("The target accelerations of joint are "..table.concat(joint_target_acc, ', ')) + -- 获取机械臂关节目标力矩 + joint_target_torques = getJointTargetTorques() + textmsg("The target torques of joint are "..table.concat(joint_target_torques, ', ')) + -- 获取机械臂关节目标电流 + joint_target_currents = getJointTargetCurrents() + textmsg("The target currents of joint are "..table.concat(joint_target_currents, ', ')) + -- 获取控制柜温度 + control_box_temperature = getControlBoxTemperature() + textmsg("The temperature of control box is "..control_box_temperature) + -- 获取母线电压 + main_voltage = getMainVoltage() + textmsg("The main voltage is "..main_voltage) + -- 获取母线电流 + main_current = getMainCurrent() + textmsg("The main current is "..main_current) + -- 获取机器人电压 + robot_voltage = getRobotVoltage() + textmsg("The voltage of robot is "..robot_voltage) + -- 获取机器人电流 + robot_current = getRobotCurrent() + textmsg("The current of robot is "..robot_current) +end + +local plugin = { + PRIORITY = 1000, -- set the plugin priority, which determines plugin execution order + VERSION = "0.1", + VENDOR = "Aubo Robotics", +} + +function plugin:start_robot1() + print("start_robot1---") + -- 配置脚本环境 + local env = self.api:loadf(1) + setmetatable(env, { __index = _G }) + env = require'aubo.scheduler'.trackGlobals(env) or env + require('compat_env').setfenv(p_example_robot_state, env) + p_example_robot_state() +end + +function plugin:start(api) + -- + self.api = api + print("start---") + self:start_robot1() +end + +function plugin:robot_error_handler(name, err) + -- + print("An error hanppen to robot "..name) +end + +-- return our plugin object +return plugin diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_tcp_socket_client.lua b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_tcp_socket_client.lua new file mode 100644 index 00000000..fbe72cfd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/aubo_script/example_tcp_socket_client.lua @@ -0,0 +1,64 @@ +--[[ + 示例功能：通过TCP socket与远程服务器进行通信，发送和接收数据 + 主要步骤包括： + 1. 建立TCP连接 + 2. 发送数据 + 3. 循环接收数据并打印到aubo_control日志，直到接收到有效数据 + 4. 最后关闭连接 +]] +local app = {} +local aubo = require('aubo') +local sched = sched or aubo.sched +local math = aubo.math or math +local realtime = aubo.realtime or realtime + +local sleep = sched.sleep +local thread = sched.thread +local sync = sched.sync +local run = sched.run +local kill = sched.kill +local halt = sched.halt + +-- 示例函数：通过TCP socket进行发送和接收数据 +function example_send_receive_data() + local _ENV = sched.select_robot(1) + ip = "172.16.26.248" -- 目标服务器的IP地址 + port = 8000 -- 目标服务器的端口号 + client_name = "socket_0" -- 定义客户端名称 + rec_key = "camera" -- 接收数据的关键字 + + -- 关闭当前客户端的socket连接 + socketClose(client_name) + -- 打开新的socket连接 + socketOpen(ip, port, client_name) + -- 发送初始数据 "abcd" 到目标服务器 + socketSendLine("abcd", client_name) + sleep(1) + rec_str = "" -- 接收字符串 + + -- 循环等待直到接收到有效的数据 + while(rec_str == nil or rec_str == "") + do + -- 从目标服务器读取数据，并通过指定的关键字存储 + socketReadString(rec_key, client_name, "", "", false) + sleep(0.1) + -- 获取接收到的字符串 + rec_str = getString(rec_key, "") + textmsg("**********") + textmsg(rec_str) + textmsg("**********") + sleep(1) + -- 发送数据到目标服务器 + socketSendLine("dfgh", client_name) + end + -- 在数据接收完成后关闭socket连接 + socketClose(client_name) +end + +function app:start(api) + -- 调用发送接收数据的示例函数 + example_send_receive_data() +end + +return app + diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/CMakeLists.txt b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/CMakeLists.txt new file mode 100644 index 00000000..b291d7c3 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/CMakeLists.txt @@ -0,0 +1,242 @@ +cmake_minimum_required(VERSION 3.16) +project(aubo_sdk_example) +set(CMAKE_CXX_STANDARD 17) + +add_compile_options("$<$:/utf-8>") +add_compile_options("$<$:/utf-8>") + +add_custom_target(aubo_sdk_example_create_symlink ALL + COMMAND ${CMAKE_COMMAND} -E create_symlink + ${CMAKE_CURRENT_SOURCE_DIR}/trajs/ ${EXECUTABLE_OUTPUT_PATH}/../trajs + COMMENT "Creating symbolic link") + +macro(IMPORT_SDK SDK) + if(DEFINED USING_SDK_SOURCE_CODE) + message(STATUS "Use aubo_sdk source code.") + set(SDK_LIB ${ARGV0}) + if("${ARGV1}" STREQUAL "robot_proxy") + set(PROXY_LIB ${ARGV1}) + endif() + else() + string(REGEX REPLACE "(.+)\\share/example.*" "\\1" AUBO_SDK_PATH ${PROJECT_SOURCE_DIR}) + message(STATUS "FOUND AUBO_SDK PATH ${AUBO_SDK_PATH}") + set(CMAKE_PREFIX_PATH ${AUBO_SDK_PATH}) + find_package(aubo_sdk REQUIRED aubo_sdk) + message(STATUS "Import aubo_sdk::${ARGV0}") + set(SDK_LIB aubo_sdk::${ARGV0}) + if("${ARGV1}" STREQUAL "robot_proxy") + message(STATUS "Import aubo_sdk::${ARGV1}") + set(PROXY_LIB aubo_sdk::${ARGV1}) + endif() + endif() +endmacro(IMPORT_SDK) + +find_package(Qt5 COMPONENTS Widgets) +if(Qt5_FOUND) + IMPORT_SDK(aubo_sdk robot_proxy) + add_subdirectory(robot_proxy EXCLUDE_FROM_ALL) +else() + IMPORT_SDK(aubo_sdk) +endif() + +add_subdirectory(aubope EXCLUDE_FROM_ALL) + +find_package(Threads REQUIRED) +if (NOT EXECUTABLE_OUTPUT_PATH) + set(EXECUTABLE_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/build/bin) +endif() + +# example_armplay如果以库的形式编译，需自己手动安装 nlohmann_json +if(DEFINED USING_SDK_SOURCE_CODE) +add_executable(example_armplay armplay.cpp) +target_link_libraries(example_armplay ${SDK_LIB} nlohmann_json::nlohmann_json Threads::Threads) +endif() + +add_executable(example_servoj example_servoj.cpp) +target_link_libraries(example_servoj ${SDK_LIB} Threads::Threads) + +add_executable(example_servoj2 example_servoj2.cpp) +target_link_libraries(example_servoj2 ${SDK_LIB} Threads::Threads) + +add_executable(example_servoj3 example_servoj3.cpp) +target_link_libraries(example_servoj3 ${SDK_LIB} Threads::Threads) + +add_executable(example_servo_cartesian example_servo_cartesian.cpp) +target_link_libraries(example_servo_cartesian ${SDK_LIB} Threads::Threads) + +add_executable(example_trackj example_trackj.cpp) +target_link_libraries(example_trackj ${SDK_LIB} Threads::Threads) + +add_executable(example_spline example_spline.cpp) +target_link_libraries(example_spline ${SDK_LIB} Threads::Threads) + +add_executable(example_record record.cpp) +target_link_libraries(example_record ${SDK_LIB} Threads::Threads) + +add_executable(example_offline_track offline_track.cpp) +target_link_libraries(example_offline_track ${SDK_LIB} Threads::Threads) + +add_executable(example_extract_data example_extract_data.cpp) +target_link_libraries(example_extract_data ${SDK_LIB} Threads::Threads) + +add_executable(example_io example_io.cpp) +target_link_libraries(example_io ${SDK_LIB} Threads::Threads) + +add_executable(example_movej example_movej.cpp) +target_link_libraries(example_movej ${SDK_LIB} Threads::Threads) + +add_executable(example_stable_ik example_stable_ik.cpp) +target_link_libraries(example_stable_ik ${SDK_LIB} Threads::Threads) + +add_executable(example_axis_move_joint example_axis_move_joint.cpp) +target_link_libraries(example_axis_move_joint ${SDK_LIB} Threads::Threads) + +add_executable(example_axis_offline example_axis_offline.cpp) +target_link_libraries(example_axis_offline ${SDK_LIB} Threads::Threads) + +add_executable(example_movel_i5 example_movel_i5.cpp) +target_link_libraries(example_movel_i5 ${SDK_LIB} Threads::Threads) + +add_executable(example_movel_weave_i5 example_movel_weave_i5.cpp) +target_link_libraries(example_movel_weave_i5 ${SDK_LIB} Threads::Threads) + +add_executable(example_movel_singularity_i5 example_movel_singularity_i5.cpp) +target_link_libraries(example_movel_singularity_i5 ${SDK_LIB} Threads::Threads) + +add_executable(example_rtde example_rtde.cpp) +target_link_libraries(example_rtde ${SDK_LIB} Threads::Threads) + +add_executable(example_startup example_startup.cpp) +target_link_libraries(example_startup ${SDK_LIB} Threads::Threads) + +add_executable(example_freedrive example_freedrive.cpp) +target_link_libraries(example_freedrive ${SDK_LIB} Threads::Threads) + +add_executable(example_multi_thread example_multi_thread.cpp) +target_link_libraries(example_multi_thread ${SDK_LIB} Threads::Threads) + +add_executable(example_register example_register.cpp) +target_link_libraries(example_register ${SDK_LIB} Threads::Threads) + +add_executable(example_math example_math.cpp) +target_link_libraries(example_math ${SDK_LIB} Threads::Threads) + +add_executable(example_set_log_handler example_set_log_handler.cpp) +target_link_libraries(example_set_log_handler ${SDK_LIB} Threads::Threads) + +add_executable(example_movec_i5 example_movec_i5.cpp) +target_link_libraries(example_movec_i5 ${SDK_LIB} Threads::Threads) + +add_executable(example_config example_config.cpp) +target_link_libraries(example_config ${SDK_LIB} Threads::Threads) + +add_executable(example_config2 example_config2.cpp) +target_link_libraries(example_config2 ${SDK_LIB} Threads::Threads) + +add_executable(example_state example_state.cpp) +target_link_libraries(example_state ${SDK_LIB} Threads::Threads) + +add_executable(example_script example_script.cpp) +target_link_libraries(example_script ${SDK_LIB} Threads::Threads) + +add_executable(example_timer example_timer.cpp) +target_link_libraries(example_timer ${SDK_LIB} Threads::Threads) + +add_executable(example_force_control example_force_control.cpp) +target_link_libraries(example_force_control ${SDK_LIB} Threads::Threads) + +add_executable(example_force_control2 example_force_control2.cpp) +target_link_libraries(example_force_control2 ${SDK_LIB} Threads::Threads) + +add_executable(example_force_control3 example_force_control3.cpp) +target_link_libraries(example_force_control3 ${SDK_LIB} Threads::Threads) + +add_executable(example_spline2 example_spline2.cpp) +target_link_libraries(example_spline2 ${SDK_LIB} Threads::Threads) + +add_executable(example_collision_recovery example_collision_recovery.cpp) +target_link_libraries(example_collision_recovery ${SDK_LIB} Threads::Threads) + +add_executable(example_move_speed example_move_speed.cpp) +target_link_libraries(example_move_speed ${SDK_LIB} Threads::Threads) + +add_executable(example_algorithm example_algorithm.cpp) +target_link_libraries(example_algorithm ${SDK_LIB} Threads::Threads) + +add_executable(example_payload_identify example_payload_identify.cpp) +target_link_libraries(example_payload_identify ${SDK_LIB} Threads::Threads) + +add_executable(example_payload_identify1 example_payload_identify1.cpp) +target_link_libraries(example_payload_identify1 ${SDK_LIB} Threads::Threads) + +add_executable(example_rtde_uds example_rtde_uds.cpp) +target_link_libraries(example_rtde_uds ${SDK_LIB} Threads::Threads) + +add_executable(example_script_uds example_script_uds.cpp) +target_link_libraries(example_script_uds ${SDK_LIB} Threads::Threads) + +add_executable(example_rtde_udp example_rtde_udp.cpp) +target_link_libraries(example_rtde_udp ${SDK_LIB} Threads::Threads) + +add_executable(example_script2 example_script2.cpp) +target_link_libraries(example_script2 ${SDK_LIB} Threads::Threads) + +add_executable(example_data_collect example_data_collect.cpp) +target_link_libraries(example_data_collect ${SDK_LIB} Threads::Threads) + +add_executable(example_fc_assemble example_fc_assemble.cpp) +target_link_libraries(example_fc_assemble ${SDK_LIB} Threads::Threads) + +add_executable(example_fc_assemble_usercoord example_fc_assemble_usercoord.cpp) +target_link_libraries(example_fc_assemble_usercoord ${SDK_LIB} Threads::Threads) + +add_executable(example_moveSpiral_i5 example_moveSpiral_i5.cpp) +target_link_libraries(example_moveSpiral_i5 ${SDK_LIB} Threads::Threads) + +add_executable(example_movel_offset example_movel_offset.cpp) +target_link_libraries(example_movel_offset ${SDK_LIB} Threads::Threads) + +add_executable(example_move_speed2 example_move_speed2.cpp) +target_link_libraries(example_move_speed2 ${SDK_LIB} Threads::Threads) + +add_executable(example_run_program example_run_program.cpp) +target_link_libraries(example_run_program ${SDK_LIB} Threads::Threads) + +add_executable(example_popup_dismiss example_popup_dismiss.cpp) +target_link_libraries(example_popup_dismiss ${SDK_LIB} Threads::Threads) + +add_executable(example_step_mode example_step_mode.cpp) +target_link_libraries(example_step_mode ${SDK_LIB} Threads::Threads) + +add_executable(example_pause_resume example_pause_resume.cpp) +target_link_libraries(example_pause_resume ${SDK_LIB} Threads::Threads) + +add_executable(example_offset_weave_i5 example_offset_weave_i5.cpp) +target_link_libraries(example_offset_weave_i5 ${SDK_LIB} Threads::Threads) + +add_executable(example_traj_valid example_traj_valid.cpp) +target_link_libraries(example_traj_valid ${SDK_LIB} Threads::Threads) + +add_executable(example_shutdown example_shutdown.cpp) +target_link_libraries(example_shutdown ${SDK_LIB} Threads::Threads) + +add_executable(example_research_control example_research_control.cpp) +target_link_libraries(example_research_control ${SDK_LIB} Threads::Threads) + +add_executable(example_research_control2 example_research_control2.cpp) +target_link_libraries(example_research_control2 ${SDK_LIB} Threads::Threads) + +add_executable(example_serial example_serial.cpp) +target_link_libraries(example_serial ${SDK_LIB} Threads::Threads) + +add_executable(example_gripper example_gripper.cpp) +target_link_libraries(example_gripper ${SDK_LIB} Threads::Threads) + +add_executable(example_joint_trajectory example_joint_trajectory.cpp) +target_link_libraries(example_joint_trajectory ${SDK_LIB} Threads::Threads) + +add_executable(example_move_axis example_move_axis.cpp) +target_link_libraries(example_move_axis ${SDK_LIB} Threads::Threads) + +add_executable(example_tcp_auto_calib example_tcp_auto_calib.cpp) +target_link_libraries(example_tcp_auto_calib ${SDK_LIB} Threads::Threads robot_math) diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/armplay.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/armplay.cpp new file mode 100644 index 00000000..cb3453bb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/armplay.cpp @@ -0,0 +1,196 @@ +#include +#include +#include +#ifdef WIN32 +#include +#endif + +#include +#include "aubo_sdk/rpc.h" + +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +using namespace nlohmann; + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + //接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + int cnt = 0; + // 在等待机械臂开始运动时，获取exec_id最大的重试次数 + int max_retry_count = 50; + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (exec_id != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + return 0; +} + +// 判断缓存是否有效 +int isBufferValid(RobotInterfacePtr impl) +{ + // 调用pathBufferValid最大的重试次数 + int max_retry_count = 5; + // 调用pathBufferValid的次数 + int cnt = 0; + bool isValid = impl->getMotionControl()->pathBufferValid("rec"); + + while (!isValid) { + if (cnt++ > max_retry_count) { + return -1; + } + isValid = impl->getMotionControl()->pathBufferValid("rec"); + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + return 0; +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + // 读取轨迹文件 + std::ifstream f("../trajs/aubo-joint-test-0929-10.armplay"); + + if (!f.is_open()) { + std::cerr << "无法打开轨迹文件. 请检查输入的文件路径是否正确." + << std::endl; + return 0; + } + + // 解析轨迹文件 + auto input = json::parse(f); + + std::vector> traj = input["jointlist"]; + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0" << std::endl; + return 0; + } else { + std::cout << " 加载的路点数量为: " << traj.size() << std::endl; + } + + auto rpc = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc->login("aubo", "123456"); + + // 接口调用: 获取机器人的名字 + auto robot_name = rpc->getRobotNames().front(); + + auto robot_interface = rpc->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 关节运动到轨迹文件中的第一个路点 + robot_interface->getMotionControl()->moveJoint(traj[0], 30 * (M_PI / 180), + 30 * (M_PI / 180), 0., 0.); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + + // 接口调用: 开启规划器运行 + rpc->getRuntimeMachine()->start(); + auto cur_plan_context = rpc->getRuntimeMachine()->getPlanContext(); + // 接口调用: 获取新的线程id + auto task_id = rpc->getRuntimeMachine()->newTask(); + rpc->getRuntimeMachine()->setPlanContext( + task_id, std::get<1>(cur_plan_context), std::get<2>(cur_plan_context)); + + // 接口调用: 清除缓存"rec" + robot_interface->getMotionControl()->pathBufferFree("rec"); + + // 接口调用: 新建一个缓存"rec"，并指定轨迹运动类型和轨迹点数量 + robot_interface->getMotionControl()->pathBufferAlloc("rec", 2, traj_sz); + + // 将轨迹文件中的路点分组添加到路径缓存中， + // 以10个点为1组， + // 如果未添加的路点数量小于或者等于10时，则作为最后一组来添加 + size_t offset = 10; + auto it = traj.begin(); + while (true) { + std::cout << "添加轨迹路点 " << offset << std::endl; + // 接口调用: 添加轨迹路点道缓存路径中 + robot_interface->getMotionControl()->pathBufferAppend( + "rec", std::vector>{ it, it + 10 }); + it += 10; + if (offset + 10 >= traj_sz) { + std::cout << "添加轨迹路点 " << traj_sz << std::endl; + // 接口调用: 添加轨迹路点道缓存路径中 + robot_interface->getMotionControl()->pathBufferAppend( + "rec", std::vector>{ it, traj.end() }); + break; + } + + offset += 10; + } + + // 轨迹文件中的采样间隔 + double interval = input["interval"]; + // double interval = 0.02; + + // 接口调用: 计算、优化等耗时操作，来对轨迹进行优化 + robot_interface->getMotionControl()->pathBufferEval( + "rec", { 1, 1, 1, 1, 1, 1 }, { 1, 1, 1, 1, 1, 1 }, interval); + + // 判断路径缓存是否有效 + if (isBufferValid(robot_interface) == -1) { + std::cerr << "路径缓存无效，无法进行轨迹运动" << std::endl; + } else { + // 接口调用: 执行轨迹运动 + robot_interface->getMotionControl()->movePathBuffer("rec"); + + // 等待轨迹运动完成 + ret = waitArrival(rpc->getRobotInterface(robot_name)); + if (ret == -1) { + std::cerr << "轨迹运动失败" << std::endl; + } else { + std::cout << "轨迹运动结束" << std::endl; + } + } + + // 接口调用: 停止规划器运行 + rpc->getRuntimeMachine()->stop(); + // 接口调用: 删除线程 + rpc->getRuntimeMachine()->deleteTask(task_id); + + // 接口调用: RPC 退出登录 + rpc->logout(); + // 接口调用: RPC 断开连接 + rpc->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/CMakeLists.txt b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/CMakeLists.txt new file mode 100644 index 00000000..ecf44edf --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 3.16) + +set(CMAKE_CXX_STANDARD 17) + +file(GLOB _src "*.h" "*.cpp") + +add_executable(example_aubope ${_src}) + +set(THREADS_PREFER_PTHREAD_FLAG ON) + +find_package(Threads REQUIRED) + +target_link_libraries(example_aubope ${SDK_LIB} eigen Threads::Threads) diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_0.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_0.cpp new file mode 100644 index 00000000..e8f9fc6a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_0.cpp @@ -0,0 +1,57 @@ +#include "example_0.h" + +#include "thread" +#include +#include +#include +#include +#include + +#define SERVER_HOST "127.0.0.1" +#define SERVER_PORT 30000 + +void Example_0::demo() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + + /** If the real robot arm is connected, the arm needs to be + * initialized.　**/ + aubo_robot_namespace::ROBOT_SERVICE_STATE result; + + // Tool dynamics parameter + aubo_robot_namespace::ToolDynamicsParam toolDynamicsParam; + memset(&toolDynamicsParam, 0, sizeof(toolDynamicsParam)); + + ret = robotService.rootServiceRobotStartup( + toolDynamicsParam /**Tool dynamics parameter**/, 6 /*Collision level*/, + true /*Whether to allow reading poses defaults to true*/, + true, /*Leave the default to true */ + 1000, /*Leave the default to 1000 */ + result); /*Robot arm initialization*/ + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "Robot arm initialization succeeded." << std::endl; + } else { + std::cerr << "Robot arm initialization failed." << std::endl; + } + + /** Simulation business **/ + std::cout << "Simulation business..." << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + + /** Robotic arm shutdown **/ + robotService.robotServiceRobotShutdown(); + + /** Interface call: logout　**/ + robotService.robotServiceLogout(); +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_0.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_0.h new file mode 100644 index 00000000..2a21d91c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_0.h @@ -0,0 +1,18 @@ +#ifndef EXAMPLE_0_H +#define EXAMPLE_0_H + +#include "AuboRobotMetaType.h" +#include "serviceinterface.h" + +class Example_0 +{ +public: + /** + * @brief demo + * + * Use the SDK to build a control engineering for the simplest robotic arm + */ + static void demo(); +}; + +#endif // EXAMPLE_0_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_1.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_1.cpp new file mode 100644 index 00000000..1acb0a49 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_1.cpp @@ -0,0 +1,141 @@ +#include "example_1.h" +#include "thread" +#include +#include +#include +#include +#include +#include "util.h" + +#define SERVER_HOST "127.0.0.1" +#define SERVER_PORT 30000 + +void Example_1::RealTimeJointStatusCallback( + const aubo_robot_namespace::JointStatus *jointStatus, int len, void *arg) +{ + (void)arg; + Util::Util::printJointStatus(jointStatus, len); +} + +void Example_1::RealTimeWaypointCallback( + const aubo_robot_namespace::wayPoint_S *wayPointPtr, void *arg) +{ + (void)arg; + aubo_robot_namespace::wayPoint_S waypoint = *wayPointPtr; + Util::printWaypoint(waypoint); +} + +void Example_1::RealTimeEndSpeedCallback(double speed, void *arg) +{ + (void)arg; + std::cout << "Real-time end speed:" << speed << std::endl; +} + +void Example_1::RealTimeEventInfoCallback( + const aubo_robot_namespace::RobotEventInfo *pEventInfo, void *arg) +{ + (void)arg; + Util::printEventInfo(*pEventInfo); +} + +void Example_1::demo() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + + /** If the real robot arm is connected, the arm needs to be initialized.**/ + aubo_robot_namespace::ROBOT_SERVICE_STATE result; + + // Tool dynamics parameter + aubo_robot_namespace::ToolDynamicsParam toolDynamicsParam; + memset(&toolDynamicsParam, 0, sizeof(toolDynamicsParam)); + + ret = robotService.rootServiceRobotStartup( + toolDynamicsParam /**Tool dynamics parameter**/, 6 /*Collision level*/, + true /*Whether to allow reading poses defaults to true*/, + true, /*Leave the default to true */ + 1000, /*Leave the default to 1000 */ + result); /*Robot arm initialization*/ + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "Robot arm initialization succeeded." << std::endl; + } else { + std::cerr << "Robot arm initialization failed." << std::endl; + } + + robotService.robotServiceRegisterRealTimeRoadPointCallback( + Example_1::RealTimeWaypointCallback, NULL); + + // robotService.robotServiceRegisterRealTimeEndSpeedCallback( + // Example_1::RealTimeEndSpeedCallback, NULL); + + // robotService.robotServiceRegisterRobotEventInfoCallback( + // Example_1::RealTimeEventInfoCallback, NULL); + + // robotService.robotServiceRegisterRealTimeJointStatusCallback( + // Example_1::RealTimeJointStatusCallback, NULL); + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + + /** Robotic arm shutdown **/ + robotService.robotServiceRobotShutdown(); + + /** Interface call: logout　**/ + robotService.robotServiceLogout(); +} + +void Example_1::getJointStatus() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + + /** If the real robot arm is connected, the arm needs to be initialized.**/ + aubo_robot_namespace::ROBOT_SERVICE_STATE result; + + // Tool dynamics parameter + aubo_robot_namespace::ToolDynamicsParam toolDynamicsParam; + memset(&toolDynamicsParam, 0, sizeof(toolDynamicsParam)); + + ret = robotService.rootServiceRobotStartup( + toolDynamicsParam /**Tool dynamics parameter**/, 6 /*Collision level*/, + true /*Whether to allow reading poses defaults to true*/, + true, /*Leave the default to true */ + 1000, /*Leave the default to 1000 */ + result); /*Robot arm initialization*/ + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "Robot arm initialization succeeded." << std::endl; + } else { + std::cerr << "Robot arm initialization failed." << std::endl; + } + + aubo_robot_namespace::JointStatus jointStatus[6]; + ret = robotService.robotServiceGetRobotJointStatus(jointStatus, 6); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "Get joint status successfully." << std::endl; + + Util::printJointStatus(jointStatus, 6); + + } else { + std::cerr << "Failed to get joint state." << std::endl; + } + + std::this_thread::sleep_for(std::chrono::milliseconds(10000)); +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_1.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_1.h new file mode 100644 index 00000000..8da60536 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_1.h @@ -0,0 +1,41 @@ +#ifndef EXAMPLE_1_H +#define EXAMPLE_1_H + +#include "AuboRobotMetaType.h" +#include "serviceinterface.h" + +/** + * @brief The Example_1 class + * + * About the acquisition of the relevant state of the robot arm + * + */ + +class Example_1 +{ +public: + // Used to get real-time waypoint callback function + static void RealTimeWaypointCallback( + const aubo_robot_namespace::wayPoint_S *wayPointPtr, void *arg); + + // Get real-time end speed callback function + static void RealTimeEndSpeedCallback(double speed, void *arg); + + // Get real-time robotic arm event callback function + static void RealTimeEventInfoCallback( + const aubo_robot_namespace::RobotEventInfo *pEventInfo, void *arg); + + static void RealTimeJointStatusCallback( + const aubo_robot_namespace::JointStatus *jointStatus, int len, + void *arg); + + /** + * @brief demo + * 回调函数的方式获取实时路点，末端速度，机械臂的事件 + */ + static void demo(); + + static void getJointStatus(); +}; + +#endif // EXAMPLE_1_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_3.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_3.cpp new file mode 100644 index 00000000..1969c8fe --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_3.cpp @@ -0,0 +1,367 @@ +#include "example_3.h" + +#include +#include +#include +#include +#include +#include +#include "util.h" +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +#define SERVER_HOST "127.0.0.1" +#define SERVER_PORT 30000 +void Example_3::demo() +{ + ServiceInterface robotservice; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotservice.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + + std::cout << "Robot arm initialization....." << std::endl; + + /** If the real robot arm is connected, the arm needs to be initialized.**/ + aubo_robot_namespace::ROBOT_SERVICE_STATE result; + + /** Business block **/ + /** Interface call: Initialize motion properties ***/ + robotservice.robotServiceInitGlobalMoveProfile(); + + /** Interface call: Set the maximum acceleration of the articulated motion + * ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxAcc; + jointMaxAcc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[5] = + 50.0 / 180.0 * M_PI; // The interface requires the unit to be radians + robotservice.robotServiceSetGlobalMoveJointMaxAcc(jointMaxAcc); + + /** Interface call: set the maximum speed of articulated motion ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxVelc; + jointMaxVelc.jointPara[0] = 80.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[1] = 80.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[2] = 80.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[3] = 80.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[4] = 80.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[5] = + 80.0 / 180.0 * M_PI; // The interface requires the unit to be radians + robotservice.robotServiceSetGlobalMoveJointMaxVelc(jointMaxVelc); + + /** Robot arm movement to zero posture **/ + double jointAngle[aubo_robot_namespace::ARM_DOF] = { 0 }; + Util::initJointAngleArray(jointAngle, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + + std::cout << "Calling the motion function" << std::endl; + ret = robotservice.robotServiceJointMove(jointAngle, true); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "Movement to zero posture failure.　ret:" << ret + << std::endl; + } + + for (int i = 0; i > -1; i++) { + // /** Interface call: set offset**/ + // aubo_robot_namespace::MoveRelative relativeMoveOnBase; + // relativeMoveOnBase.ena = true; + // relativeMoveOnBase.relativePosition[0] = 0; + // relativeMoveOnBase.relativePosition[1] = 0; + // relativeMoveOnBase.relativePosition[2] = 0.05*(i%4); //Unit: + // m + + // relativeMoveOnBase.relativeOri.w=1; + // relativeMoveOnBase.relativeOri.x=0; + // relativeMoveOnBase.relativeOri.y=0; + // relativeMoveOnBase.relativeOri.z=0; + // robotservice.robotServiceSetMoveRelativeParam(relativeMoveOnBase); + std::cout << "Movement to waypoint 1" << std::endl; + /** Waypoint 1 movement **/ + Util::initJointAngleArray(jointAngle, 0.0 / 180.0 * M_PI, + 0.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI, + 0.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI, + 0.0 / 180.0 * M_PI); + ret = robotservice.robotServiceJointMove(jointAngle, true); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "Movement to waypoint 1 failed.　ret:" << ret + << std::endl; + break; + } + std::cout << "Movement to waypoint 2" << std::endl; + /** Waypoint 2 movement **/ + Util::initJointAngleArray(jointAngle, 90.0 / 180.0 * M_PI, + 0.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI, + 0.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI, + 0.0 / 180.0 * M_PI); + ret = robotservice.robotServiceJointMove(jointAngle, true); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "Movement to waypoint 2 failed.　ret:" << ret + << std::endl; + break; + } + aubo_robot_namespace::ForceSensorData data; + ret = robotservice.robotServerGetToolForceSensorData(data); + double tmp[6]; + tmp[0] = data.data[0]; + tmp[1] = data.data[1]; + tmp[2] = data.data[2]; + tmp[3] = data.data[3]; + tmp[4] = data.data[4]; + tmp[5] = data.data[5]; + std::cout << "forcesenser data : " << ret << std::endl; + + // for(int j = 0; j < 6; j++) { + // std::cout<<"data"< +#include +#include +#include +#include +#include + +#include "util.h" +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +#define SERVER_HOST "127.0.0.1" +#define SERVER_PORT 30000 +aubo_robot_namespace::wayPoint_S Example_4::s_currentWayPoing; + +void Example_4::RealTimeWaypointCallback( + const aubo_robot_namespace::wayPoint_S *wayPointPtr, void *arg) +{ + (void)arg; + s_currentWayPoing = *wayPointPtr; + // Util::printWaypoint(s_currentWayPoing); +} + +void Example_4::demo() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + + // Tool dynamics parameter + aubo_robot_namespace::ToolDynamicsParam toolDynamicsParam; + memset(&toolDynamicsParam, 0, sizeof(toolDynamicsParam)); + + /** Interface call: Set the maximum acceleration of the articulated motion + * ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxAcc; + jointMaxAcc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[5] = + 50.0 / 180.0 * M_PI; // The interface requires the unit to be radians + robotService.robotServiceSetGlobalMoveJointMaxAcc(jointMaxAcc); + + /** Interface call: set the maximum speed of articulated motion ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxVelc; + jointMaxVelc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[5] = + 50.0 / 180.0 * M_PI; // The interface requires the unit to be radians + robotService.robotServiceSetGlobalMoveJointMaxVelc(jointMaxVelc); + + /** Move to initial pose **/ + double jointAngle[aubo_robot_namespace::ARM_DOF] = { 0 }; + Util::initJointAngleArray( + jointAngle, 0.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI, 90.0 / 180.0 * M_PI, + 0.0 / 180.0 * M_PI, 90.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI); + ret = robotService.robotServiceJointMove(jointAngle, true); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "Movement to zero posture failure.　ret:" << ret + << std::endl; + } + + /** Interface call: Initialize motion properties ***/ + robotService.robotServiceInitGlobalMoveProfile(); + + /** Interface call: Set the maximum acceleration of the end type motion + * Linear motion belongs to the end type motion***/ + double lineMoveMaxAcc; + lineMoveMaxAcc = 2; // Units m/s2 + robotService.robotServiceSetGlobalMoveEndMaxLineAcc(lineMoveMaxAcc); + robotService.robotServiceSetGlobalMoveEndMaxAngleAcc(lineMoveMaxAcc); + + /** Interface call: Set the maximum speed of the end type motion Linear + * motion belongs to the end type motion***/ + double lineMoveMaxVelc; + lineMoveMaxVelc = 2; // Units m/s + robotService.robotServiceSetGlobalMoveEndMaxLineVelc(lineMoveMaxVelc); + robotService.robotServiceGetGlobalMoveEndMaxAngleVelc(lineMoveMaxVelc); + + for (int i = 0; i > -1; i++) { + double jointAngle[aubo_robot_namespace::ARM_DOF] = { 0 }; + Util::initJointAngleArray(jointAngle, -1.63013, -0.727936, 0.558376, + -0.279454, 1.66626, -1.86472); + std::cout << "Moving to waypoint 0." << std::endl; + ret = robotService.robotServiceLineMove(jointAngle, true); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "Movement to waypoint 0 failed.　ret:" << ret + << std::endl; + } + + Util::initJointAngleArray(jointAngle, -2.42089, -0.529301, 0.867566, + -0.238376, 1.64145, -2.658); + std::cout << "Moving to waypoint 1." << std::endl; + robotService.robotServiceLineMove(jointAngle, true); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "Movement to waypoint 1 failed.　ret:" << ret + << std::endl; + } + + Util::initJointAngleArray(jointAngle, -0.515177, -0.402876, 1.09792, + 0.0179699, 1.60827, -0.748361); + std::cout << "Moving to waypoint 2." << std::endl; + robotService.robotServiceLineMove(jointAngle, true); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "Movement to waypoint 2 failed.　ret:" << ret + << std::endl; + } + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_4.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_4.h new file mode 100644 index 00000000..2ec256a0 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_4.h @@ -0,0 +1,26 @@ +#ifndef EXAMPLE_4_H +#define EXAMPLE_4_H + +#include "AuboRobotMetaType.h" +#include "serviceinterface.h" + +class Example_4 +{ +public: + /** + * @brief demo + * + * Linear motion + */ + static void demo(); + + static void demo_relativeOri(); + static void example_MoveLtoPosition(); + static void example_quaternion_RPY_Conversion(); + static void RealTimeWaypointCallback( + const aubo_robot_namespace::wayPoint_S *wayPointPtr, void *arg); + + static aubo_robot_namespace::wayPoint_S s_currentWayPoing; +}; + +#endif // EXAMPLE_4_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_5.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_5.cpp new file mode 100644 index 00000000..fee0d1dc --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_5.cpp @@ -0,0 +1,456 @@ +#include "example_5.h" +#include "example_1.h" + +#include +#include +#include +#include +#include +#include +#include +#include "util.h" +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +#define SERVER_HOST "127.0.0.1" +#define SERVER_PORT 30000 + +void Example_5::demo() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + + /** Business block **/ + /** Interface call: Initialize motion properties ***/ + robotService.robotServiceInitGlobalMoveProfile(); + + /** Interface call: Set the maximum acceleration of the articulated motion + * ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxAcc; + jointMaxAcc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[5] = + 50.0 / 180.0 * M_PI; ////The interface requires the unit to be radians + robotService.robotServiceSetGlobalMoveJointMaxAcc(jointMaxAcc); + + /** Interface call: set the maximum speed of articulated motion ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxVelc; + jointMaxVelc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[5] = + 50.0 / 180.0 * M_PI; ////The interface requires the unit to be radians + robotService.robotServiceSetGlobalMoveJointMaxVelc(jointMaxVelc); + + /** Interface call: Initialize motion properties ***/ + robotService.robotServiceInitGlobalMoveProfile(); + + /** Robot arm movement to zero posture **/ + double endMoveMaxAcc; + endMoveMaxAcc = 0.2; // Units m/s2 + robotService.robotServiceSetGlobalMoveEndMaxLineAcc(endMoveMaxAcc); + robotService.robotServiceSetGlobalMoveEndMaxAngleAcc(endMoveMaxAcc); + + /** Interface call: Set the maximum speed of the end type motion Linear + * motion belongs to the end type motion***/ + double endMoveMaxVelc; + endMoveMaxVelc = 0.2; // Units m/s + robotService.robotServiceSetGlobalMoveEndMaxLineVelc(endMoveMaxVelc); + robotService.robotServiceSetGlobalMoveEndMaxAngleVelc(endMoveMaxVelc); + + double jointAngle[aubo_robot_namespace::ARM_DOF]; + + for (int i = 0; i < 1; i++) { + // MoveP + robotService.robotServiceInitGlobalMoveProfile(); + + robotService.robotServiceSetGlobalMoveEndMaxLineAcc(endMoveMaxAcc); + robotService.robotServiceSetGlobalMoveEndMaxAngleAcc(endMoveMaxAcc); + robotService.robotServiceSetGlobalMoveEndMaxLineVelc(endMoveMaxVelc); + robotService.robotServiceSetGlobalMoveEndMaxAngleVelc(endMoveMaxVelc); + + robotService.robotServiceClearGlobalWayPointVector(); + for (int i = 0; i < 1; i++) { + Util::initJointAngleArray(jointAngle, -1.63013, -0.727936, 0.558376, + -0.279454, 1.66626, -1.86472); + robotService.robotServiceAddGlobalWayPoint(jointAngle); + Util::initJointAngleArray(jointAngle, -2.42089, -0.529301, 0.867566, + -0.238376, 1.64145, -2.658); + robotService.robotServiceAddGlobalWayPoint(jointAngle); + Util::initJointAngleArray(jointAngle, -0.515177, -0.402876, 1.09792, + 0.0179699, 1.60827, -0.748361); + robotService.robotServiceAddGlobalWayPoint(jointAngle); + } + robotService.robotServiceSetGlobalBlendRadius(0); // Blending radius + ret = robotService.robotServiceTrackMove( + aubo_robot_namespace::CARTESIAN_MOVEP, true); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "TrackMove failed.　ret:" << ret << std::endl; + } + } + + /** Robotic arm shutdown**/ + robotService.robotServiceRobotShutdown(); + + /** Interface call: logout　**/ + robotService.robotServiceLogout(); +} + +void Example_5::speedl_demo() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + + /** Business block **/ + /** Interface call: Initialize motion properties ***/ + robotService.robotServiceInitGlobalMoveProfile(); + + /** Interface call: Set the maximum acceleration of the articulated motion + * ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxAcc; + jointMaxAcc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[5] = + 50.0 / 180.0 * M_PI; ////The interface requires the unit to be radians + robotService.robotServiceSetGlobalMoveJointMaxAcc(jointMaxAcc); + + /** Interface call: set the maximum speed of articulated motion ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxVelc; + jointMaxVelc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[5] = + 50.0 / 180.0 * M_PI; ////The interface requires the unit to be radians + robotService.robotServiceSetGlobalMoveJointMaxVelc(jointMaxVelc); + + /** Interface call: Initialize motion properties ***/ + robotService.robotServiceInitGlobalMoveProfile(); + + /** Robot arm movement to zero posture **/ + double endMoveMaxAcc; + endMoveMaxAcc = 0.2; // Units m/s2 + robotService.robotServiceSetGlobalMoveEndMaxLineAcc(endMoveMaxAcc); + robotService.robotServiceSetGlobalMoveEndMaxAngleAcc(endMoveMaxAcc); + + /** Interface call: Set the maximum speed of the end type motion Linear + * motion belongs to the end type motion***/ + double endMoveMaxVelc; + endMoveMaxVelc = 0.2; // Units m/s + robotService.robotServiceSetGlobalMoveEndMaxLineVelc(endMoveMaxVelc); + robotService.robotServiceSetGlobalMoveEndMaxAngleVelc(endMoveMaxVelc); + + double jointAngle[aubo_robot_namespace::ARM_DOF]; + + std::cout << "Movement to waypoint 1" << std::endl; + /** Waypoint 1 movement **/ + Util::initJointAngleArray(jointAngle, 0, -15.0 / 180.0 * M_PI, + 100.0 / 180.0 * M_PI, 25.0 / 180.0 * M_PI, + 90.0 / 180.0 * M_PI, 0); + robotService.robotServiceJointMove(jointAngle, true); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "Movement to waypoint 1 failed.　ret:" << ret << std::endl; + } + /** robotServiceSetTeachCoordinateSystem**/ + aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + userCoord; //用户坐标系 + aubo_robot_namespace::ToolInEndDesc toolInEndDesc; //工具参数 + toolInEndDesc.toolInEndPosition.x = 0; + toolInEndDesc.toolInEndPosition.y = 0; + toolInEndDesc.toolInEndPosition.z = 0; + toolInEndDesc.toolInEndOrientation.w = 1.0; + toolInEndDesc.toolInEndOrientation.x = 0; + toolInEndDesc.toolInEndOrientation.y = 0; + toolInEndDesc.toolInEndOrientation.z = 0; + + userCoord.coordType = aubo_robot_namespace::WorldCoordinate; + userCoord.methods = aubo_robot_namespace:: + Origin_AnyPointOnPositiveXAxis_AnyPointOnPositiveYAxis; + // Origin_AnyPointOnPositiveXAxis_AnyPointOnFirstQuadrantOfXOYPlane; + double radian_tem[6] = { 0, + -15 / 180.0 * M_PI, + 100 / 180.0 * M_PI, + 25 / 180.0 * M_PI, + 90 / 180.0 * M_PI, + 0 }; + memcpy(userCoord.wayPointArray[0].jointPos, radian_tem, sizeof(radian_tem)); + + double radian_tem2[6] = { 9.578 / 180.0 * M_PI, -13.35 / 180.0 * M_PI, + 102.133 / 180.0 * M_PI, 25.484 / 180.0 * M_PI, + 90 / 180.0 * M_PI, 9.578 / 180.0 * M_PI }; + memcpy(userCoord.wayPointArray[1].jointPos, radian_tem2, + sizeof(radian_tem2)); + + double radian_tem3[6] = { 0, + 11.472 / 180.0 * M_PI, + 127.443 / 180.0 * M_PI, + 25.970 / 180.0 * M_PI, + 90 / 180.0 * M_PI, + 0 }; + memcpy(userCoord.wayPointArray[2].jointPos, radian_tem3, + sizeof(radian_tem3)); + userCoord.toolDesc = toolInEndDesc; + robotService.robotServiceSetTeachCoordinateSystem(userCoord); + /** Robotic 开始示教**/ + std::cout << "TeachStart" << std::endl; + robotService.robotServiceTeachStart(aubo_robot_namespace::MOV_X, true); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + // robotService.robotServiceRegisterRealTimeRoadPointCallback( + // Example_1::RealTimeWaypointCallback, NULL); + robotService.robotServiceRegisterRobotEventInfoCallback( + Example_1::RealTimeEventInfoCallback, NULL); + // robotService.robotServiceTeachStop(); + // std::cout << "TeachStop" << std::endl; +} +void Example_5::circle_demo() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + + /** Business block **/ + /** Interface call: Initialize motion properties ***/ + robotService.robotServiceInitGlobalMoveProfile(); + + /** Interface call: Set the maximum acceleration of the articulated motion + * ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxAcc; + jointMaxAcc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[5] = 50.0 / 180.0 * M_PI; + robotService.robotServiceSetGlobalMoveJointMaxAcc(jointMaxAcc); + + /** Interface call: set the maximum speed of articulated motion ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxVelc; + jointMaxVelc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[5] = 50.0 / 180.0 * M_PI; + robotService.robotServiceSetGlobalMoveJointMaxVelc(jointMaxVelc); + + /** Interface call: Initialize motion properties ***/ + robotService.robotServiceInitGlobalMoveProfile(); + + /** Robot arm movement to zero posture **/ + double endMoveMaxAcc; + endMoveMaxAcc = 0.2; // Units m/s2 + robotService.robotServiceSetGlobalMoveEndMaxLineAcc(endMoveMaxAcc); + robotService.robotServiceSetGlobalMoveEndMaxAngleAcc(endMoveMaxAcc); + + /** Interface call: Set the maximum speed of the end type motion Linear + * motion belongs to the end type motion***/ + double endMoveMaxVelc; + endMoveMaxVelc = 0.2; // Units m/s + robotService.robotServiceSetGlobalMoveEndMaxLineVelc(endMoveMaxVelc); + robotService.robotServiceSetGlobalMoveEndMaxAngleVelc(endMoveMaxVelc); + + double jointAngle[aubo_robot_namespace::ARM_DOF]; + + for (int i = 0; i < 1; i++) { + robotService.robotServiceClearGlobalWayPointVector(); + + Util::initJointAngleArray(jointAngle, 89.25 / 180.0 * M_PI, + -35.33 / 180.0 * M_PI, 69.75 / 180.0 * M_PI, + 15.17 / 180.0 * M_PI, 90 / 180.0 * M_PI, + -0.65 / 180.0 * M_PI); + robotService.robotServiceJointMove(jointAngle, false); + robotService.robotServiceAddGlobalWayPoint(jointAngle); + Util::initJointAngleArray(jointAngle, 82 / 180.0 * M_PI, + -18.04 / 180.0 * M_PI, 95.96 / 180.0 * M_PI, + 24.09 / 180.0 * M_PI, 90.01 / 180.0 * M_PI, + -7.91 / 180.0 * M_PI); + robotService.robotServiceAddGlobalWayPoint(jointAngle); + Util::initJointAngleArray(jointAngle, 106.34 / 180.0 * M_PI, + 16.45 / 180.0 * M_PI, 131.01 / 180.0 * M_PI, + 24.64 / 180.0 * M_PI, 89.97 / 180.0 * M_PI, + 16.43 / 180.0 * M_PI); + robotService.robotServiceAddGlobalWayPoint(jointAngle); + + robotService.robotServiceSetGlobalBlendRadius(0); + ret = + robotService.robotServiceTrackMove(aubo_robot_namespace::ARC, true); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "TrackMove failed.　ret:" << ret << std::endl; + } + } +} +void Example_5::spline_demo() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + + /** Business block **/ + /** Interface call: Initialize motion properties ***/ + robotService.robotServiceInitGlobalMoveProfile(); + + /** Interface call: Set the maximum acceleration of the articulated motion + * ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxAcc; + jointMaxAcc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[5] = 50.0 / 180.0 * M_PI; + robotService.robotServiceSetGlobalMoveJointMaxAcc(jointMaxAcc); + + /** Interface call: set the maximum speed of articulated motion ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxVelc; + jointMaxVelc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[5] = 50.0 / 180.0 * M_PI; + robotService.robotServiceSetGlobalMoveJointMaxVelc(jointMaxVelc); + + /** Interface call: Initialize motion properties ***/ + robotService.robotServiceInitGlobalMoveProfile(); + + /** Robot arm movement to zero posture **/ + double endMoveMaxAcc; + endMoveMaxAcc = 0.2; // Units m/s2 + robotService.robotServiceSetGlobalMoveEndMaxLineAcc(endMoveMaxAcc); + robotService.robotServiceSetGlobalMoveEndMaxAngleAcc(endMoveMaxAcc); + + /** Interface call: Set the maximum speed of the end type motion Linear + * motion belongs to the end type motion***/ + double endMoveMaxVelc; + endMoveMaxVelc = 0.2; // Units m/s + robotService.robotServiceSetGlobalMoveEndMaxLineVelc(endMoveMaxVelc); + robotService.robotServiceSetGlobalMoveEndMaxAngleVelc(endMoveMaxVelc); + + double jointAngle[aubo_robot_namespace::ARM_DOF]; + + for (int i = 0; i < 1; i++) { + robotService.robotServiceClearGlobalWayPointVector(); + + Util::initJointAngleArray(jointAngle, 89.25 / 180.0 * M_PI, + -35.33 / 180.0 * M_PI, 69.75 / 180.0 * M_PI, + 15.17 / 180.0 * M_PI, 90 / 180.0 * M_PI, + -0.65 / 180.0 * M_PI); + robotService.robotServiceJointMove(jointAngle, true); + robotService.robotServiceAddGlobalWayPoint(jointAngle); + Util::initJointAngleArray(jointAngle, 82 / 180.0 * M_PI, + -18.04 / 180.0 * M_PI, 95.96 / 180.0 * M_PI, + 24.09 / 180.0 * M_PI, 90.01 / 180.0 * M_PI, + -7.91 / 180.0 * M_PI); + robotService.robotServiceAddGlobalWayPoint(jointAngle); + Util::initJointAngleArray(jointAngle, 106.34 / 180.0 * M_PI, + 16.45 / 180.0 * M_PI, 131.01 / 180.0 * M_PI, + 24.64 / 180.0 * M_PI, 89.97 / 180.0 * M_PI, + 16.43 / 180.0 * M_PI); + robotService.robotServiceAddGlobalWayPoint(jointAngle); + Util::initJointAngleArray(jointAngle, 107 / 180.0 * M_PI, + 21 / 180.0 * M_PI, 134 / 180.0 * M_PI, + 22 / 180.0 * M_PI, 90.01 / 180.0 * M_PI, + -18 / 180.0 * M_PI); + robotService.robotServiceAddGlobalWayPoint(jointAngle); + Util::initJointAngleArray( + jointAngle, 90 / 180.0 * M_PI, 2 / 180.0 * M_PI, 134 / 180.0 * M_PI, + 2 / 180.0 * M_PI, 90.01 / 180.0 * M_PI, -18 / 180.0 * M_PI); + robotService.robotServiceAddGlobalWayPoint(jointAngle); + + robotService.robotServiceSetGlobalBlendRadius(0); + ret = robotService.robotServiceTrackMove( + aubo_robot_namespace::JOINT_GNUBSPLINEINTP, true); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "TrackMove failed.　ret:" << ret << std::endl; + } + } +} + +void Example_5::OfflineTrack_demo() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + /** 清除路点 **/ + ret = robotService.robotServiceOfflineTrackWaypointClear(); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "robotServiceOfflineTrackWaypointClear failed" + << std::endl; + return; + } + // char *path = get_current_dir_name(); //调用系统API获取当前路径 + /** 追加离线轨迹路点 **/ + ret = robotService.robotServiceOfflineTrackWaypointAppend( + "/home/aubo/git/aubo_sdk/example/c++/trajs/record6.offt"); + + /** 启动离线轨迹 **/ + if (ret == aubo_robot_namespace::ErrnoSucc) { + std::cout << "upload waypoint success." << std::endl; + + ret = robotService.robotServiceOfflineTrackMoveStartup(true); + + if (ret != aubo_robot_namespace::ErrnoSucc) { + std::cout << "failed." << std::endl; + } + std::this_thread::sleep_for(std::chrono::milliseconds(2)); + ret = robotService.robotServiceOfflineTrackMoveStop(); + } else { + std::cout << "upload waypoint failed." << std::endl; + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_5.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_5.h new file mode 100644 index 00000000..51c9f664 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_5.h @@ -0,0 +1,24 @@ +#ifndef EXAMPLE_5_H +#define EXAMPLE_5_H + +#include "AuboRobotMetaType.h" +#include "serviceinterface.h" + +class Example_5 +{ +public: + /** + * @brief demo + * + * Trajectory movement + * + */ + static void demo(); + + static void circle_demo(); + static void speedl_demo(); + static void spline_demo(); + static void OfflineTrack_demo(); +}; + +#endif // EXAMPLE_5_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_6.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_6.cpp new file mode 100644 index 00000000..0a15ec09 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_6.cpp @@ -0,0 +1,458 @@ +#include "example_6.h" + +#include +#include +#include +#include +#include +#include +#include "util.h" +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +#define SERVER_HOST "127.0.0.1" +#define SERVER_PORT 30000 + +void Example_6::demo() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + + aubo_robot_namespace::ToolInEndDesc + toolDesc; // Tools used to calibrate coordinates + toolDesc.toolInEndPosition.x = 0; + toolDesc.toolInEndPosition.y = 0; + toolDesc.toolInEndPosition.z = 0; + + toolDesc.toolInEndOrientation.w = 1; + toolDesc.toolInEndOrientation.x = 0; + toolDesc.toolInEndOrientation.y = 0; + toolDesc.toolInEndOrientation.z = 0; + + /** Set coordinate system parameters **/ + aubo_robot_namespace::CoordCalibrateByJointAngleAndTool userCoord; + userCoord.coordType = aubo_robot_namespace::WorldCoordinate; + userCoord.methods = aubo_robot_namespace:: + Origin_AnyPointOnPositiveXAxis_AnyPointOnFirstQuadrantOfXOYPlane; + userCoord.toolDesc = toolDesc; + + // [0]={0,-0.12726,-1.32112,0.37693,-1.570796,0} + userCoord.wayPointArray[0].jointPos[0] = 0; + userCoord.wayPointArray[0].jointPos[1] = -0.12726; + userCoord.wayPointArray[0].jointPos[2] = -1.32112; + userCoord.wayPointArray[0].jointPos[3] = 0.37693; + userCoord.wayPointArray[0].jointPos[4] = -1.570796; + userCoord.wayPointArray[0].jointPos[5] = 0; + + // [1]={0,-0.26958,-1.43050,0.40987,-1.570796,0} + userCoord.wayPointArray[1].jointPos[0] = 0; + userCoord.wayPointArray[1].jointPos[1] = -0.26958; + userCoord.wayPointArray[1].jointPos[2] = -1.43050; + userCoord.wayPointArray[1].jointPos[3] = 0.40987; + userCoord.wayPointArray[1].jointPos[4] = -1.570796; + userCoord.wayPointArray[1].jointPos[5] = 0; + + // [2]={-0.13974,-0.30070,-1.451246,0.420254,-1.57079,-0.139750} + userCoord.wayPointArray[2].jointPos[0] = -0.13974; + userCoord.wayPointArray[2].jointPos[1] = -0.30070; + userCoord.wayPointArray[2].jointPos[2] = -1.451246; + userCoord.wayPointArray[2].jointPos[3] = 0.420254; + userCoord.wayPointArray[2].jointPos[4] = -1.570796; + userCoord.wayPointArray[2].jointPos[5] = -0.139750; + + /** Interface call: Initialize motion properties***/ + robotService.robotServiceInitGlobalMoveProfile(); + + /** Interface call: Set the maximum acceleration of the articulated motion + * ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxAcc; + jointMaxAcc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[5] = + 50.0 / 180.0 * M_PI; // The interface requires the unit to be radians + robotService.robotServiceSetGlobalMoveJointMaxAcc(jointMaxAcc); + + /** Interface call: set the maximum speed of articulated motion ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxVelc; + jointMaxVelc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[5] = + 50.0 / 180.0 * M_PI; // The interface requires the unit to be radians + robotService.robotServiceSetGlobalMoveJointMaxVelc(jointMaxVelc); + + /** Interface call: Set the maximum acceleration of the end type motion + * Linear motion belongs to the end type motion***/ + double lineMoveMaxAcc; + lineMoveMaxAcc = 2.0; // Units m/s2 + robotService.robotServiceSetGlobalMoveEndMaxLineAcc(lineMoveMaxAcc); + + /** Interface call: Set the maximum speed of the end type motion Linear + * motion belongs to the end type motion ***/ + double lineMoveMaxVelc; + lineMoveMaxVelc = 2.0; // Units m/s + robotService.robotServiceSetGlobalMoveEndMaxLineVelc(lineMoveMaxVelc); + + /** The arm moves to the ready position **/ + double jointAngle[aubo_robot_namespace::ARM_DOF] = { 0 }; + jointAngle[0] = 0; + jointAngle[1] = -0.12726; + jointAngle[2] = -1.32112; + jointAngle[3] = 0.37693; + jointAngle[4] = -1.570796; + jointAngle[5] = 0; + + if (robotService.robotServiceJointMove(jointAngle, true) != + aubo_robot_namespace::InterfaceCallSuccCode) //关节运动至准备点 + { + std::cerr << "Movement to preparation point failed.　ret:" << ret + << std::endl; + } + + aubo_robot_namespace::Pos position; + aubo_robot_namespace::ToolInEndDesc toolDesc_1; // Tool during mvoe + toolDesc_1.toolInEndPosition.x = 0; + toolDesc_1.toolInEndPosition.y = 0; + toolDesc_1.toolInEndPosition.z = 0; + + toolDesc_1.toolInEndOrientation.w = 1; + toolDesc_1.toolInEndOrientation.x = 0; + toolDesc_1.toolInEndOrientation.y = 0; + toolDesc_1.toolInEndOrientation.z = 0; + + for (int i = 0; i < 10; i++) { + position.x = 0.0; + position.y = 0.0; + position.z = 0.0; + // Keep the current pose moving through the linear motion to move the + // tool end point (toolDesc_1) to the specified position of the + // specified coordinate system (userCoord). + if (robotService.robotMoveLineToTargetPosition(userCoord, position, + toolDesc_1, true) != + aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "robotMoveLineToTargetPosition.　ret:" << ret + << std::endl; + } + + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + + position.x = (i % 3 == 0) ? 0.15 : 0.0; + position.y = (i % 3 == 1) ? 0.15 : 0.0; + ; + position.z = (i % 3 == 2) ? -0.15 : 0.0; + ; + // Keep the current pose moving through the linear motion to move the + // tool end point (toolDesc_1) to the specified position of the + // specified coordinate system (userCoord). + if (robotService.robotMoveLineToTargetPosition(userCoord, position, + toolDesc_1, true) != + aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "robotMoveLineToTargetPosition.　ret:" << ret + << std::endl; + } + } + + /** Robotic arm shutdown**/ + robotService.robotServiceRobotShutdown(); + + /** Interface call: logout　**/ + robotService.robotServiceLogout(); +} + +void Example_6::example_MoveLtoPosition() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** 接口调用: 登录 ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "登录成功." << std::endl; + } else { + std::cerr << "登录成功." << std::endl; + } + + /** 如果是连接真实机械臂，需要对机械臂进行初始化　**/ + aubo_robot_namespace::ROBOT_SERVICE_STATE result; + + //工具动力学参数 + aubo_robot_namespace::ToolDynamicsParam toolDynamicsParam; + memset(&toolDynamicsParam, 0, sizeof(toolDynamicsParam)); + + ret = robotService.rootServiceRobotStartup( + toolDynamicsParam /**工具动力学参数**/, 6 /*碰撞等级*/, + true /*是否允许读取位姿　默认为true*/, true, /*保留默认为true */ + 1000, /*保留默认为1000 */ + result); /*机械臂初始化*/ + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "机械臂初始化成功." << std::endl; + } else { + std::cerr << "机械臂初始化失败." << std::endl; + } + /** 接口调用: 初始化运动属性 ***/ + robotService.robotServiceInitGlobalMoveProfile(); + + /** 接口调用: 设置关节型运动的最大加速度 ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxAcc; + jointMaxAcc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[5] = 50.0 / 180.0 * M_PI; //接口要求单位是弧度 + robotService.robotServiceSetGlobalMoveJointMaxAcc(jointMaxAcc); + + /** 接口调用: 设置关节型运动的最大速度 ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxVelc; + jointMaxVelc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[5] = 50.0 / 180.0 * M_PI; //接口要求单位是弧度 + robotService.robotServiceSetGlobalMoveJointMaxVelc(jointMaxVelc); + + /** 机械臂运动到准备位置 **/ + double jointAngle[aubo_robot_namespace::ARM_DOF] = { 0 }; + jointAngle[0] = 0.0 / 180.0 * M_PI; + jointAngle[1] = 0.0 / 180.0 * M_PI; + jointAngle[2] = 90.0 / 180.0 * M_PI; + jointAngle[3] = 0.0 / 180.0 * M_PI; + jointAngle[4] = 90.0 / 180.0 * M_PI; + jointAngle[5] = 0.0 / 180.0 * M_PI; + ret = robotService.robotServiceJointMove(jointAngle, true); + //关节运动至准备点 + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "运动0失败.　ret:" << ret << std::endl; + } + + /** 接口调用: 初始化运动属性 ***/ + robotService.robotServiceInitGlobalMoveProfile(); + + /** 接口调用: 设置末端型运动的最大加速度 　　直线运动属于末端型运动***/ + double lineMoveMaxAcc; + lineMoveMaxAcc = 2; //单位米每秒 + robotService.robotServiceSetGlobalMoveEndMaxLineAcc(lineMoveMaxAcc); + + /** 接口调用: 设置末端型运动的最大速度 直线运动属于末端型运动 ***/ + double lineMoveMaxVelc; + lineMoveMaxVelc = 2; //单位米每秒 + robotService.robotServiceSetGlobalMoveEndMaxLineVelc(lineMoveMaxVelc); + + aubo_robot_namespace::wayPoint_S currentWaypoint; + ret = robotService.robotServiceGetCurrentWaypointInfo(currentWaypoint); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "获取当前路点信息失败.　ret:" << ret << std::endl; + } + + /** 设置坐标系参数 **/ + aubo_robot_namespace::CoordCalibrateByJointAngleAndTool userCoord; + userCoord.coordType = aubo_robot_namespace::BaseCoordinate; + + /** 设置工具端参数 **/ + aubo_robot_namespace::ToolInEndDesc toolDesc; + toolDesc.toolInEndPosition.x = 0; + toolDesc.toolInEndPosition.y = 0; + toolDesc.toolInEndPosition.z = 0; + + toolDesc.toolInEndOrientation.w = 1; + toolDesc.toolInEndOrientation.x = 0; + toolDesc.toolInEndOrientation.y = 0; + toolDesc.toolInEndOrientation.z = 0; + + for (int i = 0; i < 10; i++) { + aubo_robot_namespace::Pos position; + double offsetY = (i % 3 > 1) ? 0.0 : (0.18 * (i % 3)); + double offsetZ = (i % 3 > 1) ? 0.0 : (0.18); + position.x = currentWaypoint.cartPos.position.x; + position.y = currentWaypoint.cartPos.position.y + offsetY; + position.z = currentWaypoint.cartPos.position.z + offsetZ; + + //保持当前位姿通过直线运动的方式运动到目标位置 + ret = robotService.robotMoveLineToTargetPosition(userCoord, position, + toolDesc, true); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "robotMoveLineToTargetPosition.　ret:" << ret + << std::endl; + } + } + + /** 机械臂Shutdown **/ + robotService.robotServiceRobotShutdown(); + + /** 接口调用: 退出登录　**/ + robotService.robotServiceLogout(); +} + +void Example_6::example_MoveJtoPosition() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** 接口调用: 登录 ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "登录成功." << std::endl; + } else { + std::cerr << "登录成功." << std::endl; + } + + /** 如果是连接真实机械臂，需要对机械臂进行初始化　**/ + aubo_robot_namespace::ROBOT_SERVICE_STATE result; + + //工具动力学参数 + aubo_robot_namespace::ToolDynamicsParam toolDynamicsParam; + memset(&toolDynamicsParam, 0, sizeof(toolDynamicsParam)); + + ret = robotService.rootServiceRobotStartup( + toolDynamicsParam /**工具动力学参数**/, 6 /*碰撞等级*/, + true /*是否允许读取位姿　默认为true*/, true, /*保留默认为true */ + 1000, /*保留默认为1000 */ + result); /*机械臂初始化*/ + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "机械臂初始化成功." << std::endl; + } else { + std::cerr << "机械臂初始化失败." << std::endl; + } + /** 接口调用: 初始化运动属性 ***/ + robotService.robotServiceInitGlobalMoveProfile(); + + /** 接口调用: 设置关节型运动的最大加速度 ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxAcc; + jointMaxAcc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[5] = 50.0 / 180.0 * M_PI; //接口要求单位是弧度 + robotService.robotServiceSetGlobalMoveJointMaxAcc(jointMaxAcc); + + /** 接口调用: 设置关节型运动的最大速度 ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxVelc; + jointMaxVelc.jointPara[0] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[1] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[2] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[3] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[4] = 50.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[5] = 50.0 / 180.0 * M_PI; //接口要求单位是弧度 + robotService.robotServiceSetGlobalMoveJointMaxVelc(jointMaxVelc); + + /** 机械臂运动到准备位置 **/ + double jointAngle[aubo_robot_namespace::ARM_DOF] = { 0 }; + jointAngle[0] = 0.0 / 180.0 * M_PI; + jointAngle[1] = 0.0 / 180.0 * M_PI; + jointAngle[2] = 90.0 / 180.0 * M_PI; + jointAngle[3] = 0.0 / 180.0 * M_PI; + jointAngle[4] = 90.0 / 180.0 * M_PI; + jointAngle[5] = 0.0 / 180.0 * M_PI; + ret = robotService.robotServiceJointMove(jointAngle, true); + //关节运动至准备点 + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "运动0失败.　ret:" << ret << std::endl; + } + + aubo_robot_namespace::wayPoint_S currentWaypoint; + ret = robotService.robotServiceGetCurrentWaypointInfo(currentWaypoint); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "获取当前路点信息失败.　ret:" << ret << std::endl; + } + /** 设置坐标系参数 **/ + aubo_robot_namespace::CoordCalibrateByJointAngleAndTool userCoord; + userCoord.coordType = aubo_robot_namespace::BaseCoordinate; + /** 设置工具端参数 **/ + aubo_robot_namespace::ToolInEndDesc toolDesc; + toolDesc.toolInEndPosition.x = 0; + toolDesc.toolInEndPosition.y = 0; + toolDesc.toolInEndPosition.z = 0; + + for (int i = 0; i < 10; i++) { + aubo_robot_namespace::Pos position; + double offsetY = (i % 3 > 1) ? 0.0 : (0.18 * (i % 3)); + double offsetZ = (i % 3 > 1) ? 0.0 : (0.18); + position.x = currentWaypoint.cartPos.position.x; + position.y = currentWaypoint.cartPos.position.y + offsetY; + position.z = currentWaypoint.cartPos.position.z + offsetZ; + + //保持当前位姿通过直线运动的方式运动到目标位置 + ret = robotService.robotMoveJointToTargetPosition(userCoord, position, + toolDesc, true); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "robotMoveLineToTargetPosition.　ret:" << ret + << std::endl; + } + } + + /** 机械臂Shutdown **/ + robotService.robotServiceRobotShutdown(); + + /** 接口调用: 退出登录　**/ + robotService.robotServiceLogout(); +} + +void Example_6::Robot_Move() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + + // set tool kinematics para + aubo_robot_namespace::ToolInEndDesc toolInEndDesc; + toolInEndDesc.toolInEndPosition.x = 0.03; + toolInEndDesc.toolInEndPosition.y = 0.05; + toolInEndDesc.toolInEndPosition.z = 0.08; + toolInEndDesc.toolInEndOrientation.w = 1.0; + toolInEndDesc.toolInEndOrientation.x = 0.0; + toolInEndDesc.toolInEndOrientation.y = 0.0; + toolInEndDesc.toolInEndOrientation.z = 0.0; + + aubo_robot_namespace::CoordCalibrateByJointAngleAndTool userCoord; + // userCoord.coordType = aubo_robot_namespace::EndCoordinate; + userCoord.coordType = aubo_robot_namespace::BaseCoordinate; + userCoord.toolDesc = toolInEndDesc; + + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "Movement to waypoint 2 failed.　ret:" << ret << std::endl; + } + + double rotateAxisOnUserCoord[] = { 0, 0, 1 }; + aubo_robot_namespace::JointVelcAccParam moveMaxVelc; + for (int i = 0; i < 6; i++) { + moveMaxVelc.jointPara[i] = 175.0; + } + + robotService.robotServiceSetGlobalMoveJointMaxVelc(moveMaxVelc); + robotService.robotServiceSetGlobalMoveEndMaxLineVelc(1.8); + robotService.robotServiceSetToolKinematicsParam(toolInEndDesc); + + robotService.robotServiceRotateMove(userCoord, rotateAxisOnUserCoord, + 60 * M_PI / 180, true); + printf("============== %f \n", 90 * M_PI / 180); +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_6.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_6.h new file mode 100644 index 00000000..c97cf132 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_6.h @@ -0,0 +1,20 @@ +#ifndef EXAMPLE_6_H +#define EXAMPLE_6_H + +class Example_6 +{ +public: + /** + * @brief demo + * + * Move to the target position in the form of joint or linear motion + */ + static void demo(); + + static void example_MoveLtoPosition(); + + static void example_MoveJtoPosition(); + static void Robot_Move(); +}; + +#endif // EXAMPLE_6_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_8.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_8.cpp new file mode 100644 index 00000000..32fe3004 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_8.cpp @@ -0,0 +1,376 @@ +#include "example_8.h" + +#include +#include +#include +#include +#include +#include +#include "util.h" +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +#define SERVER_HOST "127.0.0.1" +#define SERVER_PORT 30000 + +using namespace aubo_robot_namespace; + +void Example_8::demo() +{ + ServiceInterface robotService; + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + FK(robotService); + IK(robotService); +} + +void Example_8::FK(ServiceInterface &robotService) +{ + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + aubo_robot_namespace::wayPoint_S wayPoint; + + double jointAngle[aubo_robot_namespace::ARM_DOF] = { 0 }; + + Util::initJointAngleArray( + jointAngle, 0.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI, 90.0 / 180.0 * M_PI, + 0.0 / 180.0 * M_PI, 90.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI); + + ret = robotService.robotServiceRobotFk( + jointAngle, aubo_robot_namespace::ARM_DOF, wayPoint); + + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + Util::printWaypoint(wayPoint); + } else { + std::cerr << "Calling the positive solution failed" << std::endl; + } +} + +void Example_8::IK(ServiceInterface &robotService) +{ + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + aubo_robot_namespace::wayPoint_S wayPoint; + + double startPointJointAngle[aubo_robot_namespace::ARM_DOF] = { 0 }; + + Util::initJointAngleArray(startPointJointAngle, 0.0 / 180.0 * M_PI, + 0.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI, + 0.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI, + 0.0 / 180.0 * M_PI); + + aubo_robot_namespace::Pos targetPosition; + targetPosition.x = -0.400; + targetPosition.y = -0.1215; + targetPosition.z = 0.5476; + + aubo_robot_namespace::Rpy rpy; + aubo_robot_namespace::Ori targetOri; + + rpy.rx = 180.0 / 180.0 * M_PI; + rpy.ry = 0.0 / 180.0 * M_PI; + rpy.rz = -90.0 / 180.0 * M_PI; + + robotService.RPYToQuaternion(rpy, targetOri); + + // + ret = robotService.robotServiceRobotIk(startPointJointAngle, targetPosition, + targetOri, wayPoint); + + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + Util::printWaypoint(wayPoint); + } else { + std::cerr << "Calling the inverse solution failed" << std::endl; + } +} + +int Example_8::toolPositionOriIk() +{ + ServiceInterface robotService; + int ret = InterfaceCallSuccCode; + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + // 工具描述 单位米 弧度 + aubo_robot_namespace::ToolInEndDesc toolInEndDesc; + toolInEndDesc.toolInEndPosition.x = 0; + toolInEndDesc.toolInEndPosition.y = 0; + toolInEndDesc.toolInEndPosition.z = 0; + toolInEndDesc.toolInEndOrientation.w = 1.0; + toolInEndDesc.toolInEndOrientation.x = 0; + toolInEndDesc.toolInEndOrientation.y = 0; + toolInEndDesc.toolInEndOrientation.z = 0; + + Pos toolEndPosition; + toolEndPosition.x = 0.4785; + toolEndPosition.y = -0.1215; + toolEndPosition.z = 0.4125; + Rpy toolEndRpy; + toolEndRpy.rx = 180 / 180 * M_PI; + toolEndRpy.ry = 0; + toolEndRpy.rz = 0; + Ori toolEndQuaternionOnBase; + robotService.RPYToQuaternion(toolEndRpy, toolEndQuaternionOnBase); + // 将用户提供的工具末端点转成法兰中心点 基转基去工具:将工具末端点 + // 转为　法兰中心点 + aubo_robot_namespace::CoordCalibrateByJointAngleAndTool userCoord; + userCoord.coordType = aubo_robot_namespace::BaseCoordinate; + Pos flangePositionOnBase; + Ori flangeQuaternionOnBase; + if (robotService.userToBaseCoordinate( + toolEndPosition, toolEndQuaternionOnBase, userCoord, toolInEndDesc, + flangePositionOnBase, + flangeQuaternionOnBase) != InterfaceCallSuccCode) { + ret = ErrCode_UserToBaseConvertFailed; + } + // 参考位置 + double referPointJointAngle[6]; + referPointJointAngle[0] = -0.000172 / 180 * M_PI; + referPointJointAngle[1] = -7.291862 / 180 * M_PI; + referPointJointAngle[2] = -75.694718 / 180 * M_PI; + referPointJointAngle[3] = 21.596727 / 180 * M_PI; + referPointJointAngle[4] = -89.999982 / 180 * M_PI; + referPointJointAngle[5] = -0.000458 / 180 * M_PI; + wayPoint_S wayPoint; + // 逆解:根据法兰的位置和姿态　求解　关节角 + // 但是逆解一般为多个解，所以需要提供一个参考位置求解得一个最优解，一般参考位置指的是轨迹起点 + ret = robotService.robotServiceRobotIk(referPointJointAngle, + flangePositionOnBase, + flangeQuaternionOnBase, wayPoint); + if (ret != InterfaceCallSuccCode) { + ret = ErrCode_IkFailed; + return ret; + } else { + std::cout << "IK success\n"; + } + std::cout << "joint1:" << wayPoint.jointpos[0] * 180 / M_PI << std::endl; + std::cout << "joint2:" << wayPoint.jointpos[1] * 180 / M_PI << std::endl; + std::cout << "joint3:" << wayPoint.jointpos[2] * 180 / M_PI << std::endl; + std::cout << "joint4:" << wayPoint.jointpos[3] * 180 / M_PI << std::endl; + std::cout << "joint5:" << wayPoint.jointpos[4] * 180 / M_PI << std::endl; + std::cout << "joint6:" << wayPoint.jointpos[5] * 180 / M_PI << std::endl; + ret = robotService.robotServiceJointMove(wayPoint.jointpos, true); + return ret; +} + +int Example_8::baseToUserCoordinate() +{ + ServiceInterface robotService; + int ret = InterfaceCallSuccCode; + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + using namespace aubo_robot_namespace; + aubo_robot_namespace::Pos + flangeCenterPositionOnBase; // 基于基座标系的法兰盘中心位置信息 + aubo_robot_namespace::Ori + flangeCenterOrientationOnBase; // 基于基座标系的姿态信息 + aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + userCoord; // 用户坐标系 + aubo_robot_namespace::ToolInEndDesc toolInEndDesc; // 工具参数 + aubo_robot_namespace::Pos + toolEndPositionOnUserCoord; // 基于用户座标系的工具末端位置信息 + aubo_robot_namespace::Ori + toolEndOrientationOnUserCoord; // 基于用户座标系的工具末端姿态信息 + + flangeCenterPositionOnBase.x = 0.548870; + flangeCenterPositionOnBase.y = -0.1215; + flangeCenterPositionOnBase.z = 0.26319; + + aubo_robot_namespace::Rpy rpy; + + rpy.rx = 180.0 / 180.0 * M_PI; + rpy.ry = 0.0 / 180.0 * M_PI; + rpy.rz = 89.9996 / 180.0 * M_PI; + + robotService.RPYToQuaternion(rpy, flangeCenterOrientationOnBase); + + toolInEndDesc.toolInEndPosition.x = 0; + toolInEndDesc.toolInEndPosition.y = 0; + toolInEndDesc.toolInEndPosition.z = 0; + toolInEndDesc.toolInEndOrientation.w = 1.0; + toolInEndDesc.toolInEndOrientation.x = 0; + toolInEndDesc.toolInEndOrientation.y = 0; + toolInEndDesc.toolInEndOrientation.z = 0; + + userCoord.coordType = WorldCoordinate; + userCoord.methods = aubo_robot_namespace:: + Origin_AnyPointOnPositiveXAxis_AnyPointOnFirstQuadrantOfXOYPlane; + double radian_tem[6] = { 0, + -15 / 180.0 * M_PI, + 100 / 180.0 * M_PI, + 25 / 180.0 * M_PI, + 90 / 180.0 * M_PI, + 0 }; + memcpy(userCoord.wayPointArray[0].jointPos, radian_tem, sizeof(radian_tem)); + + double radian_tem2[6] = { 9.578 / 180.0 * M_PI, -13.35 / 180.0 * M_PI, + 102.133 / 180.0 * M_PI, 25.484 / 180.0 * M_PI, + 90 / 180.0 * M_PI, 9.578 / 180.0 * M_PI }; + memcpy(userCoord.wayPointArray[1].jointPos, radian_tem2, + sizeof(radian_tem2)); + + double radian_tem3[6] = { 0, + 11.472 / 180.0 * M_PI, + 127.443 / 180.0 * M_PI, + 25.970 / 180.0 * M_PI, + 90 / 180.0 * M_PI, + 0 }; + memcpy(userCoord.wayPointArray[2].jointPos, radian_tem3, + sizeof(radian_tem3)); + userCoord.toolDesc = toolInEndDesc; + /** Interface call: baseToUserCoordinate ***/ + ret = robotService.baseToUserCoordinate( + flangeCenterPositionOnBase, flangeCenterOrientationOnBase, userCoord, + toolInEndDesc, toolEndPositionOnUserCoord, + toolEndOrientationOnUserCoord); + + std::cerr << toolEndPositionOnUserCoord.x << "," + << toolEndPositionOnUserCoord.y << "," + << toolEndPositionOnUserCoord.z << std::endl; + /** Interface call: userToBaseCoordinate ***/ + ret = robotService.userToBaseCoordinate( + toolEndPositionOnUserCoord, toolEndOrientationOnUserCoord, userCoord, + toolInEndDesc, flangeCenterPositionOnBase, + flangeCenterOrientationOnBase); + + std::cerr << flangeCenterPositionOnBase.x << "," + << flangeCenterPositionOnBase.y << "," + << flangeCenterPositionOnBase.z << std::endl; + + return ret; +} + +int Example_8::toolToEnd_demo() +{ + ServiceInterface robotService; + int ret = InterfaceCallSuccCode; + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + aubo_robot_namespace::Ori tcpOriInEnd; + tcpOriInEnd.w = 0.8535534; + tcpOriInEnd.x = -0.1464466; + tcpOriInEnd.y = 0.3535534; + tcpOriInEnd.z = 0.3535534; + + aubo_robot_namespace::Ori toolOri; + aubo_robot_namespace::Rpy rpy; + rpy.rx = 180.0 / 180.0 * M_PI; + rpy.ry = -45 / 180.0 * M_PI; + rpy.rz = -134.99 / 180.0 * M_PI; + robotService.RPYToQuaternion(rpy, toolOri); + + aubo_robot_namespace::Ori endOri; + robotService.toolOrientation2EndOrientation(tcpOriInEnd, toolOri, endOri); + std::cerr << endOri.w << "," << endOri.x << "," << endOri.y << "," + << endOri.z << std::endl; + return ret; +} +int Example_8::CoordinateCalibration_demo() +{ + ServiceInterface robotService; + int ret = InterfaceCallSuccCode; + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + using namespace aubo_robot_namespace; + aubo_robot_namespace::CoordCalibrateByJointAngleAndTool + userCoord; // 用户坐标系 + aubo_robot_namespace::ToolInEndDesc toolInEndDesc; // 工具参数 + toolInEndDesc.toolInEndPosition.x = 0; + toolInEndDesc.toolInEndPosition.y = 0; + toolInEndDesc.toolInEndPosition.z = 0; + toolInEndDesc.toolInEndOrientation.w = 1.0; + toolInEndDesc.toolInEndOrientation.x = 0; + toolInEndDesc.toolInEndOrientation.y = 0; + toolInEndDesc.toolInEndOrientation.z = 0; + + userCoord.coordType = WorldCoordinate; + userCoord.methods = aubo_robot_namespace:: + Origin_AnyPointOnPositiveXAxis_AnyPointOnPositiveYAxis; + // Origin_AnyPointOnPositiveXAxis_AnyPointOnFirstQuadrantOfXOYPlane; + double radian_tem[6] = { 0, + -15 / 180.0 * M_PI, + 100 / 180.0 * M_PI, + 25 / 180.0 * M_PI, + 90 / 180.0 * M_PI, + 0 }; + memcpy(userCoord.wayPointArray[0].jointPos, radian_tem, sizeof(radian_tem)); + + double radian_tem2[6] = { 9.578 / 180.0 * M_PI, -13.35 / 180.0 * M_PI, + 102.133 / 180.0 * M_PI, 25.484 / 180.0 * M_PI, + 90 / 180.0 * M_PI, 9.578 / 180.0 * M_PI }; + memcpy(userCoord.wayPointArray[1].jointPos, radian_tem2, + sizeof(radian_tem2)); + + double radian_tem3[6] = { 0, + 11.472 / 180.0 * M_PI, + 127.443 / 180.0 * M_PI, + 25.970 / 180.0 * M_PI, + 90 / 180.0 * M_PI, + 0 }; + memcpy(userCoord.wayPointArray[2].jointPos, radian_tem3, + sizeof(radian_tem3)); + userCoord.toolDesc = toolInEndDesc; + double bInWPos[3], bInWOri[9], wInBPos[3]; + ret = robotService.robotServiceCheckUserCoordinate(userCoord); + if (ret) { + std::cerr << "Unable to calibrate a coordinate system" << std::endl; + return ret; + } + ret = robotService.robotServiceUserCoordinateCalibration(userCoord, bInWPos, + bInWOri, wInBPos); + std::cerr << bInWPos[0] << "," << bInWPos[1] << "," << bInWPos[2] + << std::endl; + for (int i = 0; i < 3; i++) // 行 + { + for (int j = 0; j < 3; j++) // 列 + { + std::cerr << bInWOri[i * 3 + j] << ","; + } + std::cerr << std::endl; + } + std::cerr << wInBPos[0] << " " << wInBPos[1] << " " << wInBPos[2] + << std::endl; + Ori result; + ret = robotService.robotServiceOriMatrixToQuaternion(bInWOri, result); + std::cerr << result.w << "," << result.x << "," << result.y << "," + << result.z << std::endl; + return ret; +} + +int Example_8::FK_IK() +{ + ServiceInterface robotService; + int ret = InterfaceCallSuccCode; + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + aubo_robot_namespace::wayPoint_S wayPoint; + + double jointAngle[aubo_robot_namespace::ARM_DOF] = { 0 }; + + Util::initJointAngleArray( + jointAngle, 0.0 / 180.0 * M_PI, -15 / 180.0 * M_PI, 100 / 180.0 * M_PI, + 25 / 180.0 * M_PI, 90.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI); + ret = robotService.robotServiceRobotFk( + jointAngle, aubo_robot_namespace::ARM_DOF, wayPoint); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + Util::printWaypoint(wayPoint); + } else { + std::cerr << "Calling the positive solution failed" << std::endl; + } + aubo_robot_namespace::wayPoint_S wayPoint1; + + robotService.robotServiceRobotIk(jointAngle, wayPoint.cartPos.position, + wayPoint.orientation, wayPoint1); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + Util::printWaypoint(wayPoint1); + } else { + std::cerr << "Calling the positive solution failed" << std::endl; + } + return ret; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_8.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_8.h new file mode 100644 index 00000000..950930d6 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_8.h @@ -0,0 +1,29 @@ +#ifndef EXAMPLE_8_H +#define EXAMPLE_8_H + +#include "AuboRobotMetaType.h" +#include "serviceinterface.h" +class Example_8 +{ +public: + /** + * @brief demo + * + * Positive and negative solution interface + */ + static void demo(); + + static void FK(ServiceInterface &robotService); + + static void IK(ServiceInterface &robotService); + + static int toolPositionOriIk(); + static int baseToUserCoordinate(); + + static int toolToEnd_demo(); + static int CoordinateCalibration_demo(); + + static int FK_IK(); +}; + +#endif // EXAMPLE_8_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_9.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_9.cpp new file mode 100644 index 00000000..f71c2a61 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_9.cpp @@ -0,0 +1,159 @@ +#include "example_9.h" + +#include +#include +#include +#include +#include +#include + +#include + +#include "AuboRobotMetaType.h" //Robot arm metadata type +#include "serviceinterface.h" //Robot arm interface + +//#define SERVER_HOST "192.168.1.100" +#define SERVER_HOST "127.0.0.1" +#define SERVER_PORT 30000 + +void Example_9::demo() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + + // Get digital IO status + double value; + robotService.robotServiceGetBoardIOStatus( + aubo_robot_namespace::RobotBoardUserDI, "U_DI_01", value); + std::cout << "U_DI_01 status:" << value << std::endl; + + std::vector ioType; + std::vector statusVector; + + ioType.push_back(aubo_robot_namespace::RobotBoardUserAI); + robotService.robotServiceGetBoardIOStatus(ioType, statusVector); + + for (int i = 0; i < statusVector.size(); i++) { + std::cout << statusVector[i].ioName << " " << statusVector[i].ioValue + << std::endl; + } + + // Get the analog IO status + robotService.robotServiceGetBoardIOStatus( + aubo_robot_namespace::RobotBoardUserAI, "VI0", value); + std::cerr << "---------VI0 status:" << value << std::endl; + + // Set the analog IO status + ret = robotService.robotServiceSetBoardIOStatus( + aubo_robot_namespace::RobotBoardUserDO, "U_DO_02", 0); + ret = robotService.robotServiceSetBoardIOStatus( + aubo_robot_namespace::RobotBoardUserAO, "VO1", 2); + std::cerr << "ret:" << ret << std::endl; + + /** Interface call: logout　**/ + robotService.robotServiceLogout(); +} + +void Example_9::BoardiO_demo() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + /** Interface call: robotServiceGetBoardIOStatus ***/ + std::vector ioType; + ioType.push_back(aubo_robot_namespace::RobotBoardControllerDI); + ioType.push_back(aubo_robot_namespace::RobotBoardControllerDO); + ioType.push_back(aubo_robot_namespace::RobotBoardUserDI); + ioType.push_back(aubo_robot_namespace::RobotBoardUserDO); + ioType.push_back(aubo_robot_namespace::RobotBoardUserAI); + ioType.push_back(aubo_robot_namespace::RobotBoardUserAO); + + std::vector configVector; + robotService.robotServiceGetBoardIOStatus(ioType, configVector); + + for (auto i = 0; i < int(configVector.size()); i++) { + std::cout << "ioType is " << configVector[i].ioType << ",ioName is " + << configVector[i].ioName << ", ioValue is" + << configVector[i].ioValue << ", ioAddr is" + << configVector[i].ioAddr << std::endl; + } + /** Interface call: robotServiceSetBoardIOStatus ***/ + robotService.robotServiceSetBoardIOStatus( + aubo_robot_namespace::RobotBoardUserAO, "CO2", 1); + robotService.robotServiceSetBoardIOStatus( + aubo_robot_namespace::RobotBoardUserDO, "U_DO_10", 1); + /** Interface call: robotServiceIsOnlineMode ***/ + bool isOnlineMode, isOnlineMasterMode; + robotService.robotServiceIsOnlineMode(isOnlineMode); + robotService.robotServiceIsOnlineMasterMode(isOnlineMasterMode); + std::cerr << "isOnlineMode is " << isOnlineMode << std::endl; + std::cerr << "isOnlineMasterMode is " << isOnlineMasterMode << std::endl; +} + +void Example_9::TooliO_demo() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + /** Interface call: robotServiceSetToolDOStatus ***/ + robotService.robotServiceSetToolDOStatus( + aubo_robot_namespace::TOOL_DIGITAL_IO_3, + aubo_robot_namespace::IO_STATUS_INVALID); + robotService.robotServiceSetToolDOStatus( + "TOOL_DIGITAL_IO_1", aubo_robot_namespace::IO_STATUS_VALID); + + /** Interface call: robotServiceGetAllToolAIStatus ***/ + std::vector Vector; + robotService.robotServiceGetAllToolAIStatus(Vector); + robotService.robotServiceGetAllToolDigitalIOStatus(Vector); + for (auto i = 0; i < int(Vector.size()); i++) { + std::cout << "ioName is " << Vector[i].ioName << "ioType is " + << Vector[i].ioType << "ioValue is" << Vector[i].ioValue + << std::endl; + } +} +void Example_9::SafetyConfig_demo() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin(SERVER_HOST, SERVER_PORT, "aubo", + "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + aubo_robot_namespace::RobotSafetyConfig safetyConfig; + ret = robotService.robotServiceSetRobotSafetyConfig(safetyConfig); +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_9.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_9.h new file mode 100644 index 00000000..35b5e0cd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_9.h @@ -0,0 +1,25 @@ +#ifndef EXAMPLE_9_H +#define EXAMPLE_9_H + +/** + * @brief The Example_9 class + * + * + * About the use case of io + * + */ +class Example_9 +{ +public: + /** + * @brief demo + * + * IO Control + */ + static void demo(); + static void BoardiO_demo(); + static void TooliO_demo(); + static void SafetyConfig_demo(); +}; + +#endif // EXAMPLE_9_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_bhwk_c.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_bhwk_c.cpp new file mode 100644 index 00000000..6d56f7b0 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_bhwk_c.cpp @@ -0,0 +1,1550 @@ +#include "example_bhwk_c.h" +#include "Eigen/Dense" + +#include +#include +#include +#include +#include +#include +#include "util.h" +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +using namespace Eigen; + +void example_move_stop(RSHD rshd) +{ + double destJoint[6]{ + -2.86944, -1.3256, -1.42723, 2.79761, -0.886683, -0.714745, + }; + std::cout << "move to start pose " << std::endl; + rs_move_joint(rshd, destJoint, true); + + double zeroJoint[6]{ 0, 0, 0, 0, 0, 0 }; + rs_move_joint(rshd, zeroJoint, false); + std::cout << "move to zero " << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + std::cout << "after sleep " << std::endl; + int ret = rs_move_stop(rshd); + std::cout << "after stop " << std::endl; + + if (RS_SUCC == ret) { + std::cout << "move_stop succ" << std::endl; + } else { + std::cerr << "move_stop failed" << std::endl; + } +} +// 机械臂登录 +bool example_login(RSHD &rshd, const char *addr, int port) +{ + bool result = false; + + rshd = RS_FAILED; + + // 初始化接口库 + if (rs_initialize() == RS_SUCC) { + // 创建上下文 + if (rs_create_context(&rshd) == RS_SUCC) { + // 机械臂登录 + if (rs_login(rshd, addr, port) == RS_SUCC) { + result = true; + std::cout << "机械臂登录成功" << std::endl; + } else { + std::cerr << "机械臂登录失败" << std::endl; + } + } else { + std::cerr << "创建上下文失败" << std::endl; + } + } else { + // 初始化接口库失败 + std::cerr << "初始化接口库失败" << std::endl; + } + + return result; +} + +// 关闭机械臂（必须连接真实机械臂） +bool example_robotShutdown(RSHD rshd) +{ + bool result = false; + if (rs_robot_shutdown(rshd) == RS_SUCC) { + result = true; + std::cout << "机械臂断电成功" << std::endl; + } else { + std::cerr << "机械臂断电失败" << std::endl; + } + return result; +} + +// 设置机械臂实际速度 +void SetRobotActualSpeed(RSHD rshd, double speed) +{ + // speed代表速度比例 + if (speed < 0) + speed = 0.01; + if (speed > 1) + speed = 1; + + /** 初始化运动属性 ***/ + int ret = rs_init_global_move_profile(rshd); + + // 设置关节转角速度 + JointVelcAccParam max_velc; + for (int i = 0; i < ARM_DOF; i++) + max_velc.jointPara[i] = 10.0 / 180.0 * M_PI * speed; + + ret = rs_set_global_joint_maxvelc(rshd, &max_velc); + + // 设置TCP线性速度 + rs_set_global_end_max_line_acc(rshd, 10.0 / 180.0 * M_PI * speed); + rs_set_global_end_max_angle_acc(rshd, 10.0 / 180.0 * M_PI * speed); + rs_set_global_end_max_line_velc(rshd, 10.0 / 180.0 * M_PI * speed); + rs_set_global_end_max_angle_velc(rshd, 10.0 / 180.0 * M_PI * speed); +} + +// 绕基坐标轴旋转角度 +void RotateAroundBaseFrameByAngle(RSHD rshd, double angle, int Axial, + double speed, double acc) +{ + SetRobotActualSpeed(rshd, speed); + + CoordCalibrate UserCoord; + UserCoord.coordType = BaseCoordinate; + + Move_Rotate_Axis rotateAxis_prarm; + rotateAxis_prarm.rotateAxis[0] = 0; + rotateAxis_prarm.rotateAxis[1] = 0; + rotateAxis_prarm.rotateAxis[2] = 0; + + switch (Axial) { + case 1: + rotateAxis_prarm.rotateAxis[0] = 1; // X + break; + case 2: + rotateAxis_prarm.rotateAxis[1] = 1; // Y + break; + case 3: + rotateAxis_prarm.rotateAxis[2] = 1; // Z + break; + default: + break; + } + + double rotate_angle = angle / 180.0 * M_PI; + + int ret = + rs_move_rotate(rshd, &UserCoord, &rotateAxis_prarm, rotate_angle, true); + + if (ret == RS_SUCC) { + std::cout << "机械臂旋转成功！" << std::endl; + + } else { + std::cerr << "机械臂旋转失败！" << std::endl; + } +} + +// 绕TCP坐标系旋转角度 +void RotateAroundTCPFrameByAngle(RSHD rshd, double angle, int Axial, + double speed, double acc) +{ + SetRobotActualSpeed(rshd, speed); + + ToolInEndDesc m_tool; + double tcp[3]; + + m_tool.toolInEndPosition.x = 0.177341; + m_tool.toolInEndPosition.y = 0.002327; + m_tool.toolInEndPosition.z = 0.146822; + + m_tool.toolInEndOrientation.w = 1; + m_tool.toolInEndOrientation.x = 0; + m_tool.toolInEndOrientation.y = 0; + m_tool.toolInEndOrientation.z = 0; + + rs_set_tool_kinematics_param(rshd, &m_tool); + + CoordCalibrate UserCoord; + UserCoord.coordType = EndCoordinate; + UserCoord.toolDesc = m_tool; + + Move_Rotate_Axis rotateAxis_prarm; + rotateAxis_prarm.rotateAxis[0] = 0; + rotateAxis_prarm.rotateAxis[1] = 0; + rotateAxis_prarm.rotateAxis[2] = 0; + + switch (Axial) { + case 1: + rotateAxis_prarm.rotateAxis[0] = 1; // X + break; + case 2: + rotateAxis_prarm.rotateAxis[1] = 1; // Y + break; + case 3: + rotateAxis_prarm.rotateAxis[2] = 1; // Z + break; + default: + break; + } + + double rotate_angle = angle / 180.0 * M_PI; + + int ret = + rs_move_rotate(rshd, &UserCoord, &rotateAxis_prarm, rotate_angle, true); + + if (ret == RS_SUCC) { + std::cout << "机械臂旋转成功！" << std::endl; + + } else { + std::cerr << "机械臂旋转失败!" << std::endl; + } +} + +// 沿基坐标系位置偏移量 +int TransAlongBaseFrameByDistance(RSHD rshd, double distance, int Axial, + double speed, double acc) +{ + SetRobotActualSpeed(rshd, speed); + + ToolInEndDesc tool; + tool.toolInEndPosition.x = 0.177341; + tool.toolInEndPosition.y = 0.002327; + tool.toolInEndPosition.z = 0.146822; + tool.toolInEndOrientation.w = 1; + tool.toolInEndOrientation.x = 0; + tool.toolInEndOrientation.y = 0; + tool.toolInEndOrientation.z = 0; + // 修改 + rs_set_tool_kinematics_param(rshd, &tool); + + // 设置偏移量 + + aubo_robot_namespace::Rpy rpy; + aubo_robot_namespace::Ori targetOri; + + rpy.rx = 0.0 / 180.0 * M_PI; + rpy.ry = 0.0 / 180.0 * M_PI; + rpy.rz = 0.0 / 180.0 * M_PI; + rs_rpy_to_quaternion(rshd, &rpy, &targetOri); + + aubo_robot_namespace::MoveRelative relative; + relative.ena = TRUE; + relative.relativePosition[0] = 0.0; + relative.relativePosition[1] = 0.0; + relative.relativePosition[2] = 0.0; + + MatrixXd TransMatrix(4, 4); + TransMatrix(0, 0) = 1; + TransMatrix(0, 1) = 0; + TransMatrix(0, 2) = 0; + TransMatrix(0, 3) = 0; + TransMatrix(1, 0) = 0; + TransMatrix(1, 1) = 1; + TransMatrix(1, 2) = 0; + TransMatrix(1, 3) = 0; + TransMatrix(2, 0) = 0; + TransMatrix(2, 1) = 0; + TransMatrix(2, 2) = 1; + TransMatrix(2, 3) = 0; + TransMatrix(3, 0) = 0; + TransMatrix(3, 1) = 0; + TransMatrix(3, 2) = 0; + TransMatrix(3, 3) = 1; + + switch (Axial) { + case 1: + relative.relativePosition[0] = distance / 1000.0; // X轴偏移 + TransMatrix(0, 3) = distance / 1000.0; + break; + case 2: + relative.relativePosition[1] = distance / 1000.0; // Y轴偏移 + TransMatrix(1, 3) = distance / 1000.0; + break; + case 3: + relative.relativePosition[2] = distance / 1000.0; // X轴偏移 + TransMatrix(2, 3) = distance / 1000.0; + break; + default: + break; + } + + relative.relativeOri = targetOri; + + CoordCalibrate userCoord; + userCoord.coordType = BaseCoordinate; + + // 基于用户坐标系位置偏移 + + if (RS_SUCC == rs_set_relative_offset_on_base(rshd, &relative)) { + std::cout << "偏移运动成功！" << std::endl; + } else { + std::cerr << "偏移运动失败！" << std::endl; + } + + wayPoint_S m_wayPoint; + int ret = rs_get_current_waypoint(rshd, &m_wayPoint); + + Quaterniond ori(m_wayPoint.orientation.w, m_wayPoint.orientation.x, + m_wayPoint.orientation.y, m_wayPoint.orientation.z); + MatrixXd center_matrix = ori.toRotationMatrix(); + MatrixXd centerToBase(4, 4), TcpToBase(4, 4); + + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) { + centerToBase(i, j) = center_matrix(i, j); + } + centerToBase(0, 3) = m_wayPoint.cartPos.position.x; + centerToBase(1, 3) = m_wayPoint.cartPos.position.y; + centerToBase(2, 3) = m_wayPoint.cartPos.position.z; + + centerToBase(3, 0) = 0; + centerToBase(3, 1) = 0; + centerToBase(3, 2) = 0; + centerToBase(3, 3) = 1; + + MatrixXd TCP(4, 4); + TCP(0, 0) = 1; + TCP(0, 1) = 0; + TCP(0, 2) = 0; + TCP(0, 3) = 0; + TCP(1, 0) = 0; + TCP(1, 1) = 1; + TCP(1, 2) = 0; + TCP(1, 3) = 0; + TCP(2, 0) = 0; + TCP(2, 1) = 0; + TCP(2, 2) = 1; + TCP(2, 3) = 0; + TCP(3, 0) = 0; + TCP(3, 1) = 0; + TCP(3, 2) = 0; + TCP(3, 3) = 1; + + TcpToBase = TransMatrix * centerToBase * TCP; + + std::cout << "目标位置笛卡尔坐标值：" << TcpToBase(0, 3) << " " + << TcpToBase(1, 3) << " " << TcpToBase(2, 3) << "\n"; + + ret = rs_move_line(rshd, m_wayPoint.jointpos /*, false*/); + + wayPoint_S m_wayPoint1; + int ret1 = rs_get_current_waypoint(rshd, &m_wayPoint1); + + // 由于现在 rs_get_current_waypoint 获取的是TCP在基坐标系下的路点 + // 所以不需要做转换了，便将以下代码注释掉 + // Pos tool_end_pos_onbase; + // Ori tool_end_ori_onbase; + // ret = rs_base_to_base_additional_tool( + // rshd, &(m_wayPoint1.cartPos.position), &(m_wayPoint1.orientation), + // &tool, &tool_end_pos_onbase, &tool_end_ori_onbase); + + // std::cout << "偏移后法兰笛卡尔坐标值：" << tool_end_pos_onbase.x << " + // " + // << tool_end_pos_onbase.y << " " << tool_end_pos_onbase.z << + // "\n"; + + std::cout << "偏移后法兰笛卡尔坐标值：" << m_wayPoint1.cartPos.position.x + << " " << m_wayPoint1.cartPos.position.y << " " + << m_wayPoint1.cartPos.position.z << "\n"; + + if (ret == RS_SUCC) + return RS_SUCC; +} + +// 沿TCP坐标系位置偏移量 +int TransAlongTCPFrameByDistance(RSHD rshd, double distance, int Axial, + double speed, double acc) +{ + SetRobotActualSpeed(rshd, speed); + + ToolInEndDesc tool; + tool.toolInEndPosition.x = 0.17734; + tool.toolInEndPosition.y = 0.00233; + tool.toolInEndPosition.z = 0.14682; + tool.toolInEndOrientation.w = 1; + tool.toolInEndOrientation.x = 0; + tool.toolInEndOrientation.y = 0; + tool.toolInEndOrientation.z = 0; + + rs_set_tool_kinematics_param(rshd, &tool); + + aubo_robot_namespace::Rpy rpy; + aubo_robot_namespace::Ori targetOri; + + rpy.rx = 0.0 / 180.0 * M_PI; + rpy.ry = 0.0 / 180.0 * M_PI; + rpy.rz = 0.0 / 180.0 * M_PI; + rs_rpy_to_quaternion(rshd, &rpy, &targetOri); + + aubo_robot_namespace::MoveRelative relative; + relative.ena = TRUE; + relative.relativePosition[0] = 0.0; + relative.relativePosition[1] = 0.0; + relative.relativePosition[2] = 0.0; + + MatrixXd TransMatrix(4, 4); + TransMatrix(0, 0) = 1; + TransMatrix(0, 1) = 0; + TransMatrix(0, 2) = 0; + TransMatrix(0, 3) = 0; + TransMatrix(1, 0) = 0; + TransMatrix(1, 1) = 1; + TransMatrix(1, 2) = 0; + TransMatrix(1, 3) = 0; + TransMatrix(2, 0) = 0; + TransMatrix(2, 1) = 0; + TransMatrix(2, 2) = 1; + TransMatrix(2, 3) = 0; + TransMatrix(3, 0) = 0; + TransMatrix(3, 1) = 0; + TransMatrix(3, 2) = 0; + TransMatrix(3, 3) = 1; + + MatrixXd TCP(4, 4); + TCP(0, 0) = 1; + TCP(0, 1) = 0; + TCP(0, 2) = 0; + TCP(0, 3) = 0; + TCP(1, 0) = 0; + TCP(1, 1) = 1; + TCP(1, 2) = 0; + TCP(1, 3) = 0; + TCP(2, 0) = 0; + TCP(2, 1) = 0; + TCP(2, 2) = 1; + TCP(2, 3) = 0; + TCP(3, 0) = 0; + TCP(3, 1) = 0; + TCP(3, 2) = 0; + TCP(3, 3) = 1; + + switch (Axial) { + case 1: + relative.relativePosition[0] = distance / 1000.0; // X轴偏移 + TransMatrix(0, 3) = distance / 1000.0; + break; + case 2: + relative.relativePosition[1] = distance / 1000.0; // Y轴偏移 + TransMatrix(1, 3) = distance / 1000.0; + break; + case 3: + relative.relativePosition[2] = distance / 1000.0; // X轴偏移 + TransMatrix(2, 3) = distance / 1000.0; + break; + default: + break; + } + + relative.relativeOri = targetOri; + + CoordCalibrate userCoord; + userCoord.coordType = EndCoordinate; + userCoord.toolDesc = tool; + + // 基于用户坐标系位置偏移 + if (RS_SUCC == + rs_set_relative_offset_on_user(rshd, &relative, &userCoord)) { + std::cout << "偏移运动成功！" << std::endl; + } else { + std::cerr << "偏移运动失败！" << std::endl; + } + + // 获取当前路点 + wayPoint_S m_wayPoint; + int ret = rs_get_current_waypoint(rshd, &m_wayPoint); + + Quaterniond ori(m_wayPoint.orientation.w, m_wayPoint.orientation.x, + m_wayPoint.orientation.y, m_wayPoint.orientation.z); + MatrixXd center_matrix = ori.toRotationMatrix(); + MatrixXd centerToBase(4, 4), TcpToBase(4, 4); + + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) { + centerToBase(i, j) = center_matrix(i, j); + } + centerToBase(0, 3) = m_wayPoint.cartPos.position.x; + centerToBase(1, 3) = m_wayPoint.cartPos.position.y; + centerToBase(2, 3) = m_wayPoint.cartPos.position.z; + + centerToBase(3, 0) = 0; + centerToBase(3, 1) = 0; + centerToBase(3, 2) = 0; + centerToBase(3, 3) = 1; + + TcpToBase = centerToBase * TCP * TransMatrix; + + std::cout << "目标位置笛卡尔坐标值：" << TcpToBase(0, 3) << " " + << TcpToBase(1, 3) << " " << TcpToBase(2, 3) << "\n"; + + ret = rs_move_line(rshd, m_wayPoint.jointpos /*, false*/); + + wayPoint_S m_wayPoint1; + int ret1 = rs_get_current_waypoint(rshd, &m_wayPoint1); + + // 由于现在 rs_get_current_waypoint 获取的是TCP在基坐标系下的路点 + // 所以不需要做转换了，便将以下代码注释掉 + // Pos tool_end_pos_onbase; + // Ori tool_end_ori_onbase; + // ret = rs_base_to_base_additional_tool( + // rshd, &(m_wayPoint1.cartPos.position), &(m_wayPoint1.orientation), + // &tool, &tool_end_pos_onbase, &tool_end_ori_onbase); + + // std::cout << "偏移后的笛卡尔坐标值：" << tool_end_pos_onbase.x << " " + // << tool_end_pos_onbase.y << " " << tool_end_pos_onbase.z << + // "\n"; + + std::cout << "偏移后法兰笛卡尔坐标值：" << m_wayPoint1.cartPos.position.x + << " " << m_wayPoint1.cartPos.position.y << " " + << m_wayPoint1.cartPos.position.z << "\n"; + + if (ret == RS_SUCC) + return RS_SUCC; +} + +// 打印路点 +void printRoadPoint(const aubo_robot_namespace::wayPoint_S *wayPoint) +{ + std::cout << "pos.x=" << wayPoint->cartPos.position.x << " "; + std::cout << "pos.y=" << wayPoint->cartPos.position.y << " "; + std::cout << "pos.z=" << wayPoint->cartPos.position.z << std::endl; + + std::cout << "ori.w=" << wayPoint->orientation.w << " "; + std::cout << "ori.x=" << wayPoint->orientation.x << " "; + std::cout << "ori.y=" << wayPoint->orientation.y << " "; + std::cout << "ori.z=" << wayPoint->orientation.z << std::endl; + + std::cout << "joint_1=" << wayPoint->jointpos[0] * 180.0 / M_PI << " "; + std::cout << "joint_2=" << wayPoint->jointpos[1] * 180.0 / M_PI << " "; + std::cout << "joint_3=" << wayPoint->jointpos[2] * 180.0 / M_PI << " "; + std::cout << "joint_4=" << wayPoint->jointpos[3] * 180.0 / M_PI << " "; + std::cout << "joint_5=" << wayPoint->jointpos[4] * 180.0 / M_PI << " "; + std::cout << "joint_6=" << wayPoint->jointpos[5] * 180.0 / M_PI + << std::endl; + std::cout << std::endl; +} + +// 实时路点信息回调 +void callback_RealTimeRoadPoint( + const aubo_robot_namespace::wayPoint_S *wayPoint, void *arg) +{ + printRoadPoint(wayPoint); +} + +// 实时事件信息回调 +void callback_RealTimeRobotEvent( + const aubo_robot_namespace::RobotEventInfo *eventInfo, void *arg) +{ + std::cout << "Event type:" << eventInfo->eventType + << " Event code:" << eventInfo->eventCode + << " Event content:" << eventInfo->eventContent << std::endl; +} + +// 实时末端速度回调 +void callback_RealTimeEndSpeed(double speed, void *arg) +{ + std::cout << "Real-time end speed:" << speed << std::endl; +} + +// 实时关节状态回调 +void callback_RealTimeJointStatus( + const aubo_robot_namespace::JointStatus *jointStatus, int len, void *arg) +{ + Util::Util::printJointStatus(jointStatus, len); +} + +// 轨迹运动 rs_move_track +// 示例1：圆运动 +void moveTrack1(RSHD rshd) +{ + // 初始化运动属性 + rs_init_global_move_profile(rshd); + + // 设置关节型运动的最大加速度 + aubo_robot_namespace::JointVelcAccParam jointMaxAcc; + jointMaxAcc.jointPara[0] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[1] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[2] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[3] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[4] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[5] = 30.0 / 180.0 * M_PI; // 接口要求单位是弧度 + rs_set_global_joint_maxacc(rshd, &jointMaxAcc); + + // 设置关节型运动的最大速度 + aubo_robot_namespace::JointVelcAccParam jointMaxVelc; + jointMaxVelc.jointPara[0] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[1] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[2] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[3] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[4] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[5] = 30.0 / 180.0 * M_PI; // 接口要求单位是弧度 + rs_set_global_joint_maxvelc(rshd, &jointMaxVelc); + + // 设置末端型运动的最大加速度 + double endMoveMaxAcc; + endMoveMaxAcc = 0.2; // 单位米每秒 + rs_set_global_end_max_line_acc(rshd, endMoveMaxAcc); + rs_set_global_end_max_angle_acc(rshd, endMoveMaxAcc); + + // 设置末端型运动的最大速度 + double endMoveMaxVelc; + endMoveMaxVelc = 0.2; // 单位米每秒 + rs_set_global_end_max_line_velc(rshd, endMoveMaxVelc); + rs_set_global_end_max_angle_velc(rshd, endMoveMaxVelc); + + // 准备点 + double jointAngle[aubo_robot_namespace::ARM_DOF] = { 0 }; + jointAngle[0] = -0.000003; + jointAngle[1] = -0.127267; + jointAngle[2] = -1.321122; + jointAngle[3] = 0.376934; + jointAngle[4] = -1.570796; + jointAngle[5] = -0.000008; + + // 关节运动到准备点 + int ret = rs_move_joint(rshd, jointAngle); + if (ret != RS_SUCC) { + std::cerr << "关节运动到准备点失败。 错误号: " << ret << std::endl; + } + + // 添加圆轨迹路点 + jointAngle[0] = -0.000003; + jointAngle[1] = -0.127267; + jointAngle[2] = -1.321122; + jointAngle[3] = 0.376934; + jointAngle[4] = -1.570796; + jointAngle[5] = -0.000008; + rs_add_waypoint(rshd, jointAngle); + + jointAngle[0] = 0.200000; + jointAngle[1] = -0.127267; + jointAngle[2] = -1.321122; + jointAngle[3] = 0.376934; + jointAngle[4] = -1.570794; + jointAngle[5] = -0.000008; + rs_add_waypoint(rshd, jointAngle); + + jointAngle[0] = 0.600000; + jointAngle[1] = -0.127267; + jointAngle[2] = -1.321122; + jointAngle[3] = 0.376934; + jointAngle[4] = -1.570796; + jointAngle[5] = -0.000008; + rs_add_waypoint(rshd, jointAngle); + + // 开始轨迹运动 + ret = rs_move_track(rshd, CIRCLE); + if (RS_SUCC != ret) { + std::cerr << "圆轨迹运动失败。　错误号:" << ret << std::endl; + } else { + std::cout << "圆轨迹运动成功。" << std::endl; + } +} + +// 示例2：圆弧运动 +void moveTrack2(RSHD rshd) +{ + // 初始化运动属性 + rs_init_global_move_profile(rshd); + + // 设置关节型运动的最大加速度 + aubo_robot_namespace::JointVelcAccParam jointMaxAcc; + jointMaxAcc.jointPara[0] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[1] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[2] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[3] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[4] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[5] = 30.0 / 180.0 * M_PI; // 接口要求单位是弧度 + rs_set_global_joint_maxacc(rshd, &jointMaxAcc); + + // 设置关节型运动的最大速度 + aubo_robot_namespace::JointVelcAccParam jointMaxVelc; + jointMaxVelc.jointPara[0] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[1] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[2] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[3] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[4] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[5] = 30.0 / 180.0 * M_PI; // 接口要求单位是弧度 + rs_set_global_joint_maxvelc(rshd, &jointMaxVelc); + + // 设置末端型运动的最大加速度 + double endMoveMaxAcc; + endMoveMaxAcc = 0.2; // 单位米每秒 + rs_set_global_end_max_line_acc(rshd, endMoveMaxAcc); + rs_set_global_end_max_angle_acc(rshd, endMoveMaxAcc); + + // 设置末端型运动的最大速度 + double endMoveMaxVelc; + endMoveMaxVelc = 0.2; // 单位米每秒 + rs_set_global_end_max_line_velc(rshd, endMoveMaxVelc); + rs_set_global_end_max_angle_velc(rshd, endMoveMaxVelc); + + // 准备点 + double jointAngle[aubo_robot_namespace::ARM_DOF] = { 0 }; + jointAngle[0] = -0.000003; + jointAngle[1] = -0.127267; + jointAngle[2] = -1.321122; + jointAngle[3] = 0.376934; + jointAngle[4] = -1.570796; + jointAngle[5] = -0.000008; + + // 关节运动到准备点 + int ret = rs_move_joint(rshd, jointAngle); + if (ret != RS_SUCC) { + std::cerr << "关节运动到准备点失败。 错误号: " << ret << std::endl; + } + + // 添加圆弧轨迹路点 + jointAngle[0] = -0.000003; + jointAngle[1] = -0.127267; + jointAngle[2] = -1.321122; + jointAngle[3] = 0.376934; + jointAngle[4] = -1.570796; + jointAngle[5] = -0.000008; + rs_add_waypoint(rshd, jointAngle); + + jointAngle[0] = 0.200000; + jointAngle[1] = -0.127267; + jointAngle[2] = -1.321122; + jointAngle[3] = 0.376934; + jointAngle[4] = -1.570794; + jointAngle[5] = -0.000008; + rs_add_waypoint(rshd, jointAngle); + + jointAngle[0] = 0.600000; + jointAngle[1] = -0.127267; + jointAngle[2] = -1.321122; + jointAngle[3] = 0.376934; + jointAngle[4] = -1.570796; + jointAngle[5] = -0.000008; + rs_add_waypoint(rshd, jointAngle); + + // 开始轨迹运动 + ret = rs_move_track(rshd, ARC); + if (RS_SUCC != ret) { + std::cerr << "圆弧轨迹运动失败。　错误号:" << ret << std::endl; + } else { + std::cout << "圆弧轨迹运动成功。" << std::endl; + } +} + +// 示例3：MOVEP运动 +void moveTrack3(RSHD rshd) +{ + // 初始化运动属性 + rs_init_global_move_profile(rshd); + + // 设置关节型运动的最大加速度 + aubo_robot_namespace::JointVelcAccParam jointMaxAcc; + jointMaxAcc.jointPara[0] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[1] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[2] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[3] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[4] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[5] = 30.0 / 180.0 * M_PI; // 接口要求单位是弧度 + rs_set_global_joint_maxacc(rshd, &jointMaxAcc); + + // 设置关节型运动的最大速度 + aubo_robot_namespace::JointVelcAccParam jointMaxVelc; + jointMaxVelc.jointPara[0] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[1] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[2] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[3] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[4] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[5] = 30.0 / 180.0 * M_PI; // 接口要求单位是弧度 + rs_set_global_joint_maxvelc(rshd, &jointMaxVelc); + + // 设置末端型运动的最大加速度 + double endMoveMaxAcc; + endMoveMaxAcc = 0.2; // 单位米每秒 + rs_set_global_end_max_line_acc(rshd, endMoveMaxAcc); + rs_set_global_end_max_angle_acc(rshd, endMoveMaxAcc); + + // 设置末端型运动的最大速度 + double endMoveMaxVelc; + endMoveMaxVelc = 0.2; // 单位米每秒 + rs_set_global_end_max_line_velc(rshd, endMoveMaxVelc); + rs_set_global_end_max_angle_velc(rshd, endMoveMaxVelc); + + // 准备点 + double jointAngle[aubo_robot_namespace::ARM_DOF] = { 0 }; + jointAngle[0] = 0; + jointAngle[1] = -14.58 / 180 * M_PI; + jointAngle[2] = 99.29 / 180 * M_PI; + jointAngle[3] = 23.87 / 180 * M_PI; + jointAngle[4] = 90. / 180 * M_PI; + jointAngle[5] = 0; + + // 关节运动到准备点 + int ret = rs_move_joint(rshd, jointAngle); + if (ret != RS_SUCC) { + std::cerr << "关节运动到准备点失败。 错误号: " << ret << std::endl; + } else { + std::cout << "关节运动到准备点成功。" << std::endl; + } + + for (int i = 0; i < 10; i++) { + // 添加MOVEP轨迹路点 + jointAngle[0] = 0; + jointAngle[1] = -14.58 / 180 * M_PI; + jointAngle[2] = 99.29 / 180 * M_PI; + jointAngle[3] = 23.87 / 180 * M_PI; + jointAngle[4] = 90. / 180 * M_PI; + jointAngle[5] = 0; + rs_add_waypoint(rshd, jointAngle); + + jointAngle[0] = 0; + jointAngle[1] = -13.75 / 180 * M_PI; + jointAngle[2] = 57.02 / 180 * M_PI; + jointAngle[3] = -19.23 / 180 * M_PI; + jointAngle[4] = 89.99 / 180 * M_PI; + jointAngle[5] = 0; + rs_add_waypoint(rshd, jointAngle); + + jointAngle[0] = 42.11 / 180 * M_PI; + jointAngle[1] = 2.63 / 180 * M_PI; + jointAngle[2] = 74.58 / 180 * M_PI; + jointAngle[3] = -17.81 / 180 * M_PI; + jointAngle[4] = 90.13 / 180 * M_PI; + jointAngle[5] = 42.32 / 180 * M_PI; + rs_add_waypoint(rshd, jointAngle); + + jointAngle[0] = 42.57 / 180 * M_PI; + jointAngle[1] = 4.46 / 180 * M_PI; + jointAngle[2] = 106.57 / 180 * M_PI; + jointAngle[3] = 12.35 / 180 * M_PI; + jointAngle[4] = 90.13 / 180 * M_PI; + jointAngle[5] = 42.63 / 180 * M_PI; + rs_add_waypoint(rshd, jointAngle); + } + + // 设置交融半径 + rs_set_blend_radius(rshd, 0.); + + // 开始轨迹运动 + ret = rs_move_track(rshd, CARTESIAN_MOVEP); + if (RS_SUCC != ret) { + std::cerr << "MOVEP轨迹运动失败。 错误号:" << ret << std::endl; + } else { + std::cout << "MOVEP轨迹运动成功。" << std::endl; + } +} + +// 测试问题1：测试DH补偿是否成功 +bool bhwk_test1(RSHD rshd) +{ + bool result = false; + + // 工具的动力学参数 + ToolDynamicsParam tool_dynamics; + // 负载质量，单位：kg + tool_dynamics.payload = 0; + // 负载重心的X坐标，单位：m + tool_dynamics.positionX = 0; + // 负载重心的Y坐标，单位：m + tool_dynamics.positionY = 0; + // 负载重心的Z坐标，单位：m + tool_dynamics.positionZ = 0; + // 工具惯量 + tool_dynamics.toolInertia = { 0 }; + // 机械臂碰撞等级 + uint8 colli_class = 6; + // 机械臂启动是否读取姿态（默认开启） + bool read_pos = true; + // 机械臂静态碰撞检测（默认开启） + bool static_colli_detect = true; + // 机械臂最大加速度（系统自动控制，默认为30000) + int board_maxacc = 30000; + // 机械臂服务启动状态 + ROBOT_SERVICE_STATE state = ROBOT_SERVICE_READY; + + if (rs_robot_startup(rshd, &tool_dynamics, colli_class, read_pos, + static_colli_detect, board_maxacc, + &state) == RS_SUCC) { + result = true; + std::cout << "机械臂上电成功！ 机械臂状态:" << state << std::endl; + } else { + std::cerr << "机械臂上电失败！" << std::endl; + } + + wayPoint_S m_waypoint; + Rpy rpy; + int ret = rs_get_current_waypoint(rshd, &m_waypoint); + ret = rs_quaternion_to_rpy(rshd, &m_waypoint.orientation, &rpy); + + std::cout << "当前笛卡尔坐标值(单位:m)：" << m_waypoint.cartPos.position.x + << " " << m_waypoint.cartPos.position.y << " " + << m_waypoint.cartPos.position.z << "\n"; + std::cout << "当前位置姿态(单位:rad)：" << rpy.rx << " " << rpy.ry << " " + << rpy.rz << "\n"; + + return result; +} + +// 测试问题2：机械臂轴动 +bool bhwk_test2(RSHD rshd) +{ + SetRobotActualSpeed(rshd, 0.2); + bool result = false; + + // 该位置为机械臂的初始位置 + // double initPos[6] = { 49.27 / 180 * M_PI, 55.14 / 180 * M_PI, + // -87.87 / 180 * M_PI, 30.39 / 180 * M_PI, + // 44.63 / 180 * M_PI, -36.66 / 180 * M_PI }; + + double initPos[6] = { -0.211675, -0.325189, -1.466753, + 0.429232, -1.570794, -0.211680 }; + + /*double initPos[6] = { + 0.100000, + -0.147267, + -1.321122, + 0.376934, + -1.570794, + -0.000008 };*/ + + // 首先运动到初始位置 + if (rs_move_joint(rshd, initPos) == RS_SUCC) { + result = true; + std::cout << "机械臂轴动成功！" << std::endl; + } else { + std::cerr << "机械臂轴动失败！" << std::endl; + } + + return result; +} + +// 测试问题3：机械臂在工具坐标系下做旋转运动 +void bhwk_test3(RSHD rshd) +{ + SetRobotActualSpeed(rshd, 0.2); + bool result = false; + // 该位置为机械臂的初始位置 + double initPos[6] = { 49.354340 / 180 * M_PI, 55.404920 / 180 * M_PI, + -87.756768 / 180 * M_PI, 30.533112 / 180 * M_PI, + 45.547263 / 180 * M_PI, -36.195731 / 180 * M_PI }; + // 首先运动到初始位置 + if (rs_move_joint(rshd, initPos) == RS_SUCC) { + result = true; + std::cout << "轴动到初始位置成功！" << std::endl; + } else { + std::cerr << "轴动到初始位置失败！" << std::endl; + } + + char ch = 'l'; + double angle = 0; + int Axial = 0; + while (1) { + ch = getchar(); + + printf("请输入一个字符 ：\n"); + printf(" 'X' 'Y' 'Z' 分别代表 x+ y+ z+ 。 \n"); + printf(" 'U' 'V' 'W' 分别代表 x- y- z- 。\n"); + printf(" 'Q' 代表退出。\n"); + + if (ch == 'Q') + break; + + switch (ch) { + case 'X': + angle = 30.0; + Axial = 1; + break; + case 'Y': + angle = 30.0; + Axial = 2; + break; + case 'Z': + angle = 30.0; + Axial = 3; + break; + case 'U': + angle = -30.0; + Axial = 1; + break; + case 'V': + angle = -30.0; + Axial = 2; + break; + case 'W': + angle = -30.0; + Axial = 3; + break; + default: + break; + } + if (ch == 'X' || ch == 'Y' || ch == 'Z' || ch == 'U' || ch == 'V' || + ch == 'W') { + RotateAroundTCPFrameByAngle(rshd, angle, Axial, 0.2, 0.2); + } + } +} + +// 测试问题4：机械臂在基坐标系下做旋转运动 +void bhwk_test4(RSHD rshd) +{ + SetRobotActualSpeed(rshd, 0.2); + bool result = false; + // 该位置为机械臂的初始位置 + double initPos[6] = { 49.354340 / 180 * M_PI, 55.404920 / 180 * M_PI, + -87.756768 / 180 * M_PI, 30.533112 / 180 * M_PI, + 45.547263 / 180 * M_PI, -36.195731 / 180 * M_PI }; + // 首先运动到初始位置 + if (rs_move_joint(rshd, initPos) == RS_SUCC) { + result = true; + std::cout << "轴动到初始位置成功！" << std::endl; + } else { + std::cerr << "轴动到初始位置失败！" << std::endl; + } + + char ch = 'l'; + double angle = 0; + int Axial = 0; + while (1) { + ch = getchar(); + + printf("请输入一个字符： \n"); + printf(" 'X' 'Y' 'Z' 代表 x+ y+ z+ \n"); + printf(" 'U' 'V' 'W' 代表 x- y- z- \n"); + printf(" 'Q' 代表退出 \n"); + + if (ch == 'Q') + break; + + switch (ch) { + case 'X': + angle = 30.0; + Axial = 1; + break; + case 'Y': + angle = 30.0; + Axial = 2; + break; + case 'Z': + angle = 30.0; + Axial = 3; + break; + case 'U': + angle = -30.0; + Axial = 1; + break; + case 'V': + angle = -30.0; + Axial = 2; + break; + case 'W': + angle = -30.0; + Axial = 3; + break; + default: + break; + } + if (ch == 'X' || ch == 'Y' || ch == 'Z' || ch == 'U' || ch == 'V' || + ch == 'W') { + RotateAroundBaseFrameByAngle(rshd, angle, Axial, 0.2, 0.2); + } + } +} + +// 测试问题5：机械臂在工具坐标系下做位置偏移运动 +void bhwk_test5(RSHD rshd) +{ + SetRobotActualSpeed(rshd, 0.2); + bool result = false; + // 该位置为机械臂的初始位置 + double initPos[6] = { 49.354340 / 180 * M_PI, 55.404920 / 180 * M_PI, + -87.756768 / 180 * M_PI, 30.533112 / 180 * M_PI, + 45.547263 / 180 * M_PI, -36.195731 / 180 * M_PI }; + // 首先运动到初始位置 + if (rs_move_joint(rshd, initPos) == RS_SUCC) { + result = true; + std::cout << "轴动到初始位置成功！" << std::endl; + } else { + std::cerr << "轴动到初始位置失败！" << std::endl; + } + + char ch = 'l'; + double distance = 0; + int Axial = 0; + while (1) { + ch = getchar(); + + printf("请输入一个字符： \n"); + printf(" 'X' 'Y' 'Z' 代表 x+ y+ z+。 \n"); + printf(" 'U' 'V' 'W' 代表 for x- y- z-。 \n"); + printf(" 'Q' 代表退出。 \n"); + + if (ch == 'Q') + break; + + switch (ch) { + case 'X': + distance = 30.0; + Axial = 1; + break; + case 'Y': + distance = 30.0; + Axial = 2; + break; + case 'Z': + distance = 30.0; + Axial = 3; + break; + case 'U': + distance = -30.0; + Axial = 1; + break; + case 'V': + distance = -30.0; + Axial = 2; + break; + case 'W': + distance = -30.0; + Axial = 3; + break; + default: + break; + } + if (ch == 'X' || ch == 'Y' || ch == 'Z' || ch == 'U' || ch == 'V' || + ch == 'W') { + TransAlongTCPFrameByDistance(rshd, distance, Axial, 0.2, 0.2); + } + } +} + +// 测试问题6：机械臂在基坐标系下做位置偏移运动 +void bhwk_test6(RSHD rshd) +{ + SetRobotActualSpeed(rshd, 0.2); + bool result = false; + // 该位置为机械臂的初始位置（提供6个关节角的关节信息（单位：弧度）） + double initPos[6] = { 49.354340 / 180 * M_PI, 55.404920 / 180 * M_PI, + -87.756768 / 180 * M_PI, 30.533112 / 180 * M_PI, + 45.547263 / 180 * M_PI, -36.195731 / 180 * M_PI }; + // 首先运动到初始位置 + if (rs_move_joint(rshd, initPos) == RS_SUCC) { + result = true; + std::cout << "轴动到初始位置成功！" << std::endl; + } else { + std::cerr << "轴动到初始位置失败！" << std::endl; + } + + char ch = 'l'; + double distance = 0; + int Axial = 0; + while (1) { + ch = getchar(); + + printf("请输入一个字符：\n"); + printf(" 'X' 'Y' 'Z' 代表 x+ y+ z+。 \n"); + printf(" 'U' 'V' 'W' 代表 for x- y- z-。 \n"); + printf(" 'Q' 代表退出。 \n"); + + if (ch == 'Q') + break; + + switch (ch) { + case 'X': + distance = 30.0; + Axial = 1; + break; + case 'Y': + distance = 30.0; + Axial = 2; + break; + case 'Z': + distance = 30.0; + Axial = 3; + break; + case 'U': + distance = -30.0; + Axial = 1; + break; + case 'V': + distance = -30.0; + Axial = 2; + break; + case 'W': + distance = -30.0; + Axial = 3; + break; + default: + break; + } + if (ch == 'X' || ch == 'Y' || ch == 'Z' || ch == 'U' || ch == 'V' || + ch == 'W') { + TransAlongBaseFrameByDistance(rshd, distance, Axial, 0.2, 0.2); + } + } +} + +// 测试问题7：测试机械臂正逆解的功能，八组逆解是否DH补偿 +void bhwk_test7(RSHD rshd) +{ + aubo_robot_namespace::wayPoint_S wayPoint; + + ik_solutions solutions; + + aubo_robot_namespace::Pos targetPosition = { -0.235867, -0.5557, 0.237866 }; + aubo_robot_namespace::Ori targetOri = { -0.193377, 0.471923, 0.86038, + -0.00755828 }; + + // 逆解 + double startPointJointAngle[aubo_robot_namespace::ARM_DOF] = { + 1.5632 / 180.0 * M_PI, -62.4792 / 180.0 * M_PI, + -140.7880 / 180.0 * M_PI, 100.1395 / 180.0 * M_PI, + 0.5601 / 180.0 * M_PI, -83.1491 / 180.0 * M_PI + }; + + if (RS_SUCC == rs_inverse_kin(rshd, startPointJointAngle, &targetPosition, + &targetOri, &wayPoint)) { + std::cout << "逆解成功！" << std::endl; + std::cout << "系统默认的最优逆解如下：" << std::endl; + printRoadPoint(&wayPoint); + } else { + std::cerr << "逆解失败！" << std::endl; + } + + if (RS_SUCC == rs_inverse_kin_closed_form(rshd, &targetPosition, &targetOri, + &solutions)) { + std::cout << "逆解的个数 = " << solutions.solution_count << std::endl; + for (int i = 0; i < solutions.solution_count; i++) { + std::cout << "第" << i + 1 << "组逆解" << std::endl; + printRoadPoint(&solutions.waypoint[i]); + } + } else { + std::cerr << "获取逆解集失败！" << std::endl; + } + + /** 接口调用: 初始化运动属性 ***/ + rs_init_global_move_profile(rshd); + + /** 接口调用: 设置关节型运动的最大加速度 ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxAcc; + jointMaxAcc.jointPara[0] = 10.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[1] = 10.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[2] = 10.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[3] = 10.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[4] = 10.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[5] = 10.0 / 180.0 * M_PI; // 接口要求单位是弧度 + rs_set_global_joint_maxacc(rshd, &jointMaxAcc); + + /** 接口调用: 设置关节型运动的最大速度 ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxVelc; + jointMaxVelc.jointPara[0] = 10.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[1] = 10.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[2] = 10.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[3] = 10.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[4] = 10.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[5] = 10.0 / 180.0 * M_PI; // 接口要求单位是弧度 + rs_set_global_joint_maxvelc(rshd, &jointMaxVelc); + + rs_move_joint(rshd, startPointJointAngle); + + double target_pos[6]; + for (int i = 0; i < 6; i++) { + target_pos[i] = solutions.waypoint[3].jointpos[i]; + } + rs_move_joint(rshd, target_pos); + + rs_get_current_waypoint(rshd, &wayPoint); + + std::cout << "系统第四组逆解值为：" << wayPoint.cartPos.position.x << " " + << wayPoint.cartPos.position.y << " " + << wayPoint.cartPos.position.z << "\n"; +} + +// 测试问题8：测试move_stop函数 +void bhwk_test8(RSHD rshd) +{ + int ret = rs_move_stop(rshd); + + if (RS_SUCC == ret) { + std::cout << "机械臂运动停止成功！" << std::endl; + } else { + std::cerr << "机械臂运动停止失败！" << std::endl; + } +} + +void startRealtimeRoadPointPush(RSHD rshd) +{ + // 允许实时路点信息推送 + rs_enable_push_realtime_roadpoint(rshd, true); + // 注册用于获取实时路点的回调函数 + // 注意：此接口为阻塞式 + if (RS_SUCC != rs_setcallback_realtime_roadpoint( + rshd, callback_RealTimeRoadPoint, NULL)) { + std::cerr << "获取实时路点信息失败！" << std::endl; + } +} + +void stopRealtimeRoadPointPush(RSHD rshd) +{ + std::this_thread::sleep_for(std::chrono::seconds(10)); + + // 取消推送实时信息 + rs_enable_push_realtime_roadpoint(rshd, false); + // 取消推送实时信息 + // rs_setcallback_realtime_roadpoint(rshd, NULL, NULL); + std::cout << "停止实时路点信息推送" << std::endl; + + // 等待 3 秒，观察是否成功停止推送 + std::this_thread::sleep_for(std::chrono::seconds(3)); + + // 恢复推送实时信息 + std::cout << "恢复推送实时信息" << std::endl; + rs_enable_push_realtime_roadpoint(rshd, true); + std::this_thread::sleep_for(std::chrono::seconds(10)); +} + +// 测试问题9：测试实时路点信息回调函数 +void bhwk_test9(RSHD rshd) +{ + std::thread thread1(startRealtimeRoadPointPush, rshd); + std::thread thread2(stopRealtimeRoadPointPush, rshd); + + thread1.join(); + thread2.join(); +} + +// 测试问题10：检测机械臂电源状态 +void bhwk_test10(RSHD rshd) +{ + int i = 0; + while (1) { + if (i == 5) { + if (rs_robot_shutdown(rshd) == RS_SUCC) { + std::cout << "机械臂断电成功" << std::endl; + } else { + std::cerr << "机械臂断电失败" << std::endl; + } + } + RobotDiagnosis info; + int ret = rs_get_diagnosis_info(rshd, &info); + + if (info.armPowerStatus) { + std::cout << "机械臂已上电！" << std::endl; + } else { + std::cout << "机械臂已下电！" << std::endl; + } + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + + i++; + } +} + +// 测试问题11：原路径返回退出奇异区？ +bool bhwk_test11(RSHD rshd) +{ + bool result = false; + + // //首先移动到初始位置 + // bhwk_test2(rshd); + + // //获取当前路点信息 + // aubo_robot_namespace::wayPoint_S wayPoint; + + // //逆解位置信息 + // aubo_robot_namespace::wayPoint_S targetPoint; + + // //目标位置对应的关节角 + // double targetRadian[ARM_DOF] = { 0 }; + + // //目标位置 + // Pos pos = { -0.489605, -0.155672, 0.448430 }; + + // if (RS_SUCC == rs_get_current_waypoint(rshd, &wayPoint)) { + // //参考当前姿态逆解得到六个关节角 + // if (RS_SUCC == rs_inverse_kin(rshd, wayPoint.jointpos, &pos, + // &wayPoint.orientation, + // &targetPoint)) { + // //将得到目标位置,将6关节角度设置为用户给定的角度（必须在+-175度） + // targetRadian[0] = targetPoint.jointpos[0]; + // targetRadian[1] = targetPoint.jointpos[1]; + // targetRadian[2] = targetPoint.jointpos[2]; + // targetRadian[3] = targetPoint.jointpos[3]; + // targetRadian[4] = targetPoint.jointpos[4]; + // targetRadian[5] = targetPoint.jointpos[5]; + + // //直线运动到目标位置 + // if (RS_SUCC == rs_move_line(rshd, targetRadian)) { + // std::cout << "直线运动到目标位置！" << std::endl; + // } else { + // std::cerr << "直线运动到目标位置失败！" << std::endl; + // double OriginPos[6] = { + // 49.27 / 180 * M_PI, 55.14 / 180 * M_PI, -87.87 / + // 180 * M_PI, 30.39 / 180 * M_PI, 44.63 / 180 * + // M_PI, -36.66 / 180 * M_PI + // }; + // if (RS_SUCC == rs_move_line(rshd, OriginPos)) { + // std::cout << "原路径返回成功，可正常退出奇异区！" + // << std::endl; + // } + // } + + // } else { + // std::cerr << "逆解失败！" << std::endl; + // } + + // } else { + // std::cerr << "获取当前路点信息失败！" << std::endl; + // } + + SetRobotActualSpeed(rshd, 0.2); + + // 该位置为机械臂的初始位置 + double initPos[6] = { 1.72 / 180 * M_PI, 48.21 / 180 * M_PI, + -2.03 / 180 * M_PI, 39.78 / 180 * M_PI, + -89.82 / 180 * M_PI, 1.70 / 180 * M_PI }; + + // 首先运动到初始位置 + if (rs_move_joint(rshd, initPos) == RS_SUCC) { + std::cout << "机械臂轴动成功！" << std::endl; + } else { + std::cerr << "机械臂轴动失败！" << std::endl; + } + + // 奇异位置 + double pos[6] = { 1.73 / 180 * M_PI, 48.28 / 180 * M_PI, + -1.90 / 180 * M_PI, 39.85 / 180 * M_PI, + -89.82 / 180 * M_PI, 1.71 / 180 * M_PI }; + + // 直线运动到目标位置 + if (RS_SUCC == rs_move_line(rshd, pos)) { + std::cout << "直线运动到目标位置！" << std::endl; + } else { + std::cerr << "直线运动到目标位置失败！" << std::endl; + double OriginPos[6] = { 49.27 / 180 * M_PI, 55.14 / 180 * M_PI, + -87.87 / 180 * M_PI, 30.39 / 180 * M_PI, + 44.63 / 180 * M_PI, -36.66 / 180 * M_PI }; + if (RS_SUCC == rs_move_line(rshd, OriginPos)) { + std::cout << "原路径返回成功，可正常退出奇异区！" << std::endl; + } + } + + return result; +} + +// 测试问题12：机械臂轨迹运动测试——圆弧、圆、MoveP 重点MoveP +void bhwk_test12(RSHD rshd) +{ + // 轨迹运动 rs_move_track + // 示例1：圆运动 + // moveTrack1(rshd); + // 示例2：圆弧运动 + // moveTrack2(rshd); + // 示例3：MOVEP运动 + moveTrack3(rshd); +} + +void startRealtimeRobotEventPush(RSHD rshd) +{ + // 注册用于获取实时事件信息的回调函数 + // 注意：此接口为阻塞式 + rs_setcallback_robot_event(rshd, callback_RealTimeRobotEvent, NULL); +} + +void stopRealtimeRobotEventPush(RSHD rshd) +{ + std::this_thread::sleep_for(std::chrono::seconds(10)); + + // 取消推送实时信息 + rs_setcallback_robot_event(rshd, NULL, NULL); + std::cout << "停止实时事件信息推送" << std::endl; + + // 等待 10 秒，例如通过示教器操作机器人上下电，观察是否成功停止推送 + std::this_thread::sleep_for(std::chrono::seconds(10)); + + // 恢复推送实时信息 + std::cout << "恢复推送实时信息" << std::endl; + rs_setcallback_robot_event(rshd, callback_RealTimeRobotEvent, NULL); + std::this_thread::sleep_for(std::chrono::seconds(20)); +} + +// 测试问题13： 测试实时事件信息回调函数 +void bhwk_test13(RSHD rshd) +{ + std::thread thread1(startRealtimeRobotEventPush, rshd); + std::thread thread2(stopRealtimeRobotEventPush, rshd); + + thread1.join(); + thread2.join(); +} + +void startRealtimeEndSpeedPush(RSHD rshd) +{ + // 允许实时路点信息推送 + rs_enable_push_realtime_end_speed(rshd, true); + // 注册用于获取实时末端速度的回调函数 + // 注意：此接口为阻塞式 + rs_setcallback_realtime_end_speed(rshd, callback_RealTimeEndSpeed, NULL); +} + +void stopRealtimeEndSpeedPush(RSHD rshd) +{ + std::this_thread::sleep_for(std::chrono::seconds(10)); + + // 停止推送实时信息 + rs_enable_push_realtime_end_speed(rshd, false); + // 停止推送实时信息 + // rs_setcallback_realtime_end_speed(rshd, NULL, NULL); + std::cout << "停止实时末端速度信息推送" << std::endl; + + // 等待 3 秒，观察是否成功停止推送 + std::this_thread::sleep_for(std::chrono::seconds(3)); + + std::cout << "恢复推送实时信息" << std::endl; + // 恢复推送实时信息 + rs_enable_push_realtime_end_speed(rshd, true); + std::this_thread::sleep_for(std::chrono::seconds(10)); +} + +// 测试问题14： 测试实时末端速度回调函数 +void bhwk_test14(RSHD rshd) +{ + std::thread thread1(startRealtimeEndSpeedPush, rshd); + std::thread thread2(stopRealtimeEndSpeedPush, rshd); + + thread1.join(); + thread2.join(); +} + +void startRealtimeJointStatusPush(RSHD rshd) +{ + // 允许实时关节状态信息推送 + rs_enable_push_realtime_joint_status(rshd, true); + // 注册用于获取实时关节状态的回调函数 + // 注意：此接口为阻塞式 + rs_setcallback_realtime_joint_status(rshd, callback_RealTimeJointStatus, + NULL); +} + +void stopRealtimeJointStatusPush(RSHD rshd) +{ + std::this_thread::sleep_for(std::chrono::seconds(10)); + + // 停止推送实时信息 + rs_enable_push_realtime_joint_status(rshd, false); + // // 停止推送实时信息 + // rs_setcallback_realtime_joint_status(rshd, NULL, NULL); + std::cout << "停止实时关节状态信息推送" << std::endl; + + // 等待 3 秒，观察是否成功停止推送 + std::this_thread::sleep_for(std::chrono::seconds(3)); + + std::cout << "恢复推送实时信息" << std::endl; + // 恢复推送实时信息 + rs_enable_push_realtime_joint_status(rshd, true); + std::this_thread::sleep_for(std::chrono::seconds(10)); +} + +// 测试问题15： 测试实时关节状态回调函数 +void bhwk_test15(RSHD rshd) +{ + // 创建并启动线程 + std::thread thread1(startRealtimeJointStatusPush, rshd); + std::thread thread2(stopRealtimeJointStatusPush, rshd); + + // 等待线程执行完成 + thread1.join(); + thread2.join(); +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_bhwk_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_bhwk_c.h new file mode 100644 index 00000000..94541c30 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_bhwk_c.h @@ -0,0 +1,91 @@ +#ifndef EXAMPLE_BHWK_C_H +#define EXAMPLE_BHWK_C_H + +#include "AuboRobotMetaType.h" +#include "rsdef.h" + +// 机械臂登录 +bool example_login(RSHD &rshd, const char *addr, int port); +void example_move_stop(RSHD rshd); +// 机械臂关机（必须连接真实机械臂） +bool example_robotShutdown(RSHD rshd); + +// 设置机械臂实际速度 +void SetRobotActualSpeed(RSHD rshd, double speed); + +// 绕基坐标轴旋转角度 +void RotateAroundBaseFrameByAngle(RSHD rshd, double angle, int Axial, + double speed, double acc); + +// 绕TCP坐标系旋转角度 +void RotateAroundTCPFrameByAngle(RSHD rshd, double angle, int Axial, + double speed, double acc); +// 沿基坐标系位置偏移量 +int TransAlongBaseFrameByDistance(RSHD rshd, double distance, int Axial, + double speed, double acc); + +// 沿TCP坐标系位置偏移量 +int TransAlongTCPFrameByDistance(RSHD rshd, double distance, int Axial, + double speed, double acc); + +// 打印路点 +void printRoadPoint(const aubo_robot_namespace::wayPoint_S *wayPoint); + +// 实时路点信息回调 +void callback_RealTimeRoadPoint( + const aubo_robot_namespace::wayPoint_S *wayPoint, void *arg); + +// 轨迹运动 rs_move_track +// 示例1：圆运动 +void moveTrack1(RSHD rshd); +// 示例2：圆弧运动 +void moveTrack2(RSHD rshd); +// 示例3：MOVEP运动 +void moveTrack3(RSHD rshd); + +// 测试问题1：测试DH补偿是否成功 +bool bhwk_test1(RSHD rshd); + +// 测试问题2：机械臂轴动 +bool bhwk_test2(RSHD rshd); + +// 测试问题3：机械臂在工具坐标系下做旋转运动 +void bhwk_test3(RSHD rshd); + +// 测试问题4：机械臂在基坐标系下做旋转运动 +void bhwk_test4(RSHD rshd); + +// 测试问题5：机械臂在工具坐标系下做位置偏移运动 +void bhwk_test5(RSHD rshd); + +// 测试问题6：机械臂在基坐标系下做位置偏移运动 +void bhwk_test6(RSHD rshd); + +// 测试问题7：测试机械臂正逆解的功能，八组逆解是否DH补偿 +void bhwk_test7(RSHD rshd); + +// 测试问题8：测试move_stop函数 +void bhwk_test8(RSHD rshd); + +// 测试问题9：测试实时路点信息回调函数 +void bhwk_test9(RSHD rshd); + +// 测试问题10：检测机械臂电源状态 +void bhwk_test10(RSHD rshd); + +// 测试问题11：原路径返回退出奇异区？ +bool bhwk_test11(RSHD rshd); + +// 测试问题12：机械臂轨迹运动测试——圆弧、圆、MoveP 重点MoveP +void bhwk_test12(RSHD rshd); + +// 测试问题13： 测试实时事件信息回调函数 +void bhwk_test13(RSHD rshd); + +// 测试问题14： 测试实时末端速度回调函数 +void bhwk_test14(RSHD rshd); + +// 测试问题15： 测试实时关节状态回调函数 +void bhwk_test15(RSHD rshd); + +#endif // EXAMPLE_BHWK_C_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_c.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_c.cpp new file mode 100644 index 00000000..08f6619e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_c.cpp @@ -0,0 +1,321 @@ +#include "example_c.h" +#include +#include +#include +#include +#include +#include +#include "util.h" +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +#define SERVER_HOST "127.0.0.1" +#define SERVER_PORT 30000 + +void Example_c::demo_connectrobot() +{ + if (rs_initialize() != RS_SUCC) { + std::cout << "初始化失败" << std::endl; + } + if (rs_create_context(&rshd_) != RS_SUCC) { + std::cout << "创建上下文失败" << std::endl; + } + if (rs_login(rshd_, SERVER_HOST, 30000) != RS_SUCC) { + std::cout << "登录失败" << std::endl; + } else { + std::cout << "登录成功" << std::endl; + } + + //工具的动力学参数和运动学参数 + ToolDynamicsParam tool_dynamics = { 0 }; + //机械臂碰撞等级 + uint8 colli_class = 9; + //机械臂启动是否读取姿态（默认开启） + bool read_pos = true; + //机械臂静态碰撞检测（默认开启） + bool static_colli_detect = true; + //机械臂最大加速度（系统自动控制，默认为30000) + int board_maxacc = 30000; + //机械臂服务启动状态 + ROBOT_SERVICE_STATE m_startState = ROBOT_SERVICE_READY; + + int ret = + rs_robot_startup(rshd_, &tool_dynamics, colli_class, read_pos, + static_colli_detect, board_maxacc, &m_startState); + if (ret != RS_SUCC) { + std::cout << "启动机械臂失败" << std::endl; + } else { + std::cout << "启动机械臂成功" << std::endl; + } + + if (m_startState != ROBOT_SERVICE_WORKING) + std::cout << "机械臂启动状态错误" << std::endl; +} + +void Example_c::demo_disconnect() +{ + bool status = false; + if (rs_get_login_status(rshd_, &status) != RS_SUCC) { + std::cout << "获取当前的连接状态失败" << std::endl; + } + int ret = rs_robot_shutdown(rshd_); + if (ret == RS_SUCC) { + std::cout << "关闭机械臂成功" << std::endl; + } + if (status) { + rs_logout(rshd_); + std::cout << "断开机械臂服务器链接" << std::endl; + } + if (rshd_ > 0) { + rs_destory_context(rshd_); + std::cout << "注销机械臂控制上下文句柄" << std::endl; + } + rs_uninitialize(); +} +void Example_c::demo_circle() +{ + /** 接口调用: 初始化运动属性 ***/ + rs_init_global_move_profile(rshd_); + + /** 接口调用: 设置关节型运动的最大加速度 ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxAcc; + jointMaxAcc.jointPara[0] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[1] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[2] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[3] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[4] = 30.0 / 180.0 * M_PI; + jointMaxAcc.jointPara[5] = 30.0 / 180.0 * M_PI; //接口要求单位是弧度 + rs_set_global_joint_maxacc(rshd_, &jointMaxAcc); + + /** 接口调用: 设置关节型运动的最大速度 ***/ + aubo_robot_namespace::JointVelcAccParam jointMaxVelc; + jointMaxVelc.jointPara[0] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[1] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[2] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[3] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[4] = 30.0 / 180.0 * M_PI; + jointMaxVelc.jointPara[5] = 30.0 / 180.0 * M_PI; //接口要求单位是弧度 + rs_set_global_joint_maxvelc(rshd_, &jointMaxVelc); + + /** 接口调用: 设置末端型运动的最大加速度 　　直线运动属于末端型运动***/ + double endMoveMaxAcc; + endMoveMaxAcc = 0.2; //单位米每秒 + rs_set_global_end_max_line_acc(rshd_, endMoveMaxAcc); + rs_set_global_end_max_angle_acc(rshd_, endMoveMaxAcc); + + /** 接口调用: 设置末端型运动的最大速度 直线运动属于末端型运动***/ + double endMoveMaxVelc; + endMoveMaxVelc = 0.2; //单位米每秒 + rs_set_global_end_max_line_velc(rshd_, endMoveMaxVelc); + rs_set_global_end_max_angle_velc(rshd_, endMoveMaxVelc); + + double jointAngle[aubo_robot_namespace::ARM_DOF]; + + Util::initJointAngleArray(jointAngle, 89.25 / 180.0 * M_PI, + -35.33 / 180.0 * M_PI, 69.75 / 180.0 * M_PI, + 15.17 / 180.0 * M_PI, 90 / 180.0 * M_PI, + -0.65 / 180.0 * M_PI); + //关节运动至准备点 + int ret = rs_move_joint(rshd_, jointAngle, true); + if (ret != RS_SUCC) { + std::cout << "关节运动至准备点失败" << std::endl; + } + + //圆弧 + for (int i = 0; i < 1; i++) { + Util::initJointAngleArray(jointAngle, 89.25 / 180.0 * M_PI, + -35.33 / 180.0 * M_PI, 69.75 / 180.0 * M_PI, + 15.17 / 180.0 * M_PI, 90 / 180.0 * M_PI, + -0.65 / 180.0 * M_PI); + rs_add_waypoint(rshd_, jointAngle); + Util::initJointAngleArray(jointAngle, 82 / 180.0 * M_PI, + -18.04 / 180.0 * M_PI, 95.96 / 180.0 * M_PI, + 24.09 / 180.0 * M_PI, 90.01 / 180.0 * M_PI, + -7.91 / 180.0 * M_PI); + rs_add_waypoint(rshd_, jointAngle); + Util::initJointAngleArray(jointAngle, 106.34 / 180.0 * M_PI, + 16.45 / 180.0 * M_PI, 131.01 / 180.0 * M_PI, + 24.64 / 180.0 * M_PI, 89.97 / 180.0 * M_PI, + 16.43 / 180.0 * M_PI); + rs_add_waypoint(rshd_, jointAngle); + ret = rs_move_track(rshd_, ARC, false); + if (ret != aubo_robot_namespace::InterfaceCallSuccCode) { + std::cerr << "圆弧运动失败.　ret:" << ret << std::endl; + } + } +} +void Example_c::demo_relative() +{ + aubo_robot_namespace::Rpy rpy; + aubo_robot_namespace::Ori targetOri; + + rpy.rx = 0.0 / 180.0 * M_PI; + rpy.ry = 0.0 / 180.0 * M_PI; + rpy.rz = 0.0 / 180.0 * M_PI; + rs_rpy_to_quaternion(rshd_, &rpy, &targetOri); + + aubo_robot_namespace::MoveRelative relative; + relative.ena = true; + relative.relativePosition[0] = 0.03; + relative.relativePosition[1] = 0.0; + relative.relativePosition[2] = 0.0; + relative.relativeOri = targetOri; + + //基于基坐标系位置偏移 + + // if (RS_SUCC == rs_set_relative_offset_on_base(rshd_, &relative)) { + // std::cout << "relative_offset SUCC" << std::endl; + // } else { + // std::cerr << "relative_offset error" << std::endl; + // } + + //偏移：TCP在末端坐标系或工具坐标系下偏移 + ToolInEndDesc m_tool; + m_tool.toolInEndPosition.x = 0; + m_tool.toolInEndPosition.y = 0; + m_tool.toolInEndPosition.z = 0; + m_tool.toolInEndOrientation.w = 1; + m_tool.toolInEndOrientation.x = 0; + m_tool.toolInEndOrientation.y = 0; + m_tool.toolInEndOrientation.z = 0; + rs_set_tool_kinematics_param(rshd_, &m_tool); + + aubo_robot_namespace::ToolKinematicsParam tool; + rs_get_tool_kinematics_param(rshd_, &tool); + + CoordCalibrate userCoord; + userCoord.coordType = EndCoordinate; + userCoord.toolDesc = m_tool; + if (RS_SUCC == + rs_set_relative_offset_on_user(rshd_, &relative, &userCoord)) { + std::cout << "relative_offset SUCC" << std::endl; + } else { + std::cerr << "relative_offset error" << std::endl; + } + + wayPoint_S m_wayPoint; + int ret = rs_get_current_waypoint(rshd_, &m_wayPoint); + + ret = rs_move_line(rshd_, m_wayPoint.jointpos /*, false*/); +} +void Example_c::demo_computer() +{ + /* aubo_robot_namespace::wayPoint_S wayPoint; + aubo_robot_namespace::wayPoint_S targetPoint; + double jointAngle[aubo_robot_namespace::ARM_DOF] = { 0 }; + + Util::initJointAngleArray(jointAngle, 0.0 / 180.0 * M_PI, + -15.0 / 180.0 * M_PI, 100.0 / 180.0 * M_PI, + 25.0 / 180.0 * M_PI, 90.0 / 180.0 * M_PI, + 0.0 / 180.0 * M_PI); + + if (RS_SUCC == rs_forward_kin(rshd_, jointAngle, &wayPoint)) { + Util::printWaypoint(wayPoint); + } else { + std::cerr << "fk failed" << std::endl; + } + + Pos pos = { wayPoint.cartPos.position.x + 0.03, + wayPoint.cartPos.position.y, wayPoint.cartPos.position.z }; if (RS_SUCC + == rs_inverse_kin(rshd_, wayPoint.jointpos, &pos, &wayPoint.orientation, + &targetPoint)) { Util::printWaypoint(targetPoint); } else { std::cerr << + "ik failed" << std::endl; + }*/// + //求解全部逆解 + /* + ik_solutions m_inversePoint_array; + rs_inverse_kin_closed_form(rshd_, &pos, &wayPoint.orientation, + &m_inversePoint_array); + for (auto i = 0; i < m_inversePoint_array.solution_count; i++) { + std::cout << "逆解" << i << ": "; + for (unsigned int j = 0; j < 6; j++) { + Util::printWaypoint(m_inversePoint_array.waypoint[i]); + } + std::cout << std::endl; + } + */ + Pos tempos; + tempos.x = 0.4785; + tempos.y = -0.1215; + tempos.z = 0.4125; + Rpy rpy; + rpy.rx = 180 / 180 * M_PI; + rpy.ry = 0; + rpy.rz = 0; + Ori ori; + int ret = rs_rpy_to_quaternion(rshd_, &rpy, &ori); + CoordCalibrate m_coord; + m_coord.coordType = BaseCoordinate; + + ToolInEndDesc toolInEndDesc; + toolInEndDesc.toolInEndPosition.x = 0.02; + toolInEndDesc.toolInEndPosition.y = 0; + toolInEndDesc.toolInEndPosition.z = 0; + toolInEndDesc.toolInEndOrientation.w = 1.0; + toolInEndDesc.toolInEndOrientation.x = 0; + toolInEndDesc.toolInEndOrientation.y = 0; + toolInEndDesc.toolInEndOrientation.z = 0; + Pos flange_pos_onbase; + Ori flange_ori_onbase; + ret = rs_user_to_base(rshd_, &tempos, &ori, &m_coord, &toolInEndDesc, + &flange_pos_onbase, &flange_ori_onbase); + if (ret == RS_SUCC) { + std::cerr << flange_pos_onbase.x << "," << flange_pos_onbase.y << "," + << flange_pos_onbase.z << std::endl; + std::cerr << flange_ori_onbase.x << "," << flange_ori_onbase.y << "," + << flange_ori_onbase.z << std::endl; + } + Pos tool_end_pos_onbase; + Ori tool_end_ori_onbase; + ret = rs_base_to_base_additional_tool( + rshd_, &flange_pos_onbase, &flange_ori_onbase, &toolInEndDesc, + &tool_end_pos_onbase, &tool_end_ori_onbase); + if (ret == RS_SUCC) { + std::cerr << tool_end_pos_onbase.x << "," << tool_end_pos_onbase.y + << "," << tool_end_pos_onbase.z << std::endl; + std::cerr << tool_end_ori_onbase.x << "," << tool_end_ori_onbase.y + << "," << tool_end_ori_onbase.z << std::endl; + } +} +void Example_c::demo_teach() +{ + teach_mode mode = MOV_X; + bool dir = true; + /** Robotic 开始示教**/ + std::cout << "TeachStart" << std::endl; + aubo_robot_namespace::CoordCalibrateByJointAngleAndTool userCoord; + userCoord.coordType = aubo_robot_namespace::BaseCoordinate; + rs_set_teach_coord(rshd_, &userCoord); + rs_teach_move_start(rshd_, mode, dir); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + rs_teach_move_stop(rshd_); +} +void Example_c::demo_rotate() +{ + CoordCalibrate userCoord; + userCoord.coordType = BaseCoordinate; + Move_Rotate_Axis rotateAxis_prarm; + rotateAxis_prarm.rotateAxis[0] = 0; + rotateAxis_prarm.rotateAxis[1] = 0; + rotateAxis_prarm.rotateAxis[2] = 1; + double rotate_angle = 30 / 180.0 * M_PI; + int ret = rs_move_rotate(rshd_, &userCoord, &rotateAxis_prarm, rotate_angle, + true); + if (ret == RS_SUCC) { + std::cout << "旋转运动成功" << std::endl; + } +} +void Example_c::demo_io() +{ + int ret = rs_set_board_io_status_by_name( + rshd_, RobotIoType::RobotBoardUserDO, "U_DO_03", 0); + if (ret != RS_SUCC) { + std::cout << "设置IO失败" << std::endl; + } + double val[1]; + rs_get_board_io_status_by_name(rshd_, RobotIoType::RobotBoardUserDI, + "U_DI_00", val); + if (ret == RS_SUCC) { + std::cout << val[0] << std::endl; + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_c.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_c.h new file mode 100644 index 00000000..d9493335 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/example_c.h @@ -0,0 +1,23 @@ +#ifndef EXAMPLE_C_H +#define EXAMPLE_C_H + +#include "AuboRobotMetaType.h" +#include "rsdef.h" + +class Example_c +{ +public: + void demo_connectrobot(); + void demo_disconnect(); + void demo_circle(); + void demo_relative(); + void demo_computer(); + void demo_teach(); + void demo_rotate(); + void demo_io(); + +private: + RSHD rshd_; +}; + +#endif // EXAMPLE_C_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/main.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/main.cpp new file mode 100644 index 00000000..3de9a0e7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/aubope/main.cpp @@ -0,0 +1,309 @@ +#include +#include +#include +#ifdef WIN32 +#include +#endif +#include +#include +#include +#include + +#include "example_0.h" +#include "example_1.h" +#include "example_3.h" +#include "example_4.h" +#include "example_5.h" +#include "example_6.h" +#include "example_8.h" +#include "example_9.h" + +#include "example_c.h" + +#include "example_bhwk_c.h" +#define ROBOT_ADDR "127.0.0.1" +#define ROBOT_PORT 30000 + +RSHD g_rshd = -1; + +#define M_PI 3.1415926 +using namespace std; + +void funcTest() +{ + ServiceInterface robotService; + + int ret = aubo_robot_namespace::InterfaceCallSuccCode; + + /** Interface call: login ***/ + ret = robotService.robotServiceLogin("127.0.0.1", 8899, "aubo", "123456"); + if (ret == aubo_robot_namespace::InterfaceCallSuccCode) { + std::cout << "login successful." << std::endl; + } else { + std::cerr << "login failed." << std::endl; + } + + // aubo_robot_namespace::RobotBaseParameters baseParameters; + + // baseParameters.info.robot_type = 1; + // baseParameters.info.auth_type = 2; + // baseParameters.info.robot_expire = 3; + // baseParameters.info.robot_duration = 4; + + // for(int i=0;i<12;i++) + // baseParameters.info.reserve[i] = i+10; + + // for(int i=0;i<6;i++) + // baseParameters.info.joint_duration[i] = i+30; + + // ret = robotService.robotServiceSetRobotBaseParameters(baseParameters); + + // if(ret!=0) + // { + // std::cout<<"ret:"< +#include +#include +#include +#include +#include +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +// Print waypoint information +void Util::printWaypoint(aubo_robot_namespace::wayPoint_S &wayPoint) +{ + std::cout << std::endl + << "start-------------waypoint---------------" << std::endl; + // position information + std::cout << "position information: "; + std::cout << "x:" << wayPoint.cartPos.position.x << " "; + std::cout << "y:" << wayPoint.cartPos.position.y << " "; + std::cout << "z:" << wayPoint.cartPos.position.z << std::endl; + + // Gesture information + std::cout << "Gesture information: "; + std::cout << "w:" << wayPoint.orientation.w << " "; + std::cout << "x:" << wayPoint.orientation.x << " "; + std::cout << "y:" << wayPoint.orientation.y << " "; + std::cout << "z:" << wayPoint.orientation.z << std::endl; + + // aubo_robot_namespace::Rpy tempRpy; + // robotService.quaternionToRPY(wayPoint.orientation,tempRpy); + // std::cout<<"RX:"< +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +// 模板函数: 打印类型为std::vector的变量 +template +void printVec(std::vector param, std::string name) +{ + std::cout << name << ": "; + + for (int i = 0; i < param.size(); i++) { + std::cout << param.at(i); + if (i != param.size() - 1) { + std::cout << ", "; + } + } + std::cout << std::endl; +} + +// 模板函数: 打印类型为 std::vector> 的变量 +template +void print2Vec(std::vector param, std::string name) +{ + std::cout << name << ": " << std::endl; + for (size_t i = 0; i < param.size(); i++) { + std::cout << " 第" << i + 1 << "组: "; + for (size_t j = 0; j < param.at(i).size(); j++) { + std::cout << param.at(i).at(j); + + if (j != param.at(i).size() - 1) { + std::cout << ", "; + } else { + std::cout << std::endl; + } + } + + if ((param.size() - 1) == i) { + std::cout << std::endl; + } + } +} + +void exampleForwardK(RpcClientPtr impl) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + + // 接口调用: 设置 tcp 偏移 + std::vector offset = { 0.1, 0.2, 0.3, 0.0, 0.0, 0.0 }; + impl->getRobotInterface(robot_name)->getRobotConfig()->setTcpOffset(offset); + + // 接口调用: 获取当前的关节角 + std::vector q = impl->getRobotInterface(robot_name) + ->getRobotState() + ->getJointPositions(); + + // 接口调用: 正解得到当前的TCP的位姿 + auto result = impl->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->forwardKinematics(q); + printVec(std::get<0>(result), "正解得到当前的TCP的位姿"); + + // 接口调用: 正解得到所有连杆的位姿 + auto result2 = impl->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->forwardKinematicsAll(q); + print2Vec(std::get<0>(result2), "正解得到当前的连杆位姿"); +} + +void exampleForwardToolK(RpcClientPtr impl) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + + // 接口调用: 设置 tcp 偏移 + std::vector offset = { 0.1, 0.2, 0.3, 0.0, 0.0, 0.0 }; + impl->getRobotInterface(robot_name)->getRobotConfig()->setTcpOffset(offset); + + // 接口调用: 获取当前的关节角 + std::vector q = impl->getRobotInterface(robot_name) + ->getRobotState() + ->getJointPositions(); + + // 接口调用: 正解得到法兰盘末端中心的位姿 + auto result = impl->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->forwardToolKinematics(q); + printVec(std::get<0>(result), "正解得到法兰盘末端中心的位姿"); +} + +void exampleInverseK(RpcClientPtr impl) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + + // 接口调用: 设置 tcp 偏移 + std::vector offset = { 0.1, 0.2, 0.3, 0.0, 0.0, 0.0 }; + impl->getRobotInterface(robot_name)->getRobotConfig()->setTcpOffset(offset); + + // 接口调用: 获取当前的关节角 + std::vector qnear = impl->getRobotInterface(robot_name) + ->getRobotState() + ->getJointPositions(); + + // 接口调用: 获取当前的tcp值作为目标位姿 + std::vector p = + impl->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + printVec(p, "当前TCP的位姿"); + + // 接口调用: 根据TCP位姿，获得最优逆解 + auto result1 = impl->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->inverseKinematics(qnear, p); + printVec(std::get<0>(result1), "根据TCP位姿，逆解获得最优的关节角"); + + // 接口调用: 根据TCP位姿，获得所有的逆解 + auto result2 = impl->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->inverseKinematicsAll(p); + print2Vec(std::get<0>(result2), "根据TCP位姿，逆解获得所有的关节角"); +} + +void exampleInverseToolK(RpcClientPtr impl) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + + // 接口调用: 设置 tcp 偏移 + std::vector offset = { 0.1, 0.2, 0.3, 0.0, 0.0, 0.0 }; + impl->getRobotInterface(robot_name)->getRobotConfig()->setTcpOffset(offset); + + // 接口调用: 获取当前的关节角 + std::vector qnear = impl->getRobotInterface(robot_name) + ->getRobotState() + ->getJointPositions(); + + // 接口调用: 获取当前的法兰盘末端中心的值作为目标位姿 + std::vector p = + impl->getRobotInterface(robot_name)->getRobotState()->getToolPose(); + printVec(p, "当前法兰盘末端中心的位姿"); + + // 接口调用: 根据法兰盘末端中心的位姿，获得最优逆解 + auto result1 = impl->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->inverseToolKinematics(qnear, p); + printVec(std::get<0>(result1), + "根据法兰盘末端中心的位姿，逆解获得最优的关节角"); + + // 接口调用: 根据法兰盘末端中心的位姿，获得所有的逆解 + auto result2 = impl->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->inverseToolKinematicsAll(p); + print2Vec(std::get<0>(result2), + "根据法兰盘末端中心的位姿，逆解获得所有的关节角"); +} + +void exampleGetRobotConfiguration(RpcClientPtr impl) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + + // 接口调用: 设置 tcp 偏移 + std::vector offset = { 0.1, 0.2, 0.3, 0.0, 0.0, 0.0 }; + impl->getRobotInterface(robot_name)->getRobotConfig()->setTcpOffset(offset); + + // 接口调用: 获取当前的关节角 + std::vector curr_q = impl->getRobotInterface(robot_name) + ->getRobotState() + ->getJointPositions(); + + // 接口调用: 根据输入的关节角获取对应的机械臂构型 + auto result1 = impl->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->getRobotConfiguration(curr_q); + + std::cout << "当前机器臂的构型为：" << std::get<0>(result1) << std::endl; +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 正解得到TCP的位姿 + exampleForwardK(rpc_cli); + + // 正解得到法兰盘末端中心的位姿 + exampleForwardToolK(rpc_cli); + + // 根据TCP位姿，获得逆解 + exampleInverseK(rpc_cli); + + // 根据法兰盘末端中心的位姿，获得逆解 + exampleInverseToolK(rpc_cli); + + // 根据输入的关节角获取对应的机械臂构型 + exampleGetRobotConfiguration(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_axis_move_joint.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_axis_move_joint.cpp new file mode 100644 index 00000000..25ff374b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_axis_move_joint.cpp @@ -0,0 +1,144 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +#include "unistd.h" +#include +#include + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +template +inline std::ostream &operator<<(std::ostream &os, const std::vector &vd) +{ + if (vd.size() == 0) { + os << ""; + return os; + } + for (size_t i = 0; i < vd.size(); i++) { + os << vd[i]; + if (i < vd.size() - 1) { + os << ", "; + } + } + return os; +} + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(const std::vector &axis, + const std::vector names, + const std::vector way) +{ + int cnt_steady = 0; + int cnt = 0; + + while (true) { + for (size_t i = 0; i < names.size(); i++) { + std::cout << "real pos: " << axis[i]->getExtAxisPosition() + << " cmd pos: " << way[i] << std::endl; + if (std::abs(axis[i]->getExtAxisPosition() - way[i]) < 10e-5) { + cnt_steady++; + } + } + if (cnt_steady == (int)names.size()) { + return 0; + } + + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + if (cnt++ > 1000) { + cnt = 0; + return -1; + } + } + + return 0; +} + +/** + * 功能: 机械臂关节运动 + * 步骤: + * 第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 + * 第二步: 设置运动速度比率、以关节运动的方式依次经过3个路点 + * 第三步: RPC 退出登录、断开连接 + */ + +void exampleMovej(RpcClientPtr cli) +{ + std::vector servo_r_j(6, 0.0); + std::vector servo_ex_j(3, 0.0); + std::vector way1(3, 0.0); + + std::vector axis; + auto names = cli->getAxisNames(); + + axis.resize(names.size()); + for (size_t i = 0; i < names.size(); i++) { + axis[i] = cli->getAxisInterface(names[i]); + } + + printf("name: %s\n", names[0].c_str()); + axis[0]->followAnotherAxis(names[0], 0.0, 0.0); + std::cout << "axis: " << axis.size() << std::endl; + std::cout << "names: " << names.size() << std::endl; + + for (;;) { + for (size_t i = 0; i < names.size(); i++) { + way1[i] = -3.0; + axis[i]->moveExtJoint(way1[i], 3.0, 1.0, 0.5); + } + + int ret = waitArrival(axis, names, way1); + if (ret == 0) { + std::cout << "关节运动到路点1成功" << std::endl; + } else { + std::cout << "关节运动到路点1失败" << std::endl; + } + + for (size_t i = 0; i < names.size(); i++) { + way1[i] = 3.0; + axis[i]->moveExtJoint(way1[i], 3.0, 1.0, 0.5); + } + + ret = waitArrival(axis, names, way1); + if (ret == 0) { + std::cout << "关节运动到路点2成功" << std::endl; + } else { + std::cout << "关节运动到路点2失败" << std::endl; + } + } +} + +#define LOCAL_IP "172.16.28.60" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 关节运动 + exampleMovej(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_axis_offline.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_axis_offline.cpp new file mode 100644 index 00000000..cb8da98e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_axis_offline.cpp @@ -0,0 +1,225 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +#include +#include +#include + +#include "trajectory_io.h" + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +template +inline std::ostream &operator<<(std::ostream &os, const std::vector &vd) +{ + if (vd.size() == 0) { + os << ""; + return os; + } + for (size_t i = 0; i < vd.size(); i++) { + os << vd[i]; + if (i < vd.size() - 1) { + os << ", "; + } + } + return os; +} + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + int cnt = 0; + // 在等待机械臂开始运动时，获取exec_id最大的重试次数 + int max_retry_count = 50; + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (exec_id != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + return 0; +} + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitAxesArrival(const std::vector &axis, + const std::vector names, + const std::vector way) +{ + int cnt_steady = 0; + int cnt = 0; + + while (true) { + for (size_t i = 0; i < names.size(); i++) { + std::cout << "real pos: " << axis[i]->getExtAxisPosition() + << " cmd pos: " << way[i] << std::endl; + if (std::abs(axis[i]->getExtAxisPosition() - way[i]) < 10e-5) { + cnt_steady++; + } + } + if (cnt_steady == (int)names.size()) { + return 0; + } + + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + if (cnt++ > 1000) { + cnt = 0; + return -1; + } + } + + return 0; +} + +#define LOCAL_IP "172.19.19.112" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + + rpc_cli->connect("172.19.19.112", 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + auto robot_name = rpc_cli->getRobotNames().front(); + + auto robot_interface = rpc_cli->getRobotInterface(robot_name); + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(1); + + auto filename = "../trajs/waypoints_dof-9_0-90-1.offt"; + TrajectoryIo input(filename); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.open()) { + return 0; + } + + // 解析轨迹数据 + auto traj = input.parse(); + + // 检查轨迹文件中是否有路点， + // 如果数量为 0，输出错误消息并返回 + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0." << std::endl; + return 0; + } + + std::vector servo_r_j(6, 0.0); + std::vector servo_ex_j(3, 0.0); + + std::vector axis; + auto names = rpc_cli->getAxisNames(); + + axis.resize(names.size()); + for (size_t i = 0; i < names.size(); i++) { + axis[i] = rpc_cli->getAxisInterface(names[i]); + } + + printf("name: %s\n", names[0].c_str()); + axis[1]->followAnotherAxis(names[0], 0.0, 0.0); + + for (int i = 0; i < 6; i++) { + servo_r_j[i] = traj[0][i]; + } + + for (int i = 0; i < 3; i++) { + servo_ex_j[i] = traj[0][i + 6]; + } + + for (size_t i = 0; i < names.size(); i++) { + // ervo_ex_j[i] = -3.0; + axis[i]->moveExtJoint(servo_ex_j[i], 1.0, 1.0, 0.5); + } + + int ret = waitAxesArrival(axis, names, servo_ex_j); + if (ret == 0) { + std::cout << "外部轴关节运动到路点1成功" << std::endl; + } else { + std::cout << "外部轴关节运动到路点1失败" << std::endl; + } + + // 接口调用: 关节运动到轨迹文件中的第一个路点 + robot_interface->getMotionControl()->moveJoint(servo_r_j, 30 * (M_PI / 180), + 30 * (M_PI / 180), 0., 0.); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + + // 接口调用: 开启servo模式 + robot_interface->getMotionControl()->setServoModeSelect(3); + // std::this_thread::sleep_for(std::chrono::milliseconds(3000)); + + // 等待进入 servo 模式 + int i = 0; + while (!robot_interface->getMotionControl()->isServoModeEnabled()) { + if (i++ > 5) { + std::cout << "Servo 模式使能失败! 当前servo状态为 " + << rpc_cli->getRobotInterface(robot_name) + ->getMotionControl() + ->isServoModeEnabled() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + for (size_t i = 1; i < traj.size(); i++) { + for (size_t j = 0; j < 6; j++) { + servo_r_j[j] = traj[i][j]; + } + for (size_t j = 0; j < 3; j++) { + servo_ex_j[j] = traj[i][j + 6]; + } + std::cout << "servo_r_j: " << servo_r_j << std::endl; + // 接口调用: 关节伺服运动 + int ret = rpc_cli->getRobotInterface(robot_name) + ->getMotionControl() + ->servoJointWithAxes(servo_r_j, servo_ex_j, 10.0, 3.1, 10, + 0.1, 200); + if (ret == 2) { + i--; + } + + usleep(1000 * 2); + } + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_calibrate_force_offset.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_calibrate_force_offset.cpp new file mode 100644 index 00000000..e1fec11c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_calibrate_force_offset.cpp @@ -0,0 +1,193 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +#include + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +void exampleCalibrateForceOffset(RpcClientPtr impl) +{ + std::vector joint1 = { + 161.01, -18.80, -88.00, -67.45, -91.85, 90.02 + }; + std::vector joint2 = { + 161.01, -18.80, -88.00, -67.45, -91.85, 0.01 + }; + std::vector joint3 = { + 161.01, -18.80, -88.00, 20.00, -91.85, 0.00 + }; + + for (int i = 0; i < 6; i++) { + joint1[i] = joint1[i] / 180.0 * M_PI; + } + + if (impl.get() == nullptr || !impl->hasConnected() || !impl->hasLogined()) { + std::cout << "not login" << std::endl; + return; + } + + auto robot_name = impl->getRobotNames().front(); + int ret = 0; + + // 运动到第一个标定位姿 + std::cout << "[ForceControl] goto p0 {" << joint1[0] << "," << joint1[1] + << "," << joint1[2] << "," << joint1[3] << "," << joint1[4] << "," + << joint1[5] << "}" << std::endl; + if (!(ret = impl->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(joint1, 10 * (M_PI / 180), 5 * (M_PI / 180), 0, + 0))) { + waitArrival(impl->getRobotInterface(robot_name)); + } else { + std::cout << "[ForceControl] 运动到第1个标定位姿错误" << std::endl; + return; + } + //等待机器人停稳 + std::this_thread::sleep_for(std::chrono::seconds(1)); + //记录关节位置和tcp force + auto q1 = impl->getRobotInterface(robot_name) + ->getRobotState() + ->getJointPositions(); + auto tcp_force1 = impl->getRobotInterface(robot_name) + ->getRobotState() + ->getTcpForceSensors(); + std::cout << "[ForceControl] q1 {" << q1[0] << "," << q1[1] << "," << q1[2] + << "," << q1[3] << "," << q1[4] << "," << q1[5] << "}" + << std::endl; + std::cout << "[ForceControl] tcp_force1 {" << tcp_force1[0] << "," + << tcp_force1[1] << "," << tcp_force1[2] << "," << tcp_force1[3] + << "," << tcp_force1[4] << "," << tcp_force1[5] << "}" + << std::endl; + + // 运动到第二个标定位姿 + std::cout << "[ForceControl] goto p1 {" << joint2[0] << "," << joint2[1] + << "," << joint2[2] << "," << joint2[3] << "," << joint2[4] << "," + << joint2[5] << "}" << std::endl; + if (!(ret = impl->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(joint2, 10 * (M_PI / 180), 5 * (M_PI / 180), 0, + 0))) { + waitArrival(impl->getRobotInterface(robot_name)); + } else { + std::cout << "[ForceControl] 运动到第二个标定位姿错误" << std::endl; + return; + } + //等待机器人停稳 + std::this_thread::sleep_for(std::chrono::seconds(1)); + //记录关节位置和tcp force + auto q2 = impl->getRobotInterface(robot_name) + ->getRobotState() + ->getJointPositions(); + auto tcp_force2 = impl->getRobotInterface(robot_name) + ->getRobotState() + ->getTcpForceSensors(); + std::cout << "[ForceControl] q2 {" << q2[0] << "," << q2[1] << "," << q2[2] + << "," << q2[3] << "," << q2[4] << "," << q2[5] << "}" + << std::endl; + std::cout << "[ForceControl] tcp_force2 {" << tcp_force2[0] << "," + << tcp_force2[1] << "," << tcp_force2[2] << "," << tcp_force2[3] + << "," << tcp_force2[4] << "," << tcp_force2[5] << "}" + << std::endl; + + // 运动到第三个标定位姿 + std::cout << "[ForceControl] goto p2 {" << joint3[0] << "," << joint3[1] + << "," << joint3[2] << "," << joint3[3] << "," << joint3[4] << "," + << joint3[5] << "}" << std::endl; + if (!(ret = impl->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(joint3, 20 * (M_PI / 180), 10 * (M_PI / 180), 0, + 0))) { + waitArrival(impl->getRobotInterface(robot_name)); + } else { + std::cout << "[ForceControl] 运动到第三个标定位姿错误" << std::endl; + return; + } + //等待机器人停稳 + std::this_thread::sleep_for(std::chrono::seconds(1)); + //记录关节位置和tcp force + auto q3 = impl->getRobotInterface(robot_name) + ->getRobotState() + ->getJointPositions(); + auto tcp_force3 = impl->getRobotInterface(robot_name) + ->getRobotState() + ->getTcpForceSensors(); + std::cout << "[ForceControl] q3 {" << q3[0] << "," << q3[1] << "," << q3[2] + << "," << q3[3] << "," << q3[4] << "," << q3[5] << "}" + << std::endl; + std::cout << "[ForceControl] tcp_force3 {" << tcp_force3[0] << "," + << tcp_force3[1] << "," << tcp_force3[2] << "," << tcp_force3[3] + << "," << tcp_force3[4] << "," << tcp_force3[5] << "}" + << std::endl; + + std::vector> calib_forces{ tcp_force1, tcp_force2, + tcp_force3 }; + + std::vector> calib_q{ q1, q2, q3 }; + + auto offset = impl->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->calibrateTcpForceSensorOffset(calib_forces, calib_q); + + printf(" force_offset: %.6f, %.6f, %.6f, %.6f, %.6f, " + "%.6f.\n", + offset[0], offset[1], offset[2], offset[3], offset[4], offset[5]); + + impl->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpForceOffset(offset); +} + +#define LOCAL_IP "192.168.1.102" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + exampleCalibrateForceOffset(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_collision_recovery.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_collision_recovery.cpp new file mode 100644 index 00000000..dc6a53c2 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_collision_recovery.cpp @@ -0,0 +1,168 @@ +#include "aubo_sdk/rpc.h" +#include +#ifdef WIN32 +#include +#else +#include +#endif +#include +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 计算当前关节角与目标关节角的绝对差值 +double distance(const std::vector &a, const std::vector &b) +{ + double res = 0.; + if (a.size() != b.size()) { + return -1; + } + + for (int i = 0; i < (int)a.size(); i++) { + res += (a[i] - b[i]) * (a[i] - b[i]); + } + return sqrt(res); +} + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +void waitArrival(RobotInterfacePtr impl, std::vector target) +{ + while (1) { + // 接口调用: 获取当前的关节角 + std::vector cur = impl->getRobotState()->getJointPositions(); + // 当前关节角与目标关节角的绝对差值小于 0.0001时，跳出循环 + double dis = distance(cur, target); + if (dis < 0.0001) { + break; + } + printf("当前关节角:%f,%f,%f,%f,%f,%f\n", cur.at(0), cur.at(1), + cur.at(2), cur.at(3), cur.at(4), cur.at(5)); + printf("目标关节角:%f,%f,%f,%f,%f,%f\n", target.at(0), target.at(1), + target.at(2), target.at(3), target.at(4), target.at(5)); + std::this_thread::sleep_for(std::chrono::seconds(1)); + } +} + +// 关节运动恢复 +void collision_recovery_movej(RpcClientPtr cli) + +{ + // 接口调用: 获取机器人的名字 + auto name = cli->getRobotNames().front(); + auto impl = cli->getRobotInterface(name); + + // 接口调用: 获取碰撞后要恢复到的位置 + auto joint = impl->getMotionControl()->getPauseJointPositions(); + + // 打印要恢复的位置 + printf("要恢复的位置:%f,%f,%f,%f,%f,%f\n", joint.at(0), joint.at(1), + joint.at(2), joint.at(3), joint.at(4), joint.at(5)); + + // 接口调用: 模拟碰撞后的示教运动 + impl->getMotionControl()->resumeSpeedLine({ 0, 0, -0.05, 0, 0, 0 }, 1.2, + 100); +#ifdef WIN32 + Sleep(1000 * 1); +#else + usleep(1000 * 1000 * 1); +#endif + // 接口调用: 停止示教运动 + impl->getMotionControl()->resumeStopLine(10, 10); +#ifdef WIN32 + Sleep(1000 * 1); +#else + usleep(1000 * 1000 * 1); +#endif + + // 接口调用: 关节运动到暂停点 + impl->getMotionControl()->resumeMoveJoint(joint, 1, 1, 0); + // 阻塞 + waitArrival(impl, joint); + + // 接口调用: 恢复规划器运行 + cli->getRuntimeMachine()->resume(); +} + +// 直线运动恢复 +void collision_recovery_movel(RpcClientPtr cli) + +{ + // 接口调用: 获取机器人的名字 + auto name = cli->getRobotNames().front(); + auto impl = cli->getRobotInterface(name); + + // 接口调用: 设置工具中心点（TCP相对于法兰盘中心的偏移） + std::vector tcp_offset(6, 0.0); + impl->getRobotConfig()->setTcpOffset(tcp_offset); + + // 接口调用: 获取碰撞后要恢复到的位置 + auto joint = impl->getMotionControl()->getPauseJointPositions(); + + // 打印要恢复的位置 + printf("要恢复的关节角位置:%f,%f,%f,%f,%f,%f\n", joint.at(0), joint.at(1), + joint.at(2), joint.at(3), joint.at(4), joint.at(5)); + + // 接口调用: 模拟碰撞后的示教运动 + impl->getMotionControl()->resumeSpeedLine({ 0, 0, -0.05, 0, 0, 0 }, 1.2, + 100); +#ifdef WIN32 + Sleep(1000 * 1); +#else + usleep(1000 * 1000 * 1); +#endif + // 接口调用: 停止示教运动 + impl->getMotionControl()->resumeStopLine(10, 10); +#ifdef WIN32 + Sleep(1000 * 1); +#else + usleep(1000 * 1000 * 1); +#endif + + // 接口调用: 正解获得暂停点的位置姿态 + auto result = impl->getRobotAlgorithm()->forwardKinematics(joint); + + if (0 == std::get<1>(result)) { + // 接口调用: 直线运动到暂停点 + impl->getMotionControl()->resumeMoveLine(std::get<0>(result), 1.2, 0.25, + 0.0); + } + // 阻塞 + waitArrival(impl, joint); + std::cout << "直线运动到暂停点" << std::endl; + + // 接口调用: 恢复规划器运行 + cli->getRuntimeMachine()->resume(); +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 关节运动恢复 + collision_recovery_movej(rpc_cli); + + // 直线运动恢复 + // collision_recovery_movel(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_config.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_config.cpp new file mode 100644 index 00000000..8630596e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_config.cpp @@ -0,0 +1,55 @@ +#include +#include +#include "aubo_sdk/rpc.h" + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +/** + * 功能: 设置运动学模型补偿参数和获取DH参数 + * 步骤: + * 第一步: 连接 RPC 服务、机械臂登录 + * 第二步: 设置运动学模型补偿参数 + * 第三步: 获取机器人DH参数 + */ +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ + auto rpc_cli = std::make_shared(); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 接口调用: 获取机器人的名字 + auto name = rpc_cli->getRobotNames().front(); + auto impl = rpc_cli->getRobotInterface(name); + + // 运动学模型补偿数据 + std::string value = + "[dh_comp]\r\n" + "alpha = [0.0, 0.000886627, -0.00305258, 0.00168948, 0.000534071, " + "0.00557807]\r\n" + "a = [0.0, -8.72e-05, 0.000741, -0.0001693, -0.0001688, 1.82e-05]\r\n" + "d = [-0.0235, 0.0001258, -0.0001258, 0.0001258, 0.000586, " + "-0.0005141]\r\n" + "theta = [0.0, 0.000439823, -0.0181933, -0.0217206, -0.0178146, " + "0.0]\r\n" + "beta = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\r\n"; + + // 接口调用: 设置运动学模型补偿参数 + impl->getRobotConfig()->setPersistentParameters(value); + + std::this_thread::sleep_for(std::chrono::seconds(10)); + + // 接口调用: 获取机器人DH参数 + auto dh = impl->getRobotConfig()->getKinematicsParam(true); + for (auto iter : dh) { + std::cout << iter.first << ":"; + for (int i = 0; i < (int)iter.second.size(); i++) { + std::cout << iter.second.at(i) << ","; + } + std::cout << std::endl; + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_config2.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_config2.cpp new file mode 100644 index 00000000..60506478 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_config2.cpp @@ -0,0 +1,284 @@ +#include "aubo_sdk/rpc.h" +#include +#ifdef WIN32 +#include +#endif + +using namespace arcs::aubo_sdk; + +// 模板函数: 打印类型为std::vector的变量 +template void printVec(std::vector param, std::string name) { + std::cout << name << ": "; + + for (int i = 0; i < param.size(); i++) { + std::cout << param.at(i); + if (i != param.size() - 1) { + std::cout << ", "; + } + } + std::cout << std::endl; +} + +// 模板函数: 打印类型为 std::vector> 的变量 +template void print2Vec(std::vector param, std::string name) { + std::cout << name << ": " << std::endl; + for (size_t i = 0; i < param.size(); i++) { + std::cout << " 第" << i + 1 << "组: "; + for (size_t j = 0; j < param.at(i).size(); j++) { + std::cout << param.at(i).at(j); + + if (j != param.at(i).size() - 1) { + std::cout << ", "; + } else { + std::cout << std::endl; + } + } + + if ((param.size() - 1) == i) { + std::cout << std::endl; + } + } +} + +void exampleConfig(RpcClientPtr cli) { + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + // 接口调用: 获取机器人的名字 + std::string name; + name = cli->getRobotInterface(robot_name)->getRobotConfig()->getName(); + std::cout << "获取机器人的名字：" << name << std::endl; + + // 接口调用: 获取机器人的自由度 + int dof; + dof = cli->getRobotInterface(robot_name)->getRobotConfig()->getDof(); + std::cout << "获取机器人的自由度：" << dof << std::endl; + + // 接口调用: 获取机器人的伺服控制周期(从硬件抽象层读取) + double cycle_time; + cycle_time = + cli->getRobotInterface(robot_name)->getRobotConfig()->getCycletime(); + std::cout << "获取伺服控制周期：" << cycle_time << std::endl; + + // 接口调用: 获取机器人类型代码 + std::string robot_type; + robot_type = + cli->getRobotInterface(robot_name)->getRobotConfig()->getRobotType(); + std::cout << "获取机器人类型代码：" << robot_type << std::endl; + + // 接口调用: 获取机器人子类型代码 + std::string sub_type; + sub_type = + cli->getRobotInterface(robot_name)->getRobotConfig()->getRobotSubType(); + std::cout << "获取机器人子类型代码：" << sub_type << std::endl; + + // 接口调用: 获取控制柜类型代码 + std::string control_box_type; + control_box_type = + cli->getRobotInterface(robot_name)->getRobotConfig()->getControlBoxType(); + std::cout << "获取控制柜类型代码：" << control_box_type << std::endl; + + // 接口调用: 设置碰撞灵敏度等级 + int level = 10; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setCollisionLevel(level); + std::cout << "设置碰撞灵敏度等级：" << level << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 接口调用: 获取碰撞灵敏度等级 + int collision_level; + collision_level = + cli->getRobotInterface(robot_name)->getRobotConfig()->getCollisionLevel(); + std::cout << "获取碰撞灵敏度等级：" << collision_level << std::endl; + + // 接口调用: 设置碰撞停止类型 + int type = 1; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setCollisionStopType(type); + std::cout << "设置碰撞停止类型：" << type << std::endl; + + // 接口调用: 获取碰撞停止类型 + int collision_stop_type; + collision_stop_type = cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->getCollisionStopType(); + std::cout << "获取碰撞停止类型：" << collision_stop_type << std::endl; + + // 接口调用: 获取机器人DH参数的理论值 + std::unordered_map> kin_param1; + kin_param1 = cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->getKinematicsParam(true); + std::cout << "获取机器人DH参数的理论值：" << std::endl; + for (auto it = kin_param1.begin(); it != kin_param1.end(); it++) { + std::cout << it->first << ": "; + int size = it->second.size(); + for (int i = 0; i < size; i++) { + std::cout << it->second.at(i) << " "; + } + std::cout << std::endl; + } + + // 接口调用: 获取机器人DH参数的实际值 + std::unordered_map> kin_param2; + kin_param2 = cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->getKinematicsParam(false); + std::cout << "获取机器人DH参数的实际值：" << std::endl; + for (auto it = kin_param2.begin(); it != kin_param2.end(); it++) { + std::cout << it->first << ": "; + int size = it->second.size(); + for (int i = 0; i < size; i++) { + std::cout << it->second.at(i) << " "; + } + std::cout << std::endl; + } + + // 接口调用: 获取指定温度下的DH参数补偿值 + std::unordered_map> kin_compensate; + double temperature = 20; + kin_compensate = cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->getKinematicsCompensate(temperature); + std::cout << "获取机器人DH参数补偿值：" << std::endl; + for (auto it = kin_compensate.begin(); it != kin_compensate.end(); it++) { + std::cout << it->first << ": "; + int size = it->second.size(); + for (int i = 0; i < size; i++) { + std::cout << it->second.at(i) << " "; + } + std::cout << std::endl; + } + + // 接口调用: 获取可用的末端力矩传感器的名字 + std::vector tcp_force_sensor_names; + tcp_force_sensor_names = cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->getTcpForceSensorNames(); + printVec(tcp_force_sensor_names, "获取末端力矩传感器的名字"); + + // 接口调用: 获取安全参数校验码 CRC32 + uint32_t check_sum; + check_sum = cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->getSafetyParametersCheckSum(); + std::cout << "获取安全参数校验码 CRC32：" << check_sum << std::endl; + + // 接口调用: 获取关节最大位置（物理极限） + std::vector joint_max_positions; + joint_max_positions = cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->getJointMaxPositions(); + printVec(joint_max_positions, "获取关节最大位置（物理极限）"); + + // 接口调用: 获取关节最小位置（物理极限） + std::vector joint_min_positions; + joint_min_positions = cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->getJointMinPositions(); + printVec(joint_min_positions, "获取关节最小位置（物理极限）"); + + // 接口调用: 获取关节最大速度（物理极限） + std::vector joint_max_speeds; + joint_max_speeds = + cli->getRobotInterface(robot_name)->getRobotConfig()->getJointMaxSpeeds(); + printVec(joint_max_speeds, "获取关节最大速度（物理极限）"); + + // 接口调用: 获取关节最大加速度（物理极限） + std::vector joint_max_acc; + joint_max_acc = cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->getJointMaxAccelerations(); + printVec(joint_max_acc, "获取关节最大加速度（物理极限）"); + + // 接口调用:获取机器人的重力加速度 + std::vector gravity; + gravity = cli->getRobotInterface(robot_name)->getRobotConfig()->getGravity(); + printVec(gravity, "获取机器人的重力加速度"); + + // 接口调用: 设置TCP偏移 + std::vector tcp_offset1 = {-0.1, 0.2, 0.3, 3.14, 0.0, 1.57}; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpOffset(tcp_offset1); + std::this_thread::sleep_for(std::chrono::seconds(1)); + printVec(tcp_offset1, "设置TCP偏移为"); + + // 接口调用: 获取TCP偏移 + std::vector tcp_offset2; + tcp_offset2 = + cli->getRobotInterface(robot_name)->getRobotConfig()->getTcpOffset(); + printVec(tcp_offset2, "获取TCP偏移"); + + // 接口调用: 设置负载 + double mass1 = 2.5; + std::vector cog1(3, 0.0); + std::vector aom1(3, 0.0); + std::vector inertia1(6, 0.0); + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setPayload(mass1, cog1, aom1, inertia1); + std::this_thread::sleep_for(std::chrono::seconds(1)); + std::cout << "设置末端负载为：" << std::endl; + std::cout << "mass：" << mass1 << std::endl; + printVec(cog1, "cog"); + printVec(aom1, "aom"); + printVec(inertia1, "intertia"); + + // 接口调用: 获取末端负载 + auto payload = + cli->getRobotInterface(robot_name)->getRobotConfig()->getPayload(); + std::cout << "获取末端负载：" << std::endl; + std::cout << "mass：" << std::get<0>(payload) << std::endl; + std::vector cog2 = std::get<1>(payload); + printVec(cog2, "cog"); + std::vector aom2 = std::get<2>(payload); + printVec(aom2, "aom"); + std::vector inertia2 = std::get<3>(payload); + printVec(inertia2, "intertia"); + + // 接口调用: 获取关节摩擦力参数 + auto joint_friction_param = + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->getHardwareCustomParameters("joint_friction_params"); + std::cout << "关节摩擦力参数: " << joint_friction_param << std::endl; + +} + +#define ip_local "127.0.0.1" + +/** + * 功能: 获取机械臂配置信息 + * 步骤: + * 第一步: 设置 RPC 超时、连接 RPC 服务、登录 + * 第二步: 获取机械臂相关的配置信息 + * 第三步: 退出登录、断开 RPC 连接 + */ +int main(int argc, char **argv) { +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(ip_local, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 获取机械臂相关的配置信息 + exampleConfig(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_data_collect.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_data_collect.cpp new file mode 100644 index 00000000..50dbcd69 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_data_collect.cpp @@ -0,0 +1,275 @@ +#include +#include +#include +#ifdef WIN32 +#include +#endif + +#include "aubo_sdk/rpc.h" +#include "trajectory_io.h" + +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + //接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + int cnt = 0; + // 在等待机械臂开始运动时，获取exec_id最大的重试次数 + int max_retry_count = 50; + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (exec_id != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + return 0; +} + +// 判断缓存是否有效 +int isBufferValid(RobotInterfacePtr impl) +{ + // 调用pathBufferValid最大的重试次数 + int max_retry_count = 5; + // 调用pathBufferValid的次数 + int cnt = 0; + bool isValid = impl->getMotionControl()->pathBufferValid("rec"); + + while (!isValid) { + if (cnt++ > max_retry_count) { + return -1; + } + isValid = impl->getMotionControl()->pathBufferValid("rec"); + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + return 0; +} + +int runTraj(RpcClientPtr rpc, const std::string &traj_name, + const std::string &record_name) +{ + // 读取轨迹文件 + auto filename = traj_name; + TrajectoryIo input(filename.c_str()); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.open()) { + return 0; + } + + // 解析轨迹数据 + auto traj = input.parse(); + + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0" << std::endl; + return 0; + } else { + std::cout << " 加载的路点数量为: " << traj.size() << std::endl; + } + + // 接口调用: 获取机器人的名字 + auto robot_name = rpc->getRobotNames().front(); + + auto robot_interface = rpc->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 关节运动到轨迹文件中的第一个路点 + robot_interface->getMotionControl()->moveJoint(traj[0], 30 * (M_PI / 180), + 30 * (M_PI / 180), 0., 0.); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + + // 接口调用: 开启规划器运行 + rpc->getRuntimeMachine()->start(); + auto cur_plan_context = rpc->getRuntimeMachine()->getPlanContext(); + // 接口调用: 获取新的线程id + auto task_id = rpc->getRuntimeMachine()->newTask(); + rpc->getRuntimeMachine()->setPlanContext( + task_id, std::get<1>(cur_plan_context), std::get<2>(cur_plan_context)); + + // 接口调用: 清除缓存"rec" + robot_interface->getMotionControl()->pathBufferFree("rec"); + + // 接口调用: 新建一个缓存"rec"，并指定轨迹运动类型和轨迹点数量 + robot_interface->getMotionControl()->pathBufferAlloc("rec", 2, traj_sz); + + // 将轨迹文件中的路点分组添加到路径缓存中， + // 以10个点为1组， + // 如果未添加的路点数量小于或者等于10时，则作为最后一组来添加 + size_t offset = 10; + auto it = traj.begin(); + while (true) { + // 接口调用: 添加轨迹路点道缓存路径中 + robot_interface->getMotionControl()->pathBufferAppend( + "rec", std::vector>{ it, it + 10 }); + it += 10; + if (offset + 10 >= traj_sz) { + // 接口调用: 添加轨迹路点道缓存路径中 + robot_interface->getMotionControl()->pathBufferAppend( + "rec", std::vector>{ it, traj.end() }); + break; + } + + offset += 10; + } + + // 轨迹文件中的采样间隔 + double interval = 0.005; + // double interval = 0.02; + + // 接口调用: 计算、优化等耗时操作，来对轨迹进行优化 + robot_interface->getMotionControl()->pathBufferEval("rec", {}, {}, + interval); + + // 判断路径缓存是否有效 + if (isBufferValid(robot_interface) == -1) { + std::cerr << "路径缓存无效，无法进行轨迹运动" << std::endl; + } else { + robot_interface->getRobotManage()->startRecord(record_name); + // 接口调用: 执行轨迹运动 + robot_interface->getMotionControl()->movePathBuffer("rec"); + + // 等待轨迹运动完成 + ret = waitArrival(rpc->getRobotInterface(robot_name)); + if (ret == -1) { + std::cerr << "轨迹运动失败" << std::endl; + } else { + std::cout << "轨迹运动结束" << std::endl; + } + } + robot_interface->getRobotManage()->stopRecord(); + // 接口调用: 停止规划器运行 + rpc->getRuntimeMachine()->stop(); + // 接口调用: 删除线程 + rpc->getRuntimeMachine()->deleteTask(task_id); +} + +#define LOCAL_IP "192.168.1.15" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc->login("aubo", "123456"); + auto robot_name = rpc->getRobotNames().front(); + + auto robot_interface = rpc->getRobotInterface(robot_name); + + // 设置滤波参数 + std::stringstream ss; + ss << "[filter_freq]" << std::endl; + ss << " vel_filter_freq = [100, 100, 100, 100, 100, 100]" << std::endl; + ss << " acc_filter_freq = [100, 100, 100, 100, 100, 100]" << std::endl; + ss << " curr_filter_freq = [100, 100, 100, 100, 100, 100]" << std::endl; + robot_interface->getRobotConfig()->setHardwareCustomParameters(ss.str()); + + // 设置负载参数 + robot_interface->getRobotConfig()->setPayload( + 4.1768, { 0, 0.1411, 0.0541 }, {}, + { 0.1114, 0, 0, 0.0312, 0.0363, 0.1125 }); + + // 机器人序列号 + std::string robot_serial = "AB1115312D000083"; + + // 轨迹名字 + std::string filename1 = "1_低速"; + std::cout << "开始轨迹: " << filename1 << std::endl; + + // 开始运行轨迹 + runTraj(rpc, "../trajs/collision_traj/" + filename1 + ".csv", + robot_serial + "_" + filename1 + ".csv"); + + std::string filename2 = "2_中速"; + std::cout << "开始轨迹: " << filename2 << std::endl; + runTraj(rpc, "../trajs/collision_traj/" + filename2 + ".csv", + robot_serial + "_" + filename2 + ".csv"); + + std::string filename3 = "3_高速"; + std::cout << "开始轨迹: " << filename3 << std::endl; + runTraj(rpc, "../trajs/collision_traj/" + filename3 + ".csv", + robot_serial + "_" + filename3 + ".csv"); + + std::string filename4 = "4_低加速度"; + std::cout << "开始轨迹: " << filename4 << std::endl; + runTraj(rpc, "../trajs/collision_traj/" + filename4 + ".csv", + robot_serial + "_" + filename4 + ".csv"); + + std::string filename5 = "5_中加速度"; + std::cout << "开始轨迹: " << filename5 << std::endl; + runTraj(rpc, "../trajs/collision_traj/" + filename5 + ".csv", + robot_serial + "_" + filename5 + ".csv"); + + std::string filename6 = "6_大加速度"; + std::cout << "开始轨迹: " << filename6 << std::endl; + runTraj(rpc, "../trajs/collision_traj/" + filename6 + ".csv", + robot_serial + "_" + filename6 + ".csv"); + + std::string filename7 = "7_恒低速"; + std::cout << "开始轨迹: " << filename7 << std::endl; + runTraj(rpc, "../trajs/collision_traj/" + filename7 + ".csv", + robot_serial + "_" + filename7 + ".csv"); + + std::string filename8 = "8_恒中速"; + std::cout << "开始轨迹: " << filename8 << std::endl; + runTraj(rpc, "../trajs/collision_traj/" + filename8 + ".csv", + robot_serial + "_" + filename8 + ".csv"); + + std::string filename9 = "9_恒高速"; + std::cout << "开始轨迹: " << filename9 << std::endl; + runTraj(rpc, "../trajs/collision_traj/" + filename9 + ".csv", + robot_serial + "_" + filename9 + ".csv"); + + std::string filename11 = "11_trajectory_vel2_acc5"; + std::cout << "开始轨迹: " << filename11 << std::endl; + runTraj(rpc, "../trajs/collision_traj/" + filename11 + ".txt", + robot_serial + "_" + filename11 + ".csv"); + + std::string filename12 = "12_trajectory_vel2_acc20"; + std::cout << "开始轨迹: " << filename12 << std::endl; + runTraj(rpc, "../trajs/collision_traj/" + filename12 + ".txt", + robot_serial + "_" + filename12 + ".csv"); + + std::string filename13 = "13_trajectory_vel2_acc30"; + std::cout << "开始轨迹: " << filename13 << std::endl; + runTraj(rpc, "../trajs/collision_traj/" + filename13 + ".txt", + robot_serial + "_" + filename13 + ".csv"); + + std::string filename14 = "14_trajectory_vel2.2_acc10"; + std::cout << "开始轨迹: " << filename14 << std::endl; + runTraj(rpc, "../trajs/collision_traj/" + filename14 + ".txt", + robot_serial + "_" + filename14 + ".csv"); +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_extract_data.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_extract_data.cpp new file mode 100644 index 00000000..1b70cb7b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_extract_data.cpp @@ -0,0 +1,258 @@ +#include +#include +#include +#ifdef WIN32 +#include +#endif + +#include "aubo_sdk/rpc.h" + +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) { + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +// 读取txt文件，查找关键词并提取数据 +std::vector findKeyword(std::vector data, + std::string waypoint) { + // 读取轨迹文件 + std::ifstream in("../trajs/path1.txt"); + // 目标关键词 + std::string target_keyword; + target_keyword = waypoint; + // 存储读取的一行文本 + std::string line; + // 清空传入的数据向量 + data.clear(); + // 逐行读取文件内容 + while (std::getline(in, line)) { + // 检查当前行是否包含目标关键词 + if (line.find(target_keyword) != std::string::npos) { + // 定位方括号内的内容 + int start = line.find("[") + 1; + int end = line.find("]"); + std::string first_group = line.substr(start, end - start); + // 定义分隔符 + std::string delimiter = ","; + // 初始化字符串查找位置 + size_t pos = 0; + // 用于存储分隔后的数据的字符串 + std::string token; + // 循环分隔字符串并将其转换为浮点数存储在数据向量中 + while ((pos = first_group.find(delimiter)) != std::string::npos) { + token = first_group.substr(0, pos); + // 对vector的容量进行限制，防止其因为关键词的定位导致输入数据超过6个 + if (data.size() < 6) { + data.push_back(std::stod(token)); + } + // 删除已处理的部分 + first_group.erase(0, pos + delimiter.length()); + } + // 处理剩余的数据 + if (data.size() < 6) { + data.push_back(std::stod(first_group)); + } + } + } + return data; +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) { + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + // 接口调用: 获取机器人的名字 + auto robot_name = rpc_cli->getRobotNames().front(); + auto robot_interface = rpc_cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + std::vector initial, pre_pick, pick, sleep, post_pick, home_1, + pre_place, slide, place, slide_back, post_place, home_2; + initial = findKeyword(initial, "initial"); + pre_pick = findKeyword(pre_pick, "pre_pick (MoveJ)"); + + pick = findKeyword(pick, "pick (MoveL)"); + // 接口调用: 正解获取位姿 + std::tuple, int> pick_pose_data = + robot_interface->getRobotAlgorithm()->forwardKinematics(pick); + + post_pick = findKeyword(post_pick, "post_pick (MoveL)"); + // 接口调用: 正解获取位姿 + std::tuple, int> post_pick_pose_data = + robot_interface->getRobotAlgorithm()->forwardKinematics(post_pick); + + home_1 = findKeyword(home_1, "home_1 (MoveJ)"); + pre_place = findKeyword(pre_place, "pre_place (MoveJ)"); + + slide = findKeyword(slide, "slide (MoveL)"); + // 接口调用: 正解获取位姿 + std::tuple, int> slide_pose_data = + robot_interface->getRobotAlgorithm()->forwardKinematics(slide); + + place = findKeyword(place, "place (MoveL)"); + // 接口调用: 正解获取位姿 + std::tuple, int> place_pose_data = + robot_interface->getRobotAlgorithm()->forwardKinematics(place); + + slide_back = findKeyword(slide_back, "slide_back (MoveL)"); + // 接口调用: 正解获取位姿 + std::tuple, int> slide_back_pose_data = + robot_interface->getRobotAlgorithm()->forwardKinematics(slide_back); + + post_place = findKeyword(post_place, "post_place (MoveL)"); + // 接口调用: 正解获取位姿 + std::tuple, int> post_place_pose_data = + robot_interface->getRobotAlgorithm()->forwardKinematics(post_place); + + home_2 = findKeyword(home_2, "home_2 (MoveJ)"); + + std::vector in_point = initial; + std::vector p1 = pre_pick; + std::vector p2 = std::get<0>(pick_pose_data); + p2[2] = p2[2] + 0.112; + std::vector p3 = std::get<0>(post_pick_pose_data); + p3[2] = p2[2] + 0.112; + std::vector p4 = home_1; + std::vector p5 = pre_place; + std::vector p6 = std::get<0>(slide_pose_data); + p6[2] = p6[2] + 0.112; + std::vector p7 = std::get<0>(place_pose_data); + p7[2] = p7[2] + 0.112; + std::vector p8 = std::get<0>(slide_back_pose_data); + p8[2] = p8[2] + 0.112; + std::vector p9 = std::get<0>(post_place_pose_data); + p9[2] = p9[2] + 0.112; + std::vector p10 = home_2; + + // 接口调用: 关节运动 + robot_interface->getMotionControl()->moveJoint(in_point, 80 * (M_PI / 180), + + 60 * (M_PI / 180), 0., 0.); + // 阻塞 + waitArrival(robot_interface); + std::cout << "Init finish " << std::endl; + + printf("goto the first point\n"); + // 接口调用: 关节运动 + robot_interface->getMotionControl()->moveJoint(p1, 80 * (M_PI / 180), + 60 * (M_PI / 180), 0., 0.); + // 阻塞 + waitArrival(robot_interface); + std::cout << "reach the first point " << std::endl; + + printf("goto the second point\n"); + // 接口调用: 直线运动 + robot_interface->getMotionControl()->moveLine(p2, 1.2, 0.25, 0.025, 0.); + // 阻塞 + waitArrival(robot_interface); + std::cout << "reach the second point " << std::endl; + + // sleep for 0.5s + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + std::cout << "SlEEP FOR 0.5S" << std::endl; + + printf("goto the third point\n"); + // 接口调用: 直线运动 + robot_interface->getMotionControl()->moveLine(p3, 1.2, 0.25, 0.025, 0.); + // 阻塞 + waitArrival(robot_interface); + std::cout << "reach the third point " << std::endl; + + printf("goto the fourth point\n"); + // 接口调用: 关节运动 + robot_interface->getMotionControl()->moveJoint(p4, 80 * (M_PI / 180), + 60 * (M_PI / 180), 0., 0.); + // 阻塞 + waitArrival(robot_interface); + std::cout << "reach the fourth point " << std::endl; + + printf("goto the fifth point\n"); + // 接口调用: 关节运动 + robot_interface->getMotionControl()->moveJoint(p5, 1.2, 0.25, 0.025, 0.); + // 阻塞 + waitArrival(robot_interface); + std::cout << "reach the fifth point " << std::endl; + + printf("goto the sixth point\n"); + // 接口调用: 直线运动 + robot_interface->getMotionControl()->moveLine(p6, 1.2, 0.25, 0.025, 0.); + // 阻塞 + waitArrival(robot_interface); + std::cout << "reach the sixth point " << std::endl; + + printf("goto the seventh point\n"); + // 接口调用: 直线运动 + robot_interface->getMotionControl()->moveLine(p7, 1.2, 0.25, 0.025, 0.); + // 阻塞 + waitArrival(robot_interface); + std::cout << "reach the seventh point " << std::endl; + + // sleep for 0.5s + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + std::cout << "SlEEP FOR 0.5S" << std::endl; + + printf("goto the eighth point\n"); + // 接口调用: 直线运动 + robot_interface->getMotionControl()->moveLine(p8, 1.2, 0.25, 0.025, 0.); + // 阻塞 + waitArrival(robot_interface); + std::cout << "reach the eighth point " << std::endl; + + printf("goto the ninth point\n"); + // 接口调用: 直线运动 + robot_interface->getMotionControl()->moveLine(p9, 1.2, 0.25, 0.025, 0.); + // 阻塞 + waitArrival(robot_interface); + std::cout << "reach the ninth point " << std::endl; + + printf("goto the tenth point\n"); + // 接口调用: 关节运动 + robot_interface->getMotionControl()->moveJoint(in_point, 80 * (M_PI / 180), + 60 * (M_PI / 180), 0., 0.); + // 阻塞 + waitArrival(robot_interface); + std::cout << "reach the tenth point " << std::endl; + std::cout << "Finish the test " << std::endl; + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_fc_assemble.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_fc_assemble.cpp new file mode 100644 index 00000000..c9fc55ec --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_fc_assemble.cpp @@ -0,0 +1,926 @@ +#include +#include +#include +#ifdef WIN32 +#include +#endif +#include "thread" +#include + +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/rtde.h" + +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +#define EMBEDDED + +#define INF 99999 + +std::mutex rtde_mtx_; +bool cond_fullfiled_ = false; +std::vector tcp_pose_(6, 0.); +std::vector tcp_force_(6, 0.); +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + //接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + int cnt = 0; + // 在等待机械臂开始运动时，获取exec_id最大的重试次数 + int max_retry_count = 50; + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (exec_id != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + return 0; +} + +inline bool equal(const std::vector &q1, const std::vector &q2, + double eps = 0.002) +{ + if (q1.size() && (q1.size() == q2.size())) { + for (unsigned int i = 0; i < q1.size(); i++) { + if (std::abs(q1[i] - q2[i]) > eps) { + return false; + } + } + return true; + } + return false; +} + +template +inline std::ostream &operator<<(std::ostream &os, const std::vector &list) +{ + for (size_t i = 0; i < list.size(); i++) { + try { + os << list.at(i); + if (i != (list.size() - 1)) { + os << ","; + } + } catch (std::exception &e) { + } + } + return os; +} + +void tcpSensorTest(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); +#ifdef EMBEDDED + // 内置传感器 + std::vector sensor_pose = { 0, 0, 0, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("embedded"); +#else + // 外置坤维传感器 + std::vector sensor_pose = { 0, 0, 0.047, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("kw_ftsensor"); +#endif + while (1) { + std::cout << "------------------------------------------" << std::endl; + auto sensor_data = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getTcpForceSensors(); + std::cout << "force sensor: " << sensor_data << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + auto curr_pose = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + auto payload = + cli->getRobotInterface(robot_name)->getRobotConfig()->getPayload(); + std::cout << "mass: " << std::get<0>(payload) + << " cog: " << std::get<1>(payload) << std::endl; + auto result = + cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->calibrateTcpForceSensor({ sensor_data }, { curr_pose }); + + std::cout << "force offset: " << std::get<0>(result) << std::endl; + std::cout << "------------------------------------------" << std::endl; + } +} + +/** + * @brief condFullfiled 判断力控终止条件是否满足 + * @param timeout 时间限制,如果时间超过timeout,条件未满足,则返回-1; + * 如果timeout=-1,则不对时间进行限制 + * @param target_pose 到达目标点后,条件依然没有满足,则返回 0; + * 如果target_pose={},则不对目标点进行判断 + * + * @param is_use_condfull 是否设置力控条件, 默认设置; + * @return 条件满足返回1;到位后条件不满足返回0;超时返回-1; + * 若timeout=-1,target_pose={},该函数一直阻塞,直到满足条件后退出 + */ +int condFullfiled(double timeout, std::vector target_pose, + bool is_use_condfull = true) +{ + int ret = 0; + int cnt = 0; + cond_fullfiled_ = false; + while (true) { + if (cond_fullfiled_ && is_use_condfull) { + std::cout << "力控条件满足 !" << std::endl; + + ret = 1; + break; + } + std::this_thread::sleep_for(std::chrono::milliseconds(2)); + if ((timeout > 0) && (cnt++ > timeout * 500)) { + std::cout << "条件等待超时 !" << std::endl; + ret = -1; + break; + } + if ((target_pose.size() == 6) && equal(target_pose, tcp_pose_)) { + std::cout << "机械臂已到位 !" << std::endl; + ret = 0; + break; + } + } + return ret; +} + +/** + * @brief locateZ z方向定位 + * 通过判断z方向力的变化是否超过一定阈值，通过setCondForce实现 + * @param cli + */ +int locateZ(RpcClientPtr cli) +{ + // 力控参数 + // std::vector locate_z_M = { 30.0, 30.0, 30.0, 10.0, 10.0, 10.0 + // }; std::vector locate_z_D = { + // 300.0, 250.0, 200.0, 100.0, 100.0, 100.0 + // }; + // std::vector locate_z_K = { + // 500.0, 500.0, 500.0, 100.0, 100.0, 100.0 + // }; + // 阻尼 0-1 + std::vector locate_z_D = { 0.8, 0.8, 0.8, 0.8, 0.8, 0.8 }; + // 刚度 0-1 + std::vector locate_z_K = { 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 }; + //力控开启方向 + std::vector locate_z_enable = { + true, true, true, false, false, false + }; + // 目标力 + std::vector locate_z_goal_wrench = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + // 探寻距离 + std::vector seeking_distance = { 0.0, 0.0, -0.02, 0.0, 0.0, 0.0 }; + // 力控坐标系选择 基坐标系 + std::vector feature = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + TaskFrameType frame_type = TaskFrameType::TOOL_FORCE; + // 力控速度限制 + std::vector speed_limits(6, 2.0); + // 末端力条件,INF为一个非常大的数值,[-INF,INF]可以认为范围非常大,忽略该方向的监控 + std::vector min_force = { -INF, -INF, -INF, -INF, -INF, -INF }; + std::vector max_force = { INF, INF, 5.0, INF, INF, INF }; + + auto robot_name = cli->getRobotNames().front(); + // 设置力控参数 + // cli->getRobotInterface(robot_name) + // ->getForceControl() + // ->setDynamicModel(locate_z_M, locate_z_D, locate_z_K); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModelSearch(locate_z_D, locate_z_K); + // 设置目标力 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, locate_z_enable, locate_z_goal_wrench, + speed_limits, frame_type); + // 设置力的监控条件 + double timeout = 1000; + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondForce(min_force, max_force, true, timeout); + // 获取当前tcp位置 + auto current_pose = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + // 计算探寻终止位置 + std::vector target_pose(6, 0.); + for (int i = 0; i < 6; i++) { + target_pose[i] = current_pose[i] + seeking_distance[i]; + } + + // 直线运动 + double v = 0.0025, a = 4.0; + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveLine(target_pose, a, v, 0, 0); + // 开启力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); + cli->getRobotInterface(robot_name)->getForceControl()->setCondActive(); + auto ret = condFullfiled(-1, target_pose); + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + return ret; +} + +/** + * @brief insertDetect 判断螺栓是否插入孔中,前后动两次,两次全部接触认为插入孔中 + * @param cli + * @return + */ +int insertDetect(RpcClientPtr cli) +{ + // 力控参数 + std::vector insert_detect_M = { + 30.0, 30.0, 30.0, 10.0, 10.0, 10.0 + }; + std::vector insert_detect_D = { 1000.0, 1000.0, 500.0, + 100.0, 100.0, 100.0 }; + std::vector insert_detect_K = { 500.0, 500.0, 500.0, + 100.0, 100.0, 100.0 }; + + //力控开启方向 + std::vector insert_detect_enable = { true, true, false, + false, false, false }; + // 力控坐标系选择 基坐标系 + std::vector feature = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + TaskFrameType frame_type = TaskFrameType::NONE; + // 力控速度限制 + std::vector speed_limits(6, 2.0); + + auto robot_name = cli->getRobotNames().front(); + // 设置力控参数 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModel(insert_detect_M, insert_detect_D, insert_detect_K); + + // 目标力 + std::vector insert_detect_goal_wrench = { -8.0, 0.0, 0.0, + 0.0, 0.0, 0.0 }; + // 设置目标力 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, insert_detect_enable, + insert_detect_goal_wrench, speed_limits, frame_type); + + double min_force = -INF; + double max_force = 5.0; + std::vector select = { 1., 1., 0., 0., 0., 0. }; + double timeout = -1; + double count = 3.; + double outside = 1; + std::vector args; + args.insert(args.end(), min_force); + args.insert(args.end(), max_force); + args.insert(args.end(), select.begin(), select.end()); + args.insert(args.end(), count); + args.insert(args.end(), outside); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondAdvanced("ConditionContactForce", args, timeout); + + // 开启力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); + cli->getRobotInterface(robot_name)->getForceControl()->setCondActive(); + auto ret = condFullfiled(3, {}); + if (ret < 0) { + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + return ret; + } else { + std::cout << "插入检测: 正向接触成功!" << std::endl; + } + // 目标力 + insert_detect_goal_wrench = { 8.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + // 开始反向接触 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, insert_detect_enable, + insert_detect_goal_wrench, speed_limits, frame_type); + ret = condFullfiled(3, {}); + if (ret < 0) { + std::cout << "插入失败, 插入检测结束!" << std::endl; + return ret; + } else { + std::cout << "插入检测: 反向接触成功!" << std::endl; + } + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + return ret; +} + +/** + * @brief locateXY 定位螺栓位置,在xy平面走螺旋轨迹 + * @param cli + * @return + */ +int locateXY(RpcClientPtr cli) +{ + // 力控参数 + // std::vector locate_xy_M = { 30.0, 30.0, 30.0, 10.0, 10.0, 10.0 + // }; std::vector locate_xy_D = { 1000.0, 1000.0, 500.0, + // 100.0, 100.0, 100.0 }; + // std::vector locate_xy_K = { + // 500.0, 500.0, 500.0, 100.0, 100.0, 100.0 + // }; + // 阻尼 0-1 + std::vector locate_z_D = { 0.8, 0.8, 0.8, 0.8, 0.8, 0.8 }; + // 刚度 0-1 + std::vector locate_z_K = { 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 }; + + //力控开启方向 + std::vector locate_xy_enable = { + true, true, true, false, false, false + }; + // 目标力 + std::vector locate_xy_goal_wrench = { + 0.0, 0.0, -20.0, 0.0, 0.0, 0.0 + }; + + // 力控坐标系选择 基坐标系 + std::vector feature = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + TaskFrameType frame_type = TaskFrameType::NONE; + // 力控速度限制 + std::vector speed_limits(6, 2.0); + + auto robot_name = cli->getRobotNames().front(); + // 设置力控参数 + // cli->getRobotInterface(robot_name) + // ->getForceControl() + // ->setDynamicModel(locate_xy_M, locate_xy_D, locate_xy_K); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModelSearch(locate_z_D, locate_z_K); + // 设置目标力 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, locate_xy_enable, locate_xy_goal_wrench, + speed_limits, frame_type); + double min_force = -INF; + double max_force = 8.0; + std::vector select = { 1., 0., 0., 0., 0., 0. }; + double timeout = -1; + double count = 1.; + double outside = 1; + std::vector args_x; + args_x.insert(args_x.end(), min_force); + args_x.insert(args_x.end(), max_force); + args_x.insert(args_x.end(), select.begin(), select.end()); + args_x.insert(args_x.end(), count); + args_x.insert(args_x.end(), outside); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondAdvanced("ConditionContactForce", args_x, timeout); + + select = { 0., 1., 0., 0., 0., 0. }; + std::vector args_y; + args_y.insert(args_y.end(), min_force); + args_y.insert(args_y.end(), max_force); + args_y.insert(args_y.end(), select.begin(), select.end()); + args_y.insert(args_y.end(), count); + args_y.insert(args_y.end(), outside); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondAdvanced("ConditionContactForce", args_y, timeout); + + SpiralParameters spiral; + spiral.spiral = 0.002; // 螺旋线步长 + spiral.helix = 0.; // 平面螺旋 + spiral.angle = 5 * 2 * M_PI; // 旋转5圈 + spiral.plane = 0; + double radius = 0.001; // 螺旋线第一圈半径 + + spiral.frame = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + + // 计算螺旋轨迹中心点 + spiral.frame[0] = + std::sqrt(2) * radius / 2 + spiral.frame[0]; //计算螺旋线半径参考点 + spiral.frame[1] = std::sqrt(2) * radius / 2 + spiral.frame[1]; + double v = 0.015, a = 0.2; + // 螺旋运动 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveSpiral(spiral, 0, v, a, 0); + // 开启力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); + // 激活终止条件 + cli->getRobotInterface(robot_name)->getForceControl()->setCondActive(); + auto ret = condFullfiled(10, {}); + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + return ret; +} + +/** + * @brief calBoltPose 计算螺栓位置 + * @param cli + * @param bolt_len 螺栓长度 + * @return + */ +std::vector calBoltPose(RpcClientPtr cli, double bolt_len) +{ + double max_force = 8.0; + double diameter = 0.008; // 螺栓直径 + auto robot_name = cli->getRobotNames().front(); + auto tcp_wrench = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpForce(); + std::vector bolt_pose = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + + if ((fabs(tcp_wrench[0]) > max_force) && + (fabs(tcp_wrench[1]) < max_force)) { + // x方向力>limi，cht，y方向 max_force)) { + // x方向力limit,向y方向移动 + bolt_pose[1] = + bolt_pose[1] - (tcp_wrench[1] / fabs(tcp_wrench[1])) * diameter; + + } else if ((fabs(tcp_wrench[0]) > max_force) && + (fabs(tcp_wrench[1]) > max_force)) { + // x方向力>limit，y方向>limit,向xy复合方向移动 + double contact_force = std::sqrt(tcp_wrench[0] * tcp_wrench[0] + + tcp_wrench[1] * tcp_wrench[1]); + bolt_pose[0] = + bolt_pose[0] - (tcp_wrench[0] / contact_force) * diameter; + bolt_pose[1] = + bolt_pose[1] - (tcp_wrench[1] / contact_force) * diameter; + } + bolt_pose[2] = bolt_pose[2] + bolt_len; + return bolt_pose; +} + +/** + * @brief moveToBoltPose 移动到螺栓上方 + * @param cli + * @param bolt_pose 螺栓位置 + * @param bolt_len 螺栓长度 + * @return + */ +int moveToBoltPose(RpcClientPtr cli, std::vector &bolt_pose, + double bolt_len) + +{ + // 力控参数 + std::vector move_M = { 30.0, 30.0, 30.0, 10.0, 10.0, 10.0 }; + std::vector move_D = { 300.0, 250.0, 200.0, 100.0, 100.0, 100.0 }; + std::vector move_K = { 500.0, 500.0, 500.0, 100.0, 100.0, 100.0 }; + //力控开启方向 + std::vector move_fc_enable = { + true, true, false, false, false, false + }; + // 目标力 + std::vector move_goal_wrench = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + + // 力控坐标系选择 基坐标系 + std::vector feature = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + TaskFrameType frame_type = TaskFrameType::NONE; + // 力控速度限制 + std::vector speed_limits(6, 2.0); + + auto robot_name = cli->getRobotNames().front(); + // 设置力控参数 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModel(move_M, move_D, move_K); + // 设置目标力 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, move_fc_enable, move_goal_wrench, + speed_limits, frame_type); + double v = 0.02, a = 4.0; + std::vector trans_pose = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + trans_pose[2] = trans_pose[2] + bolt_len; + // 移动至过渡点 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveLine(trans_pose, a, v, 0, 0); + + // 先调用运动接口,在开启力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); + waitArrival(cli->getRobotInterface(robot_name)); + // 移动至螺栓上方 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveLine(bolt_pose, a, v, 0, 0); + waitArrival(cli->getRobotInterface(robot_name)); + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + std::this_thread::sleep_for(std::chrono::milliseconds(30)); + return 0; +} + +/** + * @brief seekZ z方向探寻, 在螺栓上方,向下探寻 + * @return + */ +/* +int seekZ(RpcClientPtr cli) +{ + std::vector seek_M = { 30.0, 30.0, 30.0, 10.0, 10.0, 10.0 }; + std::vector seek_D = { 300.0, 300.0, 500.0, 100.0, 100.0, 100.0 }; + std::vector seek_K = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + std::vector seek_fc_enable = { + false, false, true, false, false, false + }; + std::vector seek_goal_wrench = { 0.0, 0.0, 5.0, 0.0, 0.0, 0.0 }; + std::vector seek_force_threshold = { 1.0, 1.0, 1.0, 0.1, 0.1, 0.1 }; + + // 力控坐标系选择 基坐标系 + std::vector feature = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + TaskFrameType frame_type = TaskFrameType::NONE; + // 力控速度限制 + std::vector speed_limits(6, 2.0); + + auto robot_name = cli->getRobotNames().front(); + // 设置力控参数 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModel(seek_M, seek_D, seek_K); + + // 设置目标力 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, seek_fc_enable, seek_goal_wrench, + speed_limits, frame_type); + + double min_force = -INF; + double max_force = fabs(seek_goal_wrench[2]) - 2.0; + std::vector select = { 0., 0., 1., 0., 0., 0. }; + double timeout = -1; + double count = 5.; + double outside = 1; + std::vector args; + args.insert(args.end(), min_force); + args.insert(args.end(), max_force); + args.insert(args.end(), select.begin(), select.end()); + args.insert(args.end(), count); + args.insert(args.end(), outside); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondAdvanced("ConditionContactForce", args, timeout); + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); + // 激活终止条件 + cli->getRobotInterface(robot_name)->getForceControl()->setCondActive(); + auto ret = condFullfiled(5, {}); + if (ret < 0) { + std::cout << "z方向探寻失败, 未找到螺栓!" << std::endl; + } else { + std::cout << "z方向探寻成功!" << std::endl; + } + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + return ret; +} +*/ + +int searchXY(RpcClientPtr cli) +{ + // std::vector search_M = { 30.0, 30.0, 30.0, 10.0, 10.0, 10.0 }; + // std::vector search_D = { 600.0, 500.0, 500.0, 200.0, 200.0, + // 200.0 }; std::vector search_K = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 + // }; + + // 阻尼 0-1 + std::vector locate_z_D = { 0.8, 0.8, 0.8, 0.8, 0.8, 0.8 }; + // 刚度 0-1 + std::vector locate_z_K = { 0.8, 0.8, 0.1, 0.1, 0.1, 0.1 }; + std::vector search_fc_enable = { + false, false, true, false, false, false, + }; + std::vector search_goal_wrench = { 0.0, 0.0, -25.0, 0.0, 0.0, 0.0 }; + auto robot_name = cli->getRobotNames().front(); + // 力控坐标系选择 基坐标系 + std::vector feature = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + TaskFrameType frame_type = TaskFrameType::FRAME_FORCE; + // 力控速度限制 + std::vector speed_limits(6, 2.0); + // 设置力阈值 + std::vector threshold = { 5., 5., 15., 1., 1., 1. }; + cli->getRobotInterface(robot_name) + ->getForceControl() + ->fcSetSensorThresholds(threshold); + // 设置力控参数 + // cli->getRobotInterface(robot_name) + // ->getForceControl() + // ->setDynamicModel(search_M, search_D, search_K); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModelSearch(locate_z_D, locate_z_K); + + // 设置目标力 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, search_fc_enable, search_goal_wrench, + speed_limits, frame_type); + + double min_force = 0; + double max_force = 6; + std::vector select = { 0., 0., 1., 0., 0., 0. }; + double timeout = -1; + double count = 3.; + double outside = 0; + std::vector args_x; + args_x.insert(args_x.end(), min_force); + args_x.insert(args_x.end(), max_force); + args_x.insert(args_x.end(), select.begin(), select.end()); + args_x.insert(args_x.end(), count); + args_x.insert(args_x.end(), outside); + // z方向受力突然变小,认为搜到螺孔 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondAdvanced("ConditionContactForce", args_x, timeout); + // 下探2mm,认为搜到螺孔 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondDistance(0.002, -1); + SpiralParameters spiral; + spiral.spiral = 0.001; // 螺旋线步长 + spiral.helix = 0.; // 平面螺旋 + spiral.angle = 10 * 2 * M_PI; // 旋转10圈 + spiral.plane = 0; + double radius = 0.002; // 螺旋线第一圈半径 + + spiral.frame = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + // 计算螺旋轨迹中心点 + spiral.frame[0] = + std::sqrt(2) * radius / 2 + spiral.frame[0]; //计算螺旋线半径参考点 + spiral.frame[1] = std::sqrt(2) * radius / 2 + spiral.frame[1]; + double v = 0.002, a = 0.1; + // 螺旋运动 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveSpiral(spiral, 0, v, a, 0); + // 开启力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); + // 激活终止条件 + cli->getRobotInterface(robot_name)->getForceControl()->setCondActive(); + + auto ret = condFullfiled(60, {}); + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + std::this_thread::sleep_for(std::chrono::milliseconds(30)); + return ret; +} + +int insertZ(RpcClientPtr cli) +{ + std::vector insert_M = { 0.8, 0.8, 0.8, 0.8, 0.8, 0.8 }; + std::vector insert_D = { 0.8, 0.8, 0.8, 0.8, 0.8, 0.8 }; + + std::vector insert_fc_enable = { true, true, true, true, true, true }; + std::vector insert_goal_wrench = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + std::vector insert_depth = { 0.0, 0.0, -0.05, 0.0, 0.0, 0.0 }; + // 力控坐标系选择 基坐标系 + std::vector feature = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + TaskFrameType frame_type = TaskFrameType::NONE; + // 力控速度限制 + std::vector speed_limits(6, 2.0); + + auto robot_name = cli->getRobotNames().front(); + // 设置力控参数 + // cli->getRobotInterface(robot_name) + // ->getForceControl() + // ->setDynamicModel(insert_M, insert_D, insert_K); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModelInsert(insert_M, insert_D); + // 设置目标力 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, insert_fc_enable, insert_goal_wrench, + speed_limits, frame_type); + // 获取当前tcp位置 + auto current_pose = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + + std::vector cylinder_center = { current_pose[0], current_pose[1], + current_pose[2] + insert_depth[2] }; + + double radius_ = 1000.; + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondCylinder(cylinder_center, radius_, true, -1); + + // 计算插入终止位置 + std::vector target_pose(6, 0.); + for (int i = 0; i < 6; i++) { + target_pose[i] = current_pose[i] + insert_depth[i]; + } + // 直线运动 + double v = 0.0025, a = 4.0; + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveLine(target_pose, a, v, 0, 0); + + // 开启力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); + // 激活终止条件 + cli->getRobotInterface(robot_name)->getForceControl()->setCondActive(); + + auto ret = condFullfiled(20, target_pose, false); + + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + return ret; +} + +int example(RpcClientPtr cli) +{ + auto robot_name = cli->getRobotNames().front(); +#ifdef EMBEDDED + // 内置传感器 + std::vector sensor_pose = { 0, 0, 0, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("embedded"); +#else + // 外置坤维传感器 + std::vector sensor_pose = { 0, 0, 0.047, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("kw_ftsensor"); +#endif + + // 设置传感器安装位姿 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpForceSensorPose(sensor_pose); + // 设置TCP偏移 + std::vector tcp_pose = { 0, 0, 0.1, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpOffset(tcp_pose); + + // 需要标定负载 + // double mass = 0.542767; + // std::vector com = { 0.00650296, -0.000310792, 0.0199925 }; + // // 力传感器偏移需要根据实际情况设置 + // std::vector force_offset = { 13.0463, -11.9162, -33.9405, + // 0.168684, -1.07947, 0.403233 }; + + double mass = 0; + std::vector com = { 0.0, 0.00, 0.0 }; + // 力传感器偏移 + std::vector force_offset = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getTcpForceSensors(); + // 设置负载 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setPayload(mass, com, { 0. }, { 0. }); + + // 设置力传感器偏移 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpForceOffset(force_offset); + + // 需设置开启点位，移到工装上方15mm处 + std::vector q = { -20.43 / 180 * M_PI, -22.89 / 180 * M_PI, + 106.75 / 180 * M_PI, 39.65 / 180 * M_PI, + 89.67 / 180 * M_PI, 111.68 / 180 * M_PI }; + + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(q, 20.0 / 180.0 * M_PI, 20.0 / 180.0 * M_PI, 0.0, 0.0); + waitArrival(cli->getRobotInterface(robot_name)); + + // 设置力阈值 + std::vector threshold = { 3., 3., 10., 1., 1., 1. }; + cli->getRobotInterface(robot_name) + ->getForceControl() + ->fcSetSensorThresholds(threshold); + // 两次重试机会 + for (int i = 0; i < 2; i++) { + if (locateZ(cli) > 0) { + std::cout << "定位到螺栓,开始xy平面搜索螺孔位置" << std::endl; + if (searchXY(cli) > 0) { + std::cout << "条件满足,开始插入" << std::endl; + + if (insertZ(cli) < 0) { + std::cout << "插入超时,请检查是否插入,或调整等待时间" + << std::endl; + } else { + std::cout << "插入已完成,结束程序" << std::endl; + } + return 0; + + } else { + std::cout << "搜索超时, 退出搜索, 回到起点" << std::endl; + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(q, 20.0 / 180.0 * M_PI, 20.0 / 180.0 * M_PI, + 0.0, 0.0); + waitArrival(cli->getRobotInterface(robot_name)); + continue; + } + } else { + std::cout << "探寻距离已到, 未定位到螺栓, 确认是否插入" + << std::endl; + if (insertDetect(cli) > 0) { + std::cout << "检测到已插入, 开始插入动作" << std::endl; + if (insertZ(cli) < 0) { + std::cout << "插入超时, 请检查是否插入, 或调整等待时间" + << std::endl; + } else { + std::cout << "插入已完成, 结束程序" << std::endl; + } + return 0; + } else { + std::cout << "检测到未插入, 开始xy平面定位螺栓位置" + << std::endl; + if (locateXY(cli) < 0) { + std::cout << "搜索超时, 未定位到螺栓, 结束搜索,回到起点" + << std::endl; + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(q, 20.0 / 180.0 * M_PI, 20.0 / 180.0 * M_PI, + 0.0, 0.0); + waitArrival(cli->getRobotInterface(robot_name)); + continue; + } else { + auto bolt_pose = calBoltPose(cli, 0.015); + std::cout << "定位到螺栓, 螺栓位置为: " << bolt_pose + << std::endl; + moveToBoltPose(cli, bolt_pose, 0.015); + std::cout << "移动到螺栓上方" << std::endl; + } + } + } + } +} + +#define LOCAL_IP "172.17.41.91" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc->login("aubo", "123456"); + + auto rtde_cli = std::make_shared(); + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(LOCAL_IP, 30010); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + // 接口调用: 设置话题, 力控条件,tcp位置,tcp力 + int topic = rtde_cli->setTopic( + false, + { "R1_fc_cond_fullfiled", "R1_actual_TCP_pose", "R1_actual_TCP_force" }, + 200, 1); + // 接口调用: 订阅 + rtde_cli->subscribe(topic, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + cond_fullfiled_ = parser.popBool(); + tcp_pose_ = parser.popVectorDouble(); + tcp_force_ = parser.popVectorDouble(); + }); + + example(rpc); + // searchXY(rpc); + /* 测试力传感器数据 */ + // tcpSensorTest(rpc); + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_fc_assemble_usercoord.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_fc_assemble_usercoord.cpp new file mode 100644 index 00000000..145145bd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_fc_assemble_usercoord.cpp @@ -0,0 +1,908 @@ +#include +#include +#include +#ifdef WIN32 +#include +#endif +#include "thread" +#include + +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/rtde.h" + +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +#define EMBEDDED + +#define INF 99999 + +std::mutex rtde_mtx_; +bool cond_fullfiled_ = false; +std::vector tcp_pose_(6, 0.); +std::vector tcp_force_(6, 0.); +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + //接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + int cnt = 0; + // 在等待机械臂开始运动时，获取exec_id最大的重试次数 + int max_retry_count = 50; + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (exec_id != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + return 0; +} + +template +inline std::ostream &operator<<(std::ostream &os, const std::vector &list) +{ + for (size_t i = 0; i < list.size(); i++) { + try { + os << list.at(i); + if (i != (list.size() - 1)) { + os << ","; + } + } catch (std::exception &e) { + } + } + return os; +} + +inline bool equal(const std::vector &q1, const std::vector &q2, + double eps = 0.001) +{ + // std::cout << "q1: " << q1 << std::endl; + // std::cout << "q2: " << q2 << std::endl; + if (q1.size() && (q1.size() == q2.size())) { + for (unsigned int i = 0; i < q1.size(); i++) { + if (std::abs(q1[i] - q2[i]) > eps) { + return false; + } + } + return true; + } + return false; +} + +void tcpSensorTest(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); +#ifdef EMBEDDED + // 内置传感器 + std::vector sensor_pose = { 0, 0, 0, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("embedded"); +#else + // 外置坤维传感器 + std::vector sensor_pose = { 0, 0, 0.047, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("kw_ftsensor"); +#endif + while (1) { + std::cout << "------------------------------------------" << std::endl; + auto sensor_data = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getTcpForceSensors(); + std::cout << "force sensor: " << sensor_data << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + auto curr_pose = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + auto payload = + cli->getRobotInterface(robot_name)->getRobotConfig()->getPayload(); + std::cout << "mass: " << std::get<0>(payload) + << " cog: " << std::get<1>(payload) << std::endl; + auto result = + cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->calibrateTcpForceSensor({ sensor_data }, { curr_pose }); + + std::cout << "force offset: " << std::get<0>(result) << std::endl; + std::cout << "------------------------------------------" << std::endl; + } +} + +/** + * @brief condFullfiled 判断力控终止条件是否满足 + * @param timeout 时间限制,如果时间超过timeout,条件未满足,则返回-1; + * 如果timeout=-1,则不对时间进行限制 + * @param target_pose 到达目标点后,条件依然没有满足,则返回 0; + * 如果target_pose={},则不对目标点进行判断 + * + * @return 条件满足返回1;到位后条件不满足返回0;超时返回-1; + * 若timeout=-1,target_pose={},该函数一直阻塞,直到满足条件后退出 + */ +int condFullfiled(double timeout, std::vector target_pose) +{ + int ret = 0; + int cnt = 0; + + while (!cond_fullfiled_) { + std::this_thread::sleep_for(std::chrono::milliseconds(2)); + if ((timeout > 0) && (cnt++ > timeout * 500)) { + std::cout << "条件等待超时 !" << std::endl; + ret = -1; + break; + } + if ((target_pose.size() == 6) && equal(target_pose, tcp_pose_)) { + std::cout << "机械臂已到位 !" << std::endl; + ret = 0; + break; + } + } + if (cond_fullfiled_) { + // 条件满足, z方向探寻结束 + ret = 1; + } + return ret; +} + +/** + * @brief locateZ z方向定位 + * 通过判断z方向力的变化是否超过一定阈值，通过setCondForce实现 + * @param cli + */ +int locateZ(RpcClientPtr cli, const double bolt_len, + const std::vector &usercoord_in_tcp) +{ + // 力控参数 + std::vector locate_z_M = { 30.0, 30.0, 30.0, 10.0, 10.0, 10.0 }; + std::vector locate_z_D = { + 300.0, 250.0, 200.0, 100.0, 100.0, 100.0 + }; + std::vector locate_z_K = { + 500.0, 500.0, 500.0, 100.0, 100.0, 100.0 + }; + //力控开启方向 + std::vector locate_z_enable = { + true, true, true, false, false, false + }; + // 目标力 + std::vector locate_z_goal_wrench = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + // 基于usercoord 描述的探寻距离 + std::vector seeking_distance = { + 0.0, 0.0, bolt_len, 0.0, 0.0, 0.0 + }; + // 力控坐标系选择 基坐标系 + std::vector feature = usercoord_in_tcp; + TaskFrameType frame_type = TaskFrameType::TOOL_FORCE; + // 力控速度限制 + std::vector speed_limits(6, 2.0); + + auto robot_name = cli->getRobotNames().front(); + // 设置力控参数 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModel(locate_z_M, locate_z_D, locate_z_K); + // 设置目标力 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, locate_z_enable, locate_z_goal_wrench, + speed_limits, frame_type); + double min_force = -INF; + double max_force = 5.0; + std::vector select = { 0, 0., 1., 0., 0., 0. }; + std::vector feature1 = usercoord_in_tcp; + double type = static_cast(TaskFrameType::TOOL_FORCE); + double timeout = -1; + double count = 1.; + double outside = 1; + + std::vector args; + args.insert(args.end(), min_force); + args.insert(args.end(), max_force); + args.insert(args.end(), select.begin(), select.end()); + args.insert(args.end(), feature1.begin(), feature1.end()); + args.insert(args.end(), type); + args.insert(args.end(), count); + args.insert(args.end(), outside); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondAdvanced("ConditionContactForceOnUsercoord", args, timeout); + + // 获取当前tcp位置 + auto tcp_pose = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + std::vector usercoord_in_base = + cli->getMath()->poseTrans(tcp_pose, usercoord_in_tcp); + + auto tcp_in_usercoord = cli->getMath()->poseInverse(usercoord_in_tcp); + std::vector target_pose_in_usercoord(6, 0.); + for (int i = 0; i < 6; i++) { + target_pose_in_usercoord[i] = tcp_in_usercoord[i] + seeking_distance[i]; + } + auto target_pose_in_base = + cli->getMath()->poseTrans(usercoord_in_base, target_pose_in_usercoord); + // 直线运动 + double v = 0.0025, a = 4.0; + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveLine(target_pose_in_base, a, v, 0, 0); + // 开启力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); + cli->getRobotInterface(robot_name)->getForceControl()->setCondActive(); + auto ret = condFullfiled(3, target_pose_in_base); + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + + return ret; +} + +/** + * @brief insertDetect 判断螺栓是否插入孔中,前后动两次,两次全部接触认为插入孔中 + * @param cli + * @return + */ +int insertDetect(RpcClientPtr cli, const std::vector &usercoord_in_tcp) +{ + // 力控参数 + std::vector insert_detect_M = { + 30.0, 30.0, 30.0, 10.0, 10.0, 10.0 + }; + std::vector insert_detect_D = { 1000.0, 1000.0, 500.0, + 100.0, 100.0, 100.0 }; + std::vector insert_detect_K = { 500.0, 500.0, 500.0, + 100.0, 100.0, 100.0 }; + //力控开启方向 + std::vector insert_detect_enable = { true, true, false, + false, false, false }; + // 力控坐标系选择 基坐标系 + std::vector feature = usercoord_in_tcp; + TaskFrameType frame_type = TaskFrameType::NONE; + // 力控速度限制 + std::vector speed_limits(6, 2.0); + + auto robot_name = cli->getRobotNames().front(); + // 设置力控参数 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModel(insert_detect_M, insert_detect_D, insert_detect_K); + + // 目标力 + std::vector insert_detect_goal_wrench = { -8.0, 0.0, 0.0, + 0.0, 0.0, 0.0 }; + // 设置目标力 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, insert_detect_enable, + insert_detect_goal_wrench, speed_limits, frame_type); + + double min_force = -INF; + double max_force = 5.0; + std::vector select = { 1., 1., 0., 0., 0., 0. }; + std::vector feature1 = usercoord_in_tcp; + double type = static_cast(TaskFrameType::TOOL_FORCE); + double timeout = -1; + double count = 3.; + double outside = 1; + + std::vector args; + args.insert(args.end(), min_force); + args.insert(args.end(), max_force); + args.insert(args.end(), select.begin(), select.end()); + args.insert(args.end(), feature1.begin(), feature1.end()); + args.insert(args.end(), type); + args.insert(args.end(), count); + args.insert(args.end(), outside); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondAdvanced("ConditionContactForceOnUsercoord", args, timeout); + + // 开启力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); + cli->getRobotInterface(robot_name)->getForceControl()->setCondActive(); + auto ret = condFullfiled(1, {}); + if (ret < 0) { + std::cout << "插入失败, 插入检测结束!" << std::endl; + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + return ret; + } else { + std::cout << "插入检测: 正向接触成功!" << std::endl; + } + + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + // 目标力 + insert_detect_goal_wrench = { 8.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + // 开始反向接触 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, insert_detect_enable, + insert_detect_goal_wrench, speed_limits, frame_type); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondAdvanced("ConditionContactForceOnUsercoord", args, timeout); + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); + cli->getRobotInterface(robot_name)->getForceControl()->setCondActive(); + ret = condFullfiled(1, {}); + if (ret < 0) { + std::cout << "插入失败, 插入检测结束!" << std::endl; + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + return ret; + } else { + std::cout << "插入检测: 反向接触成功!" << std::endl; + } + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + return ret; +} + +/** + * @brief locateXY 定位螺栓位置,在xy平面走螺旋轨迹 + * @param cli + * @return + */ +int locateXY(RpcClientPtr cli, const std::vector &usercoord_in_tcp) +{ + // 力控参数 + std::vector locate_xy_M = { 30.0, 30.0, 30.0, 10.0, 10.0, 10.0 }; + std::vector locate_xy_D = { 1000.0, 1000.0, 500.0, + 100.0, 100.0, 100.0 }; + std::vector locate_xy_K = { + 500.0, 500.0, 500.0, 100.0, 100.0, 100.0 + }; + + //力控开启方向 + std::vector locate_xy_enable = { + true, true, true, false, false, false + }; + // 目标力 + std::vector locate_xy_goal_wrench = { + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 + }; + + // 力控坐标系选择 工具坐标系 + std::vector feature = usercoord_in_tcp; + TaskFrameType frame_type = TaskFrameType::TOOL_FORCE; + // 力控速度限制 + std::vector speed_limits(6, 2.0); + + auto robot_name = cli->getRobotNames().front(); + // 设置力控参数 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModel(locate_xy_M, locate_xy_D, locate_xy_K); + // 设置目标力 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, locate_xy_enable, locate_xy_goal_wrench, + speed_limits, frame_type); + double min_force = -INF; + double max_force = 10.0; + std::vector select = { 1., 0., 0., 0., 0., 0. }; + std::vector feature1 = usercoord_in_tcp; + double type = static_cast(TaskFrameType::TOOL_FORCE); + double timeout = -1; + double count = 1.; + double outside = 1; + std::vector args_x; + args_x.insert(args_x.end(), min_force); + args_x.insert(args_x.end(), max_force); + args_x.insert(args_x.end(), select.begin(), select.end()); + args_x.insert(args_x.end(), feature1.begin(), feature1.end()); + args_x.insert(args_x.end(), type); + args_x.insert(args_x.end(), count); + args_x.insert(args_x.end(), outside); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondAdvanced("ConditionContactForceOnUsercoord", args_x, timeout); + + select = { 0., 1., 0., 0., 0., 0. }; + std::vector args_y; + args_y.insert(args_y.end(), min_force); + args_y.insert(args_y.end(), max_force); + args_y.insert(args_y.end(), select.begin(), select.end()); + args_y.insert(args_y.end(), feature1.begin(), feature1.end()); + args_y.insert(args_y.end(), type); + args_y.insert(args_y.end(), count); + args_y.insert(args_y.end(), outside); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondAdvanced("ConditionContactForceOnUsercoord", args_y, timeout); + + SpiralParameters spiral; + spiral.spiral = 0.001; // 螺旋线步长 + spiral.helix = 0.; // 平面螺旋 + spiral.angle = 5 * 2 * M_PI; // 旋转5圈 + spiral.plane = 0; + double radius = 0.001; // 螺旋线第一圈半径 + + spiral.frame = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + + // 计算螺旋轨迹中心点 + spiral.frame[0] = + std::sqrt(2) * radius / 2 + spiral.frame[0]; //计算螺旋线半径参考点 + spiral.frame[1] = std::sqrt(2) * radius / 2 + spiral.frame[1]; + double v = 0.015, a = 0.2; + // 螺旋运动 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveSpiral(spiral, 0, v, a, 0); + // 开启力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); + // 激活终止条件 + cli->getRobotInterface(robot_name)->getForceControl()->setCondActive(); + auto ret = condFullfiled(10, {}); + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + return ret; +} + +/** + * @brief calBoltPose 计算螺栓位置, 基于基坐标系 + * @param cli + * @param bolt_len 螺栓长度 + * @param max_force 最大力 + * @param diameter 螺栓直径 + * @param user_coord 用户坐标系在工具坐标系下的表示 + * @return 螺栓位置在user坐标系下的表示 + */ +std::vector calBoltPose(RpcClientPtr cli, const double bolt_len, + const double max_force, const double diameter, + const std::vector &usercoord_in_tcp) +{ + auto robot_name = cli->getRobotNames().front(); + + std::vector tcp_pose = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + std::vector usercoord_in_base = + cli->getMath()->poseTrans(tcp_pose, usercoord_in_tcp); + auto tcp_force = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpForce(); + auto tcp_wrench_in_user = cli->getMath()->forceTrans( + cli->getMath()->poseInverse(usercoord_in_base), tcp_force); + std::cout << "tcp_wrench_in_user: " << tcp_wrench_in_user << std::endl; + + // 当前工具末端在用户坐标系的位置 + std::vector bolt_pose_in_user = + cli->getMath()->poseInverse(usercoord_in_tcp); + if ((fabs(tcp_wrench_in_user[0]) > max_force) && + (fabs(tcp_wrench_in_user[1]) < max_force)) { + // x方向力>limi，cht，y方向 max_force)) { + // x方向力limit,向y方向移动 + bolt_pose_in_user[1] = + bolt_pose_in_user[1] - + (tcp_wrench_in_user[1] / fabs(tcp_wrench_in_user[1])) * diameter; + + } else if ((fabs(tcp_wrench_in_user[0]) > max_force) && + (fabs(tcp_wrench_in_user[1]) > max_force)) { + // x方向力>limit，y方向>limit,向xy复合方向移动 + double contact_force = + std::sqrt(tcp_wrench_in_user[0] * tcp_wrench_in_user[0] + + tcp_wrench_in_user[1] * tcp_wrench_in_user[1]); + bolt_pose_in_user[0] = + bolt_pose_in_user[0] - + (tcp_wrench_in_user[0] / contact_force) * diameter; + bolt_pose_in_user[1] = + bolt_pose_in_user[1] - + (tcp_wrench_in_user[1] / contact_force) * diameter; + } else { + std::cout << "计算螺栓位置失败!" << std::endl; + return {}; + } + bolt_pose_in_user[2] = bolt_pose_in_user[2] - bolt_len; + + return bolt_pose_in_user; +} + +/** + * @brief moveToBoltPose 移动到螺栓上方 + * @param cli + * @param bolt_pose_in_user 螺栓位置 + * @param bolt_len 螺栓长度 + * @return + */ +int moveToBoltPose(RpcClientPtr cli, std::vector &bolt_pose_in_user, + const std::vector &usercoord_in_tcp) + +{ + // 力控参数 + std::vector move_M = { 30.0, 30.0, 30.0, 10.0, 10.0, 10.0 }; + std::vector move_D = { 300.0, 250.0, 200.0, 100.0, 100.0, 100.0 }; + std::vector move_K = { 500.0, 500.0, 500.0, 100.0, 100.0, 100.0 }; + //力控开启方向 + std::vector move_fc_enable = { + true, true, false, false, false, false + }; + // 目标力 + std::vector move_goal_wrench = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + + // 力控坐标系选择 基坐标系 + std::vector feature = usercoord_in_tcp; + TaskFrameType frame_type = TaskFrameType::TOOL_FORCE; + // 力控速度限制 + std::vector speed_limits(6, 2.0); + + auto robot_name = cli->getRobotNames().front(); + // 设置力控参数 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModel(move_M, move_D, move_K); + // 设置目标力 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, move_fc_enable, move_goal_wrench, + speed_limits, frame_type); + + std::vector tcp_pose = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + std::vector usercoord_in_base = + cli->getMath()->poseTrans(tcp_pose, usercoord_in_tcp); + auto bolt_pose_in_base = + cli->getMath()->poseTrans(usercoord_in_base, bolt_pose_in_user); + std::cout << "current_pose: " << tcp_pose << std::endl; + std::cout << "target_pose: " << bolt_pose_in_base << std::endl; + double v = 0.02, a = 4.0; + std::vector trans_pose = tcp_pose; + trans_pose[2] = bolt_pose_in_base[2]; + // 移动至过渡点 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveLine(trans_pose, a, v, 0, 0); + // 先调用运动接口,在开启力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); + waitArrival(cli->getRobotInterface(robot_name)); + // 移动至螺栓上方 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveLine(bolt_pose_in_base, a, v, 0, 0); + waitArrival(cli->getRobotInterface(robot_name)); + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + return 0; +} + +int searchXY(RpcClientPtr cli, const std::vector &usercoord_in_tcp) +{ + std::vector search_M = { 30.0, 30.0, 30.0, 10.0, 10.0, 10.0 }; + std::vector search_D = { 600.0, 500.0, 500.0, 200.0, 200.0, 200.0 }; + std::vector search_K = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + std::vector search_fc_enable = { + false, false, true, false, false, false, + }; + std::vector search_goal_wrench = { 0.0, 0.0, -8.5, 0.0, 0.0, 0.0 }; + + // 力控坐标系选择 基坐标系 + std::vector feature = usercoord_in_tcp; + TaskFrameType frame_type = TaskFrameType::TOOL_FORCE; + // 力控速度限制 + std::vector speed_limits(6, 2.0); + + auto robot_name = cli->getRobotNames().front(); + + // 设置力控参数 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModel(search_M, search_D, search_K); + + // 设置目标力 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, search_fc_enable, search_goal_wrench, + speed_limits, frame_type); + + // z方向受力突然变小,认为搜到螺孔 + double min_force = -INF; + double max_force = 4.5; + std::vector select = { 0., 0., 1., 0., 0., 0. }; + std::vector feature1 = usercoord_in_tcp; + double type = static_cast(TaskFrameType::TOOL_FORCE); + double timeout = -1; + double count = 3.; + double outside = 0; + + std::vector args; + args.insert(args.end(), min_force); + args.insert(args.end(), max_force); + args.insert(args.end(), select.begin(), select.end()); + args.insert(args.end(), feature1.begin(), feature1.end()); + args.insert(args.end(), type); + args.insert(args.end(), count); + args.insert(args.end(), outside); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondAdvanced("ConditionContactForceOnUsercoord", args, timeout); + + // 下探2mm,认为搜到螺孔 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setCondDistance(0.002, -1); + SpiralParameters spiral; + spiral.spiral = 0.001; // 螺旋线步长 + spiral.helix = 0.; // 平面螺旋 + spiral.angle = 7 * 2 * M_PI; // 旋转5圈 + spiral.plane = 0; + double radius = 0.001; // 螺旋线第一圈半径 + + spiral.frame = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + // 计算螺旋轨迹中心点 + spiral.frame[0] = + std::sqrt(2) * radius / 2 + spiral.frame[0]; //计算螺旋线半径参考点 + spiral.frame[1] = std::sqrt(2) * radius / 2 + spiral.frame[1]; + double v = 0.002, a = 0.1; + // 螺旋运动 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveSpiral(spiral, 0, v, a, 0); + // 开启力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); + // 激活终止条件 + cli->getRobotInterface(robot_name)->getForceControl()->setCondActive(); + + auto ret = condFullfiled(60, {}); + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + return ret; +} + +int insertZ(RpcClientPtr cli, const double bolt_len, + const std::vector &usercoord_in_tcp) +{ + std::vector insert_M = { 30.0, 30.0, 30.0, 5.0, 5.0, 5.0 }; + std::vector insert_D = { 800.0, 800.0, 600.0, 100.0, 100.0, 100.0 }; + std::vector insert_K = { 1.0, 1.0, 500.0, 1.0, 1.0, 400.0 }; + std::vector insert_fc_enable = { true, true, true, true, true, true }; + std::vector insert_goal_wrench = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + // 力控坐标系选择 基坐标系 + std::vector feature = usercoord_in_tcp; + TaskFrameType frame_type = TaskFrameType::TOOL_FORCE; + // 力控速度限制 + std::vector speed_limits(6, 2.0); + + auto robot_name = cli->getRobotNames().front(); + + // 设置力控参数 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModel(insert_M, insert_D, insert_K); + + // 设置目标力 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, insert_fc_enable, insert_goal_wrench, + speed_limits, frame_type); + + // 计算插入终止位置 + auto tcp_pose = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + std::vector usercoord_in_base = + cli->getMath()->poseTrans(tcp_pose, usercoord_in_tcp); + + auto tcp_in_usercoord = cli->getMath()->poseInverse(usercoord_in_tcp); + std::vector insert_distance = { 0., 0., bolt_len, 0., 0., 0. }; + std::vector target_pose_in_usercoord(6, 0.); + for (int i = 0; i < 6; i++) { + target_pose_in_usercoord[i] = tcp_in_usercoord[i] + insert_distance[i]; + } + auto target_pose_in_base = + cli->getMath()->poseTrans(usercoord_in_base, target_pose_in_usercoord); + + std::vector box = { -INF, +INF, -INF, +INF, 0, bolt_len }; + // 直线运动 + double v = 0.0025, a = 4.0; + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveLine(target_pose_in_base, a, v, 0, 0); + + // 开启力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); + // 激活终止条件 + cli->getRobotInterface(robot_name)->getForceControl()->setCondActive(); + + auto ret = condFullfiled(5, target_pose_in_base); + + cli->getRobotInterface(robot_name)->getMotionControl()->stopJoint(1); + // 关闭力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcDisable(); + return ret; +} + +int example(RpcClientPtr cli) +{ + auto robot_name = cli->getRobotNames().front(); +#ifdef EMBEDDED + // 内置传感器 + std::vector sensor_pose = { 0, 0, 0, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("embedded"); +#else + // 外置坤维传感器 + std::vector sensor_pose = { 0, 0, 0.047, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("kw_ftsensor"); +#endif + + // 设置传感器安装位姿 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpForceSensorPose(sensor_pose); + // 设置TCP偏移 + std::vector tcp_offset = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpOffset(tcp_offset); + + double mass = 0.578721; + std::vector com = { -0.00661349, 0.00102332, 0.0192072 }; + std::vector force_offset = { 12.9354, -13.0272, -31.889, + 0.186967, -1.06773, 0.385074 }; + + // 设置负载 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setPayload(mass, com, { 0. }, { 0. }); + + // 设置力传感器偏移 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpForceOffset(force_offset); + // 用户坐标系 + std::vector usercoord_in_tcp = { 0, 0, 0.04, 0, 0, 0 }; + double bolt_len = 0.010; //螺栓长15mm + double bolt_diameter = 0.006; // 螺栓直径6mm + +//#define TEST +#ifndef TEST + std::vector q = { 14.93 / 180 * M_PI, -24.07 / 180 * M_PI, + 53.31 / 180 * M_PI, -11.51 / 180 * M_PI, + 89.14 / 180 * M_PI, -73.40 / 180 * M_PI }; + + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(q, 20.0 / 180.0 * M_PI, 20.0 / 180.0 * M_PI, 0.0, 0.0); + waitArrival(cli->getRobotInterface(robot_name)); + + // 两次重试机会 + for (int i = 0; i < 2; i++) { + if (locateZ(cli, bolt_len, usercoord_in_tcp) > 0) { + std::cout << "定位到螺栓,开始xy平面搜索螺孔位置" << std::endl; + if (searchXY(cli, usercoord_in_tcp) > 0) { + std::cout << "条件满足, 确认是否插入" << std::endl; + if (insertDetect(cli, usercoord_in_tcp) > 0) { + std::cout << "检测到已插入, 开始插入动作" << std::endl; + if (insertZ(cli, bolt_len, usercoord_in_tcp) < 0) { + std::cout << "插入超时,请检查是否插入,或调整等待时间" + << std::endl; + } else { + std::cout << "插入已完成,结束程序" << std::endl; + } + return 0; + } else { + std::cout << "检测到未插入,可能插入孔外, 回到起点" + << std::endl; + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(q, 20.0 / 180.0 * M_PI, 20.0 / 180.0 * M_PI, + 0.0, 0.0); + waitArrival(cli->getRobotInterface(robot_name)); + continue; + } + } else { + std::cout << "搜索超时, 退出搜索, 回到起点" << std::endl; + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(q, 20.0 / 180.0 * M_PI, 20.0 / 180.0 * M_PI, + 0.0, 0.0); + waitArrival(cli->getRobotInterface(robot_name)); + continue; + } + } else { + std::cout << "探寻距离已到, 未定位到螺栓, 确认是否插入" + << std::endl; + if (insertDetect(cli, usercoord_in_tcp) > 0) { + std::cout << "检测到已插入, 开始插入动作" << std::endl; + if (insertZ(cli, 0.6, usercoord_in_tcp) < 0) { + std::cout << "插入超时, 请检查是否插入, 或调整等待时间" + << std::endl; + } else { + std::cout << "插入已完成, 结束程序" << std::endl; + } + return 0; + } else { + std::cout << "检测到未插入, 开始xy平面定位螺栓位置" + << std::endl; + if (locateXY(cli, usercoord_in_tcp) < 0) { + std::cout << "搜索超时, 未定位到螺栓, 结束搜索,回到起点" + << std::endl; + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(q, 20.0 / 180.0 * M_PI, 20.0 / 180.0 * M_PI, + 0.0, 0.0); + waitArrival(cli->getRobotInterface(robot_name)); + continue; + } else { + auto bolt_pose = calBoltPose( + cli, bolt_len, 10.0, bolt_diameter, usercoord_in_tcp); + std::cout + << "定位到螺栓, 在用户坐标系的位置为: " << bolt_pose + << std::endl; + moveToBoltPose(cli, bolt_pose, usercoord_in_tcp); + std::cout << "移动到螺栓上方" << std::endl; + } + } + } + } +#endif +} + +#define LOCAL_IP "172.16.3.68" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc->login("aubo", "123456"); + + auto rtde_cli = std::make_shared(); + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(LOCAL_IP, 30010); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + // 接口调用: 设置话题, 力控条件,tcp位置,tcp力 + int topic = rtde_cli->setTopic( + false, + { "R1_fc_cond_fullfiled", "R1_actual_TCP_pose", "R1_actual_TCP_force" }, + 200, 1); + // 接口调用: 订阅 + rtde_cli->subscribe(topic, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + cond_fullfiled_ = parser.popBool(); + tcp_pose_ = parser.popVectorDouble(); + tcp_force_ = parser.popVectorDouble(); + }); + example(rpc); + /* 测试力传感器数据 */ + // tcpSensorTest(rpc); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_force_control.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_force_control.cpp new file mode 100644 index 00000000..e2f9ed0c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_force_control.cpp @@ -0,0 +1,360 @@ +#include +#include "aubo_sdk/rpc.h" +#include +#ifdef _WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +#define EMBEDDED +std::ofstream file("force.csv", std::ios::app); + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + int cnt = 0; + while (impl->getMotionControl()->getExecId() == -1) { + if (cnt++ > 5) { + std::cout << "Motion fail!" << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + auto id = impl->getMotionControl()->getExecId(); + while (1) { + auto id1 = impl->getMotionControl()->getExecId(); + if (id != id1) { + break; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + return 0; +} + +template +inline std::ostream &operator<<(std::ostream &os, const std::vector &list) +{ + for (size_t i = 0; i < list.size(); i++) { + os << list.at(i); + if (i != (list.size() - 1)) { + os << ","; + } + } + return os; +} + +// 计算两点之间的欧氏距离，默认第二点为原点 +inline double calculateDistance( + const std::vector &p1, + const std::vector &p2 = std::vector(6, 0)) +{ + if ((6 == p1.size()) && (6 == p2.size())) { + double sum = 0.; + for (int i = 0; i < 3; i++) { + sum += pow(p1[i] - p2[i], 2); + } + return std::sqrt(sum); + } + return 0; +} + +// 读取力传感器数据并保存到force.csv文件中 +void tcpSensorTest(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto sensor_names = cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->getTcpForceSensorNames(); + std::cout << "支持的传感器名：" << std::endl; + for (auto &name : sensor_names) { + std::cout << name << ","; + } + + std::cout << std::endl + << "其中embedded为内置传感器，tool." + "XXX为外置传感器（连接到末端485），xxx_" + "ftsensor为外接到控制柜的传感器." + << std::endl; + +#ifdef EMBEDDED + // 设置力传感器类型为内置传感器 + std::vector sensor_pose = { 0, 0, 0, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("embedded"); +#else + // 设置力传感器类型为外置坤维传感器 + std::vector sensor_pose = { 0, 0, 0.047, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("kw_ftsensor"); +#endif + while (1) { + auto sensor_data = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getTcpForceSensors(); + + std::cout << "--------------------------------------" << std::endl; + for (int i = 0; i < sensor_data.size(); i++) { + std::cout << "获取TCP力传感器读数: " << i + 1 << ": " + << sensor_data[i] << std::endl; + } + std::cout << "--------------------------------------" << std::endl; + file << sensor_data << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } +} + +// 力传感器标定 +ForceSensorCalibResult tcpSensorcalibration( + RpcClientPtr cli, std::vector> joints) +{ + auto robot_name = cli->getRobotNames().front(); + + printf("goto p0\n"); + // 关节运动到负载辨识的第一个参考点 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(joints[0], 10 * (M_PI / 180), 5 * (M_PI / 180), 0, 0); + // 阻塞 + waitArrival(cli->getRobotInterface(robot_name)); + // 等待机器人停稳 + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 记录第一个参考点的关节位置和TCP力传感器数据 + auto q1 = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getJointPositions(); + auto tcp_force1 = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getTcpForceSensors(); + + printf("goto p1\n"); + // 关节运动到负载辨识的第二个参考点 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(joints[1], 20 * (M_PI / 180), 10 * (M_PI / 180), 0, 0); + // 阻塞 + waitArrival(cli->getRobotInterface(robot_name)); + // 等待机器人停稳 + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 记录第二个参考点的关节位置和TCP力传感器数据 + auto q2 = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getJointPositions(); + auto tcp_force2 = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getTcpForceSensors(); + + printf("goto p2\n"); + // 关节运动到负载辨识的第三个参考点 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(joints[2], 20 * (M_PI / 180), 10 * (M_PI / 180), 0, 0); + // 阻塞 + waitArrival(cli->getRobotInterface(robot_name)); + // 等待机器人停稳 + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 记录第三个参考点的关节位置和TCP力传感器数据 + auto q3 = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getJointPositions(); + auto tcp_force3 = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getTcpForceSensors(); + + // 正解获得三个参考点的位姿 + auto pose1 = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->forwardKinematics(q1); + + auto pose2 = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->forwardKinematics(q2); + + auto pose3 = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->forwardKinematics(q3); + + std::vector> calib_forces{ tcp_force1, tcp_force2, + tcp_force3 }; + std::vector> calib_poses{ std::get<0>(pose1), + std::get<0>(pose2), + std::get<0>(pose3) }; + // 力传感器标定算法(三点标定法) + // 将三个参考点的传感器数据与位姿传入到此接口中做负载辨识 + auto result = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->calibrateTcpForceSensor(calib_forces, calib_poses); + return result; +} + +void exampleForceControl(RpcClientPtr cli) +{ + auto robot_name = cli->getRobotNames().front(); +#ifdef EMBEDDED + // 设置力传感器类型为内置传感器 + std::vector sensor_pose = { 0, 0, 0, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("embedded"); +#else + // 设置力传感器类型为外置坤维传感器 + std::vector sensor_pose = { 0, 0, 0.047, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("kw_ftsensor"); +#endif + + // 设置传感器安装位姿 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpForceSensorPose(sensor_pose); + + // 设置TCP偏移 + std::vector tcp_pose = sensor_pose; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpOffset(tcp_pose); + + // 负载辨识参考点 + std::vector joint1 = { -0.261799, 0.261799, 1.309, + 1.0472, 1.39626, 0.0 }; + std::vector joint2 = { -0.628319, 0.471239, 1.65806, + -0.471239, 0.0, 0.0 }; + std::vector joint3 = { -0.628319, 0.366519, 1.74533, + -0.10472, 1.5708, 0.0 }; + // 力传感器标定 + auto calib_result = tcpSensorcalibration(cli, { joint1, joint2, joint3 }); + std::cout << "force_offset: " << std::get<0>(calib_result) << std::endl; + std::cout << "com: " << std::get<1>(calib_result) << std::endl; + std::cout << "mass: " << std::get<2>(calib_result) << std::endl; + + if (calculateDistance(std::get<0>(calib_result)) < 0.0001) { + std::cout << "标定错误，请检查传感器数据!" << std::endl; + exit(-1); + } + std::this_thread::sleep_for(std::chrono::seconds(1)); + + std::cout << "go to start_joint" << std::endl; + std::vector start_joint = { 0 / 180 * M_PI, 16.41 / 180 * M_PI, + 76.36 / 180 * M_PI, 7.87 / 180 * M_PI, + 90.21 / 180 * M_PI, 0 / 180 * M_PI }; + // 关节运动到起始位置 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(start_joint, 10 * (M_PI / 180), 5 * (M_PI / 180), 0, 0); + waitArrival(cli->getRobotInterface(robot_name)); + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // (通过负载辨识的结果来)设置负载 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setPayload(std::get<2>(calib_result), std::get<1>(calib_result), + { 0. }, { 0. }); + // 设置力传感器偏移 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpForceOffset(std::get<0>(calib_result)); + + // 导纳质量 + std::vector admittance_m = { 10.0, 10.0, 10.0, 2.0, 2.0, 2.0 }; + // 导纳阻尼 + // 用来调节力控运动过程中的速度大小，在相同受力情况下，阻尼越大，速度越小 + std::vector admittance_d = { + 200.0, 200.0, 200.0, 20.0, 20.0, 20.0 + }; + // 导纳刚度 + // 用来调节机械臂弹性，刚度越大回弹越快 + std::vector admittance_k = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + // 设置力控动力学模型 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModel(admittance_m, admittance_d, admittance_k); + + // 柔性轴（方向）选择 + std::vector compliance = { true, true, true, true, true, true }; + // 目标力/力矩 + std::vector target_wrench(6, 0.); + // 速度限制 + std::vector speed_limits(6, 2.0); + // 设置力控参考(目标)值。 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(std::vector(6, 0.), compliance, target_wrench, + speed_limits, TaskFrameType::NONE); + + std::cout << "Press the key 's'/'q' to enable/disable force control mode." + << std::endl; + while (1) { + std::cout << "Please input your choose: " << std::endl; + char key; + std::cin >> key; + switch (key) { + case 's': + if (cli->getRobotInterface(robot_name) + ->getForceControl() + ->isFcEnabled()) { + std::cout << "The robot has already been force control mode. " + "Can't enable force control mode" + << std::endl; + break; + } else { + // 使能力控 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->fcEnable(); + std::cout << "Enter force control mode" << std::endl; + } + break; + case 'q': + if (!cli->getRobotInterface(robot_name) + ->getForceControl() + ->isFcEnabled()) { + std::cout << "The robot has already quit force control mode. " + "Can't disable force control mode" + << std::endl; + break; + } else { + // 退出力控 + cli->getRobotInterface(robot_name) + ->getForceControl() + ->fcDisable(); + std::cout << "Quit force control mode" << std::endl; + } + break; + default: + std::cout << "Please input 's' or 'q'." << std::endl; + break; + } + } +} + +#define LOCAL_IP "127.0.0.1" +int main(int argc, char **argv) +{ +#ifdef _WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + auto rpc_cli = std::make_shared(); + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 使能和退出力控 + exampleForceControl(rpc_cli); + + // 读取力传感器数据并保存到force.csv文件中 + // tcpSensorTest(rpc_cli); +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_force_control2.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_force_control2.cpp new file mode 100644 index 00000000..e5f5e673 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_force_control2.cpp @@ -0,0 +1,413 @@ +#include +#include +#include +#ifdef WIN32 +#include +#endif + +#include "aubo_sdk/rpc.h" +#include "trajectory_io.h" + +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +#define EMBEDDED + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + //接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + int cnt = 0; + // 在等待机械臂开始运动时，获取exec_id最大的重试次数 + int max_retry_count = 50; + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (exec_id != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + return 0; +} + +// 判断缓存是否有效 +int isBufferValid(RobotInterfacePtr impl) +{ + // 调用pathBufferValid最大的重试次数 + int max_retry_count = 50; + // 调用pathBufferValid的次数 + int cnt = 0; + bool isValid = impl->getMotionControl()->pathBufferValid("rec"); + + while (!isValid) { + if (cnt++ > max_retry_count) { + return -1; + } + isValid = impl->getMotionControl()->pathBufferValid("rec"); + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + return 0; +} + +template +inline std::ostream &operator<<(std::ostream &os, const std::vector &list) +{ + for (size_t i = 0; i < list.size(); i++) { + os << list.at(i); + if (i != (list.size() - 1)) { + os << ","; + } + } + return os; +} + +void tcpSensorTest(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto sensor_names = cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->getTcpForceSensorNames(); + std::cout << "支持的传感器名：" << std::endl; + for (auto &name : sensor_names) { + std::cout << name << ","; + } + + std::cout << std::endl + << "其中embedded为内置传感器，tool." + "XXX为外置传感器（连接到末端485），xxx_" + "ftsensor为外接到控制柜的传感器." + << std::endl; + +#ifdef EMBEDDED + // 内置传感器 + std::vector sensor_pose = { 0, 0, 0, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("embedded"); +#else + // 外置坤维传感器 + std::vector sensor_pose = { 0, 0, 0.047, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("kw_ftsensor"); +#endif + while (1) { + std::cout << "------------------------------------------" << std::endl; + auto sensor_data = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getTcpForceSensors(); + std::cout << "force sensor: " << sensor_data << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + auto curr_pose = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + auto payload = + cli->getRobotInterface(robot_name)->getRobotConfig()->getPayload(); + std::cout << "mass: " << std::get<0>(payload) + << " cog: " << std::get<1>(payload) << std::endl; + auto result = + cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->calibrateTcpForceSensor({ sensor_data }, { curr_pose }); + + std::cout << "force offset: " << std::get<0>(result) << std::endl; + std::cout << "------------------------------------------" << std::endl; + } +} + +void initFcParams(RpcClientPtr cli) +{ + auto robot_name = cli->getRobotNames().front(); +#ifdef EMBEDDED + // 内置传感器 + std::vector sensor_pose = { 0, 0, 0, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("embedded"); +#else + // 外置坤维传感器 + std::vector sensor_pose = { 0, 0, 0.047, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("kw_ftsensor"); +#endif + + // 设置传感器安装位姿 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpForceSensorPose(sensor_pose); + // 设置TCP偏移 + std::vector tcp_pose = { 0, 0, 0.0, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpOffset(tcp_pose); + + double mass = 0.0; + std::vector com = { 0.0, 0.0, 0.0 }; + + // 力传感器偏移 需要根据实际情况设置 + std::vector force_offset = { 0.0, 0.0, -3.8, 0.0, 0.0, 0.0 }; + // 设置负载 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setPayload(mass, com, { 0. }, { 0. }); + // 设置力传感器偏移 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpForceOffset(force_offset); + + // 力控的m d k 参数, 需要根据环境调试 + std::vector admittance_m = { 25.0, 25.0, 25.0, 2.0, 2.0, 2.0 }; + std::vector admittance_d = { + 300.0, 300.0, 300.0, 12.0, 12.0, 12.0 + }; + std::vector admittance_k = { 0.0, 0.0, 300.0, 0.0, 0.0, 0.0 }; + + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setDynamicModel(admittance_m, admittance_d, admittance_k); + + std::vector compliance = { false, false, true, false, false, false }; + std::vector target_wrench = { 0.0, 0.0, -30.0, 0.0, 0.0, 0.0 }; + std::vector speed_limits(6, 2.0); + + auto feature = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, compliance, target_wrench, speed_limits, + TaskFrameType::TOOL_FORCE); +} + +void loadTraj(RpcClientPtr cli, std::vector> &traj) +{ + auto robot_name = cli->getRobotNames().front(); + auto robot_interface = cli->getRobotInterface(robot_name); + // 接口调用: 清除缓存"rec" + robot_interface->getMotionControl()->pathBufferFree("rec"); + auto traj_sz = traj.size(); + // 接口调用: 新建一个缓存"rec"，并指定轨迹运动类型和轨迹点数量 + robot_interface->getMotionControl()->pathBufferAlloc("rec", 2, traj_sz); + + // 将轨迹文件中的路点分组添加到路径缓存中， + // 以10个点为1组， + // 如果未添加的路点数量小于或者等于10时，则作为最后一组来添加 + size_t offset = 10; + auto it = traj.begin(); + while (true) { + std::cout << "添加轨迹路点 " << offset << std::endl; + // 接口调用: 添加轨迹路点道缓存路径中 + robot_interface->getMotionControl()->pathBufferAppend( + "rec", std::vector>{ it, it + 10 }); + it += 10; + if (offset + 10 >= traj_sz) { + std::cout << "添加轨迹路点 " << traj_sz << std::endl; + // 接口调用: 添加轨迹路点道缓存路径中 + robot_interface->getMotionControl()->pathBufferAppend( + "rec", std::vector>{ it, traj.end() }); + break; + } + + offset += 10; + } + + // 轨迹文件中的采样间隔 + double interval = 0.05; + // double interval = 0.02; + + // 接口调用: 计算、优化等耗时操作，来对轨迹进行优化 + auto max_qdd = + robot_interface->getRobotConfig()->getJointMaxAccelerations(); + auto max_qd = robot_interface->getRobotConfig()->getJointMaxSpeeds(); + robot_interface->getMotionControl()->pathBufferEval("rec", max_qdd, max_qd, + interval); +} + +void example1(RpcClientPtr cli) +{ + auto robot_name = cli->getRobotNames().front(); +#ifdef EMBEDDED + // 内置传感器 + std::vector sensor_pose = { 0, 0, 0, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("embedded"); +#else + // 外置坤维传感器 + std::vector sensor_pose = { 0, 0, 0.047, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("kw_ftsensor"); +#endif + + // 设置传感器安装位姿 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpForceSensorPose(sensor_pose); + // 设置TCP偏移 + std::vector tcp_pose = { 0, 0, 0.0, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpOffset(tcp_pose); + + double mass = 0.0; + std::vector com = { 0.0, 0.0, 0.0 }; + // 力传感器偏移需要根据实际情况设置 + std::vector force_offset = { 0, 0, -3.8, 0, 0, 0 }; + // 设置负载 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setPayload(mass, com, { 0. }, { 0. }); + + // 设置力传感器偏移 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpForceOffset(force_offset); + + std::vector admittance_m = { 25.0, 25.0, 25.0, 2.0, 2.0, 2.0 }; + std::vector admittance_d = { + 300.0, 300.0, 300.0, 12.0, 12.0, 12.0 + }; + std::vector admittance_k = { 0.0, 0.0, 300.0, 0.0, 0.0, 0.0 }; + + cli->getRobotInterface("rob1")->getForceControl()->setDynamicModel( + admittance_m, admittance_d, admittance_k); + + // 力控开启方向 + std::vector compliance = { false, false, true, false, false, false }; + // 目标力 + std::vector target_wrench{ 0.0, 0.0, -3.0, 0.0, 0.0, 0.0 }; + std::vector speed_limits(6, 2.0); + + // 力控参考坐标系设为FRAME_FORCE, 基于当前时刻的工具坐标系探寻 + auto feature = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + TaskFrameType frame_type = TaskFrameType::FRAME_FORCE; + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, compliance, target_wrench, speed_limits, + frame_type); + + // 设置监控探寻范围 + // 探寻范围为box,用6个参数描述分别为: 单位米 + // double xmin; + // double xmax; + // double ymin; + // double ymax; + // double zmin; + // double zmax; + auto box_frame = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + std::vector box = { -1000.0, 1000.0, -1000.0, 1000.0, 0, 0.1 }; + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setSupvPosBox(box_frame, box); + + // 使能力控 + cli->getRobotInterface(robot_name)->getForceControl()->fcEnable(); +} + +int example2(RpcClientPtr rpc) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = rpc->getRobotNames().front(); + + auto robot_interface = rpc->getRobotInterface(robot_name); + + // 读取轨迹文件 + auto filename = "../trajs/physiotherapy.txt"; + TrajectoryIo input(filename); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.open()) { + return -1; + } + + // 解析轨迹数据 + auto traj = input.parse(); + // 检查轨迹文件中是否有路点， + // 如果数量为 0，输出错误消息并返回 + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0." << std::endl; + return -1; + } + // 接口调用: + // 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 关节运动到轨迹文件中的第一个路点 + robot_interface->getMotionControl()->moveJoint(traj[0], 30 * (M_PI / 180), + 30 * (M_PI / 180), 0., 0.); + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + + // 初始化力控参数 + initFcParams(rpc); + loadTraj(rpc, traj); + + if (isBufferValid(robot_interface) == -1) { + std::cerr << "路径缓存无效，无法进行轨迹运动" << std::endl; + } else { + // 运行轨迹 + robot_interface->getMotionControl()->movePathBuffer("rec"); + // 先运动在开力控 + robot_interface->getForceControl()->fcEnable(); + } + + // 等待轨迹运动完成 + ret = waitArrival(robot_interface); + if (ret == -1) { + std::cerr << "轨迹运动失败" << std::endl; + } else { + std::cout << "轨迹运动结束" << std::endl; + } + + robot_interface->getMotionControl()->stopJoint(1); + robot_interface->getForceControl()->fcDisable(); +} +#define LOCAL_IP "192.168.10.236" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc->login("aubo", "123456"); + + /* 探寻例程 */ + // example1(rpc); + /* 轨迹+力控 */ + example2(rpc); + /* 测试力传感器数据 */ + // tcpSensorTest(rpc); + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_force_control3.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_force_control3.cpp new file mode 100644 index 00000000..de0bef17 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_force_control3.cpp @@ -0,0 +1,335 @@ +#ifdef WIN32 +#include +#else +#include +#endif + +#include +#include +#include +#include + +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +class example +{ +public: + example(const RpcClientPtr rpc, const RtdeClientPtr rtde) + : rpc_(rpc), rtde_(rtde) + { + subscribeRealtimeState(); + fc_ = new arcs::aubo_sdk::ForceControl(rpc_, rtde_); + state_ = 0; + + fc_->registerStateCallBack( + std::bind(&example::stateCallback, this, std::placeholders::_1)); + } + + int init() + { + auto name = rpc_->getRobotNames().front(); + auto robot_interface = rpc_->getRobotInterface(name); + + robot_interface->getRobotConfig()->setTcpForceOffset( + actual_tcp_force_sensor_); + } + + // 接近示例 + int example_touch() + { + auto name = rpc_->getRobotNames().front(); + auto robot_interface = rpc_->getRobotInterface(name); + + // 设置接近参数 + arcs::aubo_sdk::ForceControl::TouchParams param; + param.frame_type = TOOL_FORCE; + // 接触力为10N + param.wrench = { 0.0, 0.0, -10.0, 0.0, 0.0, 0.0 }; + // 接近过程中的速度为10mm/s + param.speed = { 0.0, 0.0, 0.01, 0.0, 0.0, 0.0 }; + // 探寻距离为20mm + param.distance = 0.020; + // 软硬程度为0 + param.stiff_scale = { 0.5, 0.5, 0.5, 0.5, 0.5, 0.5 }; + // 1s超时 + param.touch_time = 50000; + fc_->fcTouch(param); + + // 等待接近流程结束 + int ret = fc_->fcWaitCondition(); + if (ret == arcs::aubo_sdk::ForceControl::StateCode::Touch_Succeed) { + std::cout << "达到目标力" << std::endl; + } else if (ret == + arcs::aubo_sdk::ForceControl::StateCode::Touch_Distance) { + std::cout << "超过探寻距离" << std::endl; + } else if (ret == arcs::aubo_sdk::ForceControl::StateCode::TimeOut) { + std::cout << "探寻超时" << std::endl; + } + + fc_->fcExit(); + } + + // 恒力示例 + int example_constant() + { + auto name = rpc_->getRobotNames().front(); + auto robot_interface = rpc_->getRobotInterface(name); + + // 设置恒力参数 + arcs::aubo_sdk::ForceControl::ConstantParams param; + param.frame_type = TOOL_FORCE; + param.wrench = { 0.0, 0.0, -10.0, 0.0, 0.0, 0.0 }; + // 设置阻尼 避免震荡 + param.wrench = { 0.0, 0.0, -10.0, 0.0, 0.0, 0.0 }; + // 根据实际测试环境设置环境刚度 + param.env_stiff = { 0.0, 0.0, 0.2, 0.0, 0.0, 0.0 }; + fc_->fcConstant(param); + + // 设置参考轨迹 从当前位姿沿X正方向移动20mm + std::vector pose = actual_tcp_pose_; + { + std::unique_lock lock(rtde_mutex_); + pose = actual_tcp_pose_; + } + pose[0] += 0.05; + robot_interface->getMotionControl()->moveLine(pose, 0.01, 0.01, 0.0, + -1); + // 等待参考轨迹到位 + waitArrival(robot_interface); + if (state_ == 0) { + std::cout << "恒力轨迹到位" << std::endl; + } else if (state_ == -100) { + std::cout << "恒力控制超时" << std::endl; + } + + fc_->fcExit(); + return 0; + } + + void example_insert() + { + // 设置插孔参数 + arcs::aubo_sdk::ForceControl::InsertParams param; + + // 无参考轨迹 + param.guide_traj_type = arcs::aubo_sdk::ForceControl::NONE; + + // 螺旋线 + // param.guide_traj_type = arcs::aubo_sdk::ForceControl::SPIRAL; + // param.spiral_param.step = 3; + // param.spiral_param.direction = 1; + // param.spiral_param.plane = + // arcs::aubo_sdk::ForceControl::SpiralPlane::xy; + // param.spiral_param.spiral = 0.005; + // param.spiral_param.helix = 0.005; + // param.spiral_param.radius = 0.06; + + // 摆线 + // param.guide_traj_type = arcs::aubo_sdk::ForceControl::WEAVE; + // param.weave_param.step = 30; + // param.weave_param.direction = + // arcs::aubo_sdk::ForceControl::WeaveSelect::rx; + // param.weave_param.amplitude = 0.005; + // param.weave_param.hold_distance = 0.2; + // param.weave_param.angle = 0.1; + + fc_->fcInsert(param); + + // 等待接近流程结束 + while (state_.load() == 0) { + std::this_thread::sleep_for( + std::chrono::milliseconds(10)); // 延时10ms + } + + if (state_.load() == + arcs::aubo_sdk::ForceControl::StateCode::Insert_Succeed) { + std::cout << "插孔成功" << std::endl; + } else if (state_.load() == + arcs::aubo_sdk::ForceControl::StateCode::Insert_MaxForce) { + std::cout << "插孔力过大" << std::endl; + } + + fc_->fcExit(); + } + + void example_search() + { + // 设置搜孔参数 + arcs::aubo_sdk::ForceControl::SearchParams param; + + param.search_time = 10 * 1000; + param.search_guide_force = 5; + param.search_max_force = 20; + + // 螺旋线 + param.guide_traj_type = arcs::aubo_sdk::ForceControl::SPIRAL; + param.spiral_param.step = 3; + param.spiral_param.direction = 1; + param.spiral_param.plane = + arcs::aubo_sdk::ForceControl::SpiralPlane::xy; + param.spiral_param.spiral = 0.005; + param.spiral_param.helix = 0.0; + param.spiral_param.radius = 0.005; + + // 摆线 + // param.guide_traj_type = arcs::aubo_sdk::ForceControl::SPIRAL; + // param.weave_param.step = 30; + // param.weave_param.direction = + // arcs::aubo_sdk::ForceControl::WeaveSelect::rx; + // param.weave_param.amplitude = 0.005; + // param.weave_param.hold_distance = 0.2; + // param.weave_param.angle = 0.1; + + fc_->fcSearch(param); + + // 等待接近流程结束 + int ret = fc_->fcWaitCondition(); + + if (ret == arcs::aubo_sdk::ForceControl::StateCode::Search_Succeed) { + std::cout << "搜孔成功" << std::endl; + } else if (ret == + arcs::aubo_sdk::ForceControl::StateCode::Search_MaxForce) { + std::cout << "搜孔力过大" << std::endl; + } else if (ret == arcs::aubo_sdk::ForceControl::StateCode::TimeOut) { + std::cout << "搜孔超时" << std::endl; + } else { + std::cout << "Error state code:" << state_.load() << std::endl; + } + + fc_->fcExit(); + } + + void getTcpTaskForce() + { + TaskFrameType type = TaskFrameType::MOTION_FORCE; + std::vector feature = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + while (1) { + auto task_force = fc_->getTaskForce(type, feature); + std::cout << task_force[0] << ", " << task_force[1] << ", " + << task_force[2] << ", " << task_force[3] << ", " + << task_force[4] << ", " << task_force[5] << ", " + << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + } + + return; + } + + void exit() { fc_->fcExit(); } + + void stateCallback(int state) { state_.store(state); } + +private: + void subscribeRealtimeState() + { + if (rtde_ == nullptr) { + return; + } + + int topic1 = + rtde_->setTopic(false, + { "R1_actual_TCP_pose", "R1_actual_TCP_force", + "R1_actual_TCP_force_sensor" }, + 40, 1); + rtde_->subscribe(topic1, [this](arcs::aubo_sdk::InputParser &parser) { + std::unique_lock lck(rtde_mutex_); + actual_tcp_pose_ = parser.popVectorDouble(); + actual_tcp_force_ = parser.popVectorDouble(); + actual_tcp_force_sensor_ = parser.popVectorDouble(); + }); + } + + // 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 + int waitArrival(RobotInterfacePtr impl) + { + //接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + int cnt = 0; + // 在等待机械臂开始运动时，获取exec_id最大的重试次数 + int max_retry_count = 50; + + // 等待机械臂开始运动 + while (exec_id == -1 && state_.load() == 0) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (exec_id != -1 && state_.load() == 0) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + return 0; + } + +private: + RpcClientPtr rpc_ = nullptr; + RtdeClientPtr rtde_ = nullptr; + + arcs::aubo_sdk::ForceControl *fc_ = nullptr; + + // RTDE相关 + std::mutex rtde_mutex_; + std::vector actual_tcp_pose_; + std::vector actual_tcp_force_; + std::vector actual_tcp_force_sensor_; + + std::atomic_int state_; +}; + +#define LOCAL_IP "192.168.1.20" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc = std::make_shared(); + auto rtde = std::make_shared(); + rpc->setRequestTimeout(1000); + auto ret = rpc->connect(LOCAL_IP, 30004); + rpc->login("aubo", "123456"); + + rtde->connect(LOCAL_IP, 30010); + rtde->login("aubo", "123456"); + + example ex(rpc, rtde); + std::this_thread::sleep_for(std::chrono::milliseconds(50)); // 等待rtde数据 + + // ex.init(); + // std::this_thread::sleep_for(std::chrono::milliseconds(500)); + + // 接近示例 + // ex.example_touch(); + + // 恒力示例 + // ex.example_constant(); + + // 插入示例 + // ex.example_insert(); + + // 搜孔示例 + // ex.example_search(); + + // 获取实时力控参考系下的力数据 + ex.getTcpTaskForce(); + + auto robot_name = rpc->getRobotNames().front(); + auto robot_interface = rpc->getRobotInterface(robot_name); + + rpc->logout(); + rtde->logout(); + + rpc->disconnect(); + rtde->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_freedrive.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_freedrive.cpp new file mode 100644 index 00000000..ea964b3a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_freedrive.cpp @@ -0,0 +1,63 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::aubo_sdk; + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + // RPC 客户端对象 + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + // 接口调用: 获取机器人的名字 + auto robot_name = rpc_cli->getRobotNames().front(); + auto impl = rpc_cli->getRobotInterface(robot_name); + + // 接口调用: 使能拖动示教模式 + impl->getRobotManage()->freedrive(true); + + // 等待进入拖动示教 + int i = 0; + while (!impl->getRobotManage()->isFreedriveEnabled()) { + if (i++ > 5) { + std::cerr << "使能拖动示教模式失败" << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + std::cout << "使能拖动示教模式成功" << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(25)); + + // 接口调用: 退出拖动示教模式 + impl->getRobotManage()->freedrive(false); + + // 等待退出拖动示教模式 + while (impl->getRobotManage()->isFreedriveEnabled()) { + if (i++ > 5) { + std::cerr << "拖动示教模式失能失败" << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + std::cout << "退出拖动示教模式成功" << std::endl; + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_gripper.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_gripper.cpp new file mode 100644 index 00000000..5ec12b6d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_gripper.cpp @@ -0,0 +1,149 @@ +#include +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/rtde.h" +#include +#include +#include +#ifdef _WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +std::mutex rtde_mtx_; +GripperStatusVector gripper_status; + +void exampleGripper(RpcClientPtr cli) +{ + auto robot_name = cli->getRobotNames().front(); + auto models = cli->getGripperInterface()->gripperGetSupportedModels(); + std::cout << "supported models: " << std::endl << " "; + for (auto model : models) { + std::cout << model << ","; + } + std::cout << std::endl; + + if (0 != cli->getGripperInterface()->gripperAdd("gripper_1", + "gripper.DH_PGE-50-26")) { + std::cout << "添加夹爪错误" << std::endl; + return; + } + + cli->getGripperInterface()->gripperConnect("gripper_1", "/dev/ttyUSB0,1"); + int connect_count_ = 0; + while (!cli->getGripperInterface()->gripperIsConnected("gripper_1") && + connect_count_++ < 5) { + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + if (!cli->getGripperInterface()->gripperIsConnected("gripper_1")) { + std::cout << "夹爪gripper_1连接失败" << std::endl; + return; + } + + if (0 != cli->getGripperInterface()->gripperEnable("gripper_1", true)) { + std::cout << "夹爪gripper_1激活失败" << std::endl; + return; + } + int enable_count_ = 0; + while (cli->getGripperInterface()->gripperIsConnected("gripper_1") && + !cli->getGripperInterface()->gripperIsEnabled("gripper_1") && + enable_count_++ < 5) { + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + if (!cli->getGripperInterface()->gripperIsEnabled("gripper_1")) { + std::cout << "夹爪gripper_1激活失败" << std::endl; + return; + } + + std::cout << "运动到26的位置" << std::endl; + cli->getGripperInterface()->gripperSetPosition("gripper_1", 26); + cli->getGripperInterface()->gripperSetForce("gripper_1", 20); + cli->getGripperInterface()->gripperSetVelocity("gripper_1", 50); + if (0 != cli->getGripperInterface()->gripperMove("gripper_1")) { + std::cout << "夹爪gripper_1运动失败" << std::endl; + return; + } + std::this_thread::sleep_for(std::chrono::seconds(1)); + while (cli->getGripperInterface()->gripperIsConnected("gripper_1") && + cli->getGripperInterface()->gripperGetMotionState("gripper_1")) { + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + + std::cout << "运动到0的位置" << std::endl; + cli->getGripperInterface()->gripperSetPosition("gripper_1", 0); + cli->getGripperInterface()->gripperSetForce("gripper_1", 20); + cli->getGripperInterface()->gripperSetVelocity("gripper_1", 50); + if (0 != cli->getGripperInterface()->gripperMove("gripper_1")) { + std::cout << "夹爪gripper_1运动失败" << std::endl; + return; + } + std::this_thread::sleep_for(std::chrono::seconds(1)); + while (cli->getGripperInterface()->gripperIsConnected("gripper_1") && + cli->getGripperInterface()->gripperGetMotionState("gripper_1")) { + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + + std::this_thread::sleep_for(std::chrono::seconds(10)); + + if (0 != cli->getGripperInterface()->gripperEnable("gripper_1", false)) { + std::cout << "夹爪gripper_1激活失败" << std::endl; + return; + } + + std::this_thread::sleep_for(std::chrono::seconds(5)); + + cli->getGripperInterface()->gripperDelete("gripper_1"); +} + +void rtdeGripperStatus(RtdeClientPtr rtde_cli) +{ + // 接口调用: 设置话题 + int topic5 = rtde_cli->setTopic(false, { "gripper_status" }, 1, 5); + // 接口调用: 订阅 + rtde_cli->subscribe(topic5, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + gripper_status = parser.popGripperStatusVector(); + for (auto status : gripper_status) { + std::cout << "name: " << status.name << std::endl; + std::cout << " is_connected: " << status.is_connected << std::endl; + std::cout << " is_enabled: " << status.is_enabled << std::endl; + std::cout << " position: " << status.position << std::endl; + std::cout << " velocity: " << status.velocity << std::endl; + std::cout << " force: " << status.force << std::endl; + std::cout << " angle: " << status.angle << std::endl; + std::cout << " r_velocity: " << status.r_velocity << std::endl; + std::cout << " torque: " << status.torque << std::endl; + std::cout << " object_detection: " << status.object_detection + << std::endl; + std::cout << " motion_state: " << status.motion_state << std::endl; + std::cout << " voltage: " << status.voltage << std::endl; + std::cout << " temperature: " << status.temperature << std::endl; + } + }); +} + +#define LOCAL_IP "127.0.0.1" +int main(int argc, char **argv) +{ +#ifdef _WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + auto rpc_cli = std::make_shared(); + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + auto rtde_cli = std::make_shared(); + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(LOCAL_IP, 30010); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + rtdeGripperStatus(rtde_cli); + + exampleGripper(rpc_cli); +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_io.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_io.cpp new file mode 100644 index 00000000..8c883abb --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_io.cpp @@ -0,0 +1,592 @@ +#include "aubo_sdk/rpc.h" +#include +#ifdef WIN32 +#include +#endif + +using namespace arcs::aubo_sdk; + +bool bit_value(uint64_t v, int index) +{ + return (v & ((uint64_t)1 << index)) ? true : false; +} + +// 打印二进制位 +void printBit(uint64_t v, std::string name, int bit_length) +{ + std::cout << "@:" << name << std::endl; + + for (int i = 0; i < bit_length; i++) { + std::cout << bit_value(v, i) << ","; + } + std::cout << std::endl; +} + +// 数字输入——无触发动作 +void exampleStandardDigitalInput1(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 获取数字输入数量 + int di_num = robot->getIoControl()->getStandardDigitalInputNum(); + std::cout << "数字输入数量: " << di_num << std::endl; + + // 接口调用: 设置所有的数字输入的动作为无触发 + robot->getIoControl()->setDigitalInputActionDefault(); + + // 打印所有的数字输入值 + for (int i = 0; i < di_num; i++) { + // 接口调用: 获取数字输入值 + auto input_value = robot->getIoControl()->getStandardDigitalInput(i); + std::cout << "管脚" << i << "数字输入值:" << input_value << std::endl; + } +} + +// 数字输入——触发动作为拖动示教 +void exampleStandardDigitalInput2(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 设置DI00的动作为拖动示教。 + StandardInputAction input_action = StandardInputAction::Handguide; + robot->getIoControl()->setStandardDigitalInputAction(0, input_action); + + std::cout << "说明:当DI00为高电平(DI00和0V短接)时,机器人进入拖动示教。" + << std::endl; + std::cout << "当DI00为低电平(DI00和0V断开)时,机器人退出拖动示教。" + << std::endl; +} + +// 数字输出——无触发动作，用户可设置输出值 +void exampleStandardDigitalOutput1(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 获取数字输出数量 + int do_num = robot->getIoControl()->getStandardDigitalOutputNum(); + std::cout << "数字输出数量: " << do_num << std::endl; + + // 接口调用: 设置所有的数字输出的动作为无触发。 + // 当数字输出的动作为无触发时，用户可设置数字输出值。 + robot->getIoControl()->setDigitalOutputRunstateDefault(); + + // 接口调用: 设置DO00为高电平 + robot->getIoControl()->setStandardDigitalOutput(0, true); + + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 接口调用: 获取DO00的值 + bool value = robot->getIoControl()->getStandardDigitalOutput(0); + std::cout << "DO00的值:" << (value ? "高电平" : "低电平") << std::endl; +} + +// 数字输出——设置触发动作为拖动示教，控制器自动设置输出值 +void exampleStandardDigitalOutput2(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 获取数字输出数量 + int do_num = robot->getIoControl()->getStandardDigitalOutputNum(); + std::cout << "数字输出数量: " << do_num << std::endl; + + // 接口调用: 设置DO00的动作为拖动示教。 + // 当机器人进入拖动示教时,DO00的值为高电平。 + // 当机器人退出拖动示教时,DO00的值为低电平。 + // 此时，用户不可设置DO00的值。 + StandardOutputRunState runstate = StandardOutputRunState::Handguiding; + robot->getIoControl()->setStandardDigitalOutputRunstate(0, runstate); + + // 接口调用: 进入拖动示教 + robot->getRobotManage()->freedrive(true); + + // 等待进入拖动示教模式 + int i = 0; + while (robot->getRobotManage()->isFreedriveEnabled()) { + if (i++ > 5) { + std::cerr << "拖动示教模式使能失败" << std::endl; + return; + } + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + std::cout << "进入拖动示教成功" << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 接口调用: 获取DO00的值 + bool value = robot->getIoControl()->getStandardDigitalOutput(0); + std::cout << "DO00的值:" << (value ? "高电平" : "低电平") << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(3)); + + // 接口调用: 退出拖动示教 + robot->getRobotManage()->freedrive(false); + + // 等待退出拖动示教模式 + i = 0; + while (robot->getRobotManage()->isFreedriveEnabled()) { + if (i++ > 5) { + std::cerr << "拖动示教模式失能失败" << std::endl; + return; + } + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + std::cout << "退出拖动示教成功" << std::endl; + + // 接口调用: 获取DO00的值 + value = robot->getIoControl()->getStandardDigitalOutput(0); + std::cout << "DO00的值:" << (value ? "高电平" : "低电平") << std::endl; +} + +// 模拟输入 +void exampleStandardAnalogInput(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 获取模拟输入数量 + int ai_num = robot->getIoControl()->getStandardAnalogInputNum(); + std::cout << "模拟输入数量: " << ai_num << std::endl; + + // 打印所有的模拟输入值 + for (int i = 0; i < ai_num; i++) { + // 接口调用: 获取模拟输入值 + auto input_value = robot->getIoControl()->getStandardAnalogInput(i); + std::cout << "管脚" << i << "模拟输入值:" << input_value << std::endl; + } +} + +// 模拟输出——无触发动作，用户设置输出值 +void exampleStandardAnalogOutput1(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 获取标准模拟输出数量 + int ao_num = robot->getIoControl()->getStandardAnalogOutputNum(); + std::cout << "模拟输出数量: " << ao_num << std::endl; + + // 接口调用：设置所有的模拟输出动作为无触发。 + // 当模拟输出的动作为无触发时，用户可设置模拟输出值。 + StandardOutputRunState output_runstate = StandardOutputRunState::None; + for (int i = 0; i < ao_num; i++) { + robot->getIoControl()->setStandardAnalogOutputRunstate(i, + output_runstate); + } + + // 接口调用: 设置AO0的输出电压为5V + double value = 5.0; + robot->getIoControl()->setStandardAnalogOutput(0, value); + std::cout << "设置AO0的输出电压:" << value << " V" << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 接口调用: 获取AO0的输出电压 + value = robot->getIoControl()->getStandardAnalogOutput(0); + std::cout << "获取AO0的输出电压:" << value << " V" << std::endl; +} + +// 模拟输出——设置触发动作为拖动示教器时最大，控制器自动设置输出值 +void exampleStandardAnalogOutput2(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 获取标准模拟输出数量 + int ao_num = robot->getIoControl()->getStandardAnalogOutputNum(); + std::cout << "模拟输出数量: " << ao_num << std::endl; + + // 接口调用：设置AO0的动作为拖动示教时最大 + // 当机器人进入拖动示教时，AO0的值最大。 + // 当机器人退出拖动示教时，AO0的值为0。 + // 此时，用户不可设置AO0的值。 + StandardOutputRunState output_runstate = + StandardOutputRunState::Handguiding; + robot->getIoControl()->setStandardAnalogOutputRunstate(0, output_runstate); + + // 接口调用: 进入拖动示教 + robot->getRobotManage()->freedrive(true); + + // 等待进入拖动示教模式 + int i = 0; + while (robot->getRobotManage()->isFreedriveEnabled()) { + if (i++ > 5) { + std::cerr << "拖动示教模式使能失败" << std::endl; + return; + } + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + std::cout << "进入拖动示教成功" << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 接口调用: 获取AO0的输出电压 + double value = robot->getIoControl()->getStandardAnalogOutput(0); + std::cout << "获取AO0的输出电压:" << value << " V" << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(3)); + + // 接口调用: 退出拖动示教 + robot->getRobotManage()->freedrive(false); + + // 等待退出拖动示教模式 + i = 0; + while (robot->getRobotManage()->isFreedriveEnabled()) { + if (i++ > 5) { + std::cerr << "拖动示教模式失能失败" << std::endl; + return; + } + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + std::cout << "退出拖动示教成功" << std::endl; + + // 接口调用: 获取AO0的输出电压 + value = robot->getIoControl()->getStandardAnalogOutput(0); + std::cout << "获取AO0的输出电压:" << value << " V" << std::endl; +} + +// 工具数字输入——无触发动作 +void exampleToolDigitalInput1(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 获取工具数字IO的数量，包含输入和输出 + int tool_io_num = robot->getIoControl()->getToolDigitalInputNum(); + std::cout << "获取工具数字IO的数量(包含输入和输出)：" << tool_io_num + << std::endl; + + // 接口调用: 设置TOOL_IO[0]为输入 + bool isInput = true; + robot->getIoControl()->setToolIoInput(0, isInput); + std::this_thread::sleep_for(std::chrono::seconds(0)); + std::cout << "设置TOOL_IO[0]的类型为:" << (isInput ? "输入" : "输出") + << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 接口调用: 获取TOOL_IO[0]的类型 + isInput = robot->getIoControl()->isToolIoInput(0); + std::cout << "获取TOOL_IO[0]的类型为:" << (isInput ? "输入" : "输出") + << std::endl; + + // 接口调用: 设置TOOL_IO[0]的动作为无触发 + StandardInputAction input_action = StandardInputAction::Default; + robot->getIoControl()->setToolDigitalInputAction(0, input_action); + + // 接口调用: 获取TOOL_IO[0]的值 + bool value = robot->getIoControl()->getToolDigitalInput(0); + std::cout << "获取TOOL_IO[0]数字输入值:" << (value ? "高电平" : "低电平") + << std::endl; +} + +// 工具数字输入——触发动作为拖动示教 +void exampleToolDigitalInput2(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 获取工具数字IO的数量，包含输入和输出 + int tool_io_num = robot->getIoControl()->getToolDigitalInputNum(); + std::cout << "获取工具数字IO的数量(包含输入和输出)：" << tool_io_num + << std::endl; + + // 接口调用: 设置TOOL_IO[0]为输入 + bool isInput = true; + robot->getIoControl()->setToolIoInput(0, isInput); + std::this_thread::sleep_for(std::chrono::seconds(0)); + std::cout << "设置TOOL_IO[0]的类型为:" << (isInput ? "输入" : "输出") + << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 接口调用: 获取TOOL_IO[0]的类型 + isInput = robot->getIoControl()->isToolIoInput(0); + std::cout << "获取TOOL_IO[0]的类型为:" << (isInput ? "输入" : "输出") + << std::endl; + + // 接口调用: 设置TOOL_IO[0]的动作为拖动示教 + StandardInputAction input_action = StandardInputAction::Handguide; + robot->getIoControl()->setToolDigitalInputAction(0, input_action); + + std::cout << "说明:当TOOL_IO[0]为高电平(TOOL_IO[0]和GND短接)时," + "机器人进入拖动示教。" + << std::endl; + std::cout + << "当TOOL_IO[0]为低电平(TOOL_IO[0]和GND断开)时,机器人退出拖动示教。" + << std::endl; +} + +// 工具数字输出——无触发动作，用户设置输出值 +void exampleToolDigitalOutput1(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 获取工具数字IO的数量，包含输入和输出 + int tool_io_num = robot->getIoControl()->getToolDigitalInputNum(); + std::cout << "获取工具数字IO的数量(包含输入和输出)：" << tool_io_num + << std::endl; + + // 接口调用: 设置TOOL_IO[0]为输出 + bool isInput = false; + robot->getIoControl()->setToolIoInput(0, isInput); + std::this_thread::sleep_for(std::chrono::seconds(0)); + std::cout << "设置TOOL_IO[0]的类型为:" << (isInput ? "输入" : "输出") + << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 接口调用: 获取TOOL_IO[0]的类型 + isInput = robot->getIoControl()->isToolIoInput(0); + std::cout << "获取TOOL_IO[0]的类型为:" << (isInput ? "输入" : "输出") + << std::endl; + + // 接口调用: 设置TOOL_IO[0]的动作为无触发 + // 当工具数字输出的动作为无触发时，用户可设置工具数字输出值。 + StandardOutputRunState output_runstate = StandardOutputRunState::None; + robot->getIoControl()->setToolDigitalOutputRunstate(0, output_runstate); + + // 接口调用: 设置TOOL_IO[0]为高电平 + bool value = true; + robot->getIoControl()->setToolDigitalOutput(0, value); + std::cout << "设置TOOL_IO[0]的值:" << (value ? "高电平" : "低电平") + << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 接口调用: 获取TOOL_IO[0]的值 + value = robot->getIoControl()->getToolDigitalOutput(0); + std::cout << "获取TOOL_IO[0]的值:" << (value ? "高电平" : "低电平") + << std::endl; +} + +// 工具数字输出——设置触发动作为拖动示教，控制器自动设置输出值 +void exampleToolDigitalOutput2(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 获取工具数字IO的数量，包含输入和输出 + int tool_io_num = robot->getIoControl()->getToolDigitalInputNum(); + std::cout << "获取工具数字IO的数量(包含输入和输出)：" << tool_io_num + << std::endl; + + // 接口调用: 设置TOOL_IO[0]为输出 + bool isInput = false; + robot->getIoControl()->setToolIoInput(0, isInput); + std::this_thread::sleep_for(std::chrono::seconds(0)); + std::cout << "设置TOOL_IO[0]的类型为:" << (isInput ? "输入" : "输出") + << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 接口调用: 获取TOOL_IO[0]的类型 + isInput = robot->getIoControl()->isToolIoInput(0); + std::cout << "获取TOOL_IO[0]的类型为:" << (isInput ? "输入" : "输出") + << std::endl; + + // 接口调用: 设置TOOL_IO[0]的动作为拖动示教。 + // 当机器人进入拖动示教时，TOOL_IO[0]的值为高电平。 + // 当机器人退出拖动示教时，TOOL_IO[0]的值为低电平。 + // 此时，用户不可设置TOOL_IO[0]的值。 + StandardOutputRunState output_runstate = + StandardOutputRunState::Handguiding; + robot->getIoControl()->setToolDigitalOutputRunstate(0, output_runstate); + + // 接口调用: 进入拖动示教 + robot->getRobotManage()->freedrive(true); + + // 等待进入拖动示教模式 + int i = 0; + while (robot->getRobotManage()->isFreedriveEnabled()) { + if (i++ > 5) { + std::cerr << "拖动示教模式使能失败" << std::endl; + return; + } + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + std::cout << "进入拖动示教成功" << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 接口调用: 获取TOOL_IO[0]的值 + bool value = robot->getIoControl()->getToolDigitalOutput(0); + std::cout << "获取TOOL_IO[0]的值:" << (value ? "高电平" : "低电平") + << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(3)); + + // 接口调用: 退出拖动示教 + robot->getRobotManage()->freedrive(false); + + // 等待退出拖动示教模式 + i = 0; + while (robot->getRobotManage()->isFreedriveEnabled()) { + if (i++ > 5) { + std::cerr << "拖动示教模式失能失败" << std::endl; + return; + } + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + std::cout << "退出拖动示教成功" << std::endl; + + std::this_thread::sleep_for(std::chrono::seconds(1)); + + // 接口调用: 获取TOOL_IO[0]的值 + value = robot->getIoControl()->getToolDigitalOutput(0); + std::cout << "获取TOOL_IO[0]的值:" << (value ? "高电平" : "低电平") + << std::endl; +} + +// 工具模拟输入 +void exampleToolAnalogInput(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 获取工具端模拟输入数量 + int tool_ai_num = robot->getIoControl()->getToolAnalogInputNum(); + std::cout << "工具端模拟输入数量: " << tool_ai_num << std::endl; + + // 接口调用: 获取所有工具模拟输入值 + for (int i = 0; i < tool_ai_num; i++) { + double value = robot->getIoControl()->getToolAnalogInput(i); + std::cout << "TOOL_AI[" << i << "]的值:" << value << std::endl; + } +} + +// 安全IO +void exampleSafetyIO(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 获取安全IO输入和输出数量 + int safety_input_num = + robot->getIoControl()->getConfigurableDigitalInputNum(); + int safety_output_num = + robot->getIoControl()->getConfigurableDigitalOutputNum(); + + std::cout << "安全IO的输入数量: " << safety_input_num << std::endl; + std::cout << "安全IO的输出数量: " << safety_output_num << std::endl; + + // 获取安全IO输入的值 + for (int i = 0; i < safety_input_num; i++) { + // 接口调用: 获取安全IO输入的值 + auto value = robot->getIoControl()->getConfigurableDigitalInput(i); + std::cout << "管脚" << i << "安全IO输入的值:" << value << std::endl; + } + + // 获取安全IO输出的值 + for (int i = 0; i < safety_output_num; i++) { + // 接口调用: 获取安全IO输出的值 + auto value = robot->getIoControl()->getConfigurableDigitalOutput(i); + std::cout << "管脚" << i << "安全IO输出的值:" << value << std::endl; + } +} + +// 联动IO +void exampleStaticLinkIO(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 获取联动IO输入和输出数量 + int link_input_num = robot->getIoControl()->getStaticLinkInputNum(); + int link_output_num = robot->getIoControl()->getStaticLinkOutputNum(); + std::cout << "联动IO的输入数量: " << link_input_num << std::endl; + std::cout << "联动IO的输出数量: " << link_output_num << std::endl; + + // 获取联动IO输入的值 + int input_value_decimal = robot->getIoControl()->getStaticLinkInputs(); + printBit(input_value_decimal, "所有联动IO输入值", link_input_num); + + // 获取联动IO输出的值 + int output_value_decimal = robot->getIoControl()->getStaticLinkOutputs(); + + printBit(output_value_decimal, "所有联动IO输出值", link_output_num); +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 数字输入——无触发动作 + exampleStandardDigitalInput1(rpc_cli); + + // // 数字输入——触发动作为拖动示教 + // exampleStandardDigitalInput2(rpc_cli); + + // 数字输出——无触发动作，用户设置输出值 + exampleStandardDigitalOutput1(rpc_cli); + + // // 数字输出——设置触发动作为拖动示教，控制器自动设置输出值 + // exampleStandardDigitalOutput2(rpc_cli); + + // 模拟输入 + exampleStandardAnalogInput(rpc_cli); + + // 模拟输出——无触发动作，用户设置输出值 + exampleStandardAnalogOutput1(rpc_cli); + + // // 模拟输出——设置触发动作为拖动示教器时最大，控制器自动设置输出值 + // exampleStandardAnalogOutput2(rpc_cli); + + // 工具数字输入——无触发动作 + exampleToolDigitalInput1(rpc_cli); + + // // 工具数字输入——触发动作为拖动示教 + // exampleToolDigitalInput2(rpc_cli); + + // 工具数字输出——无触发动作，用户设置输出值 + exampleToolDigitalOutput1(rpc_cli); + + // // 工具数字输出——设置触发动作为拖动示教，控制器自动设置输出值 + // exampleToolDigitalOutput2(rpc_cli); + + // 工具模拟输入 + exampleToolAnalogInput(rpc_cli); + + // 安全IO + exampleSafetyIO(rpc_cli); + + // 联动IO + exampleStaticLinkIO(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_joint_trajectory.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_joint_trajectory.cpp new file mode 100644 index 00000000..34fa5f69 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_joint_trajectory.cpp @@ -0,0 +1,454 @@ +/** + * @file example_joint_trajectory.cpp + * @brief Aubo 机械臂多点位关节轨迹运动示例 + * + * 本示例演示了如何使用 Aubo SDK 控制机械臂进行多点位关节轨迹运动 + * 主要功能包括： + * - 建立 RPC 连接并登录 + * - 检查安全状态、设置负载、上电和松刹车 + * - 启动运行时(start)环境 + * - 使用 moveJoint 进行多点位往复运动 + * - 使用 setLabel 和 getPlanContext 跟踪当前执行点位 + * + * \warning: 运行前请根据实际情况修改代码中的关节角度和负载参数！ + * + * 使用方法: + * ./example_joint_trajectory [roobot_ip] + * 默认连接 kDefaultRobotIP + */ + +#include +#include +#include +#include +#include +#include + +#ifdef _WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +//============================================================================== +// 常量定义 +//============================================================================== + +/** @brief 默认机器人 IP 地址 */ +constexpr char kDefaultRobotIp[] = "127.0.0.1"; + +/** @brief RPC 服务端口号 */ +constexpr int kRpcPort = 30004; + +/** @brief RPC 请求超时时间（毫秒） */ +constexpr int kRpcTimeoutMs = 1000; + +/** @brief 运行时启动超时时间（毫秒） */ +constexpr int kRuntimeStartTimeoutMs = 3000; + +/** @brief 运行时状态轮询间隔（毫秒） */ +constexpr int kRuntimePollIntervalMs = 20; + +/** @brief 上电超时时间（毫秒） */ +constexpr int kPowerOnTimeoutMs = 20000; + +/** @brief 松刹车超时时间（毫秒） */ +constexpr int kStartupTimeoutMs = 10000; + +/** @brief 机械臂模式轮询间隔（毫秒） */ +constexpr int kRobotModePollIntervalMs = 1000; + +//============================================================================== +// 工具函数 +//============================================================================== + +/** + * @brief 将角度值转换为弧度值 + * @param degree 角度值（度） + * @return 对应的弧度值 + */ +constexpr double degreeToRadian(double degree) +{ + return degree * M_PI / 180.0; +} + +//============================================================================== +// 等待辅助函数 +//============================================================================== + +/** + * @brief 等待机械臂进入指定的工作模式 + * + * 该函数会轮询机械臂的当前模式，直到达到目标模式或超时。 + * 机械臂的模式转换是异步的，例如上电后需要等待进入 Idle 模式， + * 松刹车后需要等待进入 Running 模式。 + * + * @param robot 机器人接口指针 + * @param target_mode 目标工作模式（如 Idle、Running 等） + * @param timeout_ms 超时时间（毫秒） + * @return true 成功进入目标模式 + * @return false 超时未能进入目标模式 + */ +bool waitForRobotMode(RobotInterfacePtr robot, RobotModeType target_mode, + int timeout_ms) +{ + int elapsed_ms = 0; + while (elapsed_ms < timeout_ms) { + auto current_mode = robot->getRobotState()->getRobotModeType(); + if (current_mode == target_mode) { + return true; + } + std::cout << "当前模式: " << current_mode << std::endl; + std::this_thread::sleep_for( + std::chrono::milliseconds(kRobotModePollIntervalMs)); + elapsed_ms += kRobotModePollIntervalMs; + } + return false; +} + +/** + * @brief 等待运行时环境进入 Running 状态 + * + * 运行时（RuntimeMachine）启动后需要一定时间完成初始化， + * 该函数会轮询运行时状态，直到进入 Running 状态或超时。 + * 只有在 Running 状态下才能下发运动指令。 + * + * @param runtime 运行时接口指针 + * @param timeout_ms 超时时间（毫秒），默认为 kRuntimeStartTimeoutMs + * @return true 运行时已进入 Running 状态 + * @return false 超时未能进入 Running 状态 + */ +bool waitForRuntimeRunning(RuntimeMachinePtr runtime, + int timeout_ms = kRuntimeStartTimeoutMs) +{ + int elapsed_ms = 0; + while (elapsed_ms < timeout_ms) { + if (runtime->getRuntimeState() == RuntimeState::Running) { + return true; + } + std::this_thread::sleep_for( + std::chrono::milliseconds(kRuntimePollIntervalMs)); + elapsed_ms += kRuntimePollIntervalMs; + } + return false; +} + +//============================================================================== +// 主函数 +//============================================================================== + +/** + * @brief 程序入口函数 + * + * 执行流程： + * 1. 建立 RPC 连接并登录 + * 2. 检查安全状态、设置负载、上电和松刹车 + * 3. 启动运行时环境 + * 4. 执行往复运动并等待完成 + * 5. 清理并退出 + * + * @param argc 命令行参数个数 + * @param argv 命令行参数数组，argv[1] 可指定机器人 IP + * @return 0 成功，-1 失败 + */ +int main(int argc, char *argv[]) +{ +#ifdef _WIN32 + SetConsoleOutputCP(CP_UTF8); +#endif + + std::string robot_ip = kDefaultRobotIp; + if (argc > 1) { + robot_ip = argv[1]; + } + + // 创建 RPC 客户端，用于与机器人控制器通信 + auto rpc_client = std::make_shared(); + RuntimeMachinePtr runtime = nullptr; + + try { + //---------------------------------------------------------------------- + // 第一步：建立 RPC 连接并登录 + //---------------------------------------------------------------------- + + rpc_client->setRequestTimeout(kRpcTimeoutMs); + + if (rpc_client->connect(robot_ip, kRpcPort) != AUBO_OK) { + std::cerr << "连接失败: " << robot_ip << ":" << kRpcPort + << std::endl; + return -1; + } + std::cout << "已连接到 " << robot_ip << std::endl; + + // 使用默认账户登录 + if (rpc_client->login("aubo", "123456") != AUBO_OK) { + std::cerr << "登录失败" << std::endl; + rpc_client->disconnect(); + return -1; + } + std::cout << "登录成功" << std::endl; + + // 获取机器人接口 + auto robot_names = rpc_client->getRobotNames(); + if (robot_names.empty()) { + std::cerr << "未找到机器人" << std::endl; + rpc_client->logout(); + rpc_client->disconnect(); + return -1; + } + auto robot = rpc_client->getRobotInterface(robot_names.front()); + + //---------------------------------------------------------------------- + // 第二步：检查安全状态、设置负载、上电和松刹车 + //---------------------------------------------------------------------- + + // 检查安全状态，只有 Normal 和 ReducedMode 可以正常操作 + auto safety_mode = robot->getRobotState()->getSafetyModeType(); + std::cout << "当前安全模式: " << safety_mode << std::endl; + + // 尝试恢复异常安全状态 + if (safety_mode == SafetyModeType::ProtectiveStop || + safety_mode == SafetyModeType::Violation) { + std::cout << "检测到保护性停机，正在解锁..." << std::endl; + robot->getRobotManage()->setUnlockProtectiveStop(); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + safety_mode = robot->getRobotState()->getSafetyModeType(); + } + + if (safety_mode == SafetyModeType::SystemEmergencyStop || + safety_mode == SafetyModeType::RobotEmergencyStop || + safety_mode == SafetyModeType::Fault) { + // 急停或故障，尝试重置安全接口板 + std::cout << "检测到急停/故障，正在重置..." << std::endl; + robot->getRobotManage()->restartInterfaceBoard(); + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); + safety_mode = robot->getRobotState()->getSafetyModeType(); + } + + // 再次检查安全状态 + if (safety_mode != SafetyModeType::Undefined && + safety_mode != SafetyModeType::Normal && + safety_mode != SafetyModeType::ReducedMode) { + std::cerr << "安全状态异常: " << safety_mode << std::endl; + if (safety_mode == SafetyModeType::SafeguardStop) { + std::cerr << "防护停机，请检查安全IO信号是否正常" << std::endl; + } else if (safety_mode == SafetyModeType::Recovery) { + std::cerr << "机械臂超出安全限制，请手动移动到安全位置" + << std::endl; + } else if (safety_mode == SafetyModeType::SystemEmergencyStop || + safety_mode == SafetyModeType::RobotEmergencyStop) { + std::cerr << "请释放急停按钮" << std::endl; + } else if (safety_mode == SafetyModeType::Fault) { + std::cerr << "机械臂存在硬件故障，请联系技术支持" << std::endl; + } + rpc_client->logout(); + rpc_client->disconnect(); + return -1; + } + + // 设置负载参数（质量kg, 重心m, 惯量kg·m²） + // 警告：请根据实际末端负载修改参数！ + robot->getRobotConfig()->setPayload(0, { 0, 0, 0 }, {}, + { 0, 0, 0, 0, 0, 0 }); + + // 机械臂模式转换流程：Disconnected -> PowerOff -> Idle -> Running + auto robot_mode = robot->getRobotState()->getRobotModeType(); + std::cout << "当前机械臂模式: " << robot_mode << std::endl; + + // 如果未上电（PowerOff 或更早状态），需要先上电 + if (robot_mode != RobotModeType::Idle && + robot_mode != RobotModeType::Running) { + std::cout << "正在上电..." << std::endl; + if (robot->getRobotManage()->poweron() != AUBO_OK) { + std::cerr << "上电请求失败" << std::endl; + rpc_client->logout(); + rpc_client->disconnect(); + return -1; + } + + if (!waitForRobotMode(robot, RobotModeType::Idle, + kPowerOnTimeoutMs)) { + std::cerr << "等待上电超时" << std::endl; + rpc_client->logout(); + rpc_client->disconnect(); + return -1; + } + robot_mode = RobotModeType::Idle; + } + + // 如果已上电但未松刹车（Idle 状态），需要松刹车 + if (robot_mode == RobotModeType::Idle) { + std::cout << "正在松刹车..." << std::endl; + if (robot->getRobotManage()->startup() != AUBO_OK) { + std::cerr << "松刹车请求失败" << std::endl; + rpc_client->logout(); + rpc_client->disconnect(); + return -1; + } + + if (!waitForRobotMode(robot, RobotModeType::Running, + kStartupTimeoutMs)) { + std::cerr << "等待松刹车超时" << std::endl; + rpc_client->logout(); + rpc_client->disconnect(); + return -1; + } + } + + std::cout << "机械臂已就绪" << std::endl; + + //---------------------------------------------------------------------- + // 第三步：启动运行时环境 + //---------------------------------------------------------------------- + + // 获取运行时环境接口，运行时是执行运动指令的核心组件 + runtime = rpc_client->getRuntimeMachine(); + std::cout << "正在启动运行时..." << std::endl; + bool runtime_started = false; + int elapsed_ms = 0; + while (elapsed_ms < kRuntimeStartTimeoutMs) { + if (runtime->start() == AUBO_OK) { + runtime_started = true; + break; + } + std::this_thread::sleep_for( + std::chrono::milliseconds(kRuntimePollIntervalMs)); + elapsed_ms += kRuntimePollIntervalMs; + } + + if (!runtime_started) { + std::cerr << "运行时启动超时" << std::endl; + rpc_client->logout(); + rpc_client->disconnect(); + return -1; + } + + if (!waitForRuntimeRunning(runtime)) { + std::cerr << "等待运行时就绪超时" << std::endl; + rpc_client->logout(); + rpc_client->disconnect(); + return -1; + } + std::cout << "运行时已启动" << std::endl; + + //---------------------------------------------------------------------- + // 第四步：执行往复运动并等待完成 + //---------------------------------------------------------------------- + + // 定义 3 组关节目标位置（6 轴机器人，每组 6 个关节角度，单位：弧度） + // 警告：运行前请根据实际机型修改关节角度，避免碰撞或超限！ + std::vector> joint_positions = { + // 位置 1：初始位置 + { degreeToRadian(0.0), degreeToRadian(-15.0), degreeToRadian(100.0), + degreeToRadian(25.0), degreeToRadian(90.0), degreeToRadian(0.0) }, + + // 位置 2：中间位置 + { degreeToRadian(35.92), degreeToRadian(-11.28), + degreeToRadian(59.96), degreeToRadian(-18.76), + degreeToRadian(90.0), degreeToRadian(35.92) }, + + // 位置 3：目标位置 + { degreeToRadian(41.04), degreeToRadian(-7.65), + degreeToRadian(98.80), degreeToRadian(16.44), + degreeToRadian(90.0), degreeToRadian(11.64) } + }; + // 设置全局速度比率（0.0~1.0），影响所有运动指令的实际速度 + // 提示：示例默认使用较低速度，可根据实际需求调整 + robot->getMotionControl()->setSpeedFraction(0.3); + + // 构建完整的运动序列 + // 单次往复：位置1 -> 位置2 -> 位置3 -> 位置2 + std::vector single_round = { 0, 1, 2, 1 }; + int repeat_count = 10; // 往复运动重复次数 + + std::vector move_sequence; + for (int i = 0; i < repeat_count; ++i) { + move_sequence.insert(move_sequence.end(), single_round.begin(), + single_round.end()); + } + + // 执行运动序列 + int instruction_label = 0; + bool motion_failed = false; + + // 设置初始标签，用于标记运动序列起点 + runtime->setLabel(instruction_label, "开始"); + + for (size_t position_index : move_sequence) { + // 下发关节运动指令，队列满时重试 + while (true) { + int result = robot->getMotionControl()->moveJoint( + joint_positions[position_index], 0.5, 0.5, 0, 0); + + if (result == AUBO_OK) { + // 设置标签用于追踪执行进度 + runtime->setLabel( + ++instruction_label, + "位置" + std::to_string(position_index + 1)); + std::cout << "下发移动到位置" << (position_index + 1) + << ", label=" << instruction_label << std::endl; + break; + } else if (result == AUBO_QUEUE_FULL) { + // 队列已满，等待后重试 + std::this_thread::sleep_for(std::chrono::milliseconds(20)); + } else { + std::cerr << "moveJoint 失败, 错误码: " << result + << std::endl; + motion_failed = true; + break; + } + } + if (motion_failed) { + break; + } + } + + if (motion_failed) { + std::cerr << "运动指令下发失败，已下发 " << instruction_label + << " 条" << std::endl; + } else { + std::cout << "指令下发完成, 共 " << instruction_label << " 条" + << std::endl; + } + + // 等待已下发的运动指令执行完成 + if (instruction_label > 0) { + // getPlanContext 返回当前执行到的标签号 + // 当 line_number >= 最后一条指令的标签时表示完成 + while (true) { + // 检查运行时状态，如果已停止则退出等待 + if (runtime->getRuntimeState() != RuntimeState::Running) { + std::cerr << "运行时已停止，退出等待" << std::endl; + break; + } + auto [_, line_number, comment] = runtime->getPlanContext(); + if (line_number >= instruction_label) { + std::cout << "运动完成" << std::endl; + break; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + } + + //---------------------------------------------------------------------- + // 第五步：清理并退出 + //---------------------------------------------------------------------- + + runtime->abort(); + rpc_client->logout(); + rpc_client->disconnect(); + std::cout << "已退出" << std::endl; + + return 0; + + } catch (const AuboException &e) { + std::cerr << "SDK 异常: " << e.what() << ", 错误码: " << e.code() + << std::endl; + if (runtime) + runtime->stop(); + rpc_client->logout(); + rpc_client->disconnect(); + return -1; + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_math.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_math.cpp new file mode 100644 index 00000000..1111a25c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_math.cpp @@ -0,0 +1,387 @@ +#include "aubo_sdk/rpc.h" +#include "math.h" +#ifdef WIN32 +#include +#endif + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +// clang-format off + +// 模板函数：打印单个变量的值和名称 +template void printSingle(T param, std::string name) { + std::cout << name << ": " << param << std::endl; +} + +// 模板函数: 打印类型为std::vector的变量 +template void printVec(std::vector param, std::string name) { + std::cout << name << ": "; + + for (int i = 0; i < param.size(); i++) { + std::cout << param.at(i); + if (i != param.size() - 1) { + std::cout << ", "; + } + } + std::cout << std::endl; +} + +// 模板函数: 打印类型为 std::vector> 的变量 +template void print2Vec(std::vector param, std::string name) { + std::cout << name << ": " << std::endl; + for (size_t i = 0; i < param.size(); i++) { + std::cout << " 第" << i + 1 << "组: "; + for (size_t j = 0; j < param.at(i).size(); j++) { + std::cout << param.at(i).at(j); + + if (j != param.at(i).size() - 1) { + std::cout << ", "; + } else { + std::cout << std::endl; + } + } + + if ((param.size() - 1) == i) { + std::cout << std::endl; + } + } +} + +void examplePoseAdd(RpcClientPtr impl) { + std::vector p1 = {0.2, 0.5, 0.1, 1.57, 0, 0}; + std::vector p2 = {0.2, 0.5, 0.6, 1.57, 0, 0}; + + // 接口调用: 位姿加法 + auto result = impl->getMath()->poseAdd(p1, p2); + + printVec(result, "poseAdd"); +} + +void examplePoseSub(RpcClientPtr impl) { + std::vector p1 = {0.2, 0.5, 0.1, 1.57, 0, 0}; + std::vector p2 = {0.2, 0.5, 0.6, 1.57, 0, 0}; + + // 接口调用: 位姿减法 + auto result = impl->getMath()->poseSub(p1, p2); + + printVec(result, "poseSub"); +} + +void exampleInterpolatePose(RpcClientPtr impl) { + std::vector p1 = {0.2, 0.2, 0.4, 0, 0, 0}; + std::vector p2 = {0.2, 0.2, 0.6, 0, 0, 0}; + double alpha = 0.5; + + // 接口调用: 计算线性差值 + auto result = impl->getMath()->interpolatePose(p1, p2, alpha); + + printVec(result, "interpolatePose"); +} + +void examplePoseTrans(RpcClientPtr impl) { + // B相对于A的位姿 + std::vector F_B_A = {0.2, 0.5, 0.1, 1.57, 0, 0}; + // C相对于B的位姿 + std::vector F_C_B = {0.2, 0.5, 0.6, 1.57, 0, 0}; + + // 接口调用: 位姿变换获得C相对于A的位姿 + auto F_C_A = impl->getMath()->poseTrans(F_B_A, F_C_B); + + printVec(F_C_A, "poseTrans"); +} + +void examplePoseTransInv(RpcClientPtr impl) { + // C相对于A的位姿 + std::vector F_C_A = {0.4, -0.0996016, 0.600478, 3.14, 0, 0}; + // C相对于B的位姿 + std::vector F_C_B = {0.2, 0.5, 0.6, 1.57, 0, 0}; + // 接口调用: 位姿逆变换获得B相对于A的位姿 + auto F_B_A = impl->getMath()->poseTransInv(F_C_A, F_C_B); + + printVec(F_B_A, "poseTransInv"); +} + +void examplePoseInverse(RpcClientPtr impl) { + std::vector p = {0.2, 0.5, 0.1, 1.57, 0, 3.14}; + // 接口调用: 获取位姿的逆 + auto result = impl->getMath()->poseInverse(p); + + printVec(result, "poseInverse"); +} + +void examplePoseDistance(RpcClientPtr impl) { + std::vector p1 = {0.1, 0.3, 0.1, 0.3142, 0.0, 1.571}; + std::vector p2 = {0.2, 0.5, 0.6, 0, -0.172, 0.0}; + + // 接口调用: 获得两个位姿的位置距离 + auto result = impl->getMath()->poseDistance(p1, p2); + + printSingle(result, "poseDistance"); +} + +void examplePoseEqual(RpcClientPtr impl) { + std::vector p1 = {0.1, 0.3, 0.1, 0.3142, 0.0, 1.571}; + std::vector p2 = {0.1, 0.3, 0.1, 0.3142, 0.0, 1.5711}; + // 接口调用: 判断两个位姿是否相等 + auto result = impl->getMath()->poseEqual(p1, p2); + printSingle(result, "poseEqual"); +} + +// 欧拉角转四元数 +void exampleRpyToQuat(RpcClientPtr impl) { + std::vector rpy = {0.611, 0.785, 0.960}; + // 接口调用: 欧拉角转四元数 + auto quat = impl->getMath()->rpyToQuaternion(rpy); + + printVec(quat, "欧拉角 -> 四元数"); +} + +// 四元数转欧拉角 +void exampleQuatToRpy(RpcClientPtr impl) { + std::vector quat = {0.834722, 0.0780426, 0.451893, 0.304864}; + // 接口调用: 四元数转欧拉角 + auto rpy = impl->getMath()->quaternionToRpy(quat); + + printVec(rpy, "四元数 -> 欧拉角"); +} + +// 坐标系标定 +void exampleCalibrateCoordinate(RpcClientPtr impl) { + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + + std::vector tcp_offset = {0.17734, 0.00233, 0.14682, 0.0, 0.0, 0.0}; + + // 接口调用: 设置 TCP 偏移值 + impl->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpOffset(tcp_offset); + + // TCP 在基坐标系下的位姿 + std::vector coord_p0(6), coord_p1(6), coord_p2(6); + coord_p0[0] = 0.55462; + coord_p0[1] = 0.06219; + coord_p0[2] = 0.37175; + coord_p0[3] = -3.142; + coord_p0[4] = 0.0; + coord_p0[5] = 1.580; + + coord_p1[0] = 0.63746; + coord_p1[1] = 0.11805; + coord_p1[2] = 0.37175; + coord_p1[3] = -3.142; + coord_p1[4] = 0.0; + coord_p1[5] = 1.580; + + coord_p2[0] = 0.40441; + coord_p2[1] = 0.28489; + coord_p2[2] = 0.37174; + coord_p2[3] = -3.142; + coord_p2[4] = 0.0; + coord_p2[5] = 1.580; + + // 接口调用: 用户坐标系标定 + // 接口调用: 获取用户坐标系相对于基坐标系的位姿 + auto [user_on_base, ret] = + impl->getMath()->calibrateCoordinate({coord_p0, coord_p1, coord_p2}, 0); + + // 接口调用: 获取 TCP 在基坐标系下的当前位姿 + auto tcp_on_base = + impl->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + + // 接口调用: 获取用户坐标系相对于基坐标系的位姿的逆 + auto tcp_on_base_inv = impl->getMath()->poseInverse(user_on_base); + + // 接口调用: 获取 TCP 在用户坐标系下的当前位姿 + auto tcp_on_user = impl->getMath()->poseTrans(tcp_on_base_inv, tcp_on_base); + + printVec(tcp_on_base, "TCP在基坐标系下的位姿"); + printVec(tcp_offset, "TCP偏移"); + printVec(user_on_base, "用户坐标系相对于基坐标系的位姿"); + printVec(tcp_on_user, "TCP在用户坐标系下的位姿"); +} + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) { + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +// 计算另一半圆弧的中间点 +void exampleCalculateCircleFourthPoint(RpcClientPtr impl) { + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + + std::vector tcp_offset = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; + + // 接口调用: 设置 TCP 偏移值 + impl->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpOffset(tcp_offset); + + // 接口调用: 设置机械臂运动的速度比率 + impl->getRobotInterface(robot_name) + ->getMotionControl() + ->setSpeedFraction(0.3); + + std::vector q = {0.00, + -10.43 / 180 * M_PI, + 87.39 / 180 * M_PI, + 7.82 / 180 * M_PI, + 90.0 / 180 * M_PI, + 0.0 / 180 * M_PI}; + + // 接口调用: 关节运动到起始位置 + impl->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(q, 1.2, 1.0, 0, 0); + // 阻塞 + int ret = waitArrival(impl->getRobotInterface(robot_name)); + if (ret == 0) { + std::cout << "关节运动到初始位置成功" << std::endl; + } else { + std::cout << "关节运动到初始位置失败" << std::endl; + } + + std::vector p1 = {0.5488696249770836, -0.1214996547187204, + 0.2631931199112321, -3.14159198038469, + -3.673205103150083e-06, 1.570796326792424}; + + std::vector p2 = {0.5488696249770835, -0.1214996547187207, + 0.3599720701808493, -3.14159198038469, + -3.6732051029273e-06, 1.570796326792423}; + + std::vector p3 = {0.5488696249770836, -0.0389996547187214, + 0.3599720701808496, -3.141591980384691, + -3.673205102557476e-06, 1.570796326792422}; + + // 接口调用: 直线运动到圆的第一个点 + impl->getRobotInterface(robot_name) + ->getMotionControl() + ->moveLine(p1, 1.2, 0.25, 0, 0); + // 阻塞 + ret = waitArrival(impl->getRobotInterface(robot_name)); + if (ret == 0) { + std::cout << "直线运动到圆的起始点成功" << std::endl; + } else { + std::cout << "直线运动到圆的起始点失败" << std::endl; + } + + // 接口调用: 计算另一半圆弧的中间点位置 + auto [p4, retval] = + impl->getMath()->calculateCircleFourthPoint(p1, p2, p3, 1); + + if (retval == 0) { + std::cerr << "计算另一半圆弧的中间点失败，无法完成圆运动" << std::endl; + } else { + // 接口调用: 设置为固定模式 + impl->getRobotInterface(robot_name) + ->getMotionControl() + ->setCirclePathMode(0); + + // 接口调用: 做圆弧运动 + impl->getRobotInterface(robot_name) + ->getMotionControl() + ->moveCircle(p2, p3, 1.2, 0.25, 0, 0); + // 阻塞 + ret = waitArrival(impl->getRobotInterface(robot_name)); + if (ret == -1) { + std::cout << "圆运动失败" << std::endl; + } + + // 接口调用: 做组成圆运动的另一半圆弧运动 + impl->getRobotInterface(robot_name) + ->getMotionControl() + ->moveCircle(p4, p1, 1.2, 0.25, 0, 0); + // 阻塞 + ret = waitArrival(impl->getRobotInterface(robot_name)); + if (ret == 0) { + std::cout << "圆运动成功" << std::endl; + } else { + std::cout << "圆运动失败" << std::endl; + } + } +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) { +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时, 单位: ms + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 位姿相加 + examplePoseAdd(rpc_cli); + + // 位姿相减 + examplePoseSub(rpc_cli); + + // 位姿线性插值 + exampleInterpolatePose(rpc_cli); + + // 位姿变换 + examplePoseTrans(rpc_cli); + + // 位姿逆变换 + examplePoseTransInv(rpc_cli); + + // 姿态的逆 + examplePoseInverse(rpc_cli); + + // 位姿距离（不包括姿态） + examplePoseDistance(rpc_cli); + + // 判断位姿是否相等 + examplePoseEqual(rpc_cli); + + // 欧拉角转四元数 + exampleRpyToQuat(rpc_cli); + + // 四元数转欧拉角 + exampleQuatToRpy(rpc_cli); + + // 坐标系标定 + exampleCalibrateCoordinate(rpc_cli); + + // 计算另一半圆弧的中间点 + // exampleCalculateCircleFourthPoint(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_moveSpiral_i5.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_moveSpiral_i5.cpp new file mode 100644 index 00000000..48102fab --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_moveSpiral_i5.cpp @@ -0,0 +1,216 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +void exampleMoveSpiral1(RpcClientPtr cli) +{ + // 关节角，单位: 弧度 + std::vector start_q = { + -0.04723656192459002, -0.3147961077805709, 2.122706013891513, + 1.388465989105001, 1.59432305862766, -0.04096820515125211 + }; + + // 位姿 + std::vector start_p = { 0.4992287020163843, -0.1430213015569043, + 0.1929798566172833, 2.619351290960044, + 3.577791911729708e-05, 1.570799472227775 }; + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 设置工具中心点（TCP相对于法兰盘中心的偏移） + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 接口调用: 关节运动到起始位置 + robot_interface->getMotionControl()->moveJoint(start_q, 80 * (M_PI / 180), + 60 * (M_PI / 180), 0, 0); + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到起始位置成功！" << std::endl; + } else { + std::cout << "关节运动到起始位置失败！" << std::endl; + } + + // 螺旋线运动圆心位置 + std::vector center_position = { 0.4992155149838216, + -0.08141538203368692, + 0.1929808028919965 }; + std::vector center_pose(6, 0.); + + // 螺旋线运动基于基坐标系的XY平面 + // 圆心位置 + for (int i = 0; i < 3; i++) { + center_pose[i] = center_position[i]; + } + // 圆心姿态 + for (int i = 3; i < 6; i++) { + center_pose[i] = 0.; + } + + // 设置螺旋线运动参数 + SpiralParameters param; + param.spiral = 0.005; // 每转一圈螺旋运动对应圆半径增加的步长 + param.helix = 0.005; // 螺旋运动在z轴方向上的步长 + param.angle = 6 * M_PI; // 螺旋运动角度范围 + param.plane = 0; // 基于XY平面 + param.frame = center_pose; + + robot_interface->getMotionControl()->moveSpiral(param, 0, 0.25, 1.2, 0); + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "螺旋线运动成功" << std::endl; + } else { + std::cout << "螺旋线运动失败" << std::endl; + } +} + +void exampleMoveSpiral2(RpcClientPtr cli) +{ + // 关节角，单位: 弧度 + std::vector start_q = { + -0.04723656192459002, -0.3147961077805709, 2.122706013891513, + 1.388465989105001, 1.59432305862766, -0.04096820515125211 + }; + + // 位姿 + std::vector start_p = { 0.4992287020163843, -0.1430213015569043, + 0.1929798566172833, 2.619351290960044, + 3.577791911729708e-05, 1.570799472227775 }; + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 设置工具中心点（TCP相对于法兰盘中心的偏移） + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 接口调用: 关节运动到起始位置 + robot_interface->getMotionControl()->moveJoint(start_q, 80 * (M_PI / 180), + 60 * (M_PI / 180), 0, 0); + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到起始位置成功！" << std::endl; + } else { + std::cout << "关节运动到起始位置失败！" << std::endl; + } + + // 螺旋线运动圆心位置 + std::vector center_position = { 0.4992155149838216, + -0.08141538203368692, + 0.1929808028919965 }; + std::vector center_pose(6, 0.); + + // 螺旋线运动基于TCP坐标系的XY平面 + // 圆心位置 + for (int i = 0; i < 3; i++) { + center_pose[i] = center_position[i]; + } + // 圆心姿态 + auto tcp_pose = robot_interface->getRobotState()->getTcpPose(); + for (int i = 3; i < 6; i++) { + center_pose[i] = tcp_pose[i]; + } + + // 设置螺旋线运动参数 + SpiralParameters param; + param.spiral = 0.005; // 每转一圈螺旋运动对应圆半径增加的步长 + param.helix = 0.005; // 螺旋运动在z轴方向上的步长 + param.angle = 10 * M_PI; // 螺旋运动角度范围 + param.plane = 0; // 基于XY平面 + param.frame = center_pose; + + robot_interface->getMotionControl()->moveSpiral(param, 0, 0.25, 1.2, 0); + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "螺旋线运动成功" << std::endl; + } else { + std::cout << "螺旋线运动失败" << std::endl; + } +} + +/** + * 功能: 机械臂螺旋线运动 + * 步骤: + * 第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 + * 第二步: 设置运动速度比率和工具中心点 + * 第三步: 先关节运动到起始位置，然后进行螺旋线运动 + * 第四步: RPC 退出登录、断开连接 + */ + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 螺旋线运动 + exampleMoveSpiral1(rpc_cli); + + // 螺旋线运动 + // exampleMoveSpiral2(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_move_axis.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_move_axis.cpp new file mode 100644 index 00000000..20fd4c26 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_move_axis.cpp @@ -0,0 +1,263 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +void exampleMoveAxis1(RpcClientPtr cli) +{ + // 关节角，单位: 弧度 + std::vector joint_angle = { + 0.0 * (M_PI / 180), -15.0 * (M_PI / 180), 100.0 * (M_PI / 180), + 25.0 * (M_PI / 180), 90.0 * (M_PI / 180), 0.0 * (M_PI / 180) + }; + // 位姿 + std::vector pose1 = { -0.155944, -0.727344, 0.439066, + 3.05165, 0.0324355, 1.80417 }; + std::vector pose2 = { -0.581143, -0.357548, 0.439066, + 3.05165, 0.0324355, 1.80417 }; + std::vector pose3 = { 0.503502, -0.420646, 0.439066, + 3.05165, 0.0324355, 1.80417 }; + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 设置工具中心点（TCP相对于法兰盘中心的偏移） + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 接口调用: 关节运动到起始位置 + robot_interface->getMotionControl()->moveJoint( + joint_angle, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到起始位置成功！" << std::endl; + } else { + std::cout << "关节运动到起始位置失败！" << std::endl; + } + + std::string axis_group_name = "test"; + auto axis = cli->getAxisInterface(cli->getAxisNames().front()); + auto syn_move = cli->getSyncMove(robot_name); + syn_move->axisGroupAdd(axis_group_name, { 0, 1, 0 }, "base"); + syn_move->axisGroupAddAxis(axis_group_name, cli->getAxisNames().front(), + "base", { 0, 1, 0 }); + robot_interface->getRobotConfig()->enableAxisGroup(axis_group_name); + + // 接口调用: 直线运动到位置1 + robot_interface->getMotionControl()->moveLineWithAxisGroup( + pose1, 1.2, 0.25, 0.025, 0, axis_group_name, { -0.14 }); + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到位置1成功！" << std::endl; + } else { + std::cout << "直线运动到位置1失败！" << std::endl; + } + + // 接口调用: 直线运动到位置2 + robot_interface->getMotionControl()->moveLineWithAxisGroup( + pose2, 1.2, 0.25, 0.025, 0, axis_group_name, { -0.126 }); + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到位置2成功！" << std::endl; + } else { + std::cout << "直线运动到位置2失败！" << std::endl; + } + + // 接口调用: 直线运动到位置3 + robot_interface->getMotionControl()->moveLineWithAxisGroup( + pose3, 1.2, 0.25, 0.025, 0, axis_group_name, { -0.08 }); + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到位置3成功！" << std::endl; + } else { + std::cout << "直线运动到位置3失败！" << std::endl; + } +} + +void exampleMoveAxis2(RpcClientPtr cli) +{ + // 接口调用: 开启运行时。 + // 注意: 摆弧运动需要将运行时打开,否则摆弧不生效。 + cli->getRuntimeMachine()->start(); + + // 关节角，单位: 弧度 + std::vector joint_angle = { + 0.0 * (M_PI / 180), -15.0 * (M_PI / 180), 100.0 * (M_PI / 180), + 25.0 * (M_PI / 180), 90.0 * (M_PI / 180), 0.0 * (M_PI / 180) + }; + std::vector joint_angle1 = { + -30.93 * (M_PI / 180), -18.57 * (M_PI / 180), 95.20 * (M_PI / 180), + 23.79 * (M_PI / 180), 89.95 * (M_PI / 180), -30.93 * (M_PI / 180) + }; + // 位姿 + std::vector pose1 = { 0.1112, -0.4403, 0.36491, -3.14, 0, 1.576 }; + std::vector pose2 = { + 0.065, -0.41235, 0.43762, 3.044, 0.005, 0.045 + }; + std::vector pose3 = { -0.34103, -0.35413, 0.53763, + 3.044, 0.005, 0.045 }; + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.7); + + // 接口调用: 设置工具中心点（TCP相对于法兰盘中心的偏移） + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 接口调用: 关节运动到起始位置 + robot_interface->getMotionControl()->moveJoint( + joint_angle, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到起始位置成功！" << std::endl; + } else { + std::cout << "关节运动到起始位置失败！" << std::endl; + } + + // 接口调用: 关节运动到起始位置 + robot_interface->getMotionControl()->moveJoint( + joint_angle1, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到起始位置成功！" << std::endl; + } else { + std::cout << "关节运动到起始位置失败！" << std::endl; + } + + // 接口调用: 直线运动到位置1 + robot_interface->getMotionControl()->moveLine(pose1, 1.2, 0.25, 0.0, 0); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到位置1成功！" << std::endl; + } else { + std::cout << "直线运动到位置1失败！" << std::endl; + } + + std::string axis_group_name = "test"; + auto axis = cli->getAxisInterface(cli->getAxisNames().front()); + auto syn_move = cli->getSyncMove(robot_name); + syn_move->axisGroupAdd(axis_group_name, { 0, 1, 0 }, "base"); + syn_move->axisGroupAddAxis(axis_group_name, cli->getAxisNames().front(), + "base", { 0, 1, 0 }); + robot_interface->getRobotConfig()->enableAxisGroup(axis_group_name); + + std::string params = "{\"type\":\"SINE\",\"frequency\":3,\"amplitude\": " + "[0.01,0.01],\"hold_distance\": " + "[0,0],\"hold_time\":[0,0], " + "\"angle\":[0,0], \"direction\":0}"; + + // 接口调用: 开始摆动 + robot_interface->getMotionControl()->weaveStart(params); + + // 接口调用: 直线运动到位置3 + robot_interface->getMotionControl()->moveLineWithAxisGroup( + pose2, 0.05, 0.01, 0.0, 0.0, axis_group_name, { 0.1 }); + + // 接口调用: 直线运动到位置3 + robot_interface->getMotionControl()->moveLineWithAxisGroup( + pose3, 0.05, 0.01, 0.0, 0.0, axis_group_name, { 0.2 }); + + // 接口调用: 结束摆动 + robot_interface->getMotionControl()->weaveEnd(); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到位置3成功！" << std::endl; + } else { + std::cout << "直线运动到位置3失败！" << std::endl; + } + + // 摆弧运动结束后将运行时关闭 + cli->getRuntimeMachine()->stop(); +} + +/** + * 功能: 机械臂直线运动 + * 步骤: + * 第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 + * 第二步: 设置运动速度比率和工具中心点 + * 第三步: 先关节运动到起始位置，然后再以直线运动的方式依次经过3个路点 + * 第四步: RPC 退出登录、断开连接 + */ + +#define LOCAL_IP "192.168.10.11" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // exampleMoveAxis1(rpc_cli); + exampleMoveAxis2(rpc_cli); // 摆动 + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_move_speed.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_move_speed.cpp new file mode 100644 index 00000000..82dd954c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_move_speed.cpp @@ -0,0 +1,423 @@ +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/rtde.h" +#include +#include +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 关节示教 +void exampleSpeedJoint(RpcClientPtr impl) { + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + auto robot_interface = impl->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 输入字符串 + std::string input_angle; + // 定义输入字符串和键值映射 + std::map keymap; + keymap["j1+"] = 1; + keymap["j1-"] = 2; + keymap["j2+"] = 3; + keymap["j2-"] = 4; + keymap["j3+"] = 5; + keymap["j3-"] = 6; + keymap["j4+"] = 7; + keymap["j4-"] = 8; + keymap["j5+"] = 9; + keymap["j5-"] = 10; + keymap["j6+"] = 11; + keymap["j6-"] = 12; + keymap["s"] = 13; + keymap["exit"] = 14; + + // 初始化循环控制变量 + bool continue_loop = true; + + // speedJoint速度 + double speed = 0.2; + + int cnt = 0; + while (continue_loop) { + std::cout << "请输入机械臂要运动的关节角: " << std::endl; + // 显示有效输入提示 + if (cnt++ == 0) { + std::cout << "有效输入值如下: " + "j1+、j1-、j2+、j2-、j3+、j3-、j4+、j4-、j5+、j5-、j6+" + "、j6-、s、exit" + << std::endl; + std::cout << "j1+表示关节1正方向，j1-表示关节1负方向，j2+" + "表示关节2正方向，j2-" + "表示关节2负方向，j3+表示关节3正方向，j3-" + "，表示关节3负方向，j4+" + "表示关节4正方向，j4-表示关节4负方向，j5+" + "表示关节5正方向，j5-" + "表示关节5负方向，j6+表示关节6正方向，j6-" + "表示关节6负方向，s表示停止运动，exit表示退出循环" + << std::endl; + } + + std::cin >> input_angle; + char value = keymap[input_angle]; + switch (value) { + case 1: { + std::vector qd = {speed, 0.0, 0.0, 0.0, 0.0, 0.0}; + + // 接口调用: 机械臂的关节1沿着正方向运动 + robot_interface->getMotionControl()->speedJoint(qd, 1.5, 100); + break; + } + case 2: { + std::vector qd = {speed * (-1), 0.0, 0.0, 0.0, 0.0, 0.0}; + + // 接口调用: 机械臂的关节1沿着负方向运动 + robot_interface->getMotionControl()->speedJoint(qd, 1.5, 100); + break; + } + case 3: { + std::vector qd = {0.0, speed, 0.0, 0.0, 0.0, 0.0}; + + // 接口调用: 机械臂的关节2沿着正方向运动 + robot_interface->getMotionControl()->speedJoint(qd, 1.5, 100); + break; + } + case 4: { + std::vector qd = {0.0, speed * (-1), 0.0, 0.0, 0.0, 0.0}; + + // 接口调用: 机械臂的关节2沿着负方向运动 + robot_interface->getMotionControl()->speedJoint(qd, 1.5, 100); + break; + } + case 5: { + std::vector qd = {0.0, 0.0, speed, 0.0, 0.0, 0.0}; + + // 接口调用: 机械臂的关节3沿着正方向运动 + robot_interface->getMotionControl()->speedJoint(qd, 1.5, 100); + break; + } + + case 6: { + std::vector qd = {0.0, 0.0, speed * (-1), 0.0, 0.0, 0.0}; + + // 接口调用: 机械臂的关节3沿着负方向运动 + robot_interface->getMotionControl()->speedJoint(qd, 1.5, 100); + break; + } + case 7: { + std::vector qd = {0.0, 0.0, 0.0, speed, 0.0, 0.0}; + + // 接口调用: 机械臂的关节4沿着正方向运动 + robot_interface->getMotionControl()->speedJoint(qd, 1.5, 100); + break; + } + case 8: { + std::vector qd = {0.0, 0.0, 0.0, speed * (-1), 0.0, 0.0}; + // 接口调用: 机械臂的关节4沿着负方向运动 + robot_interface->getMotionControl()->speedJoint(qd, 1.5, 100); + break; + } + case 9: { + std::vector qd = {0.0, 0.0, 0.0, 0.0, speed, 0.0}; + + // 接口调用: 机械臂的关节5沿着正方向运动 + robot_interface->getMotionControl()->speedJoint(qd, 1.5, 100); + break; + } + case 10: { + std::vector qd = {0.0, 0.0, 0.0, 0.0, speed * (-1), 0.0}; + + // 接口调用: 机械臂的关节5沿着负方向运动 + robot_interface->getMotionControl()->speedJoint(qd, 1.5, 100); + break; + } + case 11: { + std::vector qd = {0.0, 0.0, 0.0, 0.0, 0.0, speed}; + + // 接口调用: 机械臂的关节6沿着正方向运动 + robot_interface->getMotionControl()->speedJoint(qd, 1.5, 100); + break; + } + case 12: { + std::vector qd = {0.0, 0.0, 0.0, 0.0, 0.0, speed * (-1)}; + + // 接口调用: 机械臂的关节6沿着负方向运动 + robot_interface->getMotionControl()->speedJoint(qd, 1.5, 100); + break; + } + case 13: { + // 接口调用: 停止关节速度跟随运动 + robot_interface->getMotionControl()->stopJoint(31); + + break; + } + case 14: { + // 退出循环 + continue_loop = false; + break; + } + default: { + std::cerr << "输入值无效" << std::endl; + std::cerr << "以下为有效输入值: " + "j1+、j1-、j2+、j2-、j3+、j3-、j4+、j4-、j5+、j5-、j6+" + "、j6-、s、exit" + << std::endl; + } + } + } +} + +// 在基坐标系下的位置姿态示教 +void exampleSpeedLine(RpcClientPtr impl) { + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + auto robot_interface = impl->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 设置工具中心点（TCP相对于法兰盘中心的偏移） + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 输入字符串 + std::string input_axis; + // 定义输入字符串和键值映射 + std::map keymap; + keymap["x+"] = 1; + keymap["x-"] = 2; + keymap["y+"] = 3; + keymap["y-"] = 4; + keymap["z+"] = 5; + keymap["z-"] = 6; + keymap["rx+"] = 7; + keymap["rx-"] = 8; + keymap["ry+"] = 9; + keymap["ry-"] = 10; + keymap["rz+"] = 11; + keymap["rz-"] = 12; + keymap["s"] = 13; + keymap["exit"] = 14; + + // 初始化循环控制变量 + bool continue_loop = true; + + // speedLine速度 + double speed = 0.25; + + int cnt = 0; + while (continue_loop) { + std::cout << "请输入机械臂要运动的轴: " << std::endl; + // 显示有效输入提示 + if (cnt++ == 0) { + std::cout << "有效输入值如下: " + "x+、x-、y+、y-、z+、z-、rx+、rx-、ry+、ry-、rz+" + "、rz-、s、exit" + << std::endl; + std::cout << "x+表示x轴正方向做直线运动，x-表示x轴负方向做直线运动，y+" + "表示y轴正方向做直线运动，y-" + "表示y轴负方向做直线运动，z+表示z轴正方向做直线运动，z-" + "表示z轴负方向做直线运动，rx+" + "表示x轴正方向做旋转运动，rx-表示x轴负方向做旋转运动，ry+" + "表示y轴正方向做旋转运动，ry-" + "表示y轴负方向做旋转运动，rz+表示z轴正方向做旋转运动，rz-" + "表示z轴负方向做旋转运动，s表示停止运动，exit表示退出循环" + << std::endl; + } + + std::cin >> input_axis; + char value = keymap[input_axis]; + switch (value) { + case 1: { + std::vector qd = {speed, 0.0, 0.0, 0.0, 0.0, 0.0}; + + // 接口调用: TCP沿着基坐标系x轴正方向做直线运动 + robot_interface->getMotionControl()->speedLine(qd, 1.2, 100); + break; + } + case 2: { + std::vector qd = {speed * (-1), 0.0, 0.0, 0.0, 0.0, 0.0}; + + // 接口调用: TCP沿着基坐标系x轴负方向做直线运动 + robot_interface->getMotionControl()->speedLine(qd, 1.2, 100); + break; + } + case 3: { + std::vector qd = {0.0, speed, 0.0, 0.0, 0.0, 0.0}; + + // 接口调用: TCP沿着基坐标系y轴正方向做直线运动 + robot_interface->getMotionControl()->speedLine(qd, 1.2, 100); + break; + } + case 4: { + std::vector qd = {0.0, speed * (-1), 0.0, 0.0, 0.0, 0.0}; + + // 接口调用: TCP沿着基坐标系y轴负方向做直线运动 + robot_interface->getMotionControl()->speedLine(qd, 1.2, 100); + break; + } + case 5: { + std::vector qd = {0.0, 0.0, speed, 0.0, 0.0, 0.0}; + + // 接口调用: TCP沿着基坐标系z轴正方向做直线运动 + robot_interface->getMotionControl()->speedLine(qd, 1.2, 100); + break; + } + + case 6: { + std::vector qd = {0.0, 0.0, speed * (-1), 0.0, 0.0, 0.0}; + + // 接口调用: TCP沿着基坐标系z轴负方向做直线运动 + robot_interface->getMotionControl()->speedLine(qd, 1.2, 100); + break; + } + case 7: { + std::vector qd = {0.0, 0.0, 0.0, speed, 0.0, 0.0}; + + // 接口调用: TCP沿着基坐标系x轴正方向做旋转运动 + robot_interface->getMotionControl()->speedLine(qd, 1.2, 100); + break; + } + case 8: { + std::vector qd = {0.0, 0.0, 0.0, speed * (-1), 0.0, 0.0}; + + // 接口调用: TCP沿着基坐标系x轴负方向做旋转运动 + robot_interface->getMotionControl()->speedLine(qd, 1.2, 100); + break; + } + case 9: { + std::vector qd = {0.0, 0.0, 0.0, 0.0, speed, 0.0}; + + // 接口调用: TCP沿着基坐标系y轴正方向做旋转运动 + robot_interface->getMotionControl()->speedLine(qd, 1.2, 100); + break; + } + case 10: { + std::vector qd = {0.0, 0.0, 0.0, 0.0, speed * (-1), 0.0}; + + // 接口调用: TCP沿着基坐标系y轴负方向做旋转运动 + robot_interface->getMotionControl()->speedLine(qd, 1.2, 100); + break; + } + case 11: { + std::vector qd = {0.0, 0.0, 0.0, 0.0, 0.0, speed}; + + // 接口调用: TCP沿着基坐标系z轴正方向做旋转运动 + robot_interface->getMotionControl()->speedLine(qd, 1.2, 100); + break; + } + case 12: { + std::vector qd = {0.0, 0.0, 0.0, 0.0, 0.0, speed * (-1)}; + + // 接口调用: TCP沿着基坐标系z轴负方向做旋转运动 + robot_interface->getMotionControl()->speedLine(qd, 1.2, 100); + break; + } + case 13: { + // 接口调用: 停止直线速度跟随运动 + robot_interface->getMotionControl()->stopLine(10, 10); + + break; + } + case 14: { + // 退出循环 + continue_loop = false; + break; + } + default: { + std::cerr << "输入值无效" << std::endl; + std::cerr << "以下为有效输入值: " + "x+、x-、y+、y-、z+、z-、rx+、rx-、ry+、ry-、rz+" + "、rz-、s、exit" + << std::endl; + } + } + } +} + +// 打印日志信息 +void printlog(int level, const char *source, int code, std::string content) { + static const char *level_names[] = {"Critical", "Error", "Warning", + "Info", "Debug", "BackTrace"}; + fprintf(stderr, "[%s] %s - %d %s\n", level_names[level], source, code, + content.c_str()); +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) { +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + auto rtde_cli = std::make_shared(); + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(LOCAL_IP, 30010); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + // 接口调用: 设置 RTDE 话题 + int topic = rtde_cli->setTopic(false, {"R1_message"}, 200, 0); + if (topic < 0) { + std::cout << "设置话题失败!" << std::endl; + return -1; + } + + // 接口调用: 订阅话题 + rtde_cli->subscribe(topic, [](InputParser &parser) { + arcs::common_interface::RobotMsgVector msgs; + msgs = parser.popRobotMsgVector(); + for (size_t i = 0; i < msgs.size(); i++) { + auto &msg = msgs[i]; + std::string error_content = arcs::error_stack::errorCode2Str(msg.code); + for (auto it : msg.args) { + auto pos = error_content.find("{}"); + if (pos != std::string::npos) { + error_content.replace(pos, 2, it); + } else { + break; + } + } + // 打印日志信息 + printlog(msg.level, msg.source.c_str(), msg.code, error_content); + } + }); + + // 关节示教 + exampleSpeedJoint(rpc_cli); + + // 在基坐标系下的位置姿态示教 + // exampleSpeedLine(rpc_cli); + + // 接口调用: 取消话题 + rtde_cli->removeTopic(false, topic); + // 接口调用: 退出登录 + rtde_cli->logout(); + // 接口调用: 断开连接 + rtde_cli->disconnect(); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_move_speed2.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_move_speed2.cpp new file mode 100644 index 00000000..2cd41057 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_move_speed2.cpp @@ -0,0 +1,368 @@ +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/rtde.h" +#include +#include +#include +#include +#include +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 模板函数: 打印类型为std::vector的变量 +template +void printVec(std::vector param, std::string name) +{ + std::cout << name << ": "; + + for (int i = 0; i < param.size(); i++) { + std::cout << param.at(i); + if (i != param.size() - 1) { + std::cout << ", "; + } + } + std::cout << std::endl; +} + +// 定义坐标系类型的枚举 +enum CoordinateSystem +{ + BASE_COORDINATE_SYSTEM = 1, + TOOL_COORDINATE_SYSTEM = 2, + USER_COORDINATE_SYSTEM = 3 +}; + +// 定义枚举类型表示动作类型 +enum ActionType +{ + POSITION_MOVE, // 位置移动 + ORIENTATION_MOVE, // 姿态旋转 + STOP_MOVE, // 停止运动 + EXIT_PROGRAM // 退出程序 +}; + +// 定义结构体表示用户输入 +struct UserInput +{ + ActionType actionType; //　动作类型 + char axis; //　坐标轴 + bool positiveDirection; //　坐标轴方向 +}; + +std::vector selectedCoordinate(CoordinateSystem coordinate, + RpcClientPtr impl) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + + std::vector frame(6, 0.); + + switch (coordinate) { + case BASE_COORDINATE_SYSTEM: + frame = std::vector(6, 0.); + break; + case TOOL_COORDINATE_SYSTEM: + frame = + impl->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + frame[0] = 0; + frame[1] = 0; + frame[2] = 0; + break; + case USER_COORDINATE_SYSTEM: + // TCP 在基坐标系下的位姿 + std::vector coord_p0(6), coord_p1(6), coord_p2(6); + coord_p0[0] = 0.49946; + coord_p0[1] = 0.32869; + coord_p0[2] = 0.35522; + coord_p0[3] = 2.414; + coord_p0[4] = 0.0; + coord_p0[5] = 2.357; + + coord_p1[0] = 0.58381; + coord_p1[1] = 0.41325; + coord_p1[2] = 0.22122; + coord_p1[3] = 2.414; + coord_p1[4] = 0.0; + coord_p1[5] = 2.357; + + coord_p2[0] = 0.58826; + coord_p2[1] = 0.41772; + coord_p2[2] = 0.46730; + coord_p2[3] = 2.414; + coord_p2[4] = 0.0; + coord_p2[5] = 2.357; + + // 接口调用: 获取用户坐标系相对于基坐标系的位姿 + auto [user_on_base, ret] = impl->getMath()->calibrateCoordinate( + { coord_p0, coord_p1, coord_p2 }, 0); + + frame = user_on_base; + frame[0] = 0; + frame[1] = 0; + frame[2] = 0; + break; + } + return frame; +} + +// 在不同坐标系下的位置姿态示教 +void exampleSpeedLine(RpcClientPtr impl) +{ + int input_coord; + std::cout << "请选择坐标系：" << std::endl; + std::cout << "1. 基坐标系" << std::endl; + std::cout << "2. 工具坐标系" << std::endl; + std::cout << "3. 用户坐标系" << std::endl; + std::cout << "请输入选项编号："; + std::cin >> input_coord; + + if (input_coord != 1 && input_coord != 2 && input_coord != 3) { + std::cerr << "输入值无效" << std::endl; + std::cerr << "以下为有效输入值: " + "1、2、3" + << std::endl; + return; + } + + CoordinateSystem selected_coord; + + switch (input_coord) { + case 1: + selected_coord = BASE_COORDINATE_SYSTEM; + break; + + case 2: + selected_coord = TOOL_COORDINATE_SYSTEM; + break; + + case 3: + selected_coord = USER_COORDINATE_SYSTEM; + break; + } + + // 输入字符串 + std::string input_axis; + + // 定义输入字符串和键值映 + std::map keymap = { + { "x+", { POSITION_MOVE, 'x', true } }, + { "x-", { POSITION_MOVE, 'x', false } }, + { "y+", { POSITION_MOVE, 'y', true } }, + { "y-", { POSITION_MOVE, 'y', false } }, + { "z+", { POSITION_MOVE, 'z', true } }, + { "z-", { POSITION_MOVE, 'z', false } }, + { "rx+", { ORIENTATION_MOVE, 'x', true } }, + { "rx-", { ORIENTATION_MOVE, 'x', false } }, + { "ry+", { ORIENTATION_MOVE, 'y', true } }, + { "ry-", { ORIENTATION_MOVE, 'y', false } }, + { "rz+", { ORIENTATION_MOVE, 'z', true } }, + { "rz-", { ORIENTATION_MOVE, 'z', false } }, + { "s", { STOP_MOVE, 'x', true } }, + { "exit", { EXIT_PROGRAM, 'x', true } } + }; + + // 初始化循环控制变量 + bool continue_loop = true; + + int cnt = 0; + while (continue_loop) { + std::cout << "请输入机械臂要运动的轴: " << std::endl; + // 显示有效输入提示 + if (cnt++ == 0) { + std::cout << "有效输入值如下: " + "x+、x-、y+、y-、z+、z-、rx+、rx-、ry+、ry-、rz+" + "、rz-、s、exit" + << std::endl; + std::cout + << "x+表示x轴正方向做直线运动，x-" + "表示x轴负方向做直线运动，y+" + "表示y轴正方向做直线运动，y-" + "表示y轴负方向做直线运动，z+表示z轴正方向做直线运动，z-" + "表示z轴负方向做直线运动，rx+" + "表示x轴正方向做旋转运动，rx-" + "表示x轴负方向做旋转运动，ry+" + "表示y轴正方向做旋转运动，ry-" + "表示y轴负方向做旋转运动，rz+" + "表示z轴正方向做旋转运动，rz-" + "表示z轴负方向做旋转运动，s表示停止运动，exit表示退出循" + "环" + << std::endl; + } + std::cin >> input_axis; + + // 定义有效的输入值集合 + std::unordered_set validInputs = { + "x+", "x-", "y+", "y-", "z+", "z-", "rx+", + "rx-", "ry+", "ry-", "rz+", "rz-", "s", "exit" + }; + + if (validInputs.find(input_axis) == validInputs.end()) { + std::cerr << "输入值无效" << std::endl; + std::cerr << "以下为有效输入值: " + "x+、x-、y+、y-、z+、z-、rx+、rx-、ry+、ry-、rz+" + "、rz-、s、exit" + << std::endl; + continue; + } + + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + + auto robot_interface = impl->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.75); + + UserInput userInput = keymap[input_axis]; + + std::vector speed(6, 0.); + + // speedLine速度 + double tcp_speed = 0.25; + double a = 1.2; + tcp_speed = userInput.positiveDirection ? tcp_speed : -tcp_speed; + + std::vector frame(6, 0.); + + if (userInput.actionType == EXIT_PROGRAM) { + // 退出循环 + continue_loop = false; + } else if (userInput.actionType == STOP_MOVE) { + // 接口调用: 停止位置姿态示教 + robot_interface->getMotionControl()->stopLine(10, 10); + + } else if (userInput.actionType == POSITION_MOVE) { + frame = selectedCoordinate(selected_coord, impl); + + // 位置移动 + switch (userInput.axis) { + case 'x': + speed[0] = tcp_speed; + break; + case 'y': + speed[1] = tcp_speed; + break; + case 'z': + speed[2] = tcp_speed; + break; + } + + speed = impl->getMath()->poseTrans(frame, speed); + speed[3] = 0; + speed[4] = 0; + speed[5] = 0; + + robot_interface->getMotionControl()->speedLine(speed, a, 100); + } else if (userInput.actionType == ORIENTATION_MOVE) { + frame = selectedCoordinate(selected_coord, impl); + // 姿态旋转 + switch (userInput.axis) { + case 'x': + speed[0] = tcp_speed; + break; + case 'y': + speed[1] = tcp_speed; + break; + case 'z': + speed[2] = tcp_speed; + break; + } + + speed = impl->getMath()->poseTrans(frame, speed); + + speed[3] = speed[0]; + speed[4] = speed[1]; + speed[5] = speed[2]; + speed[0] = 0; + speed[1] = 0; + speed[2] = 0; + + robot_interface->getMotionControl()->speedLine(speed, a, 100); + } + } +} + +// 打印日志信息 +void printlog(int level, const char *source, int code, std::string content) +{ + static const char *level_names[] = { "Critical", "Error", "Warning", + "Info", "Debug", "BackTrace" }; + fprintf(stderr, "[%s] %s - %d %s\n", level_names[level], source, code, + content.c_str()); +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + auto rtde_cli = std::make_shared(); + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(LOCAL_IP, 30010); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + // 接口调用: 设置 RTDE 话题 + int topic = rtde_cli->setTopic(false, { "R1_message" }, 200, 0); + if (topic < 0) { + std::cout << "设置话题失败!" << std::endl; + return -1; + } + + // 接口调用: 订阅话题 + rtde_cli->subscribe(topic, [](InputParser &parser) { + arcs::common_interface::RobotMsgVector msgs; + msgs = parser.popRobotMsgVector(); + for (size_t i = 0; i < msgs.size(); i++) { + auto &msg = msgs[i]; + std::string error_content = + arcs::error_stack::errorCode2Str(msg.code); + for (auto it : msg.args) { + auto pos = error_content.find("{}"); + if (pos != std::string::npos) { + error_content.replace(pos, 2, it); + } else { + break; + } + } + // 打印日志信息 + printlog(msg.level, msg.source.c_str(), msg.code, error_content); + } + }); + + // 在不同坐标系下的位置姿态示教 + exampleSpeedLine(rpc_cli); + + // 接口调用: 取消话题 + rtde_cli->removeTopic(false, topic); + // 接口调用: 退出登录 + rtde_cli->logout(); + // 接口调用: 断开连接 + rtde_cli->disconnect(); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movec_i5.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movec_i5.cpp new file mode 100644 index 00000000..19f894d3 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movec_i5.cpp @@ -0,0 +1,529 @@ +#include "aubo_sdk/rpc.h" +#include +#ifdef WIN32 +#include +#endif +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +// 圆弧运动 +void exampleMoveArc(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂运动的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 设置工具中心点 + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 关节角，单位: 弧度 + std::vector joint_angle = { 0.0, + -15.0 * (M_PI / 180), + 100.0 * (M_PI / 180), + 25.0 * (M_PI / 180), + 90.0 * (M_PI / 180), + 0.0 }; + // 接口调用: 关节运动到初始位置 + robot_interface->getMotionControl()->moveJoint( + joint_angle, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到初始位置成功" << std::endl; + } else { + std::cout << "关节运动到初始位置失败" << std::endl; + } + + // 位姿 + std::vector pose1 = { + 0.440164, -0.119, 0.2976, 2.456512, 0, 1.5708 + }; + + std::vector pose2 = { 0.440164, -0.00249391, 0.398658, + 2.45651, 0, 1.5708 }; + + std::vector pose3 = { 0.440164, 0.166256, 0.297599, + 2.45651, 0, 1.5708 }; + + // 接口调用: 直线运动到圆弧的起始点——pose1 + robot_interface->getMotionControl()->moveLine(pose1, 1.2, 0.25, 0.025, 0); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到圆弧的起始点成功" << std::endl; + } else { + std::cout << "直线运动到圆弧的起始点失败" << std::endl; + } + + // 接口调用: 圆弧运动 + robot_interface->getMotionControl()->moveCircle(pose2, pose3, 1.2, 0.25, 0, + 0); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "圆弧运动成功" << std::endl; + } else { + std::cout << "圆弧运动失败" << std::endl; + } +} + +// 圆弧运动 +void exampleMoveArc2(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂运动的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 设置工具中心点 + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 关节角，单位: 弧度 + std::vector joint_angle = { 0.0, + -15.0 * (M_PI / 180), + 100.0 * (M_PI / 180), + 25.0 * (M_PI / 180), + 90.0 * (M_PI / 180), + 0.0 }; + // 接口调用: 关节运动到初始位置 + robot_interface->getMotionControl()->moveJoint( + joint_angle, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到初始位置成功" << std::endl; + } else { + std::cout << "关节运动到初始位置失败" << std::endl; + } + + // 位姿 + std::vector pose1 = { + 0.440164, -0.119, 0.2976, 2.456512, 0, 1.5708 + }; + + std::vector pose2 = { 0.440164, -0.00249391, 0.398658, + 2.45651, 0, 1.5708 }; + + std::vector pose3 = { 0.440164, 0.166256, 0.297599, + 2.45651, 0, 1.5708 }; + + // 接口调用: 直线运动到圆弧的起始点——pose1 + robot_interface->getMotionControl()->moveLine(pose1, 1.2, 0.25, 0.025, 0); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到圆弧的起始点成功" << std::endl; + } else { + std::cout << "直线运动到圆弧的起始点失败" << std::endl; + } + + CircleParameters param; + param.pose_via = pose2; + param.pose_to = pose3; + param.a = 1.2; + param.v = 0.25; + + // 接口调用: 圆弧运动 + robot_interface->getMotionControl()->moveCircle2(param); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "圆弧运动成功" << std::endl; + } else { + std::cout << "圆弧运动失败" << std::endl; + } +} + +// 圆运动 +void exampleMoveC(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂运动的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 设置工具中心点 + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 关节角，单位: 弧度 + std::vector joint_angle = { 0.0, + -15.0 * (M_PI / 180), + 100.0 * (M_PI / 180), + 25.0 * (M_PI / 180), + 90.0 * (M_PI / 180), + 0.0 }; + // 接口调用: 关节运动到初始位置 + robot_interface->getMotionControl()->moveJoint( + joint_angle, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到初始位置成功" << std::endl; + } else { + std::cout << "关节运动到初始位置失败" << std::endl; + } + + // 位姿 + std::vector pose1 = { + 0.440164, -0.119, 0.2976, 2.456512, 0, 1.5708 + }; + + std::vector pose2 = { 0.440164, -0.00249391, 0.398658, + 2.45651, 0, 1.5708 }; + + std::vector pose3 = { 0.440164, 0.166256, 0.297599, + 2.45651, 0, 1.5708 }; + + // 接口调用: 直线运动到圆的起始点——pose1 + robot_interface->getMotionControl()->moveLine(pose1, 1.2, 0.25, 0.025, 0); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到圆的起始点成功" << std::endl; + } else { + std::cout << "直线运动到圆的起始点失败" << std::endl; + } + + // 接口调用: 工具姿态相对于圆弧路径点坐标系保持不变 + robot_interface->getMotionControl()->setCirclePathMode(0); + + // 计算另一半圆弧的中间点 + auto result = + cli->getMath()->calculateCircleFourthPoint(pose1, pose2, pose3, 1); + + if (std::get<1>(result) == 0) { + std::cout << "计算另一半圆弧的中间点失败，无法完成圆运动" << std::endl; + } else { + auto pose4 = std::get<0>(result); + // 圆运动执行3圈 + for (int i = 0; i < 3; i++) { + // 接口调用: 圆弧运动 + robot_interface->getMotionControl()->moveCircle(pose2, pose3, 1.2, + 0.25, 0, 0); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == -1) { + std::cout << "圆运动失败" << std::endl; + } + + // 执行另一半圆弧运动 + robot_interface->getMotionControl()->moveCircle(pose4, pose1, 1.2, + 0.25, 0, 0); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "圆运动成功" << std::endl; + } else { + std::cout << "圆运动失败" << std::endl; + } + } + } +} + +// 圆运动 +void exampleMoveC2(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂运动的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 设置工具中心点 + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 关节角，单位: 弧度 + std::vector joint_angle = { 0.0, + -15.0 * (M_PI / 180), + 100.0 * (M_PI / 180), + 25.0 * (M_PI / 180), + 90.0 * (M_PI / 180), + 0.0 }; + // 接口调用: 关节运动到初始位置 + robot_interface->getMotionControl()->moveJoint( + joint_angle, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到初始位置成功" << std::endl; + } else { + std::cout << "关节运动到初始位置失败" << std::endl; + } + + // 位姿 + std::vector pose1 = { + 0.440164, -0.119, 0.2976, 2.456512, 0, 1.5708 + }; + + std::vector pose2 = { 0.440164, -0.00249391, 0.398658, + 2.45651, 0, 1.5708 }; + + std::vector pose3 = { 0.440164, 0.166256, 0.297599, + 2.45651, 0, 1.5708 }; + + // 接口调用: 直线运动到圆的起始点——pose1 + robot_interface->getMotionControl()->moveLine(pose1, 1.2, 0.25, 0.025, 0); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到圆的起始点成功" << std::endl; + } else { + std::cout << "直线运动到圆的起始点失败" << std::endl; + } + + // 接口调用: 工具姿态相对于圆弧路径点坐标系保持不变 + robot_interface->getMotionControl()->setCirclePathMode(0); + + // 计算另一半圆弧的中间点 + auto result = + cli->getMath()->calculateCircleFourthPoint(pose1, pose2, pose3, 1); + if (std::get<1>(result) == 0) { + std::cout << "计算另一半圆弧的中间点失败，无法完成圆运动" << std::endl; + } else { + auto pose4 = std::get<0>(result); + // 圆运动执行3圈 + for (int i = 0; i < 3; i++) { + CircleParameters param1; + param1.pose_via = pose2; + param1.pose_to = pose3; + param1.a = 1.2; + param1.v = 0.25; + param1.blend_radius = 0.0; + // 接口调用: 圆弧运动 + robot_interface->getMotionControl()->moveCircle2(param1); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == -1) { + std::cout << "圆运动失败" << std::endl; + } + + // 执行另一半圆弧运动 + CircleParameters param2; + param2.pose_via = pose4; + param2.pose_to = pose1; + param2.a = 1.2; + param2.v = 0.25; + param2.blend_radius = 0.0; + robot_interface->getMotionControl()->moveCircle2(param2); + + // 阻塞 + waitArrival(cli->getRobotInterface(robot_name)); + if (ret == 0) { + std::cout << "圆运动成功" << std::endl; + } else { + std::cout << "圆运动失败" << std::endl; + } + } + } +} + +void exampleMoveC3(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂运动的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(1.0); + + // 接口调用: 设置工具中心点 + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 接口调用: 开启规划器运行 + cli->getRuntimeMachine()->start(); + auto cur_plan_context = cli->getRuntimeMachine()->getPlanContext(); + // 接口调用: 获取新的线程id + auto task_id = cli->getRuntimeMachine()->newTask(); + cli->getRuntimeMachine()->setPlanContext( + task_id, std::get<1>(cur_plan_context), std::get<2>(cur_plan_context)); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + + // 关节角，单位: 弧度 + std::vector joint_angle = { 0.0, + -15.0 * (M_PI / 180), + 100.0 * (M_PI / 180), + 25.0 * (M_PI / 180), + 90.0 * (M_PI / 180), + 0.0 }; + // 接口调用: 关节运动到初始位置 + robot_interface->getMotionControl()->moveJoint( + joint_angle, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到初始位置成功" << std::endl; + } else { + std::cout << "关节运动到初始位置失败" << std::endl; + } + + // 位姿 + std::vector pose1 = { + 0.440164, -0.119, 0.2976, 2.456512, 0, 1.5708 + }; + + std::vector pose2 = { 0.440164, -0.00249391, 0.398658, + 2.45651, 0, 1.5708 }; + + std::vector pose3 = { 0.440164, 0.166256, 0.297599, + 2.45651, 0, 1.5708 }; + + // 接口调用: 直线运动到圆的起始点——pose1 + robot_interface->getMotionControl()->moveLine(pose1, 1.2, 0.25, 0.025, 0); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到圆的起始点成功" << std::endl; + } else { + std::cout << "直线运动到圆的起始点失败" << std::endl; + } + + // 接口调用: 工具姿态相对于圆弧路径点坐标系保持不变 + robot_interface->getMotionControl()->setCirclePathMode(0); + + // 计算另一半圆弧的中间点 + auto result = + cli->getMath()->calculateCircleFourthPoint(pose1, pose2, pose3, 1); + + // 圆运动期间连续 + if (std::get<1>(result) == 0) { + std::cout << "计算另一半圆弧的中间点失败，无法完成圆运动" << std::endl; + } else { + auto pose4 = std::get<0>(result); + // 圆运动执行3圈 + for (int i = 0; i < 3; i++) { + // 接口调用: 圆弧运动 + robot_interface->getMotionControl()->moveCircle(pose2, pose3, 1.2, + 0.25, 0.025, 0); + + // 执行另一半圆弧运动 + robot_interface->getMotionControl()->moveCircle(pose4, pose1, 1.2, + 0.25, 0.025, 0); + } + } + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "圆运动成功" << std::endl; + } else { + std::cout << "圆运动失败" << std::endl; + } + // 接口调用: 停止规划器运行 + cli->getRuntimeMachine()->stop(); + // 接口调用: 删除线程 + cli->getRuntimeMachine()->deleteTask(task_id); +} + +/** + * 功能: 机械臂圆弧运动与圆运动 + * 步骤: + * 第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 + * 第二步: 圆弧运动exampleMoveArc——用moveCircle接口实现 + * 第三步: 圆弧运动exampleMoveArc2——用moveCircle2接口实现 + * 第四步: 圆运动exampleMoveC——用moveCircle接口实现 + * 第五步: 圆运动exampleMoveC2——用moveCircle2接口实现 + * 第六步: RPC 退出登录、断开连接 + */ + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 圆弧运动 + exampleMoveArc(rpc_cli); + + // 圆弧运动 + exampleMoveArc2(rpc_cli); + + // 圆运动 + exampleMoveC(rpc_cli); + + // 圆运动 + exampleMoveC2(rpc_cli); + + // 圆运动 + exampleMoveC3(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movej.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movej.cpp new file mode 100644 index 00000000..aab578ef --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movej.cpp @@ -0,0 +1,133 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +void exampleMovej(RpcClientPtr cli) +{ + // 关节角，单位: 弧度 + std::vector joint_angle1 = { + 0.0 * (M_PI / 180), -15.0 * (M_PI / 180), 100.0 * (M_PI / 180), + 25.0 * (M_PI / 180), 90.0 * (M_PI / 180), 0.0 * (M_PI / 180) + }; + + std::vector joint_angle2 = { + 35.92 * (M_PI / 180), -11.28 * (M_PI / 180), 59.96 * (M_PI / 180), + -18.76 * (M_PI / 180), 90.0 * (M_PI / 180), 35.92 * (M_PI / 180) + }; + + std::vector joint_angle3 = { + 41.04 * (M_PI / 180), -7.65 * (M_PI / 180), 98.80 * (M_PI / 180), + 16.44 * (M_PI / 180), 90.0 * (M_PI / 180), 11.64 * (M_PI / 180) + }; + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 关节运动 + robot_interface->getMotionControl()->moveJoint( + joint_angle1, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到路点1成功" << std::endl; + } else { + std::cout << "关节运动到路点1失败" << std::endl; + } + + // 接口调用: 关节运动 + robot_interface->getMotionControl()->moveJoint( + joint_angle2, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到路点2成功" << std::endl; + } else { + std::cout << "关节运动到路点2失败" << std::endl; + } + + // 接口调用: 关节运动 + robot_interface->getMotionControl()->moveJoint( + joint_angle3, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到路点3成功" << std::endl; + } else { + std::cout << "关节运动到路点3失败" << std::endl; + } +} + +/** + * 功能: 机械臂关节运动 + * 步骤: + * 第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 + * 第二步: 设置运动速度比率、以关节运动的方式依次经过3个路点 + * 第三步: RPC 退出登录、断开连接 + */ + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 关节运动 + exampleMovej(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movel_i5.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movel_i5.cpp new file mode 100644 index 00000000..6f1ed7f2 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movel_i5.cpp @@ -0,0 +1,139 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) { + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +void exampleMovel(RpcClientPtr cli) { + // 关节角，单位: 弧度 + std::vector joint_angle = {0.0 * (M_PI / 180), -15.0 * (M_PI / 180), + 100.0 * (M_PI / 180), 25.0 * (M_PI / 180), + 90.0 * (M_PI / 180), 0.0 * (M_PI / 180)}; + // 位姿 + std::vector pose1 = {-0.155944, -0.727344, 0.439066, + 3.05165, 0.0324355, 1.80417}; + std::vector pose2 = {-0.581143, -0.357548, 0.439066, + 3.05165, 0.0324355, 1.80417}; + std::vector pose3 = {0.503502, -0.420646, 0.439066, + 3.05165, 0.0324355, 1.80417}; + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.75); + + // 接口调用: 设置工具中心点（TCP相对于法兰盘中心的偏移） + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 接口调用: 关节运动到起始位置 + robot_interface->getMotionControl()->moveJoint(joint_angle, 80 * (M_PI / 180), + 60 * (M_PI / 180), 0, 0); + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到起始位置成功！" << std::endl; + } else { + std::cout << "关节运动到起始位置失败！" << std::endl; + } + + // 接口调用: 直线运动到位置1 + robot_interface->getMotionControl()->moveLine(pose1, 1.2, 0.25, 0.025, 0); + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到位置1成功！" << std::endl; + } else { + std::cout << "直线运动到位置1失败！" << std::endl; + } + + // 接口调用: 直线运动到位置2 + robot_interface->getMotionControl()->moveLine(pose2, 1.2, 0.25, 0.025, 0); + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到位置2成功！" << std::endl; + } else { + std::cout << "直线运动到位置2失败！" << std::endl; + } + + // 接口调用: 直线运动到位置3 + robot_interface->getMotionControl()->moveLine(pose3, 1.2, 0.25, 0.025, 0); + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到位置3成功！" << std::endl; + } else { + std::cout << "直线运动到位置3失败！" << std::endl; + } +} + +/** + * 功能: 机械臂直线运动 + * 步骤: + * 第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 + * 第二步: 设置运动速度比率和工具中心点 + * 第三步: 先关节运动到起始位置，然后再以直线运动的方式依次经过3个路点 + * 第四步: RPC 退出登录、断开连接 + */ + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) { +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 关节运动 + exampleMovel(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movel_offset.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movel_offset.cpp new file mode 100644 index 00000000..dbf39c59 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movel_offset.cpp @@ -0,0 +1,140 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +// 示例1: TCP在基坐标系/用户坐标系下沿Z方向做偏移运动 +void exampleMovelOffset1(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置工具中心点（TCP相对于法兰盘中心的偏移） + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 接口调用: 获取TCP在Base坐标系下的当前位姿 + std::vector current_tcp_on_base(6, 0.0); + current_tcp_on_base = robot_interface->getRobotState()->getTcpPose(); + + // 接口调用:获取TCP在基坐标系/用户坐标系下沿着Z+轴偏移0.1m的目标位姿（相对于基坐标系） + std::vector target_tcp_on_base(6, 0.0); + std::vector path_offset = { 0, 0, 0.1, 0, 0, 0 }; + target_tcp_on_base = + cli->getMath()->poseAdd(current_tcp_on_base, path_offset); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.75); + + // 接口调用: 直线运动到目标位置 + robot_interface->getMotionControl()->moveLine(target_tcp_on_base, 1.2, 0.25, + 0.025, 0); + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到目标位置成功！" << std::endl; + } else { + std::cout << "直线运动到目标位置失败！" << std::endl; + } +} + +// 示例2: TCP在工具坐标系下沿Z方向做偏移运动 +void exampleMovelOffset2(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置工具中心点（TCP相对于法兰盘中心的偏移） + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 接口调用: 获取TCP在Base坐标系下的当前位姿 + std::vector current_tcp_on_base(6, 0.0); + current_tcp_on_base = robot_interface->getRobotState()->getTcpPose(); + + // 接口调用:获取TCP在工具坐标系下沿着Z+轴偏移0.1m的目标位姿（相对于基坐标系） + std::vector target_tcp_on_base(6, 0.0); + std::vector path_offset = { 0, 0, 0.1, 0, 0, 0 }; + target_tcp_on_base = + cli->getMath()->poseTrans(current_tcp_on_base, path_offset); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.75); + + // 接口调用: 直线运动到目标位置 + robot_interface->getMotionControl()->moveLine(target_tcp_on_base, 1.2, 0.25, + 0.025, 0); + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到目标位置成功！" << std::endl; + } else { + std::cout << "直线运动到目标位置失败！" << std::endl; + } +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 示例1: TCP在基坐标系/用户坐标系下沿Z方向做偏移运动 + exampleMovelOffset1(rpc_cli); + + // 示例2: TCP在工具坐标系下沿Z方向做偏移运动 + exampleMovelOffset2(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movel_singularity_i5.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movel_singularity_i5.cpp new file mode 100644 index 00000000..f8ec9b72 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movel_singularity_i5.cpp @@ -0,0 +1,170 @@ +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/rtde.h" +#include +#include +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) { + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +// 直线运动 +void exampleMovel(RpcClientPtr cli) { + // 关节角，单位: 弧度 + std::vector joint_angle = {0.0 * (M_PI / 180), -15.0 * (M_PI / 180), + 100.0 * (M_PI / 180), 25.0 * (M_PI / 180), + 90.0 * (M_PI / 180), 0.0 * (M_PI / 180)}; + + // 奇异点的位姿 + std::vector pose_singularity = {1000, 1000, 1000, + 3.05165, 0.0324355, 1.80417}; + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.8); + + // 接口调用: 设置工具中心点（TCP相对于法兰盘中心的偏移） + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 接口调用: 关节运动到起始位置 + robot_interface->getMotionControl()->moveJoint(joint_angle, 80 * (M_PI / 180), + 60 * (M_PI / 180), 0, 0); + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到起始位置成功！" << std::endl; + } else { + std::cout << "关节运动到起始位置失败！" << std::endl; + } + + // 接口调用: 直线运动到奇异点 + robot_interface->getMotionControl()->moveLine(pose_singularity, 1.2, 0.25, + 0.025, 0); + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动成功！" << std::endl; + } else { + std::cout << "直线运动失败！" << std::endl; + } +} + +void printlog(int level, const char *source, int code, std::string content) { + static const char *level_names[] = {"Critical", "Error", "Warning", + "Info", "Debug", "BackTrace"}; + fprintf(stderr, "[%s] %s - %d %s\n", level_names[level], source, code, + content.c_str()); +} + +/** + * 功能: 机械臂直线运动到奇异点 + * 步骤: + * 第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 + * 第二步: 连接 RTDE 服务、登录 + * 第三步: RTDE 设置话题、订阅话题来打印error_stack中的日志信息 + * 第四步: 设置运动速度比率和工具中心点 + * 第五步: 先关节运动到起始位置，然后再以直线运动的方式到奇异点 + * 第六步: RTDE 退出登录、断开连接 + * 第七步: RPC 退出登录、断开连接 + */ + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) { +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + auto rtde_cli = std::make_shared(); + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(LOCAL_IP, 30010); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + // 接口调用: 设置 RTDE 话题 + int topic = rtde_cli->setTopic(false, {"R1_message"}, 200, 0); + if (topic < 0) { + std::cout << "设置话题失败!" << std::endl; + return -1; + } + + // 接口调用: 订阅话题 + rtde_cli->subscribe(topic, [](InputParser &parser) { + arcs::common_interface::RobotMsgVector msgs; + msgs = parser.popRobotMsgVector(); + for (size_t i = 0; i < msgs.size(); i++) { + auto &msg = msgs[i]; + std::string error_content = arcs::error_stack::errorCode2Str(msg.code); + for (auto it : msg.args) { + auto pos = error_content.find("{}"); + if (pos != std::string::npos) { + error_content.replace(pos, 2, it); + } else { + break; + } + } + // 打印日志信息 + printlog(msg.level, msg.source.c_str(), msg.code, error_content); + } + }); + + // 直线运动到奇异点 + exampleMovel(rpc_cli); + + // 接口调用: 取消话题 + rtde_cli->removeTopic(false, topic); + // 接口调用: 退出登录 + rtde_cli->logout(); + // 接口调用: 断开连接 + rtde_cli->disconnect(); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movel_weave_i5.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movel_weave_i5.cpp new file mode 100644 index 00000000..0b05455f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_movel_weave_i5.cpp @@ -0,0 +1,152 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 20; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +void exampleMovelWeave(RpcClientPtr cli) +{ + // 接口调用: 开启运行时。 + // 注意: 摆弧运动需要将运行时打开,否则摆弧不生效。 + cli->getRuntimeMachine()->start(); + + // 关节角，单位: 弧度 + std::vector joint_angle = { + 0.0 * (M_PI / 180), -15.0 * (M_PI / 180), 100.0 * (M_PI / 180), + 25.0 * (M_PI / 180), 90.0 * (M_PI / 180), 0.0 * (M_PI / 180) + }; + // 位姿 + std::vector pose1 = { 0.551, -0.295, 0.261, -3.135, 0.0, 1.569 }; + std::vector pose2 = { 0.551, 0.295, 0.261, -3.135, 0.0, 1.569 }; + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.75); + + // 接口调用: 设置工具中心点（TCP相对于法兰盘中心的偏移） + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 接口调用: 关节运动到起始位置 + robot_interface->getMotionControl()->moveJoint( + joint_angle, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到起始位置成功！" << std::endl; + } else { + std::cout << "关节运动到起始位置失败！" << std::endl; + } + + // 接口调用: 直线运动到位置1 + robot_interface->getMotionControl()->moveLine(pose1, 1.2, 0.25, 0.025, 0); + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到位置1成功！" << std::endl; + } else { + std::cout << "直线运动到位置1失败！" << std::endl; + } + + std::string params = "{\"type\":\"SINE\",\"step\":0.01,\"amplitude\": " + "[0.01,0.01],\"hold_distance\": " + "[0,0],\"hold_time\":[0,0], " + "\"angle\":0, \"direction\":0}"; + + // 接口调用: 开始摆动 + robot_interface->getMotionControl()->weaveStart(params); + + // 接口调用: 直线运动到位置2 + robot_interface->getMotionControl()->moveLine(pose2, 0.05, 0.01, 0, 0); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "摆弧运动到位置2成功！" << std::endl; + } else { + std::cout << "摆弧运动到位置2失败！" << std::endl; + } + + // 接口调用: 结束摆动 + robot_interface->getMotionControl()->weaveEnd(); + + // 摆弧运动结束后将运行时关闭 + cli->getRuntimeMachine()->stop(); +} + +/** + * 功能: 机械臂摆弧运动 + * 步骤: + * 第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 + * 第二步: 设置运动速度比率和工具中心点 + * 第三步:开启运行时， + * 先关节运动到起始位置， + * 然后直线运动到位置1， + * 开启摆动，摆弧运动到位置2， + * 结束摆动，关闭运行时 + * 第四步: RPC 退出登录、断开连接 + */ + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 摆弧运动 + exampleMovelWeave(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_multi_thread.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_multi_thread.cpp new file mode 100644 index 00000000..1f030170 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_multi_thread.cpp @@ -0,0 +1,93 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif +#define LOCAL_IP "127.0.0.1" + +void read_test() { + // RPC 客户端对象 + auto rpc_client = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_client->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_client->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_client->login("aubo", "123456"); + // 接口调用: 获取机器人的名字 + auto robot_name = rpc_client->getRobotNames().front(); + auto impl = rpc_client->getRobotInterface(robot_name); + + // 创建一个包含10个线程的线程容器 + std::vector ths; + for (int i = 0; i < 10; i++) { + // 向线程容器中添加一个线程，每个线程都执行以下操作 + ths.emplace_back([&]() { + while (1) { + try { + // 接口调用: 获取TCP偏移量 + impl->getRobotConfig()->getTcpOffset(); + // 输出一个'·'字符并刷新输出流 + std::cerr << "·" << std::flush; + } catch (const arcs::aubo_sdk::AuboException &e) { + // 打印异常信息 + std::cerr << std::this_thread::get_id() << ":" << e.what() + << std::endl; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + }); + } + + // 等待所有线程完成 + for (auto &t : ths) { + t.join(); + } +} + +void connect_test() { + // 创建一个包含10个线程的线程容器 + std::vector ths; + for (int i = 0; i < 10; i++) { + // 向线程容器中添加一个线程，每个线程都执行以下操作 + ths.emplace_back([&]() { + // RPC 客户端对象 + auto rpc_client = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_client->setRequestTimeout(1000); + while (1) { + try { + // 接口调用: 连接到 RPC 服务 + rpc_client->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_client->login("aubo", "123456"); + std::this_thread::sleep_for(std::chrono::milliseconds(7)); + // 接口调用: 退出登录 + rpc_client->logout(); + // 接口调用: 断开 RPC 服务 + rpc_client->disconnect(); + std::this_thread::sleep_for(std::chrono::milliseconds(7)); + } catch (const arcs::aubo_sdk::AuboException &e) { + // 打印异常信息 + std::cerr << std::this_thread::get_id() << ":" << e.what() + << std::endl; + } + } + }); + } + + // 等待所有线程完成 + for (auto &t : ths) { + t.join(); + } +} + +int main(int argc, char **argv) { +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + connect_test(); + // read_test(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_offset_weave_i5.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_offset_weave_i5.cpp new file mode 100644 index 00000000..47521274 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_offset_weave_i5.cpp @@ -0,0 +1,174 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 20; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +void examplePathOffsetWeave(RpcClientPtr cli) +{ + // 接口调用: 开启运行时。 + // 注意: 摆弧运动需要将运行时打开,否则摆弧不生效。 + cli->getRuntimeMachine()->start(); + + // 关节角，单位: 弧度 + std::vector joint_angle = { + 0.0 * (M_PI / 180), -15.0 * (M_PI / 180), 100.0 * (M_PI / 180), + 25.0 * (M_PI / 180), 90.0 * (M_PI / 180), 0.0 * (M_PI / 180) + }; + // 位姿 + std::vector pose1 = { 0.551, -0.295, 0.261, -3.135, 0.0, 1.569 }; + std::vector pose2 = { 0.551, 0.295, 0.261, -3.135, 0.0, 1.569 }; + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.75); + + // 接口调用: 设置工具中心点（TCP相对于法兰盘中心的偏移） + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 接口调用: 关节运动到起始位置 + robot_interface->getMotionControl()->moveJoint( + joint_angle, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到起始位置成功！" << std::endl; + } else { + std::cout << "关节运动到起始位置失败！" << std::endl; + } + + // 接口调用: 直线运动到位置1 + robot_interface->getMotionControl()->moveLine(pose1, 1.2, 0.25, 0.0, 0); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到位置1成功！" << std::endl; + } else { + std::cout << "直线运动到位置1失败！" << std::endl; + } + + std::string params = "{\"type\":\"SINE\",\"step\":0.01,\"amplitude\": " + "[0.01,0.01],\"hold_distance\": " + "[0,0],\"hold_time\":[0,0], " + "\"angle\":0, \"direction\":0}"; + + // 接口调用: 开始摆动 + robot_interface->getMotionControl()->weaveStart(params); + + // 接口调用: 直线运动到位置2 + robot_interface->getMotionControl()->moveLine(pose2, 0.05, 0.01, 0.0, 0.0); + + // 接口调用: 路径偏移使能 + // 注意: pathOffsetEnable必须与pathOffsetDisable搭配使用 + robot_interface->getMotionControl()->pathOffsetEnable(); + + std::this_thread::sleep_for(std::chrono::milliseconds(3000)); + // 接口调用: 设置路径偏移 + for (int i = 0; i < 10; i++) { + robot_interface->getMotionControl()->pathOffsetSet( + { 0, 0, 0.15, 0, 0, 0 }, 0); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + robot_interface->getMotionControl()->pathOffsetSet( + { 0, 0, -0.15, 0, 0, 0 }, 0); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + } + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "摆弧运动到位置2成功！" << std::endl; + } else { + std::cout << "摆弧运动到位置2失败！" << std::endl; + } + + // 接口调用: 结束摆动 + robot_interface->getMotionControl()->weaveEnd(); + + // 接口调用: 路径偏移失能 + robot_interface->getMotionControl()->pathOffsetDisable(); + // 此处增加延时，是为了保证pathOffsetDisable被执行完 + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + + // 摆弧运动结束后将运行时关闭 + cli->getRuntimeMachine()->stop(); +} + +/** + * 功能: 机械臂摆弧中心线偏移运动 + * 步骤: + * 第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 + * 第二步: 设置运动速度比率和工具中心点 + * 第三步: 开启运行时， + * 先关节运动到起始位置， + * 然后直线运动到位置1， + * 开启摆动，向位置2做摆弧运动，使能并设置路径偏移， + * 到达位置2后，结束摆动，路径偏移失能，关闭运行时 + * 第四步: RPC 退出登录、断开连接 + */ + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 摆弧中心线偏移运动 + examplePathOffsetWeave(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_pause_resume.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_pause_resume.cpp new file mode 100644 index 00000000..dd5ee74c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_pause_resume.cpp @@ -0,0 +1,171 @@ +#include +#include +#include +#include "aubo_sdk/rpc.h" + +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +void robotMotionControl(RpcClientPtr cli) +{ + // 关节角，单位: 弧度 + std::vector joint_angle1 = { + 0.0 * (M_PI / 180), -15.0 * (M_PI / 180), 100.0 * (M_PI / 180), + 25.0 * (M_PI / 180), 90.0 * (M_PI / 180), 0.0 * (M_PI / 180) + }; + + std::vector joint_angle2 = { + 35.92 * (M_PI / 180), -11.28 * (M_PI / 180), 59.96 * (M_PI / 180), + -18.76 * (M_PI / 180), 90.0 * (M_PI / 180), 35.92 * (M_PI / 180) + }; + + std::vector joint_angle3 = { + 41.04 * (M_PI / 180), -7.65 * (M_PI / 180), 98.80 * (M_PI / 180), + 16.44 * (M_PI / 180), 90.0 * (M_PI / 180), 11.64 * (M_PI / 180) + }; + + std::vector joint_angle4 = { + 41.04 * (M_PI / 180), -27.03 * (M_PI / 180), 115.35 * (M_PI / 180), + 52.37 * (M_PI / 180), 90.0 * (M_PI / 180), 11.64 * (M_PI / 180) + }; + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 开启运行时(RuntimeMachine) + auto start_time = std::chrono::steady_clock::now(); + int task_id = -1; + auto ret = cli->getRuntimeMachine()->start(); + if (ret != AUBO_OK) { + std::cout << "Failed to start runtime machine." << std::endl; + return; + } + // ARCS软件0.29版本需要等待，0.31及以上不需要 + std::this_thread::sleep_for(std::chrono::milliseconds(20)); + while (task_id == -1) { + if (std::chrono::duration_cast( + std::chrono::steady_clock::now() - start_time) + .count() > 500) { + std::cout << "[RuntimeMachine Start] Timeout waiting for task " + "creation to " + "get task id." + << std::endl; + return; + } + auto context_result = cli->getRuntimeMachine()->getPlanContext(); + task_id = std::get<0>(context_result); + + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(1); + + // 接口调用: 获取运行时的状态 + auto runtime_status = cli->getRuntimeMachine()->getRuntimeState(); + + while (runtime_status != RuntimeState::Stopped) { + // 接口调用: 关节运动 + robot_interface->getMotionControl()->moveJoint( + joint_angle1, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + std::this_thread::sleep_for(std::chrono::milliseconds(2000)); + + // 接口调用: 关节运动 + robot_interface->getMotionControl()->moveJoint( + joint_angle2, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + std::this_thread::sleep_for(std::chrono::milliseconds(2000)); + + // 接口调用: 关节运动 + robot_interface->getMotionControl()->moveJoint( + joint_angle3, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + std::this_thread::sleep_for(std::chrono::milliseconds(2000)); + + // 接口调用: 关节运动 + robot_interface->getMotionControl()->moveJoint( + joint_angle4, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + std::this_thread::sleep_for(std::chrono::milliseconds(2000)); + + // 接口调用: 获取运行时(RuntimeMachine)状态 + runtime_status = cli->getRuntimeMachine()->getRuntimeState(); + } + + // 接口调用: 停止关节运动 + robot_interface->getMotionControl()->stopJoint(30); + cli->getRuntimeMachine()->abort(); +} + +// 控制暂停/恢复/停止 +void controlOperations(RpcClientPtr rpc_cli, bool &exit_flag) +{ + std::string input; + while (!exit_flag) { + std::cout + << "请输入命令(p/r/s): p表示暂停运动，r表示恢复运动，s表示停止运动" + << std::endl; + + std::cin >> input; + + if (input == "p") { + // 接口调用: 暂停运行时 + rpc_cli->getRuntimeMachine()->pause(); + std::cout << "已暂停运行时" << std::endl; + } else if (input == "r") { + // 接口调用: 恢复运行时 + rpc_cli->getRuntimeMachine()->resume(); + std::cout << "已恢复运行时" << std::endl; + } else if (input == "s") { + // 接口调用: 停止运行时 + // 注意: abort并不能停止机械臂运动 + rpc_cli->getRuntimeMachine()->abort(); + exit_flag = true; // 设置退出标志以结束线程 + std::cout << "已停止运行时" << std::endl; + } else { + std::cout << "无效命令，请重新输入" << std::endl; + } + } +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 退出线程标志 + bool exit_flag = false; + + // 创建控制机器人运动和操作的线程 + std::thread motion_thread(robotMotionControl, rpc_cli); + std::thread control_thread(controlOperations, rpc_cli, std::ref(exit_flag)); + + // 等待线程完成 + motion_thread.join(); + control_thread.join(); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_payload_identify.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_payload_identify.cpp new file mode 100644 index 00000000..815ef6e8 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_payload_identify.cpp @@ -0,0 +1,201 @@ +#include +#include +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/rtde.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; +std::mutex rtde_mtx_; + +template +inline std::ostream &operator<<(std::ostream &os, const std::vector &list) +{ + for (size_t i = 0; i < list.size(); i++) { + os << list.at(i); + if (i != (list.size() - 1)) { + os << ","; + } + } + return os; +} + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrivel(RobotInterfacePtr impl) +{ + int cnt = 0; + while (impl->getMotionControl()->getExecId() == -1) { + if (cnt++ > 5) { + std::cout << "Motion fail!" << std::endl; + exit(-1); + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + auto id = impl->getMotionControl()->getExecId(); + while (1) { + auto id1 = impl->getMotionControl()->getExecId(); + if (id != id1) { + break; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + return 0; +} + +void waitMovePathBufferFinished(RobotInterfacePtr impl) +{ + while (impl->getMotionControl()->getExecId() == -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + while (1) { + auto id = impl->getMotionControl()->getExecId(); + if (id == -1) { + break; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } +} + +void generateTraj(RpcClientPtr cli, TrajConfig &traj_conf) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->generatePayloadIdentifyTraj("identify_traj", traj_conf); + while (1) { + auto ret = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->payloadIdentifyTrajGenFinished(); + if (ret == 0) { + std::cout << "负载辨识轨迹生成完成！" << std::endl; + break; + } else if (ret == 1) { + std::cout << "负载辨识轨迹正在生成中..." << std::endl; + } else { + std::cout << "轨迹生成失败，ret=" << ret << std::endl; + exit(-1); + } + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + } + + if (cli->getRobotInterface(robot_name) + ->getMotionControl() + ->pathBufferEval("identify_traj", {}, {}, 0.005) < 0) { + std::cout << "pathBufferEval error!" << std::endl; + exit(-1); + } + + while (!cli->getRobotInterface(robot_name) + ->getMotionControl() + ->pathBufferValid("identify_traj")) { + std::cout << "轨迹优化中..." << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + std::cout << "负载辨识轨迹生成完成！" << std::endl; +} + +void runTraj(RpcClientPtr cli, RtdeClientPtr rtde_cli, + const std::string &data_file_name, TrajConfig &traj_conf) +{ + std::ofstream file(data_file_name, std::ios::out | std::ios::trunc); + auto robot_name = cli->getRobotNames().front(); + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(traj_conf.init_joint, 5.0, 3.0, 0, 0); + waitArrivel(cli->getRobotInterface(robot_name)); + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->movePathBuffer("identify_traj"); + cli->getRobotInterface(robot_name) + ->getRobotManage() + ->startRecord(data_file_name); + waitMovePathBufferFinished(cli->getRobotInterface(robot_name)); + std::cout << "轨迹运行完成" << std::endl; + cli->getRobotInterface(robot_name)->getRobotManage()->stopRecord(); +} + +void examplePayloadIdentify(RpcClientPtr cli, RtdeClientPtr rtde_cli) +{ + // 生成激励轨迹 + TrajConfig traj_conf; + traj_conf.move_axis = PayloadIdentifyMoveAxis::Joint_3_6; + traj_conf.max_velocity = { 3.0, 3.0 }; // 维度与运动的关节数量一致 + traj_conf.max_acceleration = { 5.0, 5.0 }; // 维度与运动的关节数量一致 + traj_conf.lower_joint_bound = { -1.5, -2 }; + traj_conf.upper_joint_bound = { 1.5, 2 }; + traj_conf.init_joint = { -0.0, -0.2618, 1.047, -0.1745, 1.57, 0.0 }; + generateTraj(cli, traj_conf); + std::cout << "请卸下负载，按 Enter 键开始运行轨迹:" << std::endl; + std::cin.get(); + runTraj(cli, rtde_cli, "data_no_payload.csv", traj_conf); + std::cout << "请安装负载，按 Enter 键开始运行轨迹:" << std::endl; + std::cin.get(); + runTraj(cli, rtde_cli, "data_with_payload.csv", traj_conf); + + auto robot_name = cli->getRobotNames().front(); + auto ret = + cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->payloadIdentify("data_no_payload.csv", "data_with_payload.csv"); + while (1) { + auto ret = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->payloadCalculateFinished(); + if (ret == 0) { + std::cout << "负载计算完成！" << std::endl; + break; + } else if (ret == 1) { + std::cout << "负载正在计算..." << std::endl; + } else { + std::cout << "负载计算失败，ret=" << ret << std::endl; + exit(-1); + } + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + } + auto result = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->getPayloadIdentifyResult(); + std::cout << "计算结果为:" << std::endl; + std::cout << "mass: " << std::get<0>(result) << std::endl; + std::cout << "com: " << std::get<1>(result) << std::endl; + std::cout << "inertia: " << std::get<3>(result) << std::endl; +} + +/** + * 功能: 负载辨识 + * 步骤: + * 第一步: 连接到 RPC 服务、登录 + * 第二步: 机械臂上电 + * 第三步: 设置激励轨迹的限制，生成激励轨迹 + * 第四步: 空载运行离线轨迹，通过rtde采集关节位置、关节速度、关节电流 + * 第五步: 带载运行离线轨迹，通过rtde采集关节位置、关节速度、关节电流 + * 第六步: 计算辨识结果 + */ +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + auto rtde_cli = std::make_shared(); + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(LOCAL_IP, 30010); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + examplePayloadIdentify(rpc_cli, rtde_cli); +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_payload_identify1.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_payload_identify1.cpp new file mode 100644 index 00000000..fa6c5b66 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_payload_identify1.cpp @@ -0,0 +1,288 @@ +#include +#include +#include +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/rtde.h" +#ifdef WIN32 +#include +#endif + +#define TRAJ_NUMS 15; +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; +std::mutex rtde_mtx_; + +template +inline std::ostream &operator<<(std::ostream &os, const std::vector &list) +{ + for (size_t i = 0; i < list.size(); i++) { + os << list.at(i); + if (i != (list.size() - 1)) { + os << ","; + } + } + return os; +} +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrivel(RobotInterfacePtr impl) +{ + int cnt = 0; + while (impl->getMotionControl()->getExecId() == -1) { + if (cnt++ > 5) { + std::cout << "Motion fail!" << std::endl; + exit(-1); + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + auto id = impl->getMotionControl()->getExecId(); + while (1) { + auto id1 = impl->getMotionControl()->getExecId(); + if (id != id1) { + break; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + return 0; +} +void runTraj(RpcClientPtr cli, std::vector q1, std::vector q2, + std::vector q3, std::string file_name) +{ + auto robot_name = cli->getRobotNames().front(); + cli->getRobotInterface(robot_name) + ->getRobotManage() + ->startRecord(file_name); + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(q1, 10 * (M_PI / 180), 5 * (M_PI / 180), 0, 0); + waitArrivel(cli->getRobotInterface(robot_name)); + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(q2, 10 * (M_PI / 180), 5 * (M_PI / 180), 0, 0); + waitArrivel(cli->getRobotInterface(robot_name)); + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(q3, 10 * (M_PI / 180), 5 * (M_PI / 180), 0, 0); + waitArrivel(cli->getRobotInterface(robot_name)); + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(q2, 10 * (M_PI / 180), 5 * (M_PI / 180), 0, 0); + waitArrivel(cli->getRobotInterface(robot_name)); + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(q1, 10 * (M_PI / 180), 5 * (M_PI / 180), 0, 0); + waitArrivel(cli->getRobotInterface(robot_name)); + cli->getRobotInterface(robot_name)->getRobotManage()->stopRecord(); +} + +// 计算采样距离d +double calTrajDistance(RpcClientPtr cli, std::vector q1, + std::vector q2) +{ + auto robot_name = cli->getRobotNames().front(); + auto pose1 = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->forwardKinematics(q1); + auto pose2 = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->forwardKinematics(q2); + auto d = + cli->getMath()->poseDistance(std::get<0>(pose1), std::get<0>(pose2)); + + // 期望输出的路点个数为60个 + // 15*2*2 (q1-q2-q3-q2-q1) + return d / TRAJ_NUMS; +} + +int confirmPayloadIdentifyTraj(RpcClientPtr cli, std::vector point1, + std::vector point2, + std::vector point3) +{ + auto robot_name = cli->getRobotNames().front(); + std::string file_name = "payload_test_data.csv"; + std::string file_path = "/root/arcs_ws/log/.trace/" + file_name; + std::ofstream file(file_path, std::ios::out | std::ios::trunc); + if (!file.is_open()) { + std::cerr << "file open fail" << std::endl; + exit(-1); + } + + auto dof = cli->getRobotInterface(robot_name)->getRobotConfig()->getDof(); +#define VEC(name, realdof, judgedof) \ + (realdof == judgedof \ + ? #name "1," #name "2," #name "3," #name "4," #name "5," #name "6" \ + : #name "1," #name "2," #name "3," #name "4," #name "5," #name \ + "6," #name "7") + // 为了匹配诊断文件格式，需要增加Time表头 + file << "Time" + << ","; + file << VEC(q, dof, 6) << ","; + file << VEC(qd, dof, 6) << ","; + file << VEC(qdd, dof, 6) << ","; + file << VEC(current, dof, 6) << ","; + file << VEC(temperature, dof, 6) << ","; + file << std::endl; +#undef VEC + std::vector qd(dof, 0.); + std::vector qdd(dof, 0.); + std::vector current(dof, 0.); + std::vector temperature(dof, 0.); + + // 计算采样距离d + auto d1 = calTrajDistance(cli, point1, point2); + auto q1_q2 = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->pathMovej(point1, 0., point2, 0., d1); + std::cout << "q1_q2.size: " << q1_q2.size() << std::endl; + for (size_t i = 0; i < q1_q2.size(); i++) { + // 写入时间数据 + file << 0 << ","; + file << q1_q2[i] << ","; + file << qd << ","; + file << qdd << ","; + file << current << ","; + file << temperature << ","; + file << std::endl; + } + + // 计算采样距离d + auto d2 = calTrajDistance(cli, point2, point3); + auto q2_q3 = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->pathMovej(point2, 0., point3, 0., d2); + std::cout << "q2_q3.size: " << q2_q3.size() << std::endl; + for (size_t i = 0; i < q2_q3.size(); i++) { + // 写入时间数据 + file << 0 << ","; + file << q2_q3[i] << ","; + file << qd << ","; + file << qdd << ","; + file << current << ","; + file << temperature << ","; + file << std::endl; + } + // 正反轨迹数据拼接 + for (std::vector>::iterator it = q2_q3.end() - 1; + it >= q2_q3.begin(); it--) { + // 写入时间数据 + file << 0 << ","; + file << *it << ","; + file << qd << ","; + file << qdd << ","; + file << current << ","; + file << temperature << ","; + file << std::endl; + } + for (std::vector>::iterator it = q1_q2.end() - 1; + it >= q1_q2.begin(); it--) { + // 写入时间数据 + file << 0 << ","; + file << *it << ","; + file << qd << ","; + file << qdd << ","; + file << current << ","; + file << temperature << ","; + file << std::endl; + } + + file.close(); + + auto ret = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->payloadIdentify1(file_name); + + // 预筛选阶段总耗时1s左右，可以删掉下面的获取状态 + while (1) { + auto ret = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->payloadCalculateFinished(); + if (ret == 0) { + std::cout << "预筛选成功，轨迹点可用！" << std::endl; + return ret; + } else if (ret == 1) { + std::cout << "正在预筛选..." << std::endl; + } else { + std::cout << "预筛选失败，轨迹点不可用，ret=" << ret << std::endl; + return ret; + } + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + } + return ret; +} + +void examplePayloadIdentify1(RpcClientPtr cli) +{ + std::vector point1 = { -0.261799, 0.261799, 1.309, + 1.0472, 1.39626, 0.0 }; + std::vector point2 = { -0.628319, 0.471239, 1.65806, + -0.471239, 0.0, 0.0 }; + std::vector point3 = { -0.628319, 0.366519, 1.74533, + -0.10472, 1.5708, 0.0 }; + + // 预筛选 + if (confirmPayloadIdentifyTraj(cli, point1, point2, point3) != 0) { + exit(1); + } else { + std::string file = "test_data.csv"; + runTraj(cli, point1, point2, point3, file); + auto robot_name = cli->getRobotNames().front(); + auto ret = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->payloadIdentify1(file); + while (1) { + auto ret = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->payloadCalculateFinished(); + if (ret == 0) { + std::cout << "负载计算完成！" << std::endl; + break; + } else if (ret == 1) { + std::cout << "负载正在计算..." << std::endl; + } else { + std::cout << "负载计算失败，ret=" << ret << std::endl; + exit(-1); + } + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + } + auto result = cli->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->getPayloadIdentifyResult(); + std::cout << "计算结果为:" << std::endl; + std::cout << "mass: " << std::get<0>(result) << std::endl; + std::cout << "com: " << std::get<1>(result) << std::endl; + std::cout << "inertia: " << std::get<3>(result) << std::endl; + } +} + +/** + * 功能: 负载辨识 + * 步骤: + * 第一步: 连接到 RPC 服务、登录 + * 第二步: 机械臂上电 + * 第三步: 设置三个目标点 + * 第四步: 关节运动至目标点, 采集关节位置、关节速度、关节加速度、关节电流 + * 第五步: 计算辨识结果 + */ +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + auto rtde_cli = std::make_shared(); + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(LOCAL_IP, 30010); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + examplePayloadIdentify1(rpc_cli); +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_popup_dismiss.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_popup_dismiss.cpp new file mode 100644 index 00000000..773f43ed --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_popup_dismiss.cpp @@ -0,0 +1,66 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +// 消除弹窗示例1：通过alarm接口消除弹窗 +void examplePopupDismiss1(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 消除所有的弹窗 + robot_interface->getTrace()->alarm(TraceLevel::INFO, 2, { "" }); +} + +// 消除弹窗示例2：通过IO输入消除弹窗 +// 注意：要使IO生效,必须让机械臂进入联动模式 +void examplePopupDismiss2(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + // 接口调用: 设置DI00的动作为消除弹窗。 + StandardInputAction input_action = StandardInputAction::PopupDismiss; + robot->getIoControl()->setStandardDigitalInputAction(0, input_action); + + std::cout << "说明:当DI00为高电平(DI00和0V短接)时,消除弹窗。" << std::endl; +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 消除弹窗示例1：通过alarm接口消除弹窗 + examplePopupDismiss1(rpc_cli); + + // 消除弹窗示例2：通过IO输入消除弹窗 + // 注意：要使IO生效,必须让机械臂进入联动模式 + // examplePopupDismiss2(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_register.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_register.cpp new file mode 100644 index 00000000..e010ecf2 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_register.cpp @@ -0,0 +1,413 @@ +#include "aubo_sdk/rpc.h" +#include "thread" + +#define LOCAL_IP "127.0.0.1" +#define MODBUS_IP "172.16.3.111,502" +#define MODBUS_SERIAL_PORT "/dev/ttyUSB0,9600,N,8,1" + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +void printfTitle(std::string str) +{ + std::cout << std::endl << std::endl << str << std::endl; +} + +void exampleRegisterInput(RpcClientPtr impl) +{ + printfTitle("->Register_Bool_Input_0_63"); + for (int i = 0; i < 63; i++) { + if (0 == i % 2) { + impl->getRegisterControl()->setBoolInput(i, true); + } else { + impl->getRegisterControl()->setBoolInput(i, false); + } + std::cout << (int)impl->getRegisterControl()->getBoolInput(i) << ","; + } + + printfTitle("->Register_Bool_Input_64_127"); + for (int i = 64; i < 128; i++) { + if (0 == i % 2) { + impl->getRegisterControl()->setBoolInput(i, true); + } else { + impl->getRegisterControl()->setBoolInput(i, false); + } + std::cout << (int)impl->getRegisterControl()->getBoolInput(i) << ","; + } + + printfTitle("->Register_Int_Input"); + for (int i = 0; i < 64; i++) { + if (0 == i % 2) { + impl->getRegisterControl()->setInt32Input(i, i); + } else { + impl->getRegisterControl()->setInt32Input(i, i); + } + std::cout << impl->getRegisterControl()->getInt32Input(i) << ","; + } + + printfTitle("->Register_Float_Input"); + for (int i = 0; i < 64; i++) { + if (0 == i % 2) { + impl->getRegisterControl()->setFloatInput(i, 0.1); + } else { + impl->getRegisterControl()->setFloatInput(i, 0.2); + } + std::cout << impl->getRegisterControl()->getFloatInput(i) << ","; + } + + printfTitle("->Register_Double_Input"); + for (int i = 0; i < 64; i++) { + if (0 == i % 2) { + impl->getRegisterControl()->setDoubleInput(i, 0.3); + } else { + impl->getRegisterControl()->setDoubleInput(i, 0.4); + } + std::cout << impl->getRegisterControl()->getDoubleInput(i) << ","; + } +} + +void exampleRegisterOutput(RpcClientPtr impl) +{ + printfTitle("->Register_Bool_Output_0_63"); + for (int i = 0; i < 63; i++) { + if (0 == i % 2) { + impl->getRegisterControl()->setBoolOutput(i, true); + } else { + impl->getRegisterControl()->setBoolOutput(i, false); + } + std::cout << (int)impl->getRegisterControl()->getBoolOutput(i) << ","; + } + + printfTitle("->Register_Bool_Output_64_127"); + for (int i = 64; i < 127; i++) { + if (0 == i % 2) { + impl->getRegisterControl()->setBoolOutput(i, true); + } else { + impl->getRegisterControl()->setBoolOutput(i, false); + } + std::cout << (int)impl->getRegisterControl()->getBoolOutput(i) << ","; + } + + printfTitle("->Register_Int_Output"); + for (int i = 0; i < 64; i++) { + if (0 == i % 2) { + impl->getRegisterControl()->setInt32Output(i, i); + } else { + impl->getRegisterControl()->setInt32Output(i, i); + } + std::cout << impl->getRegisterControl()->getInt32Output(i) << ","; + } + + printfTitle("->Register_Float_Output"); + for (int i = 0; i < 64; i++) { + if (0 == i % 2) { + impl->getRegisterControl()->setFloatOutput(i, 0.1); + } else { + impl->getRegisterControl()->setFloatOutput(i, 0.2); + } + std::cout << impl->getRegisterControl()->getFloatOutput(i) << ","; + } + + printfTitle("->Register_Double_Output"); + for (int i = 0; i < 64; i++) { + if (0 == i % 2) { + impl->getRegisterControl()->setDoubleOutput(i, 0.3); + } else { + impl->getRegisterControl()->setDoubleOutput(i, 0.4); + } + std::cout << impl->getRegisterControl()->getDoubleOutput(i) << ","; + } +} + +void exampleRegisterCustom(RpcClientPtr impl) +{ + impl->getRegisterControl()->setBool("custom1", true); + bool v_b = false; + v_b = impl->getRegisterControl()->getBool("custom1", v_b); + std::cout << std::endl + << std::endl + << "->Register_Bool_Custom:" << v_b << std::endl; + + impl->getRegisterControl()->setInt32("custom2", 34); + int v_i = 0; + v_i = impl->getRegisterControl()->getInt32("custom2", v_i); + std::cout << std::endl + << std::endl + << "->Register_Int32_Custom:" << v_i << std::endl; + + impl->getRegisterControl()->setFloat("custom3", 0.1); + float v_f = 0; + v_f = impl->getRegisterControl()->getFloat("custom3", v_f); + std::cout << std::endl + << std::endl + << "->Register_Float_Custom:" << v_f << std::endl; + + impl->getRegisterControl()->setDouble("custom4", 0.2); + double v_d = 0; + v_d = impl->getRegisterControl()->getDouble("custom4", v_d); + std::cout << std::endl + << std::endl + << "->Register_Double_Custom:" << v_d << std::endl; + + impl->getRegisterControl()->setString("custom5", "test"); + std::string v_s = ""; + v_s = impl->getRegisterControl()->getString("custom5", v_s); + std::cout << std::endl + << std::endl + << "->Register_String_Custom:" << v_s << std::endl; + + std::cout << std::endl + << std::endl + << "->Register_Clear_Custom:" + << impl->getRegisterControl()->clearNamedVariable("custom5") + << std::endl; +} + +void exampleModbusTcp(RpcClientPtr impl) +{ + /** + 0 = read digital input + 1 = read digital output + 2 = read register input + 3 = read register output + 4 = write digital output + 5 = write register output + **/ + + // 发送自定义数据 + impl->getRegisterControl()->modbusSendCustomCommand( + MODBUS_IP, 1, 0x06, { 0x00, 0x02, 0x00, 0x0F }); + + // 写单个线圈 + impl->getRegisterControl()->modbusAddSignal(MODBUS_IP, 1, 0x00, 0x04, + "WRITE_COLI_OUTPUT_01", true); + auto res = impl->getRegisterControl()->modbusSetOutputSignal( + "WRITE_COLI_OUTPUT_01", 0x01); + + // 写单个保持寄存器 + impl->getRegisterControl()->modbusAddSignal( + MODBUS_IP, 1, 0x00, 0x05, "WRITE_HOLDING_REGISTER_OUTPUT_01", true); + res = impl->getRegisterControl()->modbusSetOutputSignal( + "WRITE_HOLDING_REGISTER_OUTPUT_01", 0x4455); + + // 读线圈寄存器（ip,站号,寄存器起始地址,功能码,名字） + impl->getRegisterControl()->modbusAddSignal(MODBUS_IP, 1, 0x00, 0x01, + "READ_COIL_00", true); + impl->getRegisterControl()->modbusSetSignalUpdateFrequency("READ_COIL_00", + 1); + + // 读离散输入寄存器 + impl->getRegisterControl()->modbusAddSignal(MODBUS_IP, 1, 0x00, 0x00, + "READ_INPUT_00", true); + impl->getRegisterControl()->modbusSetSignalUpdateFrequency("READ_INPUT_00", + 1); + + // 读保持寄存器 + impl->getRegisterControl()->modbusAddSignal( + MODBUS_IP, 1, 0x00, 0x03, "READ_HOLDING_REGISTER_00", true); + impl->getRegisterControl()->modbusSetSignalUpdateFrequency( + "READ_HOLDING_REGISTER_00", 1); + + // 读输入寄存器 + impl->getRegisterControl()->modbusAddSignal(MODBUS_IP, 1, 0x00, 0x02, + "READ_INPUT_REGISTER_00", true); + impl->getRegisterControl()->modbusSetSignalUpdateFrequency( + "READ_INPUT_REGISTER_00", 1); + + // 等待对应信号的数据第一次获取完成 + std::this_thread::sleep_for(std::chrono::seconds(3)); + + for (int i = 0; i < 100; i++) { + std::cout << "-------------------------" << std::endl; + auto ret = + impl->getRegisterControl()->modbusGetSignalStatus("READ_COIL_00"); + std::cout << "READ_COIL_00:" << ret << std::endl; + auto ret2 = + impl->getRegisterControl()->modbusGetSignalStatus("READ_INPUT_00"); + std::cout << "READ_INPUT_00:" << ret2 << std::endl; + auto ret3 = impl->getRegisterControl()->modbusGetSignalStatus( + "READ_HOLDING_REGISTER_00"); + std::cout << "READ_HOLDING_REGISTER_00:" << ret3 << std::endl; + auto ret4 = impl->getRegisterControl()->modbusGetSignalStatus( + "READ_INPUT_REGISTER_00"); + std::cout << "READ_INPUT_REGISTER_00:" << ret4 << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + for (int i = 0; i < 10; i++) { + impl->getRegisterControl()->modbusSetOutputSignal( + "WRITE_COLI_OUTPUT_01", 0x01); + impl->getRegisterControl()->modbusSetOutputSignal( + "WRITE_COLI_OUTPUT_01", 0x00); + } + + // 发送自定义数据 + impl->getRegisterControl()->modbusSendCustomCommand( + MODBUS_IP, 1, 0x06, { 0x00, 0x03, 0x01, 0xFF }); + + impl->getRegisterControl()->modbusDeleteSignal("WRITE_COLI_OUTPUT_01"); + impl->getRegisterControl()->modbusDeleteSignal( + "WRITE_HOLDING_REGISTER_OUTPUT_01"); + impl->getRegisterControl()->modbusDeleteSignal("READ_COIL_00"); + impl->getRegisterControl()->modbusDeleteSignal("READ_INPUT_00"); + impl->getRegisterControl()->modbusDeleteSignal("READ_HOLDING_REGISTER_00"); + impl->getRegisterControl()->modbusDeleteSignal("READ_INPUT_REGISTER_00"); +} + +void exampleModbusRtu(RpcClientPtr impl) +{ + /** + 0 = read digital input + 1 = read digital output + 2 = read register input + 3 = read register output + 4 = write digital output + 5 = write register output + **/ + // 发送自定义数据 + impl->getRegisterControl()->modbusSendCustomCommand( + MODBUS_SERIAL_PORT, 1, 0x06, { 0x00, 0x02, 0x00, 0x0F, 0x68, 0x0E }); + + // 写单个线圈 + impl->getRegisterControl()->modbusAddSignal( + MODBUS_SERIAL_PORT, 1, 0x01, 0x04, "WRITE_COLI_OUTPUT_02", true); + + impl->getRegisterControl()->modbusSetOutputSignal("WRITE_COLI_OUTPUT_02", + 0x01); + + // 写单个保持寄存器 + impl->getRegisterControl()->modbusAddSignal( + MODBUS_SERIAL_PORT, 1, 0x00, 0x05, "WRITE_HOLDING_REGISTER_OUTPUT_01", + true); + + impl->getRegisterControl()->modbusSetOutputSignal( + "WRITE_HOLDING_REGISTER_OUTPUT_01", 0x4455); + + // 读线圈寄存器（ip,站号,寄存器起始地址,功能码,名字） + impl->getRegisterControl()->modbusAddSignal(MODBUS_SERIAL_PORT, 1, 0x00, + 0x01, "READ_COIL_00", true); + impl->getRegisterControl()->modbusSetSignalUpdateFrequency("READ_COIL_00", + 1); + + // 读离散输入寄存器 + impl->getRegisterControl()->modbusAddSignal(MODBUS_SERIAL_PORT, 1, 0x00, + 0x00, "READ_INPUT_00", true); + impl->getRegisterControl()->modbusSetSignalUpdateFrequency("READ_INPUT_00", + 1); + + // 读保持寄存器 + impl->getRegisterControl()->modbusAddSignal( + MODBUS_SERIAL_PORT, 1, 0x00, 0x03, "READ_HOLDING_REGISTER_00", true); + impl->getRegisterControl()->modbusSetSignalUpdateFrequency( + "READ_HOLDING_REGISTER_00", 1); + + // 读输入寄存器 + impl->getRegisterControl()->modbusAddSignal( + MODBUS_SERIAL_PORT, 1, 0x00, 0x02, "READ_INPUT_REGISTER_00", true); + impl->getRegisterControl()->modbusSetSignalUpdateFrequency( + "READ_INPUT_REGISTER_00", 1); + + // 等待对应信号的数据第一次获取完成 + std::this_thread::sleep_for(std::chrono::seconds(2)); + + for (int i = 0; i < 100; i++) { + std::cout << "-------------------------" << i << std::endl; + auto ret = + impl->getRegisterControl()->modbusGetSignalStatus("READ_COIL_00"); + std::cout << "READ_COIL_00:" << ret << std::endl; + + auto ret2 = + impl->getRegisterControl()->modbusGetSignalStatus("READ_INPUT_00"); + std::cout << "READ_INPUT_00:" << ret2 << std::endl; + + auto ret3 = impl->getRegisterControl()->modbusGetSignalStatus( + "READ_HOLDING_REGISTER_00"); + std::cout << "READ_HOLDING_REGISTER_00:" << ret3 << std::endl; + + auto ret4 = impl->getRegisterControl()->modbusGetSignalStatus( + "READ_INPUT_REGISTER_00"); + std::cout << "READ_INPUT_REGISTER_00:" << ret4 << std::endl; + + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + for (int i = 0; i < 10; i++) { + impl->getRegisterControl()->modbusSetOutputSignal( + "WRITE_COLI_OUTPUT_02", 0x01); + impl->getRegisterControl()->modbusSetOutputSignal( + "WRITE_COLI_OUTPUT_02", 0x00); + } + + impl->getRegisterControl()->modbusDeleteSignal("WRITE_COLI_OUTPUT_02"); + impl->getRegisterControl()->modbusDeleteSignal( + "WRITE_HOLDING_REGISTER_OUTPUT_01"); + impl->getRegisterControl()->modbusDeleteSignal("READ_COIL_00"); + impl->getRegisterControl()->modbusDeleteSignal("READ_INPUT_00"); + impl->getRegisterControl()->modbusDeleteSignal("READ_HOLDING_REGISTER_00"); + impl->getRegisterControl()->modbusDeleteSignal("READ_INPUT_REGISTER_00"); +} + +void exampleModbusTcpAction(RpcClientPtr impl) +{ + /** + 0 = read digital input + 1 = read digital output + 2 = read register input + 3 = read register output + 4 = write digital output + 5 = write register output + **/ + // 写单个线圈 + impl->getRegisterControl()->modbusAddSignal(MODBUS_IP, 1, 0x00, 0x04, + "WRITE_COLI_OUTPUT_00", true); + + // 读线圈寄存器（ip,站号,寄存器起始地址,功能码,名字） + impl->getRegisterControl()->modbusAddSignal(MODBUS_IP, 1, 0x00, 0x01, + "READ_COIL_00", true); + impl->getRegisterControl()->modbusSetSignalUpdateFrequency("READ_COIL_00", + 1); + + // Default, 0, "无触发" + // Freedrive, 1, "触发拖动示教" + // 设置动作为freedirver + impl->getRegisterControl()->modbusSetDigitalInputAction( + "rob1", "READ_COIL_00", StandardInputAction::Handguide); + + // 设置为1,打开freedrive + auto res = impl->getRegisterControl()->modbusSetOutputSignal( + "WRITE_COLI_OUTPUT_00", 0x01); + + std::this_thread::sleep_for(std::chrono::seconds(10)); + + // 设置为0,关闭freedrive + res = impl->getRegisterControl()->modbusSetOutputSignal( + "WRITE_COLI_OUTPUT_00", 0x00); + + std::this_thread::sleep_for(std::chrono::seconds(10)); + impl->getRegisterControl()->modbusDeleteSignal("READ_COIL_00"); + impl->getRegisterControl()->modbusDeleteSignal("WRITE_COLI_OUTPUT_00"); +} + +int main(int argc, char **argv) +{ + // 测试slave:modsim32软件 + // arcs控制器中modbus-tcp更新周期是10ms + // arcs控制器中modbus-rtu更新周期是40ms(为了保证指令响应成功,需要指令发送间隔)*寄存器类型数量+150ms(modbus_rtu请求用时)*寄存器类型数量+10ms(线程循环周期)。 + // modbus-rtu 波特率9600 同频率寄存器类型个数 读支持频率 写响应时间 + // 1 5hz 250ms左右 + // 2 2.5hz 500ms左右 + // 3 1.2hz 500ms左右 + // 4 1hz 500ms左右 + + auto rpc_cli = std::make_shared(); + rpc_cli->connect(LOCAL_IP, 30004); + rpc_cli->login("aubo", "123456"); + rpc_cli->setRequestTimeout(5000); //有时候rtu连接需要两秒钟 + + exampleRegisterInput(rpc_cli); + exampleRegisterOutput(rpc_cli); + exampleRegisterCustom(rpc_cli); + exampleModbusTcp(rpc_cli); + exampleModbusRtu(rpc_cli); + // exampleModbusTcpAction(rpc_cli); +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_research_control.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_research_control.cpp new file mode 100644 index 00000000..9ec58349 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_research_control.cpp @@ -0,0 +1,101 @@ +#include +#include + +#include "research_interface/robot.h" +#include "trajectory_io.h" +#include + +static volatile std::sig_atomic_t g_stop = 0; + +static void on_sigint(int) +{ + g_stop = 1; +} + +template +inline std::ostream &operator<<(std::ostream &os, const std::array &list) +{ + for (size_t i = 0; i < list.size(); i++) { + os << list.at(i); + if (i != (list.size() - 1)) { + os << ","; + } + } + return os; +} + +template +inline auto operator*(const std::array &l, T x) +{ + std::array temp; + for (size_t i = 0; i < l.size(); i++) { + temp[i] = l[i] * x; + } + return temp; +} + +using namespace arcs::research_interface; +int main(int argc, char *argv[]) +{ + std::signal(SIGINT, on_sigint); + +#ifdef SIGTERM + // Linux + std::signal(SIGTERM, on_sigint); +#endif + +#ifdef SIGBREAK + // MSVC + std::signal(SIGBREAK, on_sigint); +#endif + + auto robot = Robot("127.0.0.1"); + + // 设置控制周期，可选1000和5000 + if (robot.setControlPeriod(5000) < 0) { + std::cout << "set Control Period failed" << std::endl; + return -1; + } + + // record6为5ms轨迹,record7为1ms轨迹 + TrajectoryIo traj_io("../trajs/record6.offt"); + auto trajs = traj_io.parse(); + int index = 0; + + // 移动到第一个点 + JointPositions jnt_pos; + for (int i = 0; i < 6; i++) { + jnt_pos.q[i] = trajs[index][i]; + } + std::cout << "movej: " << jnt_pos.q * (180. / M_PI) << std::endl; + robot.movej(jnt_pos); + + robot.read([](const RobotState &robot_state) { + std::cout << "q: " << robot_state.q * (180. / M_PI) << std::endl; + return true; + }); + + // 开始记录(储存至 arcs_ws/log/.trace/ 下) + auto csv_file = "research_control.csv"; + robot.startRecord(csv_file); + + robot.control([&](const RobotState &robot_state, double duration) { + JointPositions jnt_pos; + // Ctrl+C 请求退出时，让 control 自然收尾退出 + if (g_stop || robot_state.error_code) { + jnt_pos.finished = true; + return jnt_pos; + } + for (int i = 0; i < 6; i++) { + jnt_pos.q[i] = trajs[index][i]; + } + index++; + jnt_pos.finished = (index >= trajs.size()); + return jnt_pos; + }); + + // 停止记录 + robot.stopRecord(); + + return g_stop ? 130 : 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_research_control2.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_research_control2.cpp new file mode 100644 index 00000000..da426dd9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_research_control2.cpp @@ -0,0 +1,147 @@ +#include +#include + +#include +#ifdef WIN32 +#include +#else +#include +#endif +#include + +#include "aubo_sdk/rpc.h" + +#include "research_interface/robot.h" +#include "trajectory_io.h" +#include +static volatile std::sig_atomic_t g_stop = 0; + +static void on_sigint(int) +{ + g_stop = 1; +} + +template +inline std::ostream &operator<<(std::ostream &os, const std::array &list) +{ + for (size_t i = 0; i < list.size(); i++) { + os << list.at(i); + if (i != (list.size() - 1)) { + os << ","; + } + } + return os; +} + +template +inline auto operator*(const std::array &l, T x) +{ + std::array temp; + for (size_t i = 0; i < l.size(); i++) { + temp[i] = l[i] * x; + } + return temp; +} + +using namespace arcs::research_interface; +int main(int argc, char *argv[]) +{ + std::signal(SIGINT, on_sigint); + +#ifdef SIGTERM + // Linux + std::signal(SIGTERM, on_sigint); +#endif + +#ifdef SIGBREAK + // MSVC + std::signal(SIGBREAK, on_sigint); +#endif + + auto robot = Robot("127.0.0.1"); + + // servo是否循环下发离线轨迹 + bool loop = true; + + // 离线轨迹是否完成或者机器人状态是否出错 + bool finish = false; + + // 设置控制周期，可选1000和5000 + if (robot.setControlPeriod(5000) < 0) { + std::cout << "set Control Period failed" << std::endl; + return -1; + } + + // 如果机器人没有上电，对机器人进行上电操作 + + if (robot.startup() < 0) { + std::cout << "robot start up failed" << std::endl; + return -1; + } + + // record6为5ms轨迹,record7为1ms轨迹 + TrajectoryIo traj_io("../trajs/record6.offt"); + auto trajs = traj_io.parse(); + if (trajs.empty()) { + std::cout << "traj failed" << std::endl; + return -1; + } + int index = 0; + // 移动到第一个点 + JointPositions jnt_pos; + for (int i = 0; i < 6; i++) { + jnt_pos.q[i] = trajs[index][i]; + } + + std::cout << "movej: " << jnt_pos.q * (180. / M_PI) << std::endl; + if (robot.movej(jnt_pos) < 0) { + return -1; + } + + // 开始记录(储存至 arcs_ws/log/.trace/ 下) + auto csv_file = "research_control2.csv"; + robot.startRecord(csv_file); + + while (!finish) { + robot.read([](const RobotState &robot_state) { + std::cout << "read ===> q: " << robot_state.q * (180. / M_PI) + << std::endl; + + return true; + }); + + // 执行离线轨迹 + robot.control( + [&](const RobotState &robot_state, double duration) { + JointPositions jnt_pos; + // Ctrl+C 请求退出 & 机械臂状态出现了问题时，让 control + // 自然收尾退出 + if (g_stop || robot_state.error_code) { + jnt_pos.finished = true; + finish = true; + return jnt_pos; + } + + for (int i = 0; i < 6; i++) { + jnt_pos.q[i] = trajs[index][i]; + } + index++; + if (index >= trajs.size() && loop) { + // 无限循环跑离线轨迹 + index = 0; + } else if (index >= trajs.size() && !loop) { + // 只跑一次离线轨迹 + jnt_pos.finished = true; + finish = true; + } + return jnt_pos; + }, + false, 0, false); + + } + + // 停止记录 + robot.stopRecord(); + + return g_stop ? 130 : 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_rtde.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_rtde.cpp new file mode 100644 index 00000000..69fc21c0 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_rtde.cpp @@ -0,0 +1,453 @@ +#include +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/rtde.h" +#include "thread" +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; +std::mutex rtde_mtx_; + +uint64_t in_bit_lower_ = 0; +uint64_t in_bit_upper_ = 0; +int in_int_0_ = -1; +float in_float_0_ = -0.1; +double in_double_0_ = -0.1; +int16_t int16_0_ = 0; +std::vector vec_int16_(64, 0); +uint64_t out_bit_lower_ = 0; +uint64_t out_bit_upper_ = 0; +int out_int_0_ = -1; +float out_float_0_ = -0.1; +double out_double_0_ = -0.1; + +RobotModeType robot_mode_ = RobotModeType::NoController; // 机器人状态 +SafetyModeType safety_mode_ = SafetyModeType::Normal; // 安全状态 +RuntimeState runtime_state_ = RuntimeState::Stopped; // 规划器运行状态 +double actual_main_voltage_ = 0; // 主电压 +double actual_robot_voltage_ = 0; // 机器人电压 + +std::vector actual_q_{ std::vector( + 6, 0.) }; // 当前关节角(单位:rad) +std::vector actual_qd_{ std::vector( + 6, 0.) }; // 当前关节速度(单位:rad/s) +std::vector actual_TCP_pose_{ std::vector( + 6, 0.) }; // 当前TCP位置(单位:m)和姿态(单位:rad) +std::vector actual_TCP_speed_{ std::vector( + 6, 0.) }; // 当前TCP位置速度(单位:m/s)和姿态速度(单位:rad/s) + +std::vector joint_mode_{ std::vector( + 6, JointStateType::Idle) }; // 关节 +std::vector joint_temperatures_{ std::vector(6, + 0.) }; // 关节温度 +std::vector actual_joint_voltage_{ std::vector( + 6, 0.) }; // 关节电压 +std::vector actual_current_{ std::vector(6, 0.) }; // 关节电流 + +uint64_t standard_digital_input_bits_ = 0; // 所有的数字输入值（十进制） +uint64_t standard_digital_output_bits_ = 0; // 所有的数字输出值（十进制） +uint64_t tool_digital_input_bits_ = 0; // 所有的工具数字值（十进制） +uint64_t tool_digital_output_bits_ = 0; // 所有的工具数字值（十进制） +uint64_t configurable_digital_input_bits_ = 0; // 所有的安全输入值（十进制） +uint64_t configurable_digital_output_bits_ = 0; // 所有的安全输出值（十进制） +uint64_t link_digital_input_bits_ = 0; // 所有的联动输入值（十进制） +uint64_t link_digital_output_bits_ = 0; // 所有的联动输出值（十进制） +int standard_digital_input_num_ = 0; // 数字输入数量 +int standard_digital_output_num_ = 0; // 数字输出数量 +int tool_digital_input_num_ = 0; // 工具数字输入数量 +int tool_digital_output_num_ = 0; // 工具数字输出数量 +int configurable_digital_input_num_ = 0; // 安全输入数量 +int configurable_digital_output_num_ = 0; // 安全输出数量 +int link_digital_input_num_ = 0; // 联动输入数量 +int link_digital_output_num_ = 0; // 联动输出数量 +std::vector standard_analog_input_values_; // 所有的模拟输入值 +std::vector standard_analog_output_values_; // 所有的模拟输出值 +std::vector tool_analog_input_values_; // 所有的工具模拟输入值 +std::vector tool_analog_output_values_; // 所有的工具模拟输出值 + +template +void printVec(std::vector param, std::string name) +{ + std::cout << "@:" << name << std::endl; + for (int i = 0; i < param.size(); i++) { + std::cout << param.at(i) << ","; + } + std::cout << std::endl; +} + +template +void print2Vec(std::vector param, std::string name) +{ + for (size_t i = 0; i < param.size(); i++) { + if (0 == i) { + std::cout << "@:" << name << " offset:" << param.at(i).offset + << std::endl; + } + + for (size_t j = 0; j < param.at(i).value.size(); j++) { + std::cout << param.at(i).value.at(j); + } + + if ((param.size() - 1) == i) { + std::cout << std::endl; + } + } +} + +template +void printVecVec(std::vector> param, std::string name) +{ + for (size_t i = 0; i < param.size(); i++) { + if (0 == i) { + std::cout << "@:" << name << " size:" << param.size() << std::endl; + } + + for (size_t j = 0; j < param.at(i).size(); j++) { + std::cout << param.at(i).at(j) << ","; + } + + std::cout << std::endl; + } +} + +template +void printSingle(T param, std::string name) +{ + std::cout << "@:" << name << " " << param << std::endl; +} + +bool bit_value(uint64_t v, int index) +{ + return (v & ((uint64_t)1 << index)) ? true : false; +} + +// 打印二进制位 +void printBit(uint64_t v, std::string name, int bit_length) +{ + std::cout << "@:" << name << std::endl; + + for (int i = 0; i < bit_length; i++) { + std::cout << bit_value(v, i) << ","; + } + std::cout << std::endl; +} + +// RTDE发布 +void examplePublish(RtdeClientPtr cli) +{ + // 接口调用: 设置话题 + int topic1 = cli->setTopic( + true, + { "input_bit_registers0_to_31", "input_bit_registers32_to_63", + "input_bit_registers64_to_127", "input_int_registers_0", + "input_float_registers_0", "input_double_registers_0", + "input_int16_registers_0", "input_int16_registers0_to_63" }, + 1, 1); + + // 接口调用: 发布话题 + cli->publish(topic1, [&](arcs::aubo_sdk::OutputBuilder &ro) { + ro.push(0x00ff); + ro.push(0x00); + ro.push(0x00); + ro.push(44); + ro.push(3.1); + ro.push(4.1); + ro.push(5); + ro.push(std::vector(64, 1)); + }); + + // 接口调用: 设置话题 + int topic2 = cli->setTopic(true, { "R1_standard_digital_output" }, 1, 2); + + // 接口调用: 发布话题 + cli->publish(topic2, [&](arcs::aubo_sdk::OutputBuilder &ro) { + // 设置DO01为高电平 + ro.push(std::tuple(1, true)); + }); + + // 接口调用: 设置话题 + int topic3 = cli->setTopic(true, { "R1_standard_analog_output" }, 1, 3); + // 接口调用: 发布话题 + cli->publish(topic3, [&](arcs::aubo_sdk::OutputBuilder &ro) { + // 设置AO0和AO1均为3.3 + ro.push(std::vector(2, 3.3)); + }); + + // 接口调用: 设置话题 + int topic4 = cli->setTopic(true, { "R1_speed_slider_fraction" }, 1, 4); + // 接口调用: 发布话题 + cli->publish(topic4, [&](arcs::aubo_sdk::OutputBuilder &ro) { + // 设置运行速度比例为75% + ro.push(0.75); + }); + + // 接口调用: 设置话题 + int topic5 = cli->setTopic( + true, + { "R1_standard_digital_output_mask", "R1_standard_digital_output" }, 1, + 5); + // 接口调用: 发布话题 + cli->publish(topic5, [&](arcs::aubo_sdk::OutputBuilder &ro) { + // 设置数字输出(DO)掩码为255，对应二进制是11111111, + // 1表示DO通道打开，0表示DO通道关闭 + ro.push(255); + // 设置数字输出(DO)的输出值为255，对应二进制是11111111, + // 1表示高电平，0表示低电平 + ro.push(255); + }); +} + +// RPC获取IO数量 +void exampleIoNum(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot = cli->getRobotInterface(robot_name); + + standard_digital_input_num_ = + robot->getIoControl()->getStandardDigitalInputNum(); + standard_digital_output_num_ = + robot->getIoControl()->getStandardDigitalOutputNum(); + + tool_digital_input_num_ = robot->getIoControl()->getToolDigitalInputNum(); + tool_digital_output_num_ = robot->getIoControl()->getToolDigitalOutputNum(); + + configurable_digital_input_num_ = + robot->getIoControl()->getConfigurableDigitalInputNum(); + configurable_digital_output_num_ = + robot->getIoControl()->getConfigurableDigitalOutputNum(); + + link_digital_input_num_ = robot->getIoControl()->getStaticLinkInputNum(); + link_digital_output_num_ = robot->getIoControl()->getStaticLinkOutputNum(); +} + +// RTDE订阅 +void exampleSubscribe(RtdeClientPtr cli) +{ + // 接口调用: 设置话题 + int topic5 = cli->setTopic( + false, + { "input_bit_registers_r0_to_63", "input_bit_registers_r64_to_127", + "input_int_registers_r0", "input_float_registers_r0", + "input_double_registers_r0", "input_int16_registers_r0", + "input_int16_registers_0_to_63" }, + 1, 5); + // 接口调用: 订阅 + cli->subscribe(topic5, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + in_bit_lower_ = parser.popInt64(); + in_bit_upper_ = parser.popInt64(); + in_int_0_ = parser.popInt32(); + in_float_0_ = parser.popDouble(); + in_double_0_ = parser.popDouble(); + int16_0_ = parser.popInt16(); + vec_int16_ = parser.popVectorInt16(); + }); + + // 接口调用: 设置话题 + int topic6 = cli->setTopic( + false, + { "output_bit_registers_0_to_63", "output_bit_registers_64_to_127", + "output_int_registers_0", "output_float_registers_0", + "output_double_registers_0" }, + 1, 6); + // 接口调用: 订阅 + cli->subscribe(topic6, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + out_bit_lower_ = parser.popInt64(); + out_bit_upper_ = parser.popInt64(); + out_int_0_ = parser.popInt32(); + out_float_0_ = parser.popDouble(); + out_double_0_ = parser.popDouble(); + }); + + // 接口调用: 设置话题 + int topic7 = + cli->setTopic(false, + { "R1_robot_mode", "R1_safety_mode", "runtime_state", + "R1_actual_main_voltage", "R1_actual_robot_voltage" }, + 50, 7); + // 接口调用: 订阅 + cli->subscribe(topic7, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + robot_mode_ = parser.popRobotModeType(); + safety_mode_ = parser.popSafetyModeType(); + runtime_state_ = parser.popRuntimeState(); + actual_main_voltage_ = parser.popDouble(); + actual_robot_voltage_ = parser.popDouble(); + }); + + // 接口调用: 设置话题 + int topic8 = cli->setTopic(false, + { "R1_actual_q", "R1_actual_qd", + "R1_actual_TCP_pose", "R1_actual_TCP_speed" }, + 50, 8); + // 接口调用: 订阅 + cli->subscribe(topic8, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + actual_q_ = parser.popVectorDouble(); + actual_qd_ = parser.popVectorDouble(); + actual_TCP_pose_ = parser.popVectorDouble(); + actual_TCP_speed_ = parser.popVectorDouble(); + }); + + // 接口调用: 设置话题 + int topic9 = cli->setTopic(false, + { + + "R1_joint_mode", + "R1_joint_temperatures", + "R1_actual_joint_voltage", + "R1_actual_current", + }, + 1, 9); + // 接口调用: 订阅 + cli->subscribe(topic9, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + joint_mode_ = parser.popVectorJointStateType(); + joint_temperatures_ = parser.popVectorDouble(); + actual_joint_voltage_ = parser.popVectorDouble(); + actual_current_ = parser.popVectorDouble(); + }); + + // 接口调用: 设置话题 + int topic10 = cli->setTopic( + false, + { "R1_standard_digital_input_bits", "R1_tool_digital_input_bits", + "R1_configurable_digital_input_bits", "R1_link_digital_input_bits", + "R1_standard_digital_output_bits", "R1_tool_digital_output_bits", + "R1_configurable_digital_output_bits", "R1_link_digital_output_bits", + "R1_standard_analog_input_values", "R1_tool_analog_input_values", + "R1_standard_analog_output_values", "R1_tool_analog_output_values" }, + 1, 10); + // 接口调用: 订阅 + cli->subscribe(topic10, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + standard_digital_input_bits_ = parser.popInt64(); + tool_digital_input_bits_ = parser.popInt64(); + configurable_digital_input_bits_ = parser.popInt64(); + link_digital_input_bits_ = parser.popInt64(); + standard_digital_output_bits_ = parser.popInt64(); + tool_digital_output_bits_ = parser.popInt64(); + configurable_digital_output_bits_ = parser.popInt64(); + link_digital_output_bits_ = parser.popInt64(); + standard_analog_input_values_ = parser.popVectorDouble(); + tool_analog_input_values_ = parser.popVectorDouble(); + standard_analog_output_values_ = parser.popVectorDouble(); + tool_analog_output_values_ = parser.popVectorDouble(); + }); +} + +// 打印更新信息 +void update() +{ + std::unique_lock lck(rtde_mtx_); + printBit(in_bit_lower_, "input_bit_registers_0_to_63", 64); + printBit(in_bit_upper_, "input_bit_registers_64_to_127", 64); + printBit(out_bit_lower_, "output_bit_registers_0_to_63", 64); + printBit(out_bit_upper_, "output_bit_registers_64_to_127", 64); + + std::cout << std::endl << "input_int_registers_0" << std::endl; + std::cout << in_int_0_; + + std::cout << std::endl << "input_float_registers_0" << std::endl; + std::cout << in_float_0_; + + std::cout << std::endl << "input_double_registers_0" << std::endl; + std::cout << in_double_0_ << std::endl; + + std::cout << std::endl << "output_int_registers_0" << std::endl; + std::cout << out_int_0_; + + std::cout << std::endl << "output_float_registers_0" << std::endl; + std::cout << out_float_0_; + + std::cout << std::endl << "output_double_registers_0" << std::endl; + std::cout << out_double_0_; + + printSingle(robot_mode_, "机器人状态"); + printSingle(safety_mode_, "安全状态"); + printSingle(runtime_state_, "规划器运行状态"); + printSingle(actual_main_voltage_, "主电压"); + printSingle(actual_robot_voltage_, "机器人电压"); + + printVec(actual_q_, "当前关节角(单位:弧度)"); + printVec(actual_qd_, "当前关节速度(单位:rad/s)"); + printVec(actual_TCP_pose_, "当前TCP位置(单位:m)和姿态(单位:rad)"); + printVec(actual_TCP_speed_, + "当前TCP位置速度(单位:m/s)和姿态速度(单位:rad/s)"); + + for (size_t i = 0; i < joint_mode_.size(); i++) { + if (0 == i) { + std::cout << "@:关节状态" << std::endl; + } + + std::cout << joint_mode_.at(i) << ","; + + if ((joint_mode_.size() - 1) == i) { + std::cout << std::endl; + } + } + printVec(joint_temperatures_, "关节温度"); + printVec(actual_joint_voltage_, "关节电压"); + printVec(actual_current_, "关节电流"); + + printBit(standard_digital_input_bits_, "数字输入值", + standard_digital_input_num_); + printBit(standard_digital_output_bits_, "数字输出值", + standard_digital_output_num_); + printBit(tool_digital_input_bits_, "工具数字值(包括输入和输出)", + tool_digital_input_num_); + printBit(tool_digital_output_bits_, "工具数字值(包括输入和输出)", + tool_digital_output_num_); + printBit(configurable_digital_input_bits_, "安全输入值", + configurable_digital_input_num_); + printBit(configurable_digital_output_bits_, "安全输出值", + configurable_digital_output_num_); + printBit(link_digital_input_bits_, "联动输入值", link_digital_input_num_); + printBit(link_digital_output_bits_, "联动输出值", link_digital_output_num_); + printVec(standard_analog_input_values_, "模拟输入值"); + printVec(tool_analog_input_values_, "工具模拟输入值"); + printVec(standard_analog_output_values_, "模拟输出值"); + printVec(tool_analog_output_values_, "工具模拟输出值"); +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + auto rtde_cli = std::make_shared(); + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(LOCAL_IP, 30010); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // RTDE发布 + examplePublish(rtde_cli); + + // RPC获取IO数量 + exampleIoNum(rpc_cli); + + // RTDE订阅 + exampleSubscribe(rtde_cli); + + while (1) { + // 打印更新信息 + update(); + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_rtde_udp.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_rtde_udp.cpp new file mode 100644 index 00000000..9986edfc --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_rtde_udp.cpp @@ -0,0 +1,358 @@ +#include +#include +#include "aubo_sdk/rtde.h" +#include "aubo_sdk/rpc.h" +#include "thread" + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; +using RtdeRecipeMap = + std::unordered_map; +std::mutex rtde_mtx_; + +// topic1 +int line_{ -1 }; +std::vector actual_q_{ std::vector(6, 0.) }; +std::vector actual_current_{ std::vector(6, 0.) }; +std::vector actual_TCP_pose_{ std::vector(6, 0.) }; +RobotModeType robot_mode_ = RobotModeType::NoController; +SafetyModeType safety_mode_ = SafetyModeType::Normal; +RuntimeState runtime_state_ = RuntimeState::Stopped; + +// topic2 +double actual_main_voltage_; +double actual_robot_voltage_; +std::vector joint_temperatures_{ std::vector(6, 0.) }; +std::vector joint_mode_{ std::vector( + 6, JointStateType::Idle) }; + +// topic3 +uint64_t out_bit_lower_ = 0; +uint64_t out_bit_upper_ = 0; +int out_int_0_ = -1; +float out_float_0_ = -0.1; +double out_double_0_ = -0.1; +uint64_t in_bit_lower_ = 0; +uint64_t in_bit_upper_ = 0; +int in_int_0_ = -1; +float in_float_0_ = -0.1; +double in_double_1_ = -0.1; +double motion_progress = 0; +int16_t int16_0_ = 0; +std::vector vec_int16_(64, 0); + +template +void printVec(std::vector param, std::string name) +{ + std::cout << "@:" << name << std::endl; + for (int i = 0; i < param.size(); i++) { + std::cout << param.at(i) << ","; + } + std::cout << std::endl; +} + +template +void print2Vec(std::vector param, std::string name) +{ + for (size_t i = 0; i < param.size(); i++) { + if (0 == i) { + std::cout << "@:" << name << " offset:" << param.at(i).offset + << std::endl; + } + + for (size_t j = 0; j < param.at(i).value.size(); j++) { + std::cout << param.at(i).value.at(j); + } + + if ((param.size() - 1) == i) { + std::cout << std::endl; + } + } +} + +template +void printVecVec(std::vector> param, std::string name) +{ + for (size_t i = 0; i < param.size(); i++) { + if (0 == i) { + std::cout << "@:" << name << " size:" << param.size() << std::endl; + } + + for (size_t j = 0; j < param.at(i).size(); j++) { + std::cout << param.at(i).at(j) << ","; + } + + std::cout << std::endl; + } +} + +template +void printSingle(T param, std::string name) +{ + std::cout << "@:" << name << " " << param << std::endl; +} + +bool bit_value(uint64_t v, int index) +{ + return (v & ((uint64_t)1 << index)) ? true : false; +} + +void printRecipe(RtdeRecipeMap &recipe) +{ + for (auto it = recipe.begin(); it != recipe.end(); ++it) { + std::cout << "chanel:" << it->first << std::endl; + for (auto tmp : it->second.segments) { + std::cout << tmp << " "; + } + std::cout << std::endl; + } +} + +// 配置输出 +void configSubscribe(RtdeClientPtr cli) +{ + // 接口调用: 设置 topic1 + int topic1 = + cli->setTopic(false, + { "R1_actual_q", "R1_actual_current", "R1_robot_mode", + "R1_safety_mode", "runtime_state", "line_number", + "R1_actual_TCP_pose", "R1_motion_progress" }, + 50, 0); + // 接口调用: 订阅 + cli->subscribe(topic1, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + actual_q_ = parser.popVectorDouble(); + actual_current_ = parser.popVectorDouble(); + robot_mode_ = parser.popRobotModeType(); + safety_mode_ = parser.popSafetyModeType(); + runtime_state_ = parser.popRuntimeState(); + line_ = parser.popInt32(); + actual_TCP_pose_ = parser.popVectorDouble(); + motion_progress = parser.popDouble(); + }); + + // 接口调用: 设置 topic2 + int topic2 = + cli->setTopic(false, + { "R1_joint_temperatures", "R1_joint_mode", + "R1_actual_main_voltage", "R1_actual_robot_voltage" }, + 1, 1); + // 接口调用: 订阅 + cli->subscribe(topic2, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + joint_temperatures_ = parser.popVectorDouble(); + joint_mode_ = parser.popVectorJointStateType(); + actual_main_voltage_ = parser.popDouble(); + actual_robot_voltage_ = parser.popDouble(); + }); + + // 接口调用: 设置 topic3 + int topic3 = cli->setTopic( + false, + { "output_bit_registers_0_to_63", "output_bit_registers_64_to_127", + "output_int_registers_0", "output_float_registers_0", + "output_double_registers_0", "input_bit_registers_r0_to_63", + "input_bit_registers_r64_to_127", "input_int_registers_r0", + "input_float_registers_r0", "input_double_registers_r1", + "input_int16_registers_r0", "input_int16_registers_0_to_63" }, + 1, 12); + // 接口调用: 订阅 + cli->subscribe(topic3, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + out_bit_lower_ = parser.popInt64(); + out_bit_upper_ = parser.popInt64(); + out_int_0_ = parser.popInt32(); + out_float_0_ = parser.popDouble(); + out_double_0_ = parser.popDouble(); + in_bit_lower_ = parser.popInt64(); + in_bit_upper_ = parser.popInt64(); + in_int_0_ = parser.popInt32(); + in_float_0_ = parser.popDouble(); + in_double_1_ = parser.popDouble(); + int16_0_ = parser.popInt16(); + vec_int16_ = parser.popVectorInt16(); + }); +} + +// 设置rtde输入 +void setInput(RtdeClientPtr cli) +{ + // 输入 + // 单一设置输入 + // 接口调用: 发布 + // cli->publish(arcs::common_interface::RtdeInput::input_bit_registers0_to_31, + // [](arcs::aubo_sdk::OutputBuilder &ro) { ro.push(0x00ff); + // }); + + // cli->publish(arcs::common_interface::RtdeInput::input_bit_registers32_to_63, + // [](arcs::aubo_sdk::OutputBuilder &ro) { ro.push(0x00); + // }); + + // cli->publish( + // arcs::common_interface::RtdeInput::input_bit_registers64_to_127, + // [](arcs::aubo_sdk::OutputBuilder &ro) { ro.push(0x00); }); + + // cli->publish(arcs::common_interface::RtdeInput::input_int_registers_0, + // [](arcs::aubo_sdk::OutputBuilder &ro) { ro.push(12); }); + + // cli->publish(arcs::common_interface::RtdeInput::input_float_registers_0, + // [](arcs::aubo_sdk::OutputBuilder &ro) { ro.push(1.11111); + // }); + + // cli->publish(arcs::common_interface::RtdeInput::input_double_registers_0, + // [](arcs::aubo_sdk::OutputBuilder &ro) { ro.push(2.22222); + // }); + + // 组合设置输入 + int topic5 = cli->setTopic( + true, + { "input_bit_registers0_to_31", "input_bit_registers32_to_63", + "input_bit_registers64_to_127", "input_int_registers_0" }, + 1, 5); + + cli->publish(5, [&](arcs::aubo_sdk::OutputBuilder &ro) { + ro.push(0x00ff); + ro.push(0x00); + ro.push(0x00); + ro.push(44); + }); + + int topic6 = + cli->setTopic(true, + { "input_float_registers_0", "input_double_registers_1", + "input_int16_registers_0" }, + 1, 6); + + cli->publish(6, [&](arcs::aubo_sdk::OutputBuilder &ro) { + ro.push(3.1); + ro.push(4.1); + ro.push(5); + }); + + int topic7 = cli->setTopic(true, { "R1_standard_digital_output" }, 1, 7); + + cli->publish(topic7, [&](arcs::aubo_sdk::OutputBuilder &ro) { + ro.push(std::tuple(1, true)); + }); + + int topic8 = cli->setTopic(true, { "input_int16_registers0_to_63" }, 1, 8); + + cli->publish(topic8, [&](arcs::aubo_sdk::OutputBuilder &ro) { + ro.push(std::vector(64, 1)); + }); +} + +// 打印更新信息 +void update() +{ + std::unique_lock lck(rtde_mtx_); + + printVec(actual_q_, "actual_q_"); + printVec(actual_current_, "actual_current_"); + printVec(actual_TCP_pose_, "actual_TCP_pose_"); + printSingle((int)robot_mode_, "robot_mode_"); + printSingle((int)safety_mode_, "safety_mode_"); + printSingle((int)runtime_state_, "runtime_state_"); + printSingle(line_, "line_"); + + printVec(joint_temperatures_, "joint_temperatures_"); + printSingle(actual_main_voltage_, "actual_main_voltage_"); + printSingle(actual_robot_voltage_, "actual_robot_voltage_"); + + for (size_t i = 0; i < joint_mode_.size(); i++) { + if (0 == i) { + std::cout << "@:joint_mode_" << std::endl; + } + + std::cout << joint_mode_.at(i) << ","; + + if ((joint_mode_.size() - 1) == i) { + std::cout << std::endl; + } + } + + std::cout << std::endl << "output_bit_registers_0_to_63" << std::endl; + for (int i = 0; i < 64; i++) { + std::cout << bit_value(out_bit_lower_, i) << ","; + } + + std::cout << std::endl << "output_bit_registers_64_to_127" << std::endl; + for (int i = 0; i < 64; i++) { + std::cout << bit_value(out_bit_upper_, i) << ","; + } + + std::cout << std::endl << "output_int_registers_0" << std::endl; + std::cout << out_int_0_; + + std::cout << std::endl << "output_float_registers_0" << std::endl; + std::cout << out_float_0_; + + std::cout << std::endl << "output_double_registers_0" << std::endl; + std::cout << out_double_0_; + + std::cout << std::endl << "input_bit_registers_0_to_63" << std::endl; + for (int i = 0; i < 64; i++) { + std::cout << bit_value(in_bit_lower_, i) << ","; + } + + std::cout << std::endl << "input_bit_registers_64_to_127" << std::endl; + for (int i = 0; i < 64; i++) { + std::cout << bit_value(in_bit_upper_, i) << ","; + } + + std::cout << std::endl << "input_int_registers_0" << std::endl; + std::cout << in_int_0_; + + std::cout << std::endl << "input_float_registers_0" << std::endl; + std::cout << in_float_0_; + + std::cout << std::endl << "input_double_registers_1" << std::endl; + std::cout << in_double_1_ << std::endl; +} + +/** + * 功能: RTDE + * 步骤: + * 第一步: 连接 RPC 服务、机械臂登录 + * 第二步: 连接 RTDE 服务、机械臂登录 + * 第三步: 设置rtde输入 + * 第四步: 配置输出 + * 第五步: 打印更新信息 + */ +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ + auto rpc_cli = std::make_shared(); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + auto rtde_cli = std::make_shared(2); + // 接口调用: 连接到 RTDE UDP 服务 + rtde_cli->connect(LOCAL_IP, 30018); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + // 设置rtde输入 + setInput(rtde_cli); + + // 配置输出 + configSubscribe(rtde_cli); + + std::cout << "=================output_recipe===================" + << std::endl; + auto output_recipe = rtde_cli->getRegisteredOutputRecipe(); + printRecipe(output_recipe); + std::cout << "=================input_recipe====================" + << std::endl; + auto input_recipe = rtde_cli->getRegisteredInputRecipe(); + printRecipe(input_recipe); + + while (1) { + // 打印更新信息 + update(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_rtde_uds.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_rtde_uds.cpp new file mode 100644 index 00000000..cea59297 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_rtde_uds.cpp @@ -0,0 +1,352 @@ +#include +#include +//#include "bindings/rtde/rtde_recipe.h" +#include "aubo_sdk/rtde.h" +#include "aubo_sdk/rpc.h" +#include "thread" + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; +using RtdeRecipeMap = + std::unordered_map; +std::mutex rtde_mtx_; + +// topic1 +int line_{ -1 }; +std::vector actual_q_{ std::vector(6, 0.) }; +std::vector actual_current_{ std::vector(6, 0.) }; +std::vector actual_TCP_pose_{ std::vector(6, 0.) }; +RobotModeType robot_mode_ = RobotModeType::NoController; +SafetyModeType safety_mode_ = SafetyModeType::Normal; +RuntimeState runtime_state_ = RuntimeState::Stopped; + +// topic2 +double actual_main_voltage_; +double actual_robot_voltage_; +std::vector joint_temperatures_{ std::vector(6, 0.) }; +std::vector joint_mode_{ std::vector( + 6, JointStateType::Idle) }; + +// topic3 +uint64_t out_bit_lower_ = 0; +uint64_t out_bit_upper_ = 0; +int out_int_0_ = -1; +float out_float_0_ = -0.1; +double out_double_0_ = -0.1; +uint64_t in_bit_lower_ = 0; +uint64_t in_bit_upper_ = 0; +int in_int_0_ = -1; +float in_float_0_ = -0.1; +double in_double_1_ = -0.1; +double motion_progress = 0; +int16_t int16_0_ = 0; +std::vector vec_int16_(64, 0); + +template +void printVec(std::vector param, std::string name) +{ + std::cout << "@:" << name << std::endl; + for (int i = 0; i < param.size(); i++) { + std::cout << param.at(i) << ","; + } + std::cout << std::endl; +} + +template +void print2Vec(std::vector param, std::string name) +{ + for (size_t i = 0; i < param.size(); i++) { + if (0 == i) { + std::cout << "@:" << name << " offset:" << param.at(i).offset + << std::endl; + } + + for (size_t j = 0; j < param.at(i).value.size(); j++) { + std::cout << param.at(i).value.at(j); + } + + if ((param.size() - 1) == i) { + std::cout << std::endl; + } + } +} + +template +void printVecVec(std::vector> param, std::string name) +{ + for (size_t i = 0; i < param.size(); i++) { + if (0 == i) { + std::cout << "@:" << name << " size:" << param.size() << std::endl; + } + + for (size_t j = 0; j < param.at(i).size(); j++) { + std::cout << param.at(i).at(j) << ","; + } + + std::cout << std::endl; + } +} + +template +void printSingle(T param, std::string name) +{ + std::cout << "@:" << name << " " << param << std::endl; +} + +bool bit_value(uint64_t v, int index) +{ + return (v & ((uint64_t)1 << index)) ? true : false; +} + +void printRecipe(RtdeRecipeMap &recipe) +{ + for (auto it = recipe.begin(); it != recipe.end(); ++it) { + std::cout << "chanel:" << it->first << std::endl; + for (auto tmp : it->second.segments) { + std::cout << tmp << " "; + } + std::cout << std::endl; + } +} + +// 配置输出 +void configSubscribe(RtdeClientPtr cli) +{ + // 接口调用: 设置 topic1 + int topic1 = + cli->setTopic(false, + { "R1_actual_q", "R1_actual_current", "R1_robot_mode", + "R1_safety_mode", "runtime_state", "line_number", + "R1_actual_TCP_pose", "R1_motion_progress" }, + 50, 0); + // 接口调用: 订阅 + cli->subscribe(topic1, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + actual_q_ = parser.popVectorDouble(); + actual_current_ = parser.popVectorDouble(); + robot_mode_ = parser.popRobotModeType(); + safety_mode_ = parser.popSafetyModeType(); + runtime_state_ = parser.popRuntimeState(); + line_ = parser.popInt32(); + actual_TCP_pose_ = parser.popVectorDouble(); + motion_progress = parser.popDouble(); + }); + + // 接口调用: 设置 topic2 + int topic2 = + cli->setTopic(false, + { "R1_joint_temperatures", "R1_joint_mode", + "R1_actual_main_voltage", "R1_actual_robot_voltage" }, + 1, 1); + // 接口调用: 订阅 + cli->subscribe(topic2, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + joint_temperatures_ = parser.popVectorDouble(); + joint_mode_ = parser.popVectorJointStateType(); + actual_main_voltage_ = parser.popDouble(); + actual_robot_voltage_ = parser.popDouble(); + }); + + // 接口调用: 设置 topic3 + int topic3 = cli->setTopic( + false, + { "output_bit_registers_0_to_63", "output_bit_registers_64_to_127", + "output_int_registers_0", "output_float_registers_0", + "output_double_registers_0", "input_bit_registers_r0_to_63", + "input_bit_registers_r64_to_127", "input_int_registers_r0", + "input_float_registers_r0", "input_double_registers_r1", + "input_int16_registers_r0", "input_int16_registers_0_to_63" }, + 1, 12); + // 接口调用: 订阅 + cli->subscribe(topic3, [](InputParser &parser) { + std::unique_lock lck(rtde_mtx_); + out_bit_lower_ = parser.popInt64(); + out_bit_upper_ = parser.popInt64(); + out_int_0_ = parser.popInt32(); + out_float_0_ = parser.popDouble(); + out_double_0_ = parser.popDouble(); + in_bit_lower_ = parser.popInt64(); + in_bit_upper_ = parser.popInt64(); + in_int_0_ = parser.popInt32(); + in_float_0_ = parser.popDouble(); + in_double_1_ = parser.popDouble(); + int16_0_ = parser.popInt16(); + vec_int16_ = parser.popVectorInt16(); + }); +} + +// 设置rtde输入 +void setInput(RtdeClientPtr cli) +{ + // 输入 + // 单一设置输入 + // 接口调用: 发布 + // cli->publish(arcs::common_interface::RtdeInput::input_bit_registers0_to_31, + // [](arcs::aubo_sdk::OutputBuilder &ro) { ro.push(0x00ff); + // }); + + // cli->publish(arcs::common_interface::RtdeInput::input_bit_registers32_to_63, + // [](arcs::aubo_sdk::OutputBuilder &ro) { ro.push(0x00); + // }); + + // cli->publish( + // arcs::common_interface::RtdeInput::input_bit_registers64_to_127, + // [](arcs::aubo_sdk::OutputBuilder &ro) { ro.push(0x00); }); + + // cli->publish(arcs::common_interface::RtdeInput::input_int_registers_0, + // [](arcs::aubo_sdk::OutputBuilder &ro) { ro.push(12); }); + + // cli->publish(arcs::common_interface::RtdeInput::input_float_registers_0, + // [](arcs::aubo_sdk::OutputBuilder &ro) { ro.push(1.11111); + // }); + + // cli->publish(arcs::common_interface::RtdeInput::input_double_registers_0, + // [](arcs::aubo_sdk::OutputBuilder &ro) { ro.push(2.22222); + // }); + + // 组合设置输入 + int topic5 = cli->setTopic( + true, + { "input_bit_registers0_to_31", "input_bit_registers32_to_63", + "input_bit_registers64_to_127", "input_int_registers_0" }, + 1, 5); + + cli->publish(5, [&](arcs::aubo_sdk::OutputBuilder &ro) { + ro.push(0x00ff); + ro.push(0x00); + ro.push(0x00); + ro.push(44); + }); + + int topic6 = + cli->setTopic(true, + { "input_float_registers_0", "input_double_registers_1", + "input_int16_registers_0" }, + 1, 6); + + cli->publish(6, [&](arcs::aubo_sdk::OutputBuilder &ro) { + ro.push(3.1); + ro.push(4.1); + ro.push(5); + }); + + int topic7 = cli->setTopic(true, { "R1_standard_digital_output" }, 1, 7); + + cli->publish(topic7, [&](arcs::aubo_sdk::OutputBuilder &ro) { + ro.push(std::tuple(1, true)); + }); + + int topic8 = cli->setTopic(true, { "input_int16_registers0_to_63" }, 1, 8); + + cli->publish(topic8, [&](arcs::aubo_sdk::OutputBuilder &ro) { + ro.push(std::vector(64, 1)); + }); +} + +// 打印更新信息 +void update() +{ + std::unique_lock lck(rtde_mtx_); + + printVec(actual_q_, "actual_q_"); + printVec(actual_current_, "actual_current_"); + printVec(actual_TCP_pose_, "actual_TCP_pose_"); + printSingle((int)robot_mode_, "robot_mode_"); + printSingle((int)safety_mode_, "safety_mode_"); + printSingle((int)runtime_state_, "runtime_state_"); + printSingle(line_, "line_"); + + printVec(joint_temperatures_, "joint_temperatures_"); + printSingle(actual_main_voltage_, "actual_main_voltage_"); + printSingle(actual_robot_voltage_, "actual_robot_voltage_"); + + for (size_t i = 0; i < joint_mode_.size(); i++) { + if (0 == i) { + std::cout << "@:joint_mode_" << std::endl; + } + + std::cout << joint_mode_.at(i) << ","; + + if ((joint_mode_.size() - 1) == i) { + std::cout << std::endl; + } + } + + std::cout << std::endl << "output_bit_registers_0_to_63" << std::endl; + for (int i = 0; i < 64; i++) { + std::cout << bit_value(out_bit_lower_, i) << ","; + } + + std::cout << std::endl << "output_bit_registers_64_to_127" << std::endl; + for (int i = 0; i < 64; i++) { + std::cout << bit_value(out_bit_upper_, i) << ","; + } + + std::cout << std::endl << "output_int_registers_0" << std::endl; + std::cout << out_int_0_; + + std::cout << std::endl << "output_float_registers_0" << std::endl; + std::cout << out_float_0_; + + std::cout << std::endl << "output_double_registers_0" << std::endl; + std::cout << out_double_0_; + + std::cout << std::endl << "input_bit_registers_0_to_63" << std::endl; + for (int i = 0; i < 64; i++) { + std::cout << bit_value(in_bit_lower_, i) << ","; + } + + std::cout << std::endl << "input_bit_registers_64_to_127" << std::endl; + for (int i = 0; i < 64; i++) { + std::cout << bit_value(in_bit_upper_, i) << ","; + } + + std::cout << std::endl << "input_int_registers_0" << std::endl; + std::cout << in_int_0_; + + std::cout << std::endl << "input_float_registers_0" << std::endl; + std::cout << in_float_0_; + + std::cout << std::endl << "input_double_registers_1" << std::endl; + std::cout << in_double_1_ << std::endl; +} + +/** + * 功能: RTDE + * 步骤: + * 第一步: 连接 RTDE UDS服务、机械臂登录 + * 第二步: 设置rtde输入 + * 第三步: 配置输出 + * 第四步: 打印更新信息 + */ +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ + auto rtde_cli = std::make_shared(1); + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + // 设置rtde输入 + setInput(rtde_cli); + + // 配置输出 + configSubscribe(rtde_cli); + + std::cout << "=================output_recipe===================" + << std::endl; + auto output_recipe = rtde_cli->getRegisteredOutputRecipe(); + printRecipe(output_recipe); + std::cout << "=================input_recipe====================" + << std::endl; + auto input_recipe = rtde_cli->getRegisteredInputRecipe(); + printRecipe(input_recipe); + + while (1) { + // 打印更新信息 + update(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_run_program.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_run_program.cpp new file mode 100644 index 00000000..fd12ad15 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_run_program.cpp @@ -0,0 +1,59 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +void exampleRunProgram(RpcClientPtr cli) +{ + // 示教器工程文件名 + std::string program_name = "test"; + // 接口调用: 加载示教器编程的.pro工程 + // 工程文件需要放在在/root/arcs_ws/program目录下 + // 只需要输入文件名，不需要添加后缀 + cli->getRuntimeMachine()->loadProgram(program_name); + // 接口调用: 运行工程 + cli->getRuntimeMachine()->runProgram(); + + RuntimeState program_status; + while (1) { + // 接口调用: 获取工程运行状态 + program_status = cli->getRuntimeMachine()->getRuntimeState(); + std::cout << "当前工程运行状态：" << program_status << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 运行示教器工程 + exampleRunProgram(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_script.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_script.cpp new file mode 100644 index 00000000..d557e27e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_script.cpp @@ -0,0 +1,115 @@ +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/script.h" +#include +#include +#ifdef WIN32 +#include +#endif +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; +using namespace std; + +/** + * 功能: 运行本地脚本程序 + * 步骤: + * 第一步: 连接 RPC 服务、机械臂登录 + * 第二步: 连接 SCRIPT 服务、机械臂登录 + * 第三步: 输入脚本文件名或者脚本绝对路径 + * 情况1：当lua脚本被拷贝到可执行程序所在路径（build/bin）下时，则输入脚本文件名 + * 情况2：当lua脚本没有在可执行程序所在路径（build/bin）下时，则输入脚本的绝对路径 + * 第四步: 读取文件，运行脚本程序。如果打开文件失败，则退出程序。 + */ + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) { +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + auto rpc = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc->login("aubo", "123456"); + + auto script = std::make_shared(); + // 接口调用: 连接到 SCRIPT 服务 + script->connect(LOCAL_IP, 30002); + // 接口调用: 登录 + script->login("aubo", "123456"); + + // 输入脚本文件名 + char file_name[20]; + cin >> file_name; + + // 打开文件 + ifstream file; + file.open(file_name); + // 如果打开文件失败，则退出程序 + if (!file) { + cout << "open fail." << endl; + exit(1); + } + + // 读取并打印脚本文件中的内容 + std::string str_all; + while (!file.eof()) { + std::string str_line; + getline(file, str_line); + str_all += str_line; + str_all += "\n"; + } + + // 在字符串中查找 "\r\n\r\n" + size_t found = str_all.find("\r\n\r\n"); + + // 循环查找并替换所有匹配项 + while (found != std::string::npos) { + str_all.replace(found, 4, "\n"); // 4 是 "\r\n\r\n" 的长度 + found = str_all.find("\r\n\r\n", found + 1); + } + str_all += "\r\n\r\n"; + cout << "脚本内容:" << endl << str_all << endl; + file.close(); + + // 接口调用: 发送本地的脚本内容到控制器 + script->sendString(str_all); + + // 等待规划器启动 + int i = 0; + while (1) { + if (i++ > 5) { + std::cerr << "规划器启动失败" << std::endl; + return -1; + } + if (rpc->getRuntimeMachine()->getStatus() == RuntimeState::Running) { + std::cout << "规划器启动成功，开始执行脚本" << std::endl; + break; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + // 等待规划器停止 + while (1) { + if (rpc->getRuntimeMachine()->getStatus() == RuntimeState::Stopped) { + std::cout << "规划器停止，脚本执行完成" << std::endl; + break; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + // 接口调用: 退出登录 + rpc->logout(); + // 接口调用: 断开连接 + rpc->disconnect(); + + // 接口调用: 退出登录 + script->logout(); + // 接口调用: 断开连接 + script->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_script2.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_script2.cpp new file mode 100644 index 00000000..11b26da2 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_script2.cpp @@ -0,0 +1,96 @@ +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/script.h" +#include +#include +#ifdef WIN32 +#include +#endif +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; +using namespace std; + +/** + * 功能: 运行本地脚本程序 + * 步骤: + * 第一步: 连接 RPC 服务、机械臂登录 + * 第二步: 连接 SCRIPT 服务、机械臂登录 + * 第三步: 输入脚本文件名或者脚本绝对路径 + * 情况1：当lua脚本被拷贝到可执行程序所在路径（build/bin）下时，则输入脚本文件名 + * 情况2：当lua脚本没有在可执行程序所在路径（build/bin）下时，则输入脚本的绝对路径 + * 第四步: 读取文件，运行脚本程序。如果打开文件失败，则退出程序。 + */ + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) { +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + auto rpc = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc->login("aubo", "123456"); + + auto script = std::make_shared(); + // 接口调用: 连接到 SCRIPT 服务 + script->connect(LOCAL_IP, 30002); + // 接口调用: 登录 + script->login("aubo", "123456"); + + // 输入脚本文件名 + char file_name[20]; + cin >> file_name; + + // 打开文件 + ifstream file; + file.open(file_name); + // 如果打开文件失败，则退出程序 + if (!file) { + cout << "open fail." << endl; + exit(1); + } + + file.close(); + + // 接口调用: 发送本地的脚本文件到控制器 + script->sendFile(file_name); + + // 等待规划器启动 + int i = 0; + while (1) { + if (i++ > 5) { + std::cerr << "规划器启动失败" << std::endl; + return -1; + } + if (rpc->getRuntimeMachine()->getStatus() == RuntimeState::Running) { + std::cout << "规划器启动成功，开始执行脚本" << std::endl; + break; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + // 等待规划器停止 + while (1) { + if (rpc->getRuntimeMachine()->getStatus() == RuntimeState::Stopped) { + std::cout << "规划器停止，脚本执行完成" << std::endl; + break; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + // 接口调用: 退出登录 + rpc->logout(); + // 接口调用: 断开连接 + rpc->disconnect(); + + // 接口调用: 退出登录 + script->logout(); + // 接口调用: 断开连接 + script->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_script_uds.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_script_uds.cpp new file mode 100644 index 00000000..0aa62941 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_script_uds.cpp @@ -0,0 +1,71 @@ +#include +#include +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/script.h" +#ifdef WIN32 +#include +#endif +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; +using namespace std; + +/** + * 功能: 运行脚本程序 + * 步骤: + * 第一步: 连接 SCRIPT 服务、机械臂登录 + * 第二步: 输入脚本文件名 + * 第三步: 读取文件，运行脚本程序。如果打开文件失败，则退出程序。 + */ +// 本示例程序需要发送一个可运行的脚本到arcs控制器,example/c++中test_io.lua文件是提供的一个脚本，运行程序前先将test_io.lua拷贝到可执行程序所在路径，然后运行example_script可执行程序，输入lua脚本名字(test_io.lua) +// 运行前请注意机械臂周围无障碍物并且安全,遇到紧急情况按下急停按钮 + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto script = std::make_shared(1); + // 接口调用: 连接到 SCRIPT 服务 + script->connect(); + // 接口调用: 登录 + script->login("aubo", "123456"); + + // 输入脚本文件名 + char file_name[20]; + cin >> file_name; + + // 打开文件 + ifstream file; + file.open(file_name); + // 如果打开文件失败，则退出程序 + if (!file) { + cout << "open fail." << endl; + exit(1); + } + + // 读取并打印脚本文件中的内容 + std::string str_all; + while (!file.eof()) { + std::string str_line; + getline(file, str_line); + str_all += str_line; + str_all += "\n"; + } + str_all += "\r\n\r\n"; + cout << "脚本内容:" << endl << str_all << endl; + file.close(); + + // 发送脚本内容到控制器 + script->sendString(str_all); + + // 增加阻塞来保证执行完脚本 + while (1) { + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_serial.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_serial.cpp new file mode 100644 index 00000000..dca9f97c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_serial.cpp @@ -0,0 +1,285 @@ +#include "aubo_sdk/rpc.h" +#include "aubo/serial.h" +#include "aubo/register_control.h" +#include +#include +#include + +#define MAX_RETRIES 10 + +#define LOCAL_IP "127.0.0.1" + +#define SERIAL_PORT "/dev/ttyS0" +#define SERIAL_BAUD 9600 +#define SERIAL_STOP_BITS 1.0 +#define SERIAL_EVEN 0 +#define SERIAL_NAME "test_com" + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +template +void printVec(const std::vector ¶m, const std::string &name) +{ + std::cout << "@:" << name << std::endl; + for (size_t i = 0; i < param.size(); i++) { + std::cout << param.at(i) << ","; + } + std::cout << std::endl; +} + +//串口打开 +bool testSerialOpen(RpcClientPtr rpc_cli) +{ + std::string device = SERIAL_PORT; + int baud = SERIAL_BAUD; + float stop_bits = SERIAL_STOP_BITS; + int even = SERIAL_EVEN; + int open_result = rpc_cli->getSerial()->serialOpen(device, baud, stop_bits, + even, SERIAL_NAME); + if (open_result == 0) { + std::cout << "Serial port opened successfully." << std::endl; + return true; + } else if (open_result == -13) { + std::cout << "Serial port already exists." << std::endl; + return true; + } else { + std::cout << "Failed to open serial port, ret: " << open_result + << std::endl; + return false; + } +} + +//发送字节 +void testSerialSendByte(RpcClientPtr rpc_cli) +{ + char send_byte = 'A'; + int send_byte_result = + rpc_cli->getSerial()->serialSendByte(send_byte, SERIAL_NAME); + if (send_byte_result == 0) { + std::cout << "Byte sent successfully: " << send_byte << std::endl; + } else { + std::cout << "Failed to send byte, ret: " << send_byte_result + << std::endl; + } +} + +//发送整数 +void testSerialSendInt(RpcClientPtr rpc_cli) +{ + int send_int = 9; + int send_int_result = + rpc_cli->getSerial()->serialSendInt(send_int, SERIAL_NAME); + if (send_int_result == 0) { + std::cout << "Integer sent successfully: " << send_int << std::endl; + } else { + std::cout << "Failed to send integer, ret: " << send_int_result + << std::endl; + } +} + +//发送字符串 +void testSerialSendString(RpcClientPtr rpc_cli) +{ + std::string send_string = "Hello, Serial!"; + int send_string_result = + rpc_cli->getSerial()->serialSendString(send_string, SERIAL_NAME); + + if (send_string_result == 0) { + std::cout << "String sent successfully: " << send_string << std::endl; + } else { + std::cout << "Failed to send string, ret: " << send_string_result + << std::endl; + } +} + +// 发送所有字符串（字符数组） +void testSerialSendAllString(RpcClientPtr rpc_cli) +{ + // 如果需要校验，则设置为true,会自动计算CRC校验和并附加到数据末尾（大端序） + bool is_check = false; // 是否校验 + + // 对应组包后的完整字符数组: + // ['H','e','l','l','o',' ','W','o','r','l','d','!'] + std::vector send_data = { 'H', 'e', 'l', 'l', 'o', ' ', + 'W', 'o', 'r', 'l', 'd', '!' }; + + int send_all_string_result = rpc_cli->getSerial()->serialSendAllString( + is_check, send_data, SERIAL_NAME); + + if (send_all_string_result == 0) { + std::cout << "All string sent successfully. Data: "; + for (char c : send_data) { + std::cout << c; + } + std::cout << std::endl; + } else { + std::cout << "Failed to send all string, ret: " + << send_all_string_result << std::endl; + } +} + +// 发送带换行符的字符串 +void testSerialSendLine(RpcClientPtr rpc_cli) +{ + // 对应组包后的完整字符数组: + // ['T','h','i','s',' ','i','s',' ','a',' ','l','i','n','e',' ', + // 'w','i','t','h',' ','n','e','w','l','i','n','e','\r','\n'] + std::string send_line = "This is a line with newline"; + + int send_line_result = + rpc_cli->getSerial()->serialSendLine(send_line, SERIAL_NAME); + + if (send_line_result == 0) { + std::cout << "Line sent successfully: " << send_line + << " (with newline)" << std::endl; + } else { + std::cout << "Failed to send line, ret: " << send_line_result + << std::endl; + } +} + +//读取字节 +void testSerialReadByte(RpcClientPtr rpc_cli) +{ + std::string read_byte_var = "read_byte_var"; + int read_byte_result = -1; + int i = MAX_RETRIES; + while (i--) { + read_byte_result = + rpc_cli->getSerial()->serialReadByte(read_byte_var, SERIAL_NAME); + + if (read_byte_result == 0) { + auto value = + rpc_cli->getRegisterControl()->getInt32(read_byte_var, 0); + + std::cout << "serialReadByte --> value: " << value << std::endl; + std::cout << "Byte read successfully. " << std::endl; + + break; + } + + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); + } + + if (read_byte_result < 0) { + std::cout << "Failed to read byte, ret: " << read_byte_result + << std::endl; + } +} + +//读取字节列表 +void testSerialReadByteList(RpcClientPtr rpc_cli) +{ + int number = 5; + std::string read_byte_list_var = "read_byte_list_var"; + + std::vector default_value(0); + int read_byte_list_result = -1; + int i = MAX_RETRIES; + while (i--) { + read_byte_list_result = rpc_cli->getSerial()->serialReadByteList( + number, read_byte_list_var, SERIAL_NAME); + + if (read_byte_list_result == 0) { + auto value = rpc_cli->getRegisterControl()->getVecChar( + read_byte_list_var, default_value); + + std::cout << "serialReadByteList --> value: " << std::endl; + printVec(value, "value"); + std::cout << "Byte list read successfully." << std::endl; + break; + } + + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); + } + + if (read_byte_list_result < 0) { + std::cout << "Failed to read byte list, ret: " << read_byte_list_result + << std::endl; + } +} + +//读取字符串 +void testSerialReadString(RpcClientPtr rpc_cli) +{ + std::string read_string_var = "read_string_var"; + + std::string prefix = ""; // 定义要读取数据的开始标识 + std::string suffix = "\n"; // 定义要读取数据的结束标识 + bool interpret_escape = false; + + std::string default_value = ""; + int read_string_result = -1; + int i = MAX_RETRIES; + while (i--) { + read_string_result = rpc_cli->getSerial()->serialReadString( + read_string_var, SERIAL_NAME, prefix, suffix, interpret_escape); + + if (read_string_result == 0) { + auto value = rpc_cli->getRegisterControl()->getString( + read_string_var, default_value); + + std::cout << "testSerialReadString --> value: " << value + << std::endl; + + std::cout << "String read successfully." << std::endl; + break; + } + + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); + } + + if (read_string_result < 0) { + std::cout << "Failed to read string, ret: " << read_string_result + << std::endl; + } +} + +//串口关闭 +void testSerialClose(RpcClientPtr rpc_cli) +{ + int close_result = rpc_cli->getSerial()->serialClose(SERIAL_NAME); + if (close_result == 0) { + std::cout << "Serial port closed successfully." << std::endl; + } else { + std::cout << "Failed to close serial port, ret: " << close_result + << std::endl; + } +} + +int main(int argc, char **argv) +{ + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(3000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 打开串口 + if (!testSerialOpen(rpc_cli)) { + return 1; + } + + testSerialSendByte(rpc_cli); + // testSerialSendInt(rpc_cli); + // testSerialSendString(rpc_cli); + // testSerialSendAllString(rpc_cli); + // testSerialSendLine(rpc_cli); + + // testSerialReadByte(rpc_cli); + // testSerialReadByteList(rpc_cli); + // testSerialReadString(rpc_cli); + + //关闭串口 + testSerialClose(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_servo_cartesian.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_servo_cartesian.cpp new file mode 100644 index 00000000..95dc0833 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_servo_cartesian.cpp @@ -0,0 +1,315 @@ +#include +#include +#include +#ifdef WIN32 +#include +#endif + +#include "aubo_sdk/rpc.h" +#include "trajectory_io.h" + +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + return 0; +} + +template +inline std::ostream &operator<<(std::ostream &os, const std::vector &list) +{ + for (size_t i = 0; i < list.size(); i++) { + os << list.at(i); + if (i != (list.size() - 1)) { + os << ","; + } + } + return os; +} + +// 示例1：采用 servoCartesian 跟踪一个轨迹,目标点下发时间间隔 10ms +int exampleServoCartesian1(RpcClientPtr cli) +{ + // 读取轨迹文件 + auto filename = "../trajs/record6.offt"; + TrajectoryIo input(filename); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.open()) { + return 0; + } + + // 解析轨迹数据 + auto traj = input.parse(); + + // 检查轨迹文件中是否有路点， + // 如果数量为 0，输出错误消息并返回 + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0." << std::endl; + return 0; + } + std::cout << "轨迹文件中的路点数量为: " << traj_sz << std::endl; + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.8); + + // 接口调用: 设置 tcp 偏移 + std::vector offset = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + robot_interface->getRobotConfig()->setTcpOffset(offset); + + // 接口调用: 关节运动到轨迹中的第一个点，否则容易引起较大超调 + robot_interface->getMotionControl()->moveJoint(traj[0], 80 * (M_PI / 180), + 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + + // 接口调用: 开启 servo 模式 + robot_interface->getMotionControl()->setServoMode(true); + + // 等待进入 servo 模式 + int i = 0; + while (!robot_interface->getMotionControl()->isServoModeEnabled()) { + if (i++ > 10) { + std::cout + << "Servo 模式使能失败! 当前的 Servo 模式是 " + << robot_interface->getMotionControl()->isServoModeEnabled() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + for (size_t i = 1; i < traj.size(); i++) { + // 接口调用: 正解 + auto fk_result = + robot_interface->getRobotAlgorithm()->forwardKinematics(traj[i]); + // 接口调用: 笛卡尔空间伺服运动 + robot_interface->getMotionControl()->servoCartesian( + std::get<0>(fk_result), 0.0, 0.0, 10, 0.0, 0.0); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // 等待运动结束 + while (!cli->getRobotInterface(robot_name)->getRobotState()->isSteady()) { + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + std::cout << "servoCartesian 运动结束" << std::endl; + + // 接口调用: 关闭 servo 模式 + cli->getRobotInterface(robot_name)->getMotionControl()->setServoMode(false); + + // 等待结束 servo 模式 + while (robot_interface->getMotionControl()->isServoModeEnabled()) { + if (i++ > 5) { + std::cout + << "Servo 模式失能失败! 当前的 Servo 模式是 " + << robot_interface->getMotionControl()->isServoModeEnabled() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + return 0; +} + +// 示例2：通过 servoCartesian 控制机械臂向两个目标点移动 +int exampleServoCartesian2(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(1); + + // 接口调用: 设置 tcp 偏移 + std::vector offset = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + robot_interface->getRobotConfig()->setTcpOffset(offset); + + // 关节角，单位: 弧度 + std::vector joint_angle = { + 0.0 * (M_PI / 180), -15.0 * (M_PI / 180), 100.0 * (M_PI / 180), + 25.0 * (M_PI / 180), 90.0 * (M_PI / 180), 0.0 * (M_PI / 180) + }; + + // 接口调用: 关节运动 + robot_interface->getMotionControl()->moveJoint( + joint_angle, 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到初始位置成功" << std::endl; + } else { + std::cout << "关节运动到初始位置失败" << std::endl; + } + + // 接口调用: 开启servo模式 + robot_interface->getMotionControl()->setServoMode(true); + + // 等待进入 servo 模式 + int i = 0; + while (!robot_interface->getMotionControl()->isServoModeEnabled()) { + if (i++ > 5) { + std::cout << "Servo 模式使能失败! 当前servo状态为 " + << cli->getRobotInterface(robot_name) + ->getMotionControl() + ->isServoModeEnabled() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + std::vector q1 = { -120.0 * (M_PI / 180), -15.0 * (M_PI / 180), + 100.0 * (M_PI / 180), 25.0 * (M_PI / 180), + 90.0 * (M_PI / 180), 0.0 * (M_PI / 180) }; + std::cout << "向第一个目标点运动" << std::endl; + + // 接口调用: 正解 + auto fk_result1 = + robot_interface->getRobotAlgorithm()->forwardKinematics(q1); + + // 接口调用: 笛卡尔空间伺服运动 + robot_interface->getMotionControl()->servoCartesian(std::get<0>(fk_result1), + 0.0, 0.0, 10, 0.0, 0.0); + + std::this_thread::sleep_for(std::chrono::seconds(3)); + + std::vector q2 = { 10.0 * (M_PI / 180), -15.0 * (M_PI / 180), + 90.0 * (M_PI / 180), 25.0 * (M_PI / 180), + 90.0 * (M_PI / 180), 0.0 * (M_PI / 180) }; + std::cout << "向第二个目标点运动" << std::endl; + + // 接口调用: 正解 + auto fk_result2 = + robot_interface->getRobotAlgorithm()->forwardKinematics(q2); + + std::vector pose2 = std::get<0>(fk_result2); + + // 接口调用: 笛卡尔空间伺服运动 + robot_interface->getMotionControl()->servoCartesian(std::get<0>(fk_result2), + 0.0, 0.0, 10, 0.0, 0.0); + + // 等待运动结束 + while (!cli->getRobotInterface(robot_name)->getRobotState()->isSteady()) { + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + std::cout << "servo cartesian 运动结束" << std::endl; + + // 关闭servo模式 + robot_interface->getMotionControl()->setServoMode(false); + + // 等待结束 servo 模式 + i = 0; + while (robot_interface->getMotionControl()->isServoModeEnabled()) { + if (i++ > 5) { + std::cout + << "Servo 模式失能失败! 当前的 Servo 模式是 " + << robot_interface->getMotionControl()->isServoModeEnabled() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + return 0; +} + +#define LOCAL_IP "127.0.0.1" + +/** + * servoCartesian 功能使用步骤: + * 1、采用实时系统测试 servoCartesian 功能 + * 2、孤立一个 CPU，保证该 CPU 没有其他任务 + * 3、将该进程设置为实时进程，优先级设置为最大 + * 4、绑定 CPU，将该实时进程绑定到第二步孤立的 CPU 上 + */ +int main(void) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif +#ifndef _WIN32 + // 实时优先级最大值、最小值 + int sched_max = sched_get_priority_max(SCHED_FIFO); + + // 设置实时调度策略及优先级 + struct sched_param sParam; + sParam.sched_priority = sched_max; + sched_setscheduler(0, SCHED_FIFO, &sParam); + auto i_schedFlag = sched_getscheduler(0); + printf("设置调度策略 = [%d]\n", i_schedFlag); + + // 绑定CPU + cpu_set_t cpuset; + CPU_ZERO(&cpuset); + CPU_SET(1, &cpuset); + + // bind process to processor 0 + if (sched_setaffinity(0, sizeof(cpuset), &cpuset) < 0) { + perror("Sched_setaffinity fail!"); + } +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // // 示例1：采用 servoCartesian 跟踪一个轨迹,目标点下发时间间隔 10ms + // exampleServoCartesian1(rpc_cli); + + // 示例2：通过 servoCartesian 控制机械臂向两个目标点移动 + exampleServoCartesian2(rpc_cli); + + // 接口调用: RPC 退出登录 + rpc_cli->logout(); + // 接口调用: RPC 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_servoj.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_servoj.cpp new file mode 100644 index 00000000..d45aa998 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_servoj.cpp @@ -0,0 +1,235 @@ +#include +#include +#include +#ifdef WIN32 +#include +#endif + +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/rtde.h" +#include "aubo_sdk/script.h" +#include "trajectory_io.h" + +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +template +inline std::ostream &operator<<(std::ostream &os, const std::vector &list) +{ + for (size_t i = 0; i < list.size(); i++) { + os << list.at(i); + if (i != (list.size() - 1)) { + os << ","; + } + } + return os; +} + +const char *SERVOJ_SCRIPT = R"(local aubo = require('aubo') + local sched = sched or aubo.sched + local math = aubo.math or math + local sync = sched.sync +return function(api) + local names = api:getRobotNames() + robot = api:getRobotInterface(names[1]) + local function servoj(...) + return robot:getMotionControl():servoJoint(...) + end + local function get_target() + local target_q = robot:getRobotState():getJointPositions() + for i=1,6 do + target_q[i] = api:getRegisterControl():getDoubleInput(i-1) + end + return target_q + end + + local running = true + robot:getMotionControl():setServoMode(true) + api:getRegisterControl():setInt32Input(0, 1) + while running do + local flag = api:getRegisterControl():getInt32Input(0) + if flag == 6 then + servoj(get_target(), 0.0, 0.0, 0.005, 0.0, 0.0) + elseif flag == -1 then + running = false + end + sync() + end + while robot:getRobotState():isSteady() == false do + end + -- 当机械臂在运动时，setServoMode会失败 + robot:getMotionControl():setServoMode(false) +end + + +)"; + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + auto rtde_cli = std::make_shared(); + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(LOCAL_IP, 30010); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + auto script_cli = std::make_shared(); + // 接口调用: 连接到 SCRIPT 服务 + script_cli->connect(LOCAL_IP, 30002); + // 接口调用: 登录 + script_cli->login("aubo", "123456"); + + // 接口调用: 设置话题 + int chanel_out = rtde_cli->setTopic( + true, + { "input_int_registers_0", "input_double_registers_0", + "input_double_registers_1", "input_double_registers_2", + "input_double_registers_3", "input_double_registers_4", + "input_double_registers_5" }, + 200, 0); + + // 读取轨迹文件 + auto filename = "../trajs/record6.offt"; + TrajectoryIo input(filename); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.open()) { + return 0; + } + + // 解析轨迹数据 + auto traj = input.parse(); + + // 检查轨迹文件中是否有路点， + // 如果数量为 0，输出错误消息并返回 + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0." << std::endl; + return 0; + } + + // 接口调用: 获取机器人的名字 + auto robot_name = rpc_cli->getRobotNames().front(); + + auto robot_interface = rpc_cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 关节运动到轨迹文件中的第一个路点 + rpc_cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(traj[0], 30 * (M_PI / 180), 30 * (M_PI / 180), 0., 0.); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + + // 接口调用: 执行本地脚本 + script_cli->sendString(SERVOJ_SCRIPT); + + size_t i = 1; + while (1) { + // 接口调用: 发布话题 + rtde_cli->publish(chanel_out, [&](OutputBuilder &ob) { + ob.push(6); + ob.push(traj[i][0]); + ob.push(traj[i][1]); + ob.push(traj[i][2]); + ob.push(traj[i][3]); + ob.push(traj[i][4]); + ob.push(traj[i][5]); + std::cout << i << ": " << traj[i] << std::endl; + i++; + }); + + if (i == traj_sz) { + // 接口调用: 发布话题 + rtde_cli->publish(chanel_out, [&](OutputBuilder &ob) { + std::cout << i << ": end" << std::endl; + ob.push(-1); + ob.push(0); + ob.push(0); + ob.push(0); + ob.push(0); + ob.push(0); + ob.push(0); + i++; + }); + break; + } + + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + // 阻塞已保证执行完脚本中的setServoMode(false)来退出伺服模式 + while (robot_interface->getMotionControl()->isServoModeEnabled() == true) { + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + std::cout << "servoj运动结束" << std::endl; + + // 接口调用: 取消话题 + rtde_cli->removeTopic(false, chanel_out); + + // 接口调用: RPC 退出登录 + rpc_cli->logout(); + // 接口调用: RPC 断开连接 + rpc_cli->disconnect(); + // 接口调用: RTDE 退出登录 + rtde_cli->logout(); + // 接口调用: RTDE 断开连接 + rtde_cli->disconnect(); + // 接口调用: SCRIPT 退出登录 + script_cli->logout(); + // 接口调用: SCRIPT 断开连接 + script_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_servoj2.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_servoj2.cpp new file mode 100644 index 00000000..41e66baf --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_servoj2.cpp @@ -0,0 +1,560 @@ +#include +#include +#include +#ifdef WIN32 +#include +#endif + +#include "aubo_sdk/rpc.h" +#include "trajectory_io.h" + +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +template +inline std::ostream &operator<<(std::ostream &os, const std::vector &list) +{ + for (size_t i = 0; i < list.size(); i++) { + os << list.at(i); + if (i != (list.size() - 1)) { + os << ","; + } + } + return os; +} + +int waitServoJointComplete(RobotInterfacePtr impl, int timeout_ms = 10000) +{ + auto start_time = std::chrono::steady_clock::now(); + + while (impl->getMotionControl()->getMotionLeftTime(0) != 0) { + auto current_time = std::chrono::steady_clock::now(); + auto elapsed_ms = std::chrono::duration_cast( + current_time - start_time) + .count(); + + if (elapsed_ms >= timeout_ms) { + std::cout << "Warning: WaitServoJointComplete timeout after " + << elapsed_ms << " ms" << std::endl; + return 1; + } + + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + while (!impl->getRobotState()->isSteady()) { + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + return 0; +} + +/** + * 测试1: + * 采用servoj跟踪一个轨迹,目标点下发时间间隔5ms,截断式,每次更新路点后不保证经过上个路点 + */ +int exampleServoj1(RpcClientPtr cli) +{ + // 读取轨迹文件 + auto filename = "../trajs/record6.offt"; + TrajectoryIo input(filename); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.open()) { + return 0; + } + + // 解析轨迹数据 + auto traj = input.parse(); + + // 检查轨迹文件中是否有路点， + // 如果数量为 0，输出错误消息并返回 + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0." << std::endl; + return 0; + } + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(1); + + // 接口调用: 关节运动到轨迹中的第一个点，否则容易引起较大超调 + robot_interface->getMotionControl()->moveJoint(traj[0], 80 * (M_PI / 180), + 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + + // 接口调用: 开启 servo 模式 + cli->getRobotInterface(robot_name)->getMotionControl()->setServoMode(true); + + // 等待进入 servo 模式 + int i = 0; + while (!cli->getRobotInterface(robot_name) + ->getMotionControl() + ->isServoModeEnabled()) { + if (i++ > 20) { + std::cout << "Servo 模式使能失败! 当前的 Servo 模式是 " + << cli->getRobotInterface(robot_name) + ->getMotionControl() + ->isServoModeEnabled() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + for (size_t i = 1; i < traj.size(); i++) { + // 接口调用: 关节伺服运动 + + while (cli->getRobotInterface(robot_name) + ->getMotionControl() + ->servoJoint(traj[i], 0.1, 0.2, 0.01, 0.1, 200) == 2) { + // 缓存满了，需要重新下发 + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + std::cout << "Buffer is full，i: " << i << std::endl; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + // 等待运动结束 + int wait_servo = waitServoJointComplete(robot_interface); + + if (wait_servo == 0) { + std::cout << "Servoj 运动结束" << std::endl; + } + + // 接口调用: 关闭 servo 模式 + cli->getRobotInterface(robot_name)->getMotionControl()->setServoMode(false); + + // 等待结束 servo 模式 + while (cli->getRobotInterface(robot_name) + ->getMotionControl() + ->isServoModeEnabled()) { + if (i++ > 20) { + std::cout << "Servo 模式失能失败! 当前的 Servo 模式是 " + << cli->getRobotInterface(robot_name) + ->getMotionControl() + ->isServoModeEnabled() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + return 0; +} + +/** + * 测试2: 采用servoj mode 2 跟踪一个轨迹,目标点下发时间间隔5ms + */ +int exampleServoj2(RpcClientPtr cli) +{ + // 读取轨迹文件 + auto filename = "../trajs/record6.offt"; + TrajectoryIo input(filename); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.open()) { + return 0; + } + + // 解析轨迹数据 + auto traj = input.parse(); + + // 检查轨迹文件中是否有路点， + // 如果数量为 0，输出错误消息并返回 + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0." << std::endl; + return 0; + } + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(1); + + // 接口调用: 关节运动到轨迹中的第一个点，否则容易引起较大超调 + robot_interface->getMotionControl()->moveJoint(traj[0], 80 * (M_PI / 180), + 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + + // 接口调用: 开启 servo 模式 2 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->setServoModeSelect(2); + + // 等待进入 servo 模式 2 + int i = 0; + while (cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() != 2) { + if (i++ > 50) { + std::cout << "Servo 模式 2 使能失败! 当前的 Servo 模式是 " + << cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + for (size_t i = 1; i < traj.size(); i++) { + // 接口调用: 关节伺服运动 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->servoJoint(traj[i], 0.1, 0.2, 0.1, 0.1, 200); + + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + // 等待运动结束 + int wait_servo = waitServoJointComplete(robot_interface); + + if (wait_servo == 0) { + std::cout << "Servoj 运动结束" << std::endl; + } + + // 接口调用: 关闭 servo 模式 2 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->setServoModeSelect(0); + + // 等待结束 servo 模式 2 + while (cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() != 0) { + if (i++ > 50) { + std::cout << "Servo 模式 2 失能失败! 当前的 Servo 模式是 " + << cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + return 0; +} + +/** + * 测试3: + * 采用servoj跟踪一个轨迹,目标点下发时间间隔5ms, 路点必达式 + */ +int exampleServoj3(RpcClientPtr cli) +{ + // 读取轨迹文件 + auto filename = "../trajs/record6.offt"; + TrajectoryIo input(filename); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.open()) { + return 0; + } + + // 解析轨迹数据 + auto traj = input.parse(); + + // 检查轨迹文件中是否有路点， + // 如果数量为 0，输出错误消息并返回 + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0." << std::endl; + return 0; + } + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(1); + + // 接口调用: 关节运动到轨迹中的第一个点，否则容易引起较大超调 + robot_interface->getMotionControl()->moveJoint(traj[0], 80 * (M_PI / 180), + 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + + // 接口调用: 开启 servo 模式 5 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->setServoModeSelect(5); + + // 等待进入 servo 模式 + int i = 0; + while (cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() != 5) { + if (i++ > 20) { + std::cout << "Servo 模式使能失败! 当前的 Servo 模式是 " + << cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + for (size_t i = 1; i < traj.size(); i++) { + // 接口调用: 关节伺服运动 + + while (cli->getRobotInterface(robot_name) + ->getMotionControl() + ->servoJoint(traj[i], 0.1, 0.2, 0.01, 0.1, 200) == 2) { + // 缓存满了，需要重新下发 + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + std::cout << "Buffer is full，i: " << i << std::endl; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + // 等待运动结束 + int wait_servo = waitServoJointComplete(robot_interface); + + if (wait_servo == 0) { + std::cout << "Servoj 运动结束" << std::endl; + } + + // 接口调用: 关闭 servo 模式 5 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->setServoModeSelect(0); + + // 等待结束 servo 模式5 + while (cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() != 0) { + if (i++ > 20) { + std::cout << "Servo 模式失能失败! 当前的 Servo 模式是 " + << cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + return 0; +} + +/** + * 测试4: 采用 servoj mode 3 跟踪一段轨迹，透传模式(缓存) + */ +int exampleServoj4(RpcClientPtr cli) +{ + // 读取轨迹文件 + auto filename = "../trajs/record6.offt"; + TrajectoryIo input(filename); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.open()) { + return 0; + } + + // 解析轨迹数据 + auto traj = input.parse(); + + // 检查轨迹文件中是否有路点， + // 如果数量为 0，输出错误消息并返回 + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0." << std::endl; + return 0; + } + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.6); + + // 接口调用: 关节运动到轨迹中的第一个点，否则容易引起较大超调 + robot_interface->getMotionControl()->moveJoint(traj[0], 80 * (M_PI / 180), + 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + + // 接口调用: 开启 servo 模式 3 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->setServoModeSelect(3); + + // 等待进入 servo 模式 3 + int retry_count = 0; + while (cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() != 3) { + if (retry_count++ > 50) { + std::cout << "Servo 模式 3 使能失败! 当前的 Servo 模式是 " + << cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + for (size_t i = 1; i < traj.size(); i++) { + // 接口调用: 关节伺服运动 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->servoJoint(traj[i], 0.1, 0.2, 0.02, 0.1, 200); + + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + // 等待运动结束 + int wait_servo = waitServoJointComplete(robot_interface); + + if (wait_servo == 0) { + std::cout << "Servoj 运动结束" << std::endl; + } + + // 接口调用: 关闭 servo 模式 3 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->setServoModeSelect(0); + + // 等待结束 servo 模式 3 + retry_count = 0; + while (cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() != 0) { + if (retry_count++ > 50) { + std::cout << "Servo 模式 3 失能失败! 当前的 Servo 模式是 " + << cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + return 0; +} + +#define LOCAL_IP "127.0.0.1" +/** + * servoj功能使用步骤: + * 1、采用实时系统测试servoj功能 + * 2、孤立一个CPU，保证该CPU没有其他任务 + * 3、将该进程设置为实时进程，优先级设置为最大 + * 4、绑定CPU，将该实时进程绑定到第二步孤立的CPU上 + */ +int main(void) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif +#ifndef _WIN32 + // 实时优先级最大值、最小值 + int sched_max = sched_get_priority_max(SCHED_FIFO); + + // 设置实时调度策略及优先级 + struct sched_param sParam; + sParam.sched_priority = sched_max; + sched_setscheduler(0, SCHED_FIFO, &sParam); + auto i_schedFlag = sched_getscheduler(0); + printf("设置调度策略 = [%d]\n", i_schedFlag); + + // 绑定CPU + cpu_set_t cpuset; + CPU_ZERO(&cpuset); + CPU_SET(1, &cpuset); + + // bind process to processor 0 + if (sched_setaffinity(0, sizeof(cpuset), &cpuset) < 0) { + perror("Sched_setaffinity fail!"); + } +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + exampleServoj1(rpc_cli); + // exampleServoj2(rpc_cli); + // exampleServoj3(rpc_cli); + // exampleServoj4(rpc_cli); + + // 接口调用: RPC 退出登录 + rpc_cli->logout(); + // 接口调用: RPC 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_servoj3.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_servoj3.cpp new file mode 100644 index 00000000..db024c80 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_servoj3.cpp @@ -0,0 +1,308 @@ +#include +#include +#include +#ifdef WIN32 +#include +#endif + +#include "aubo_sdk/rpc.h" +#include "trajectory_io.h" + +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +#define EMBEDDED + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +template +inline std::ostream &operator<<(std::ostream &os, const std::vector &list) +{ + for (size_t i = 0; i < list.size(); i++) { + os << list.at(i); + if (i != (list.size() - 1)) { + os << ","; + } + } + return os; +} + +int waitServoJointComplete(RobotInterfacePtr impl, int timeout_ms = 10000) +{ + auto start_time = std::chrono::steady_clock::now(); + + while (impl->getMotionControl()->getMotionLeftTime(0) != 0) { + auto current_time = std::chrono::steady_clock::now(); + auto elapsed_ms = std::chrono::duration_cast( + current_time - start_time) + .count(); + + if (elapsed_ms >= timeout_ms) { + std::cout << "Warning: WaitServoJointComplete timeout after " + << elapsed_ms << " ms" << std::endl; + return 1; + } + + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + while (!impl->getRobotState()->isSteady()) { + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + return 0; +} + +/** + * 测试1: + * 开启力控 采用servoj跟踪一个轨迹,目标点下发时间间隔5ms + */ +int exampleServoj1(RpcClientPtr cli) +{ + auto robot_name = cli->getRobotNames().front(); +#ifdef EMBEDDED + // 内置传感器 + std::vector sensor_pose = { 0, 0, 0, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("embedded"); +#else + // 外置坤维传感器 + std::vector sensor_pose = { 0, 0, 0.047, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->selectTcpForceSensor("kw_ftsensor"); +#endif + + // 设置传感器安装位姿 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpForceSensorPose(sensor_pose); + // 设置TCP偏移 + std::vector tcp_pose = { 0, 0, 0.0, 0, 0, 0 }; + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpOffset(tcp_pose); + + double mass = 0.0; + std::vector com = { 0.0, 0.0, 0.0 }; + // 设置负载 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setPayload(mass, com, { 0. }, { 0. }); + // 力传感器偏移需要根据实际情况设置 + std::vector force_offset = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getTcpForceSensors(); + + // 设置力传感器偏移 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setTcpForceOffset(force_offset); + + std::vector admittance_m = { 25.0, 25.0, 25.0, 2.0, 2.0, 2.0 }; + std::vector admittance_d = { + 300.0, 300.0, 300.0, 12.0, 12.0, 12.0 + }; + std::vector admittance_k = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + + cli->getRobotInterface("rob1")->getForceControl()->setDynamicModel( + admittance_m, admittance_d, admittance_k); + + // 力控开启方向 + std::vector compliance = { false, false, true, false, false, false }; + // 目标力 + std::vector target_wrench{ 0.0, 0.0, 5.0, 0.0, 0.0, 0.0 }; + std::vector speed_limits(6, 2.0); + + std::vector feature = { 0, 0, 0, 0, 0, 0 }; + TaskFrameType frame_type = TaskFrameType::TOOL_FORCE; + cli->getRobotInterface(robot_name) + ->getForceControl() + ->setTargetForce(feature, compliance, target_wrench, speed_limits, + frame_type); + + // 读取轨迹文件 + auto filename = "../trajs/record6.offt"; + TrajectoryIo input(filename); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.open()) { + return 0; + } + + // 解析轨迹数据 + auto traj = input.parse(); + + // 检查轨迹文件中是否有路点， + // 如果数量为 0，输出错误消息并返回 + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0." << std::endl; + return 0; + } + + // 接口调用: 获取机器人的名字 + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(1); + + // 接口调用: 关节运动到轨迹中的第一个点，否则容易引起较大超调 + robot_interface->getMotionControl()->moveJoint(traj[99], 80 * (M_PI / 180), + 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + robot_interface->getForceControl()->fcEnable(); + + // 接口调用: 开启 servo 模式 7 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->setServoModeSelect(7); + // 等待进入 servo 模式 + int i = 0; + while (cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() != 7) { + if (i++ > 20) { + std::cout << "Servo 模式使能失败! 当前的 Servo 模式是 " + << cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(7)); + } + + for (size_t i = 100; i < traj.size(); i++) { + // 接口调用: 关节伺服运动 + + while (cli->getRobotInterface(robot_name) + ->getMotionControl() + ->servoJoint(traj[i], 0.1, 0.2, 0.05, 0.1, 200) == 2) { + // 缓存满了，需要重新下发 + // std::this_thread::sleep_for(std::chrono::milliseconds(5)); + std::cout << "Buffer is full，i: " << i << std::endl; + } + + // std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + // 等待运动结束 + int wait_servo = waitServoJointComplete(robot_interface); + + if (wait_servo == 0) { + std::cout << "Servoj 运动结束" << std::endl; + } + + // 接口调用: 关闭 servo 模式 7 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->setServoModeSelect(0); + + // 等待结束 servo 模式7 + while (cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() != 0) { + if (i++ > 20) { + std::cout << "Servo 模式失能失败! 当前的 Servo 模式是 " + << cli->getRobotInterface(robot_name) + ->getMotionControl() + ->getServoModeSelect() + << std::endl; + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + cli->getRobotInterface("rob1")->getForceControl()->fcDisable(); + + return 0; +} + +#define LOCAL_IP "192.168.3.10" +/** + * servoj功能使用步骤: + * 1、采用实时系统测试servoj功能 + * 2、孤立一个CPU，保证该CPU没有其他任务 + * 3、将该进程设置为实时进程，优先级设置为最大 + * 4、绑定CPU，将该实时进程绑定到第二步孤立的CPU上 + */ +int main(void) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif +#ifndef _WIN32 + // 实时优先级最大值、最小值 + int sched_max = sched_get_priority_max(SCHED_FIFO); + + // 设置实时调度策略及优先级 + struct sched_param sParam; + sParam.sched_priority = sched_max; + sched_setscheduler(0, SCHED_FIFO, &sParam); + auto i_schedFlag = sched_getscheduler(0); + printf("设置调度策略 = [%d]\n", i_schedFlag); + + // 绑定CPU + cpu_set_t cpuset; + CPU_ZERO(&cpuset); + CPU_SET(1, &cpuset); + + // bind process to processor 0 + if (sched_setaffinity(0, sizeof(cpuset), &cpuset) < 0) { + perror("Sched_setaffinity fail!"); + } +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + exampleServoj1(rpc_cli); + + // 接口调用: RPC 退出登录 + rpc_cli->logout(); + // 接口调用: RPC 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_set_log_handler.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_set_log_handler.cpp new file mode 100644 index 00000000..8a4952ba --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_set_log_handler.cpp @@ -0,0 +1,44 @@ +#include "aubo_sdk/rpc.h" + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#define LOCAL_IP "127.0.0.1" + +void example_read_log(RpcClientPtr cli) { + // 接口调用: 重新日志系统的格式 + cli->setLogHandler([](int level, const char *filename, int line, + const std::string &message) { + std::cout << "level: " << level << std::endl; + std::cout << "filename: " << filename << std::endl; + std::cout << "line: " << line << std::endl; + std::cout << "message: " << message << std::endl; + }); +} +/** + * 功能: 自定义日志的格式 + * 步骤: + * 第一步: 自定义日志的格式。 + * 注意: 要在连接服务器之前，调用 setLogHandler + * 函数。否则，自定义的日志格式不会生效。 + * 第二步: 连接 RPC 服务、机械臂登录 + * 第三步: 退出登录、断开 RPC 服务 + */ +int main() { + // RPC 客户端对象 + auto rpc_cli = std::make_shared(); + // 自定义日志的格式 + example_read_log(rpc_cli); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_shutdown.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_shutdown.cpp new file mode 100644 index 00000000..fd3a6edd --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_shutdown.cpp @@ -0,0 +1,58 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::aubo_sdk; + +#define ip_local "127.0.0.1" + +void exampleShutdown1(RpcClientPtr cli) +{ + // 接口调用: 关机 + int ret = cli->shutdown(); + + std::this_thread::sleep_for(std::chrono::seconds(2)); + + std::cout << "ret = " << ret << std::endl; +} + +void exampleShutdown2(RpcClientPtr cli) +{ + // 接口调用: 获取机械臂的名称 + auto robot_name = cli->getRobotNames().front(); + + // 接口调用: 关机 + cli->getRobotInterface(robot_name) + ->getRobotConfig() + ->setHardwareCustomParameters("tp_shutdown = true"); +} + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(ip_local, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 示例1：通过shutdown接口来关机 + exampleShutdown1(rpc_cli); + + // 示例2：通过setHardwareCustomParameters接口来关机 + // exampleShutdown2(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_spline.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_spline.cpp new file mode 100644 index 00000000..48fa66e5 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_spline.cpp @@ -0,0 +1,226 @@ +#include +#include +#include +#include + +#include +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/rtde.h" +#include "trajectory_io.h" + +#ifdef WIN32 +#include +#endif +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + int cnt = 0; + // 在等待机械臂开始运动时，获取exec_id最大的重试次数 + int max_retry_count = 5; + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (exec_id != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + return 0; +} + +// 等待样条运动完成 +void waitMoveSplineFinished(RpcClientPtr impl) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + + auto robot_interface = impl->getRobotInterface(robot_name); + + std::cout << "等待样条运动开始" << std::endl; + // 等待样条运动开始 + while (robot_interface->getMotionControl()->getExecId() == -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + std::cout << "样条运动开始" << std::endl; + + while (1) { + auto id = robot_interface->getMotionControl()->getExecId(); + if (id == -1) { + break; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + std::cout << "样条运动结束" << std::endl; +} + +// 样条运动 +void exampleSpline(RpcClientPtr cli) +{ + // 读取轨迹文件 + auto filename = "../trajs/coffee_spline.txt"; + TrajectoryIo input(filename); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.open()) { + return; + } + + // 解析轨迹数据 + auto traj = input.parse(); + + // 检查轨迹文件中是否有路点， + // 如果数量为 0，输出错误消息并返回 + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0." << std::endl; + return; + } + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 关节运动到轨迹文件中的第一个路点 + std::vector joint_angle = traj[0]; + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveJoint(joint_angle, 80 * (M_PI / 180), 60 * (M_PI / 180), 0., 0.); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + + std::cout << "添加轨迹文件中的路点" << std::endl; + // 接口调用: 添加轨迹文件中的路点 + for (int i = 1; i < (int)traj.size(); i++) { + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveSpline(traj[i], 1, 1, 0); + } + + // 接口调用: 当关节角参数传入为空时，结束路点添加。 + // 等待算法计算完成后，机械臂开始执行样条运动。 + // 所以，当添加的路点数量越多时，由于算法计算的耗时时间长， + // 机械臂可能不会立刻运动。 + cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveSpline({}, 1, 1, 0.005); +} + +void printlog(int level, const char *source, int code, std::string content) +{ + static const char *level_names[] = { "Critical", "Error", "Warning", + "Info", "Debug", "BackTrace" }; + fprintf(stderr, "[%s] %s - %d %s\n", level_names[level], source, code, + content.c_str()); +} + +/** + * 功能: 关节空间的样条运动实现.txt文件中的离散轨迹 + * 步骤: + * 第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 + * 第二步: 连接 RTDE 服务、登录 + * 第三步: RTDE 设置话题、订阅话题来打印error_stack中的日志信息 + * 第四步: 读取解析.txt轨迹文件 + * 第五步: 添加文件中的路点，做样条运动 + * 第六步: RTDE 退出登录、断开连接 + * 第七步: RPC 退出登录、断开连接 + */ + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + auto rtde_cli = std::make_shared(); + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(LOCAL_IP, 30010); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + // 接口调用: 设置 RTDE 话题 + int topic = rtde_cli->setTopic(false, { "R1_message" }, 200, 0); + if (topic < 0) { + std::cout << "设置话题失败!" << std::endl; + return -1; + } + + // 接口调用: 订阅话题 + rtde_cli->subscribe(topic, [](InputParser &parser) { + arcs::common_interface::RobotMsgVector msgs; + msgs = parser.popRobotMsgVector(); + for (size_t i = 0; i < msgs.size(); i++) { + auto &msg = msgs[i]; + std::string error_content = + arcs::error_stack::errorCode2Str(msg.code); + for (auto it : msg.args) { + auto pos = error_content.find("{}"); + if (pos != std::string::npos) { + error_content.replace(pos, 2, it); + } else { + break; + } + } + // 打印日志信息 + printlog(msg.level, msg.source.c_str(), msg.code, error_content); + } + }); + + // 样条运动 + exampleSpline(rpc_cli); + + // 等待样条运动完成 + waitMoveSplineFinished(rpc_cli); + + // 接口调用: 取消话题 + rtde_cli->removeTopic(false, topic); + // 接口调用: 退出登录 + rtde_cli->logout(); + // 接口调用: 断开连接 + rtde_cli->disconnect(); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_spline2.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_spline2.cpp new file mode 100644 index 00000000..4bcb086b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_spline2.cpp @@ -0,0 +1,174 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl, int max_retry_count) { + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + std::cout << "exec_id: " << exec_id << std::endl; + } + + // 等待机械臂动作完成 + while (exec_id != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + std::cout << "exec_id: " << exec_id << std::endl; + } + + return 0; +} + +// 等待样条运动完成 +void waitMoveSplineFinished(RpcClientPtr impl) { + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + + auto robot_interface = impl->getRobotInterface(robot_name); + + // 等待样条运动开始 + while (robot_interface->getMotionControl()->getExecId() == -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + std::cout << "样条运动开始" << std::endl; + + while (1) { + auto id = robot_interface->getMotionControl()->getExecId(); + if (id == -1) { + break; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } +} + +// 样条运动 +void exampleMoveSpline(RpcClientPtr rpc_cli) + +{ + // 路点，用关节角来表示，单位: 弧度 + std::vector joint_angle1 = {0.0, + -15.0 * (M_PI / 180), + 100.0 * (M_PI / 180), + 25.0 * (M_PI / 180), + 90.0 * (M_PI / 180), + 0.0}; + + std::vector joint_angle2 = { + 19.25 * (M_PI / 180), -6.08 * (M_PI / 180), 78.87 * (M_PI / 180), + -5.05 * (M_PI / 180), 90.0 * (M_PI / 180), 19.25 * (M_PI / 180)}; + + std::vector joint_angle3 = { + 28.20 * (M_PI / 180), -12.87 * (M_PI / 180), 52.22 * (M_PI / 180), + -24.91 * (M_PI / 180), 90.0 * (M_PI / 180), 28.2 * (M_PI / 180)}; + + std::vector joint_angle4 = { + 38.20 * (M_PI / 180), -15.58 * (M_PI / 180), 58.16 * (M_PI / 180), + -16.25 * (M_PI / 180), 90.0 * (M_PI / 180), 38.20 * (M_PI / 180)}; + + std::vector joint_angle5 = { + 38.20 * (M_PI / 180), -15.73 * (M_PI / 180), 91.05 * (M_PI / 180), + 16.79 * (M_PI / 180), 90.0 * (M_PI / 180), 38.20 * (M_PI / 180)}; + + // 接口调用: 获取机器人的名字 + auto robot_name = rpc_cli->getRobotNames().front(); + + auto robot_interface = rpc_cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.8); + + std::cout << "添加第一个路点" << std::endl; + // 接口调用: 添加样条运动的第一个路点 + rpc_cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveSpline(joint_angle1, 80 * (M_PI / 180), 60 * (M_PI / 180), 0); + + std::cout << "添加第二个路点" << std::endl; + // 接口调用: 添加样条运动的第二个路点 + rpc_cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveSpline(joint_angle2, 80 * (M_PI / 180), 60 * (M_PI / 180), 0); + + std::cout << "添加第三个路点" << std::endl; + // 接口调用: 添加样条运动的第三个路点 + rpc_cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveSpline(joint_angle3, 80 * (M_PI / 180), 60 * (M_PI / 180), 0); + + std::cout << "添加第四个路点" << std::endl; + // 接口调用: 添加样条运动的第四个路点 + rpc_cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveSpline(joint_angle4, 80 * (M_PI / 180), 180 * (M_PI / 180), 0); + + std::cout << "添加第五个路点" << std::endl; + // 接口调用: 添加样条运动的第五个路点 + rpc_cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveSpline(joint_angle5, 80 * (M_PI / 180), 60 * (M_PI / 180), 0); + + // 接口调用: 当关节角参数传入为空时，结束路点添加。 + // 等待算法计算完成后，机械臂开始执行样条运动。 + // 所以，当添加的路点数量越多时，由于算法计算的耗时时间长， + // 机械臂可能不会立刻运动。 + rpc_cli->getRobotInterface(robot_name) + ->getMotionControl() + ->moveSpline({}, 80 * (M_PI / 180), 60 * (M_PI / 180), 0.005); + + // 等待样条运动完成 + waitMoveSplineFinished(rpc_cli); + + std::cout << "样条运动结束" << std::endl; +} + +/** + * 功能: 机械臂做关节空间的样条运动 + * 步骤: + * 第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 + * 第二步: 设置运动速度比率、以样条运动的方式依次经过5个离散路点 + * 第三步: RPC 退出登录、断开连接 + */ +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) { +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 样条运动 + exampleMoveSpline(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_stable_ik.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_stable_ik.cpp new file mode 100644 index 00000000..de78f2ae --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_stable_ik.cpp @@ -0,0 +1,445 @@ +#include "aubo_sdk/rpc.h" + +/* + * 功能：解决 TCP 位姿的欧拉角接近极限位置时，直接逆解后 moveJoint + * 容易选择到另一组等价姿态逆解而导致关节翻转的问题。 + * + * 示例默认只执行 safe 路径： + * 1. 获取当前关节角 reference_q，并以它作为逆解参考； + * 2. 对目标 TCP 位姿调用 stableIk()； + * 3. stableIk() 内部调用 inverseKinematics2(reference_q, pose)； + * 4. inverseKinematics2 按 reference_q 的构型计算逆解，并选择同构型 + * 内关节变化最小的一组； + * 5. 使用选中的关节角执行 moveJoint。 + * + * 如果需要观察翻转对照，可将 RUN_UNSAFE_DEMO 改为 true。 + */ + +#include +#include +#include +#include +#include +#include + +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +constexpr double DEMO_MOVE_SPEED = 20 * (M_PI / 180); +constexpr double DEMO_MOVE_ACCELERATION = 20 * (M_PI / 180); +constexpr bool RUN_UNSAFE_DEMO = false; +constexpr double MIN_FLIP_DISTANCE_DEG = 60.0; +constexpr double MAX_JOINT_ABS_DEG = 350.0; + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitDone(RobotInterfacePtr robot) +{ + const int max_retry_count = 5; + int cnt = 0; + + int exec_id = robot->getMotionControl()->getExecId(); + + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = robot->getMotionControl()->getExecId(); + } + + while (robot->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +double jointGap(const std::vector &q1, const std::vector &q2) +{ + double gap = 0; + for (size_t i = 0; i < q1.size() && i < q2.size(); i++) { + const double diff = q1.at(i) - q2.at(i); + gap += diff * diff; + } + return gap; +} + +double jointGapDeg(const std::vector &q1, + const std::vector &q2) +{ + return std::sqrt(jointGap(q1, q2)) * 180 / M_PI; +} + +bool inLimit(const std::vector &q) +{ + for (auto value : q) { + if (std::abs(value * 180 / M_PI) > MAX_JOINT_ABS_DEG) { + return false; + } + } + return true; +} + +void showVec(const std::string &name, const std::vector &values) +{ + std::cout << name << ": ["; + for (size_t i = 0; i < values.size(); i++) { + std::cout << std::fixed << std::setprecision(6) << values.at(i); + if (i + 1 != values.size()) { + std::cout << ", "; + } + } + std::cout << "]" << std::endl; +} + +void showJoint(const std::string &name, const std::vector &q) +{ + std::cout << name << ": ["; + for (size_t i = 0; i < q.size(); i++) { + std::cout << std::fixed << std::setprecision(2) + << q.at(i) * 180 / M_PI; + if (i + 1 != q.size()) { + std::cout << ", "; + } + } + std::cout << "] deg" << std::endl; +} + +template +std::vector> allIk(RobotAlgorithmPtrT algorithm, + const std::vector &pose) +{ + auto result = algorithm->inverseKinematicsAll(pose); + auto solutions = std::get<0>(result); + auto ret = std::get<1>(result); + + if (ret != 0 || solutions.empty()) { + std::cout << "inverseKinematicsAll 失败，返回值: " << ret << std::endl; + return {}; + } + + return solutions; +} + +template +std::optional configOf(RobotAlgorithmPtrT algorithm, + const std::vector &q) +{ + auto result = algorithm->getRobotConfiguration(q); + auto config = std::get<0>(result); + auto ret = std::get<1>(result); + + if (ret != 0) { + return std::nullopt; + } + + return config; +} + +template +void showAllIk(RobotAlgorithmPtrT algorithm, const std::vector &pose, + const std::vector &reference_q) +{ + auto solutions = allIk(algorithm, pose); + std::cout << "\ninverseKinematicsAll 全部逆解，共 " << solutions.size() + << " 组" << std::endl; + for (size_t i = 0; i < solutions.size(); i++) { + const auto &q = solutions.at(i); + auto config = configOf(algorithm, q); + std::cout << " 解 " << i + 1; + if (config) { + std::cout << "，构型: " << *config; + } else { + std::cout << "，构型: 获取失败"; + } + std::cout << "，关节变化 " << std::fixed << std::setprecision(3) + << jointGapDeg(q, reference_q) << " deg" << std::endl; + showJoint(" 关节角", q); + } +} + +bool moveJ(RobotInterfacePtr robot, const std::vector &q, + const std::string &title) +{ + std::cout << title << std::endl; + int ret = robot->getMotionControl()->moveJoint( + q, DEMO_MOVE_ACCELERATION, DEMO_MOVE_SPEED, 0, 0); + if (ret != 0) { + std::cout << "moveJoint 下发失败，返回值: " << ret << std::endl; + return false; + } + + ret = waitDone(robot); + if (ret != 0) { + std::cout << title << "失败" << std::endl; + return false; + } + + std::cout << title << "成功" << std::endl; + return true; +} + +template +std::optional> badSeed( + RobotAlgorithmPtrT algorithm, const std::vector &pose, + const std::vector &reference_q, int reference_config) +{ + // unsafe 对照专用：构造一个错误分支上的 qnear。 + // 这里只用于演示普通 inverseKinematics 被错误 qnear 引导后可能翻转； + // 默认不会执行该路径。 + auto solutions = allIk(algorithm, pose); + if (solutions.empty()) { + return std::nullopt; + } + + std::vector> different_config_solutions; + std::vector> valid_solutions; + for (const auto &q : solutions) { + auto config = configOf(algorithm, q); + if (!config || !inLimit(q)) { + continue; + } + + valid_solutions.push_back(q); + if (*config != reference_config) { + different_config_solutions.push_back(q); + } + } + + if (valid_solutions.empty()) { + return std::nullopt; + } + + const auto &raw_candidates = different_config_solutions.empty() + ? valid_solutions + : different_config_solutions; + + std::optional> best_q; + double best_gap = std::numeric_limits::max(); + for (const auto &q : raw_candidates) { + const double gap = jointGapDeg(q, reference_q); + if (gap >= MIN_FLIP_DISTANCE_DEG && gap < best_gap) { + best_q = q; + best_gap = gap; + } + } + + if (!best_q) { + std::cout << "未找到角度合法且足够明显的错误 qnear" << std::endl; + } + + return best_q; +} + +template +std::optional> unsafeIk( + RobotAlgorithmPtrT algorithm, const std::vector &pose, + const std::vector &reference_q, int reference_config) +{ + // unsafe 对照专用：最终运动目标仍由普通 inverseKinematics 生成。 + auto seed = badSeed(algorithm, pose, reference_q, reference_config); + if (!seed) { + return std::nullopt; + } + + auto result = algorithm->inverseKinematics(*seed, pose); + auto q = std::get<0>(result); + auto ret = std::get<1>(result); + + if (ret != 0) { + std::cout << "unsafe inverseKinematics 失败，返回值: " << ret + << std::endl; + return std::nullopt; + } + + if (!inLimit(q)) { + std::cout << "unsafe 目标关节角超出演示限制，跳过该翻转解" + << std::endl; + return std::nullopt; + } + + const double gap = jointGapDeg(q, reference_q); + if (gap < MIN_FLIP_DISTANCE_DEG) { + std::cout << "普通 inverseKinematics 未选到明显翻转解，关节距离仅 " + << std::fixed << std::setprecision(3) << gap << " deg" + << std::endl; + return std::nullopt; + } + + return q; +} + +template +std::optional> stableIk( + RobotAlgorithmPtrT algorithm, const std::vector &pose, + const std::vector &reference_q) +{ + /* + * 面向 moveJoint 的防翻转逆解选解策略。 + * + * 这个函数是自包含的，用户可以直接复制使用，不依赖本文件中的 + * allIk/configOf/jointGap 等辅助函数。 + * + * 参数： + * - algorithm: robot->getRobotAlgorithm() 返回的对象 + * - pose: 目标 TCP 位姿，单位 m, rad + * - reference_q: 参考关节角，通常传当前关节角或上一段运动的目标关节角 + * + * 返回： + * - 成功：同构型且相对 reference_q 关节变化最小的逆解 + * - 失败：std::nullopt + * + * 选解步骤： + * 1. 将 reference_q 作为参考关节角传入 inverseKinematics2； + * 2. inverseKinematics2 按 reference_q 的构型计算逆解； + * 3. inverseKinematics2 在同构型逆解中选择相对 reference_q + * 关节变化最小的一组。 + */ + auto ik_result = algorithm->inverseKinematics2(reference_q, pose); + auto q = std::get<0>(ik_result); + auto ik_ret = std::get<1>(ik_result); + if (ik_ret != 0) { + std::cout << "inverseKinematics2 失败，返回值: " << ik_ret + << std::endl; + return std::nullopt; + } + if (q.size() != reference_q.size()) { + std::cout << "inverseKinematics2 返回关节数量异常: " << q.size() + << "，期望: " << reference_q.size() << std::endl; + return std::nullopt; + } + + std::cout << "stable_ik 选解结果" << std::endl; + std::cout << " inverseKinematics2 已按参考构型选择同构型最近解" + << std::endl; + std::cout << " 关节变化 " << std::fixed << std::setprecision(3) + << jointGapDeg(q, reference_q) << " deg" + << std::endl; + return q; +} + +void demo(RpcClientPtr rpc_cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = rpc_cli->getRobotNames().front(); + auto robot = rpc_cli->getRobotInterface(robot_name); + auto algorithm = robot->getRobotAlgorithm(); + auto motion = robot->getMotionControl(); + + // 接口调用: 设置机械臂的速度比率 + motion->setSpeedFraction(0.3); + + // 获取当前关节角和当前 TCP 位姿 + auto reference_q = robot->getRobotState()->getJointPositions(); + auto current_tcp_pose = robot->getRobotState()->getTcpPose(); + showJoint("当前关节角", reference_q); + auto reference_config_result = algorithm->getRobotConfiguration(reference_q); + auto reference_config = std::get<0>(reference_config_result); + auto reference_config_ret = std::get<1>(reference_config_result); + if (reference_config_ret != 0) { + std::cout << "获取参考点构型失败，返回值: " << reference_config_ret + << std::endl; + return; + } + std::cout << "参考点构型: " << reference_config << std::endl; + + // 目标 TCP 位姿，单位: m, rad + // 这里从当前 TCP 位姿做较明显的位置偏移。safe 和 unsafe 对照 + // 使用完全相同的目标 TCP，只改变选解策略。 + auto target_tcp_pose = current_tcp_pose; + target_tcp_pose.at(0) += 0.060; + target_tcp_pose.at(1) += 0.040; + target_tcp_pose.at(2) += 0.030; + showVec("目标 TCP 位姿", target_tcp_pose); + // 调试全部逆解时取消下一行注释。 + // showAllIk(algorithm, target_tcp_pose, reference_q); + + if (RUN_UNSAFE_DEMO) { + auto config_result = algorithm->getRobotConfiguration(reference_q); + auto current_config = std::get<0>(config_result); + auto config_ret = std::get<1>(config_result); + if (config_ret != 0) { + std::cout << "获取当前构型失败，返回值: " << config_ret + << std::endl; + return; + } + + std::cout << "当前机械臂构型: " << current_config << std::endl; + + // unsafe 对照默认关闭。打开后会故意给 inverseKinematics 一个错误 + // qnear，用于观察普通逆解选到翻转分支时的运动效果。 + std::cout << "\n1. unsafe 运动对照: 错误 qnear + 普通 " + "inverseKinematics" + << std::endl; + auto flip_q = unsafeIk(algorithm, target_tcp_pose, reference_q, + current_config); + if (!flip_q) { + std::cout << "未执行 unsafe 运动对照" << std::endl; + return; + } + + showJoint("unsafe 目标关节角", *flip_q); + if (!moveJ(robot, *flip_q, "unsafe moveJoint 翻转运动")) { + return; + } + + std::cout << "\n回到演示起点" << std::endl; + if (!moveJ(robot, reference_q, "moveJoint 回到起点")) { + return; + } + } + + // safe 路径：使用 inverseKinematics2 选出同构型且关节变化最小的目标关节角 + std::cout << "\nsafe 运动示例: inverseKinematics2 同构型最近解，防止翻转" + << std::endl; + auto safe_q = stableIk(algorithm, target_tcp_pose, reference_q); + if (!safe_q) { + std::cout << "未执行 safe 运动示例" << std::endl; + return; + } + + showJoint("safe 目标关节角", *safe_q); + auto target_config_result = algorithm->getRobotConfiguration(*safe_q); + auto target_config = std::get<0>(target_config_result); + auto target_config_ret = std::get<1>(target_config_result); + if (target_config_ret != 0) { + std::cout << "获取目标点构型失败，返回值: " << target_config_ret + << std::endl; + return; + } + std::cout << "目标点构型: " << target_config << std::endl; + moveJ(robot, *safe_q, "safe moveJoint 防翻转运动"); +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + demo(rpc_cli); + + // 接口调用: 退出登录、断开连接 + rpc_cli->logout(); + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_startup.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_startup.cpp new file mode 100644 index 00000000..f3ed5663 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_startup.cpp @@ -0,0 +1,122 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +// 等待机械臂进入目标模式 +void waitForRobotMode(RobotInterfacePtr robot_interface, + RobotModeType target_mode) +{ + // 接口调用: 获取当前机械臂的模式 + auto current_mode = robot_interface->getRobotState()->getRobotModeType(); + + while (current_mode != target_mode) { + std::cout << "机械臂当前模式:" << current_mode << std::endl; + std::this_thread::sleep_for(std::chrono::seconds(1)); + current_mode = robot_interface->getRobotState()->getRobotModeType(); + } +} + +void exampleStartup(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置负载 + double mass = 0.0; + std::vector cog(3, 0.0); + std::vector aom(3, 0.0); + std::vector inertia(6, 0.0); + robot_interface->getRobotConfig()->setPayload(mass, cog, aom, inertia); + + // 接口调用: 获取机械臂当前模式 + auto robot_mode = robot_interface->getRobotState()->getRobotModeType(); + + if (robot_mode == RobotModeType::Running) { + std::cout << "机械臂已松刹车，处于运行模式" << std::endl; + + } else { + // 接口调用: 机械臂发起上电请求 + robot_interface->getRobotManage()->poweron(); + + // 等待机械臂进入空闲模式 + waitForRobotMode(robot_interface, RobotModeType::Idle); + + std::cout << "机械臂上电成功，当前模式:" + << robot_interface->getRobotState()->getRobotModeType() + << std::endl; + + // 接口调用: 机械臂发起松刹车请求 + cli->getRobotInterface(robot_name)->getRobotManage()->startup(); + + // 等待机械臂进入运行模式 + waitForRobotMode(robot_interface, RobotModeType::Running); + + std::cout << "机械臂松刹车成功，当前模式:" + << robot_interface->getRobotState()->getRobotModeType() + << std::endl; + } +} + +void examplePoweroff(RpcClientPtr cli) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 机械臂断电 + robot_interface->getRobotManage()->poweroff(); + + // 等待机械臂进入断电模式 + waitForRobotMode(robot_interface, RobotModeType::PowerOff); + + std::cout << "机械臂断电成功，当前模式:" + << robot_interface->getRobotState()->getRobotModeType() + << std::endl; +} + +/** + * 功能: 机械臂上电与断电 + * 步骤: + * 第一步: 设置 RPC 超时、连接到 RPC 服务、登录 + * 第二步: 设置负载、上电和松刹车 + * 第三步: 机械臂断电 + * 第四步: RPC 退出登录、断开连接 + */ + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 机械臂上电 + exampleStartup(rpc_cli); + + // 机械臂断电 + // examplePoweroff(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_state.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_state.cpp new file mode 100644 index 00000000..370358ca --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_state.cpp @@ -0,0 +1,278 @@ +#include "aubo_sdk/rpc.h" +#ifdef WIN32 +#include +#endif + +using namespace arcs::aubo_sdk; + +// 模板:打印类型为std::vector的变量 +template void printVec(std::vector param, std::string name) { + std::cout << name << ": "; + for (int i = 0; i < param.size(); i++) { + std::cout << param.at(i); + if (i != param.size() - 1) { + std::cout << ", "; + } + } + std::cout << std::endl; +} + +// 获取机械臂状态 +void exampleState(RpcClientPtr cli) { + // 接口调用:获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + + // 接口调用:获取机器人的模式状态 + RobotModeType robot_mode_type; + robot_mode_type = + cli->getRobotInterface(robot_name)->getRobotState()->getRobotModeType(); + std::cout << "机器人的模式状态:" << robot_mode_type << std::endl; + + // 接口调用:获取安全模式 + SafetyModeType safety_mode_type; + safety_mode_type = + cli->getRobotInterface(robot_name)->getRobotState()->getSafetyModeType(); + std::cout << "安全模式:" << safety_mode_type << std::endl; + + // 接口调用:机器人是否处于静止状态 + bool is_steady; + is_steady = cli->getRobotInterface(robot_name)->getRobotState()->isSteady(); + std::cout << "机器人是否处于静止状态:" << (is_steady ? "是" : "否") + << std::endl; + + // 接口调用:机器人是否在安全限制之内 + bool is_within_safety_limits; + is_within_safety_limits = cli->getRobotInterface(robot_name) + ->getRobotState() + ->isWithinSafetyLimits(); + std::cout << "机器人是否在安全限制之内:" + << (is_within_safety_limits ? "是" : "否") << std::endl; + + // 接口调用:获取TCP在基坐标系下的实际位姿 + std::vector actual_tcp_pose; + actual_tcp_pose = + cli->getRobotInterface(robot_name)->getRobotState()->getTcpPose(); + printVec(actual_tcp_pose, "TCP在基坐标系下的实际位姿"); + + // 接口调用:获取法兰盘中心在基坐标系下的实际位姿 + std::vector actual_flange_pose; + actual_flange_pose = + cli->getRobotInterface(robot_name)->getRobotState()->getToolPose(); + printVec(actual_flange_pose, "法兰盘中心在基坐标系下的实际位姿"); + + // 接口调用:获取机械臂关节状态 + std::vector joint_state; + joint_state = + cli->getRobotInterface(robot_name)->getRobotState()->getJointState(); + printVec(joint_state, "机械臂关节状态"); + + // 接口调用:获取关节的伺服状态 + std::vector joint_servo_mode; + joint_servo_mode = + cli->getRobotInterface(robot_name)->getRobotState()->getJointServoMode(); + printVec(joint_servo_mode, "关节的伺服状态"); + + // 接口调用:获取机械臂的实际位置关节角度 + std::vector joint_positions; + joint_positions = + cli->getRobotInterface(robot_name)->getRobotState()->getJointPositions(); + printVec(joint_positions, "机械臂的实际位置关节角度"); + + // 接口调用:获取机械臂的关节电流 + std::vector joint_currents; + joint_currents = + cli->getRobotInterface(robot_name)->getRobotState()->getJointCurrents(); + printVec(joint_currents, "机械臂的关节电流"); + + // 接口调用:获取机械臂的关节电压 + std::vector joint_voltages; + joint_voltages = + cli->getRobotInterface(robot_name)->getRobotState()->getJointVoltages(); + printVec(joint_voltages, "机械臂的关节电压"); + + // 接口调用:获取机械臂的关节温度 + std::vector joint_temperatures; + joint_temperatures = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getJointTemperatures(); + printVec(joint_temperatures, "机械臂的关节温度"); + + // 接口调用:获取关节的UUID + std::vector joint_unique_ids; + joint_unique_ids = + cli->getRobotInterface(robot_name)->getRobotState()->getJointUniqueIds(); + printVec(joint_unique_ids, "关节的UUID"); + + // 接口调用:获取关节的固件版本 + std::vector joint_firmware_versions; + joint_firmware_versions = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getJointFirmwareVersions(); + printVec(joint_firmware_versions, "关节的固件版本"); + + // 接口调用:获取关节的硬件版本 + std::vector joint_hardward_versions; + joint_hardward_versions = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getJointHardwareVersions(); + printVec(joint_hardward_versions, "关节的硬件版本"); + + // 接口调用:获取主板固件的UUID + std::string master_board_unique_id; + master_board_unique_id = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getMasterBoardUniqueId(); + std::cout << "主板固件的UUID：" << master_board_unique_id << std::endl; + + // 接口调用:获取主板固件的固件版本 + int master_board_firmware_version; + master_board_firmware_version = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getMasterBoardFirmwareVersion(); + std::cout << "主板固件的固件版本：" << master_board_firmware_version + << std::endl; + + // 接口调用:获取主板固件的硬件版本 + int master_board_hardware_version; + master_board_hardware_version = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getMasterBoardHardwareVersion(); + std::cout << "主板固件的硬件版本：" << master_board_hardware_version + << std::endl; + + // 接口调用:获取从板固件的UUID + std::string slave_board_unique_id; + slave_board_unique_id = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getSlaveBoardUniqueId(); + std::cout << "从板固件的UUID：" << slave_board_unique_id << std::endl; + + // 接口调用:获取从板固件的固件版本 + int slave_board_firmware_version; + slave_board_firmware_version = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getSlaveBoardFirmwareVersion(); + std::cout << "从板固件的固件版本：" << slave_board_firmware_version + << std::endl; + + // 接口调用:获取从板固件的硬件版本 + int slave_board_hardware_version; + slave_board_hardware_version = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getSlaveBoardHardwareVersion(); + std::cout << "从板固件的硬件版本：" << slave_board_hardware_version + << std::endl; + + // 接口调用:获取工具的UUID + std::string tool_unique_id; + tool_unique_id = + cli->getRobotInterface(robot_name)->getRobotState()->getToolUniqueId(); + std::cout << "工具的UUID：" << tool_unique_id << std::endl; + + // 接口调用:获取工具的固件版本 + int tool_firmware_version; + tool_firmware_version = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getToolFirmwareVersion(); + std::cout << "工具的固件版本：" << tool_firmware_version << std::endl; + + // 接口调用:获取工具的硬件版本 + int tool_hardware_version; + tool_hardware_version = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getToolHardwareVersion(); + std::cout << "工具的固件版本：" << tool_hardware_version << std::endl; + + // 接口调用:获取基座的UUID + std::string pedestal_unique_id; + pedestal_unique_id = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getPedestalUniqueId(); + std::cout << "基座的UUID：" << pedestal_unique_id << std::endl; + + // 接口调用:获取基座的固件版本 + int pedestal_firmware_version; + pedestal_firmware_version = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getPedestalFirmwareVersion(); + std::cout << "基座的固件版本：" << pedestal_firmware_version << std::endl; + + // 接口调用:获取基座的硬件版本 + int pedestal_hardware_version; + pedestal_hardware_version = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getPedestalHardwareVersion(); + std::cout << "基座的硬件版本：" << pedestal_hardware_version << std::endl; + + // 接口调用:获取机械臂关节目标位置角度 + std::vector joint_target_positions; + joint_target_positions = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getJointTargetPositions(); + printVec(joint_target_positions, "关节目标位置角度"); + + // 接口调用:获取控制柜温度 + double control_box_temperature; + control_box_temperature = cli->getRobotInterface(robot_name) + ->getRobotState() + ->getControlBoxTemperature(); + std::cout << "控制柜温度：" << control_box_temperature << std::endl; + + // 接口调用:获取母线电压 + double main_voltage; + main_voltage = + cli->getRobotInterface(robot_name)->getRobotState()->getMainVoltage(); + std::cout << "母线电压：" << main_voltage << std::endl; + + // 接口调用:获取母线电流 + double main_current; + main_current = + cli->getRobotInterface(robot_name)->getRobotState()->getMainCurrent(); + std::cout << "母线电流：" << main_current << std::endl; + + // 接口调用:获取机器人电压 + double robot_voltage; + robot_voltage = + cli->getRobotInterface(robot_name)->getRobotState()->getRobotVoltage(); + std::cout << "机器人电压：" << robot_voltage << std::endl; + + // 接口调用:获取机器人电流 + double robot_current; + robot_current = + cli->getRobotInterface(robot_name)->getRobotState()->getRobotCurrent(); + std::cout << "机器人电流：" << robot_current << std::endl; +} + +#define ip_local "127.0.0.1" + +/** + * 功能:获取机械臂状态 + * 步骤: + * 第一步: 设置 RPC 超时、连接 RPC 服务、登录 + * 第二步: 获取机械臂状态 + * 第三步: 退出登录、断开 RPC 连接 + */ +int main(int argc, char **argv) { +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(ip_local, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 获取机械臂状态 + exampleState(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_step_mode.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_step_mode.cpp new file mode 100644 index 00000000..dc2b7fe9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_step_mode.cpp @@ -0,0 +1,417 @@ +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/rtde.h" +#include +#include +#include +#include +#include +#ifdef WIN32 +#include +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 模板函数: 打印类型为std::vector的变量 +template +void printVec(std::vector param, std::string name) +{ + std::cout << name << ": "; + + for (int i = 0; i < param.size(); i++) { + std::cout << param.at(i); + if (i != param.size() - 1) { + std::cout << ", "; + } + } + std::cout << std::endl; +} + +// 定义坐标系类型的枚举 +enum CoordinateSystem +{ + BASE_COORDINATE_SYSTEM = 1, + TOOL_COORDINATE_SYSTEM = 2, + USER_COORDINATE_SYSTEM = 3 +}; + +// 定义枚举类型表示动作类型 +enum ActionType +{ + POSITION_MOVE, // 位置移动 + ORIENTATION_MOVE, // 姿态旋转 + EXIT_PROGRAM // 退出程序 +}; + +// 定义结构体表示用户输入 +struct UserInput +{ + ActionType actionType; //　动作类型 + char axis; //　坐标轴 + bool positiveDirection; //　坐标轴方向 +}; + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +std::vector selectedCoordinate(CoordinateSystem coordinate, + RpcClientPtr impl, + std::vector shift, + std::vector pose) +{ + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + + std::vector target_pose(6, 0.); + + switch (coordinate) { + case BASE_COORDINATE_SYSTEM: + // 基座标系下的示教运动, 基于固定坐标系旋转 + target_pose = impl->getMath()->poseTrans(shift, pose); + break; + case TOOL_COORDINATE_SYSTEM: + // 末端坐标系, 基于末端坐标系旋转 + target_pose = impl->getMath()->poseTrans(pose, shift); + break; + case USER_COORDINATE_SYSTEM: + // TCP 在基坐标系下的位姿 + std::vector coord_p0(6), coord_p1(6), coord_p2(6); + coord_p0[0] = 0.49946; + coord_p0[1] = 0.32869; + coord_p0[2] = 0.35522; + coord_p0[3] = 2.414; + coord_p0[4] = 0.0; + coord_p0[5] = 2.357; + + coord_p1[0] = 0.58381; + coord_p1[1] = 0.41325; + coord_p1[2] = 0.22122; + coord_p1[3] = 2.414; + coord_p1[4] = 0.0; + coord_p1[5] = 2.357; + + coord_p2[0] = 0.58826; + coord_p2[1] = 0.41772; + coord_p2[2] = 0.46730; + coord_p2[3] = 2.414; + coord_p2[4] = 0.0; + coord_p2[5] = 2.357; + + // 接口调用: 获取用户坐标系相对于基坐标系的位姿 + auto [user_on_base, ret] = impl->getMath()->calibrateCoordinate( + { coord_p0, coord_p1, coord_p2 }, 0); + + user_on_base[0] = 0; + user_on_base[1] = 0; + user_on_base[2] = 0; + + auto user_on_base_inv = impl->getMath()->poseInverse(user_on_base); + + // 接口调用:获取 TCP 在用户坐标系下的当前位姿 + auto tcp_on_user = impl->getMath()->poseTrans(user_on_base_inv, pose); + + // 基于固定坐标系做姿态变换 + auto utt = impl->getMath()->poseTrans(shift, tcp_on_user); + target_pose = impl->getMath()->poseTrans(user_on_base, utt); + break; + } + return target_pose; +} + +void exampleStepMode(RpcClientPtr impl) +{ + int input_coord; + std::cout << "请选择坐标系：" << std::endl; + std::cout << "1. 基坐标系" << std::endl; + std::cout << "2. 工具坐标系" << std::endl; + std::cout << "3. 用户坐标系" << std::endl; + std::cout << "请输入选项编号："; + std::cin >> input_coord; + + if (input_coord != 1 && input_coord != 2 && input_coord != 3) { + std::cerr << "输入值无效" << std::endl; + std::cerr << "以下为有效输入值: " + "1、2、3" + << std::endl; + return; + } + + CoordinateSystem selected_coord; + + switch (input_coord) { + case 1: + selected_coord = BASE_COORDINATE_SYSTEM; + break; + + case 2: + selected_coord = TOOL_COORDINATE_SYSTEM; + break; + + case 3: + selected_coord = USER_COORDINATE_SYSTEM; + break; + } + + // 输入字符串 + std::string input_axis; + + // 定义输入字符串和键值映 + std::map keymap = { + { "x+", { POSITION_MOVE, 'x', true } }, + { "x-", { POSITION_MOVE, 'x', false } }, + { "y+", { POSITION_MOVE, 'y', true } }, + { "y-", { POSITION_MOVE, 'y', false } }, + { "z+", { POSITION_MOVE, 'z', true } }, + { "z-", { POSITION_MOVE, 'z', false } }, + { "rx+", { ORIENTATION_MOVE, 'x', true } }, + { "rx-", { ORIENTATION_MOVE, 'x', false } }, + { "ry+", { ORIENTATION_MOVE, 'y', true } }, + { "ry-", { ORIENTATION_MOVE, 'y', false } }, + { "rz+", { ORIENTATION_MOVE, 'z', true } }, + { "rz-", { ORIENTATION_MOVE, 'z', false } }, + { "exit", { EXIT_PROGRAM, 'x', true } } + }; + + // 初始化循环控制变量 + bool continue_loop = true; + + int cnt = 0; + while (continue_loop) { + std::cout << "请输入机械臂要运动的轴: " << std::endl; + // 显示有效输入提示 + if (cnt++ == 0) { + std::cout << "有效输入值如下: " + "x+、x-、y+、y-、z+、z-、rx+、rx-、ry+、ry-、rz+" + "、rz-、s、exit" + << std::endl; + std::cout << "x+表示x轴正方向位置步进，x-" + "表示x轴负方向位置步进，y+" + "表示y轴正方向位置步进，y-" + "表示y轴负方向位置步进，z+表示z轴正方向位置步进，z-" + "表示z轴负方向位置步进，rx+" + "表示x轴正方向做姿态步进，rx-" + "表示x轴负方向做姿态步进，ry+" + "表示y轴正方向做姿态步进，ry-" + "表示y轴负方向做姿态步进，rz+" + "表示z轴正方向姿态步进，rz-" + "表示z轴负方向姿态步进，exit表示退出循" + "环" + << std::endl; + } + std::cin >> input_axis; + + // 定义有效的输入值集合 + std::unordered_set validInputs = { + "x+", "x-", "y+", "y-", "z+", "z-", "rx+", + "rx-", "ry+", "ry-", "rz+", "rz-", "s", "exit" + }; + + if (validInputs.find(input_axis) == validInputs.end()) { + std::cerr << "输入值无效" << std::endl; + std::cerr << "以下为有效输入值: " + "x+、x-、y+、y-、z+、z-、rx+、rx-、ry+、ry-、rz+" + "、rz-、s、exit" + << std::endl; + continue; + } + + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + + auto robot_interface = impl->getRobotInterface(robot_name); + + // 接口调用: 设置工具中心点（TCP相对于法兰盘中心的偏移） + std::vector tcp_offset(6, 0.0); + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.75); + + UserInput userInput = keymap[input_axis]; + + std::vector shift(6, 0.); + + // 位置步长，单位m + double pos_dist = 0.005; + pos_dist = userInput.positiveDirection ? pos_dist : -pos_dist; + + // 姿态步长，单位rad + double ori_dist = 0.1; + ori_dist = userInput.positiveDirection ? ori_dist : -ori_dist; + + // 接口调用: 获取TCP在Base坐标系下的当前位姿 + std::vector current_tcp_on_base(6, 0.0); + current_tcp_on_base = robot_interface->getRobotState()->getTcpPose(); + + // 目标位姿 + std::vector target_pose_on_base(6, 0.); + + if (userInput.actionType == EXIT_PROGRAM) { + // 退出循环 + continue_loop = false; + + } else if (userInput.actionType == POSITION_MOVE) { + // 位置移动 + switch (userInput.axis) { + case 'x': + shift[0] = pos_dist; + break; + case 'y': + shift[1] = pos_dist; + break; + case 'z': + shift[2] = pos_dist; + break; + } + + target_pose_on_base = selectedCoordinate( + selected_coord, impl, shift, current_tcp_on_base); + + robot_interface->getMotionControl()->moveLine(target_pose_on_base, + 1.2, 0.25, 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到目标位置成功！" << std::endl; + } else { + std::cout << "直线运动到目标位置失败！" << std::endl; + } + } else if (userInput.actionType == ORIENTATION_MOVE) { + // 姿态旋转 + switch (userInput.axis) { + case 'x': + shift[3] = ori_dist; + break; + case 'y': + shift[4] = ori_dist; + break; + case 'z': + shift[5] = ori_dist; + break; + } + + target_pose_on_base = selectedCoordinate( + selected_coord, impl, shift, current_tcp_on_base); + + target_pose_on_base[0] = current_tcp_on_base[0]; + target_pose_on_base[1] = current_tcp_on_base[1]; + target_pose_on_base[2] = current_tcp_on_base[2]; + + robot_interface->getMotionControl()->moveLine(target_pose_on_base, + 1.2, 0.25, 0, 0); + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "直线运动到目标位置成功！" << std::endl; + } else { + std::cout << "直线运动到目标位置失败！" << std::endl; + } + } + } +} + +// 打印日志信息 +void printlog(int level, const char *source, int code, std::string content) +{ + static const char *level_names[] = { "Critical", "Error", "Warning", + "Info", "Debug", "BackTrace" }; + fprintf(stderr, "[%s] %s - %d %s\n", level_names[level], source, code, + content.c_str()); +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + auto rtde_cli = std::make_shared(); + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(LOCAL_IP, 30010); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + // 接口调用: 设置 RTDE 话题 + int topic = rtde_cli->setTopic(false, { "R1_message" }, 200, 0); + if (topic < 0) { + std::cout << "设置话题失败!" << std::endl; + return -1; + } + + // 接口调用: 订阅话题 + rtde_cli->subscribe(topic, [](InputParser &parser) { + arcs::common_interface::RobotMsgVector msgs; + msgs = parser.popRobotMsgVector(); + for (size_t i = 0; i < msgs.size(); i++) { + auto &msg = msgs[i]; + std::string error_content = + arcs::error_stack::errorCode2Str(msg.code); + for (auto it : msg.args) { + auto pos = error_content.find("{}"); + if (pos != std::string::npos) { + error_content.replace(pos, 2, it); + } else { + break; + } + } + // 打印日志信息 + printlog(msg.level, msg.source.c_str(), msg.code, error_content); + } + }); + + // 在不同坐标系下的步进 + exampleStepMode(rpc_cli); + + // 接口调用: 取消话题 + rtde_cli->removeTopic(false, topic); + // 接口调用: 退出登录 + rtde_cli->logout(); + // 接口调用: 断开连接 + rtde_cli->disconnect(); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_tcp_auto_calib.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_tcp_auto_calib.cpp new file mode 100644 index 00000000..495e3dbc --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_tcp_auto_calib.cpp @@ -0,0 +1,442 @@ +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/rtde.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "skill_interface/tcp_auto_calib.h" + +#ifdef WIN32 +#include +#endif + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +constexpr const char *kRobotIp = "172.17.41.84"; +constexpr int kRobotRpcPort = 30004; +constexpr int kRobotRtdePort = 30010; +constexpr const char *kUser = "aubo"; +constexpr const char *kPassword = "123456"; + +void printPose(const std::vector &v) +{ + std::cout << "[ "; + for (int i = 0; i < v.size(); i++) { + std::cout << v[i] << ", "; + } + std::cout << " ]" << std::endl; +} + +int test01(RpcClientPtr rpc, RtdeClientPtr rtde_cli) +{ + try { + rpc->setRequestTimeout(5000); + rpc->connect(kRobotIp, kRobotRpcPort); + if (!rpc->hasConnected()) { + std::cerr << "RPC connect failed" << std::endl; + return 1; + } + rpc->login(kUser, kPassword); + if (!rpc->hasLogined()) { + std::cerr << "RPC login failed" << std::endl; + return 1; + } + + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(kRobotIp, kRobotRtdePort); + // 接口调用: 登录 + rtde_cli->login(kUser, kPassword); + + TcpAutoCalib tcp_auto_calib(rpc, rtde_cli); + + // auto result = tcp_auto_calib.calibrateSensorPoseWithTCP(1, 3); + // if (std::get<1>(result) != 0) { + // std::cout << "通过TCP标定传感器位置失败." << std::endl; + // } else { + // std::cout << "sensor_pose:"; + // printPose(std::get<0>(result)); + // } + + std::vector sensor_pose = { -0.564623, -0.0267271, 0.302365, + -3.13986, 1.81117e-05, -1.26507 }; + auto result = tcp_auto_calib.tcpAutoCorrect(sensor_pose, 1, 3); + if (std::get<1>(result) != 0) { + std::cout << "TCP纠偏失败." << std::endl; + } else { + std::cout << "新的TCP:"; + printPose(std::get<0>(result)); + } + + // auto result = tcp_auto_calib.tcpAutoCalibrate(1, 3); + // if (std::get<1>(result) != 0) { + // std::cout << "TCP自动标定失败." << std::endl; + // } else { + // std::cout << "TCP标定结果:"; + // printPose(std::get<0>(result)); + // } + + rtde_cli->logout(); + rtde_cli->disconnect(); + + rpc->logout(); + rpc->disconnect(); + } catch (const std::exception &e) { + std::cerr << "Exception: " << e.what() << std::endl; + return 1; + } +} + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +int test02(RpcClientPtr rpc_cli) +{ + /* + * 场景说明： + * + * 本示例用于标定“固定外部工具”场景。 + * + * 典型应用： + * - 焊枪固定在工作站上； + * - 机器人末端夹持工件； + * - 机器人带着工件去接近固定焊枪完成焊接。 + * + * 坐标系关系： + * + * Base / World + * | + * |-- Remote Tool Frame + * | 固定焊枪坐标系，即外部工具坐标系 + * | + * |-- Robot + * | + * |-- Flange + * | + * |-- TCP / Workpiece Frame + * 机器人夹持工件时，工件坐标系可临时定义在 TCP 上 + * + * 本流程主要完成两件事： + * + * 1. 通过三点法标定固定焊枪坐标系在 Base 下的位姿： + * + * F_base_remote_tool + * + * 该结果写入： + * + * WObjectData::user_coord + * + * 2. 设置机器人夹持工件时，工件坐标系相对于法兰的位姿： + * + * F_flange_workpiece + * + * 本示例中假设： + * + * 工件坐标系 = 当前 TCP 坐标系 + * + * 因此直接使用当前 TCP offset： + * + * WObjectData::obj_coord = getTcpOffset() + * + * 如果实际工件坐标系不在 TCP 上，则需要单独标定工件坐标系 + * 相对于法兰的位姿，不能直接使用 TCP offset。 + */ + + // 1. 获取机器人接口 + auto robot_name = rpc_cli->getRobotNames().front(); + auto robot_interface = rpc_cli->getRobotInterface(robot_name); + + auto robot_config = robot_interface->getRobotConfig(); + auto robot_state = robot_interface->getRobotState(); + auto mc = robot_interface->getMotionControl(); + auto robot_algorithm = robot_interface->getRobotAlgorithm(); + + // 2. 设置机械臂整体速度比例，避免标定运动过快 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + /* + * 3. 设置当前机器人 TCP + * + * 注意： + * 后续采集 tcp0 / tcp1 / tcp2 时，使用的是 getTcpPose()。 + * 因此 TCP offset 必须提前设置正确。 + * + * 如果 TCP 不准确，则三点标定出来的固定焊枪坐标系也会整体偏移。 + * + * 当前示例中 TCP 相对于法兰为： + * + * x = 0 + * y = 0 + * z = 0.0118 m + * rx = 0 + * ry = 0 + * rz = 0 + */ + robot_config->setTcpOffset({ 0, 0, 0.0118, 0, 0, 0 }); + + /* + * 4. 选择远端特征坐标系标定方法 + * + * method = 0 表示 O_X_XY。 + * + * O_X_XY 的三点含义： + * + * 点 0：远端坐标系原点 O + * 点 1：远端坐标系 X 正方向上的一点 + * 点 2：远端坐标系 XY 平面第一象限内的一点 + * + * 在固定焊枪场景下，可以这样定义： + * + * 点 0：焊枪 TCP / 焊枪尖端 + * 点 1：焊枪坐标系 X 正方向上的一点 + * 点 2：焊枪坐标系 XY 平面内的一点 + * + * 最终算法会根据这三个点计算： + * + * F_base_remote_tool + * + * 即： + * + * 固定焊枪坐标系在 Base 下的位姿。 + */ + constexpr int method = 0; // CoordCalibMethod::O_X_XY + + /* + * 5. 采集点 0：远端坐标系原点 + * + * 操作要求： + * 机器人移动到第一个示教点； + * 当前 TCP 对准固定焊枪坐标系原点； + * 例如焊枪尖端。 + * + * 记录： + * tcp0 = F_base_tcp_at_remote_origin + */ + std::vector q0{ -0.079587, -0.760964, 1.258906, + 0.579449, 1.572367, -0.01693 }; + + mc->moveJoint(q0, 0.3, 0.3, 0, 0); + waitArrival(robot_interface); + auto tcp0 = robot_state->getTcpPose(); + + /* + * 6. 采集点 1：远端坐标系 X 正方向点 + * + * 操作要求： + * 机器人移动到第二个示教点； + * 当前 TCP 位于固定焊枪坐标系 X 正方向上的某一点； + * 距离原点尽量远一些，例如 100 mm ~ 200 mm； + * 点 1 不要离点 0 太近，否则方向误差会被放大。 + * + * 记录： + * tcp1 = F_base_tcp_at_remote_x_positive_point + * + * 注意： + * 这里 q1 是提前示教好的关节位置。 + * 它必须对应远端坐标系 X 正方向上的点， + * 不能只是随便移动到一个位置。 + */ + std::vector q1{ -0.13508848, -0.90303335, 1.01002204, + 0.58119464, 1.52524323, -0.01692969 }; + + mc->moveJoint(q1, 0.3, 0.3, 0, 0); + waitArrival(robot_interface); + auto tcp1 = robot_state->getTcpPose(); + + /* + * 7. 采集点 2：远端坐标系 XY 平面第一象限内的点 + * + * 操作要求： + * 机器人移动到第三个示教点； + * 当前 TCP 位于远端坐标系 XY 平面内； + * 且最好在第一象限，即 X > 0, Y > 0； + * 该点用于确定远端坐标系的平面方向。 + * + * 记录： + * tcp2 = F_base_tcp_at_remote_xy_plane_point + * + * 注意： + * tcp0、tcp1、tcp2 三点不能共线。 + * 如果三点接近共线，标定出的坐标系姿态会非常不稳定。 + */ + std::vector q2{ 0.0089011792, -0.9028588221, 1.0138617625, + 0.5794493117, 1.5723671231, -0.0169296937 }; + + mc->moveJoint(q2, 0.3, 0.3, 0, 0); + waitArrival(robot_interface); + auto tcp2 = robot_state->getTcpPose(); + + /* + * 8. 组织三点位姿 + * + * 输入顺序必须和标定方法一致。 + * + * 对于 O_X_XY： + * + * pose[0] = 原点 O + * pose[1] = X 正方向点 + * pose[2] = XY 平面内点 + * + * 注意： + * 这里传入的是 TCP 在 Base 下的位姿。 + * 算法通常主要使用其中的位置分量 xyz。 + */ + std::vector> pose; + pose.reserve(3); + pose.emplace_back(tcp0); + pose.emplace_back(tcp1); + pose.emplace_back(tcp2); + + /* + * 9. 标定远端特征坐标系 + * + * 返回值： + * + * std::get<0>(ret) : 标定得到的远端特征坐标系位姿 + * std::get<1>(ret) : 错误码，< 0 表示失败 + * + * 对于当前固定焊枪场景： + * + * coord = F_base_remote_tool + * + * 即： + * + * 固定焊枪坐标系在 Base 坐标系下的位姿描述。 + */ + auto ret = robot_algorithm->calibRemoteFeatureFrame(pose, method); + + if (std::get<1>(ret) < 0) { + std::cout << "calibRemoteFeatureFrame failed, ret: " << std::get<1>(ret) + << std::endl; + return -1; + } + + auto coord = std::get<0>(ret); // 远端特征坐标系在 Base 坐标系下的位姿 + printPose(coord); + + /* + * 10. 配置 WObjectData + * + * remote_tool = true： + * + * 表示当前是外部工具场景。 + * + * 即： + * 工具固定在工作站上； + * 机器人末端夹持工件运动。 + * + * user_coord： + * + * 在 remote_tool = true 时，这里填写固定外部工具坐标系 + * 在 Base / World 下的位姿。 + * + * 当前场景中： + * + * user_coord = 固定焊枪坐标系在 Base 下的位姿 + * + * obj_coord： + * + * 表示工件坐标系相对于机器人末端挂载坐标系的位姿。 + * + * 当前 demo 中简化处理： + * + * 工件坐标系原点 = TCP 原点 + * 工件坐标系姿态 = TCP 姿态 + * + * 所以： + * + * obj_coord = getTcpOffset() + * + * 也就是： + * + * F_flange_workpiece = F_flange_tcp + * + * 如果实际工件坐标系不等于 TCP， + * 例如工件坐标系定义在工件角点、孔中心、焊缝起点等位置， + * 则必须单独标定或测量： + * + * F_flange_workpiece + * + * 然后填入 obj_coord，而不能直接使用 getTcpOffset()。 + */ + WObjectData data; + data.remote_tool = true; + data.user_coord = coord; + + data.obj_coord = robot_config->getTcpOffset(); + + /* + * 11. 写入当前工件对象数据 + * + * 设置完成后，控制器在后续轨迹规划时，可以理解为： + * + * - 外部工具坐标系：固定焊枪坐标系； + * - 机器人携带的对象：工件坐标系； + * - 运动目标可以基于该 WorkObject 进行坐标转换。 + */ + robot_config->setWorkObjectData(data); + + return 0; +} + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rpc_cli = std::make_shared(); + auto rtde_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect("172.17.41.81", 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // test01(rpc_cli, rtde_cli); + test02(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_timer.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_timer.cpp new file mode 100644 index 00000000..1e313a4d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_timer.cpp @@ -0,0 +1,74 @@ +#include "aubo_sdk/rpc.h" +#include +#include + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +#define LOCAL_IP "127.0.0.1" + +void example1(RpcClientPtr rpc_cli) { + // 接口调用: 计时器 timer1 开始计时 + rpc_cli->getRuntimeMachine()->timerStart("timer1"); + std::this_thread::sleep_for(std::chrono::milliseconds(7500)); + // 接口调用: 计时器 timer1 结束计时 + rpc_cli->getRuntimeMachine()->timerStop("timer1"); + // 接口调用: 获取计时器 timer1 计时的时长 + std::cout << rpc_cli->getRuntimeMachine()->getTimer("timer1") << std::endl; + + // 接口调用: 计时器 timer1 开始计时 + rpc_cli->getRuntimeMachine()->timerStart("timer1"); + std::this_thread::sleep_for(std::chrono::milliseconds(7500)); + // 接口调用: 计时器 timer1 结束计时 + rpc_cli->getRuntimeMachine()->timerStop("timer1"); + // 接口调用: 获取计时器 timer1 计时的时长 + std::cout << rpc_cli->getRuntimeMachine()->getTimer("timer1") << std::endl; + + // 接口调用: 重置计时器 timer1 + rpc_cli->getRuntimeMachine()->timerReset("timer1"); + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + // 接口调用: 获取计时器 timer1 计时的时长 + std::cout << rpc_cli->getRuntimeMachine()->getTimer("timer1") << std::endl; + // 接口调用: 删除计时器 timer1 + rpc_cli->getRuntimeMachine()->timerDelete("timer1"); +} + +void example2(RpcClientPtr rpc_cli) { + // 接口调用: 计时器 timer1 开始计时 + rpc_cli->getRuntimeMachine()->timerStart("timer1"); + std::this_thread::sleep_for(std::chrono::milliseconds(7500)); + // 接口调用: 获取计时器 timer1 计时的时长 + std::cout << rpc_cli->getRuntimeMachine()->getTimer("timer1") << std::endl; + // 接口调用: 重置计时器 timer1 + rpc_cli->getRuntimeMachine()->timerReset("timer1"); + + // 接口调用: 计时器 timer1 开始计时 + rpc_cli->getRuntimeMachine()->timerStart("timer1"); + std::this_thread::sleep_for(std::chrono::milliseconds(7500)); + // 接口调用: 获取计时器 timer1 计时的时长 + std::cout << rpc_cli->getRuntimeMachine()->getTimer("timer1") << std::endl; + // 接口调用: 重置计时器 timer1 + rpc_cli->getRuntimeMachine()->timerReset("timer1"); + // 接口调用: 删除计时器 timer1 + rpc_cli->getRuntimeMachine()->timerDelete("timer1"); +} + +int main(int argc, char **argv) { + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + example1(rpc_cli); + example2(rpc_cli); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_trackj.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_trackj.cpp new file mode 100644 index 00000000..54c0e093 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_trackj.cpp @@ -0,0 +1,178 @@ +#include +#include +#include +#ifdef WIN32 +#include +#endif + +#include "aubo_sdk/rpc.h" +#include "trajectory_io.h" + +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (impl->getMotionControl()->getExecId() != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + return 0; +} + +template +inline std::ostream &operator<<(std::ostream &os, const std::vector &list) +{ + for (size_t i = 0; i < list.size(); i++) { + os << list.at(i); + if (i != (list.size() - 1)) { + os << ","; + } + } + return os; +} + +/** + * 测试: 采用 TrackJoint 跟踪一个轨迹,目标点下发时间间隔5ms + */ +int exampleTrackJoint(RpcClientPtr cli) +{ + // 读取轨迹文件 + auto filename = "../trajs/record6.offt"; + TrajectoryIo input(filename); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.open()) { + return 0; + } + + // 解析轨迹数据 + auto traj = input.parse(); + + // 检查轨迹文件中是否有路点， + // 如果数量为 0，输出错误消息并返回 + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0." << std::endl; + return 0; + } + + // 接口调用: 获取机器人的名字 + auto robot_name = cli->getRobotNames().front(); + auto robot_interface = cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.8); + + // 接口调用: 关节运动到轨迹中的第一个点，否则容易引起较大超调 + robot_interface->getMotionControl()->moveJoint(traj[0], 80 * (M_PI / 180), + 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + + for (size_t i = 1; i < traj.size(); i++) { + int traj_queue_size = + robot_interface->getMotionControl()->getTrajectoryQueueSize(); + std::cout << "traj_queue_size: " << traj_queue_size << std::endl; + while (traj_queue_size > 8) { + traj_queue_size = + robot_interface->getMotionControl()->getTrajectoryQueueSize(); + + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + } + robot_interface->getMotionControl()->trackJoint(traj[i], 0.01, 0.5, 1); + } + + // 等待运动结束 + while (!robot_interface->getRobotState()->isSteady()) { + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + robot_interface->getMotionControl()->stopJoint(1); + + std::cout << "trackJoint 运动结束" << std::endl; + + return 0; +} + +#define LOCAL_IP "127.0.0.1" + +/** + * trackJoint 功能使用步骤: + * 1、采用实时系统测试 trackJoint 功能 + * 2、孤立一个 CPU，保证该 CPU 没有其他任务 + * 3、将该进程设置为实时进程，优先级设置为最大 + * 4、绑定 CPU，将该实时进程绑定到第二步孤立的 CPU 上 + */ +int main(void) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif +#ifndef _WIN32 + // 实时优先级最大值、最小值 + int sched_max = sched_get_priority_max(SCHED_FIFO); + + // 设置实时调度策略及优先级 + struct sched_param sParam; + sParam.sched_priority = sched_max; + sched_setscheduler(0, SCHED_FIFO, &sParam); + auto i_schedFlag = sched_getscheduler(0); + printf("设置调度策略 = [%d]\n", i_schedFlag); + + // 绑定CPU + cpu_set_t cpuset; + CPU_ZERO(&cpuset); + CPU_SET(1, &cpuset); + + // bind process to processor 0 + if (sched_setaffinity(0, sizeof(cpuset), &cpuset) < 0) { + perror("Sched_setaffinity fail!"); + } +#endif + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + exampleTrackJoint(rpc_cli); + + // 接口调用: RPC 退出登录 + rpc_cli->logout(); + // 接口调用: RPC 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_traj_valid.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_traj_valid.cpp new file mode 100644 index 00000000..381693e4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_traj_valid.cpp @@ -0,0 +1,507 @@ +#include "aubo_sdk/rpc.h" +#include "math.h" +#include +#include +#ifdef WIN32 +#include +#endif + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +bool isJointNaN(const std::vector &q, int dof) +{ + for (int i = 0; i < dof; i++) { + if (std::isnan(q[i])) { + return true; + } + } + return false; +} + +bool isJointInRange(const std::vector &q, + const std::vector &upper, + const ::std::vector &lower, int dof) +{ + for (int i = 0; i < dof; i++) { + if (q[i] < (lower[i] - 1e-6) || q[i] > (upper[i] + 1e-6)) { + return false; + } + } + return true; +} + +bool checkJoint(RpcClientPtr impl, const std::vector &q) +{ + auto robot_name = impl->getRobotNames().front(); + auto interface = impl->getRobotInterface(robot_name); + auto dof = interface->getRobotConfig()->getDof(); + auto upper = interface->getRobotConfig()->getJointMaxPositions(); + auto lower = interface->getRobotConfig()->getJointMinPositions(); + if ((int)q.size() != dof || isJointNaN(q, dof)) { + return false; + } + + // 检查关节是否超限 + if (!isJointInRange(q, upper, lower, dof)) { + return false; + } + return true; +} + +// 检查给定的轨迹是否有效，进行插值和逆解验证 +bool exampleTrajectoryValid(RpcClientPtr impl, const std::vector &p1, + const std::vector &p2, int num_points) +{ + // 如果num_points小于2，则无法进行插值 + if (num_points < 2) { + throw std::invalid_argument("num_points must be at least 2"); + } + + // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + + // 接口调用: 设置 tcp 偏移 + std::vector offset = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + impl->getRobotInterface(robot_name)->getRobotConfig()->setTcpOffset(offset); + + // 计算每个插值点的alpha值，并调用interpolatePose + for (int i = 0; i < num_points; ++i) { + double alpha = + static_cast(i) / (num_points - 1); // alpha从0到1均匀变化 + + // 接口调用: 计算线性差值 + auto pose = impl->getMath()->interpolatePose(p1, p2, alpha); + + // 接口调用: 根据计算出的差值位姿，检查是否能找到有效的逆解 + auto result = impl->getRobotInterface(robot_name) + ->getRobotAlgorithm() + ->inverseKinematicsAll(pose); + + if (std::get<1>(result) != 0) { + std::cout << "逆解失败, inverseKinematicsAll返回值:" + << std::get<1>(result) << std::endl; + std::cout << "轨迹规划失败" << std::endl; + return false; + } + auto qs = std::get<0>(result); + for (size_t i = 0; i < qs.size(); ++i) { + if (!checkJoint(impl, qs[i])) { + std::cout << "轨迹规划失败" << std::endl; + return false; + } + } + } + + // 如果所有插值点均有效，表示轨迹规划成功 + std::cout << "轨迹规划成功" << std::endl; + return true; +} + +/** + * 输入两个关节角，检测规划路径是否有效 + * @brief exampleTrajectoryValid3 + * @param impl + * @param p1 位姿1 + * @param blend1 交融半径1 + * @param p2 位姿2 + * @param blend2 交融半径2 + * @param qnear + * @return + */ +bool exampleTrajectoryValid2(RpcClientPtr impl, const std::vector &q1, + double blend1, const std::vector &q2, + double blend2) +{ // 接口调用: 获取机器人的名字 + auto robot_name = impl->getRobotNames().front(); + auto interface = impl->getRobotInterface(robot_name); + // 接口调用: 设置 tcp 偏移 + std::vector offset = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + interface->getRobotConfig()->setTcpOffset(offset); + + auto traj = + interface->getRobotAlgorithm()->pathMovej(q1, blend1, q2, blend2, 0.05); + + for (size_t i = 0; i < traj.size(); ++i) { + if (!checkJoint(impl, traj[i])) { + std::cout << "轨迹规划失败" << std::endl; + return false; + } + } + std::cout << "轨迹规划成功" << std::endl; + return true; +} + +void printValidatePathResult(const std::string &case_name, int ret, + bool expect_success) +{ + std::cout << case_name << " validatePath1 返回值: " << ret + << ", 预期: " << (expect_success ? "通过" : "碰撞失败") + << ", 实际: " << (ret == 0 ? "通过" : "失败") << std::endl; +} + +/** + * 演示 validatePath1 在不同碰撞体配置下的校验结果。 + * + * 说明： + * 1. case0: 不添加任何碰撞体，运动到 target_env_collision，预期通过。 + * 2. case1: 仅添加环境碰撞平面，运动到 target_env_collision，预期碰撞失败。 + * 3. case2: 仅添加环境碰撞平面，运动到 target_tool_collision，预期通过。 + * 4. case3: 添加环境碰撞平面和末端碰撞体，运动到 target_tool_collision， + * 预期碰撞失败。 + * 5. case4: 仅添加末端碰撞体，不添加环境碰撞平面，运动到 + * target_tool_collision， 预期通过。 + */ +bool exampleTrajectoryValid3(RpcClientPtr impl, + const std::vector &start, + const std::vector &target_env_collision, + const std::vector &target_tool_collision) +{ + auto robot_name = impl->getRobotNames().front(); + auto interface = impl->getRobotInterface(robot_name); + auto algorithm = interface->getRobotAlgorithm(); + + std::vector offset = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + interface->getRobotConfig()->setTcpOffset(offset); + + // 清理可能残留的同名碰撞体，避免重复添加影响示例结果。 + algorithm->removeCollisionObject("tool_box_demo"); + algorithm->removeCollisionObject("collision_plane_demo"); + + const int pose_path_type = 1; + const double blend_radius = 0.0; + const double step = 0.05; + + std::cout << "开始 validatePath1 碰撞体示例" << std::endl; + std::cout << "返回值说明: 0 表示通过，非 0 表示失败；-22 通常表示路径碰撞" + << std::endl; + + // case0: 不添加任何碰撞体，向下运动到环境碰撞目标点，作为基线。 + int case0_ret = algorithm->validatePath1(pose_path_type, start, + blend_radius, target_env_collision, + blend_radius, step, true); + printValidatePathResult("[case0 无碰撞体]", case0_ret, true); + + auto add_collision_plane = [&]() { + return algorithm->addCollisionBox( + "collision_plane_demo", "world", { { 0.12, 0.12, 0.10 } }, + { { start[0], start[1], -0.05, 0.0, 0.0, 0.0 } }); + }; + + auto add_tool_box = [&]() { + return algorithm->addCollisionBox( + "tool_box_demo", "end_effector", { { 0.08, 0.08, 0.08 } }, + { { 0.0, 0.0, 0.04, 0.0, 0.0, 0.0 } }); + }; + + // 添加一个较小的环境碰撞平面，并放到起点正下方附近， + // 避免尺寸过大时仍然与底座区域重叠。 + int ret = add_collision_plane(); + if (ret != 0) { + std::cout << "添加环境碰撞平面失败, ret = " << ret << std::endl; + return false; + } + + // case1: 仅添加环境碰撞平面，向下运动到环境碰撞目标点，预期碰撞失败。 + int case1_ret = algorithm->validatePath1(pose_path_type, start, + blend_radius, target_env_collision, + blend_radius, step, true); + printValidatePathResult("[case1 仅环境碰撞平面]", case1_ret, false); + + // case2: 仅添加环境碰撞平面，向下运动到工具碰撞目标点，预期仍可通过。 + int case2_ret = algorithm->validatePath1( + pose_path_type, start, blend_radius, target_tool_collision, + blend_radius, step, true); + printValidatePathResult("[case2 仅环境碰撞平面]", case2_ret, true); + + // 在末端挂一个立方体，用于演示工具与环境的碰撞检测。 + ret = add_tool_box(); + if (ret != 0) { + std::cout << "添加末端立方体失败, ret = " << ret << std::endl; + algorithm->removeCollisionObject("collision_plane_demo"); + return false; + } + + // case3: 添加环境碰撞平面和末端碰撞体，运动到同一个工具碰撞目标点， + // 预期末端碰撞体先碰到环境碰撞平面。 + int case3_ret = algorithm->validatePath1( + pose_path_type, start, blend_radius, target_tool_collision, + blend_radius, step, true); + printValidatePathResult("[case3 环境碰撞平面+末端碰撞体]", case3_ret, + false); + + algorithm->removeCollisionObject("collision_plane_demo"); + + // case4: 移除环境碰撞平面，仅保留末端碰撞体，运动到工具碰撞目标点， + // 预期仍可通过。 + int case4_ret = algorithm->validatePath1( + pose_path_type, start, blend_radius, target_tool_collision, + blend_radius, step, true); + printValidatePathResult("[case4 仅末端碰撞体]", case4_ret, true); + + algorithm->removeCollisionObject("tool_box_demo"); + + return case0_ret == 0 && case1_ret != 0 && case2_ret == 0 && + case3_ret != 0 && case4_ret == 0; +} + +void printVector(const std::vector &vec) +{ + std::cout << "[ "; + for (size_t i = 0; i < vec.size(); ++i) { + std::cout << vec[i]; + if (i != vec.size() - 1) { + std::cout << ", "; + } + } + std::cout << " ]" << std::endl; +} + +void exampleTrajectoryValid4(RpcClientPtr impl) +{ + auto robot_name = impl->getRobotNames().front(); + auto interface = impl->getRobotInterface(robot_name); + auto algorithm = interface->getRobotAlgorithm(); + + std::vector offset = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + interface->getRobotConfig()->setTcpOffset(offset); + + // 角度转弧度常量 + const double PI = acos(-1.0); + const double DEG2RAD = PI / 180.0; + + // 你的关节角数组（完全对应 Lua 代码） + std::vector> joint_positions = { + { 86.3200 * DEG2RAD, 20.0000 * DEG2RAD, -126.9900 * DEG2RAD, + -40.0000 * DEG2RAD, -87.1600 * DEG2RAD, 0.0 * DEG2RAD }, + { 112.7723 * DEG2RAD, 53.3426 * DEG2RAD, -56.2858 * DEG2RAD, + -19.5524 * DEG2RAD, -90.1026 * DEG2RAD, 22.835 * DEG2RAD }, + { 112.7723 * DEG2RAD, 53.3426 * DEG2RAD, -56.2858 * DEG2RAD, + -19.5524 * DEG2RAD, -90.1026 * DEG2RAD, 22.835 * DEG2RAD }, + { 121.6682 * DEG2RAD, 29.9312 * DEG2RAD, -98.1711 * DEG2RAD, + -38.0263 * DEG2RAD, -90.0785 * DEG2RAD, 31.7343 * DEG2RAD }, + { 121.9946 * DEG2RAD, 29.4157 * DEG2RAD, -99.0255 * DEG2RAD, + -38.3652 * DEG2RAD, -90.0779 * DEG2RAD, 32.0608 * DEG2RAD }, + { 121.9946 * DEG2RAD, 29.4157 * DEG2RAD, -99.0255 * DEG2RAD, + -38.3652 * DEG2RAD, -90.0779 * DEG2RAD, 32.0608 * DEG2RAD }, + { 90.0000 * DEG2RAD, -45.0000 * DEG2RAD, -150.0000 * DEG2RAD, + -90.0000 * DEG2RAD, -90.0000 * DEG2RAD, 0.0 * DEG2RAD } + }; + auto ret = interface->getRobotAlgorithm()->mergeDenseWaypoints( + 0, joint_positions, 0.005); + if (std::get<1>(ret) == 0) { + auto out = std::get<0>(ret); + for (int i = 0; i < out.size(); ++i) { + printVector(out[i]); + } + } +} + +/** + * 演示通过 mergeDenseWaypoints 判断相邻点是否过密，过密则忽略点位。 + */ +bool exampleTrajectoryValid5(RpcClientPtr impl) +{ + auto robot_name = impl->getRobotNames().front(); + auto interface = impl->getRobotInterface(robot_name); + auto algorithm = interface->getRobotAlgorithm(); + + std::vector offset = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + interface->getRobotConfig()->setTcpOffset(offset); + + const double PI = acos(-1.0); + const double DEG2RAD = PI / 180.0; + const int joint_path_type = 0; + const double min_segment_length = 0.005; + const double blend_radius = 0.005; + const double max_acc = 80 * DEG2RAD; + const double max_vel = 60 * DEG2RAD; + + std::vector> joint_positions = { + { 86.3200 * DEG2RAD, 20.0000 * DEG2RAD, -126.9900 * DEG2RAD, + -40.0000 * DEG2RAD, -87.1600 * DEG2RAD, 0.0 * DEG2RAD }, + { 112.7723 * DEG2RAD, 53.3426 * DEG2RAD, -56.2858 * DEG2RAD, + -19.5524 * DEG2RAD, -90.1026 * DEG2RAD, 22.835 * DEG2RAD }, + { 112.7723 * DEG2RAD, 53.3426 * DEG2RAD, -56.2858 * DEG2RAD, + -19.5524 * DEG2RAD, -90.1026 * DEG2RAD, 22.835 * DEG2RAD }, + { 121.6682 * DEG2RAD, 29.9312 * DEG2RAD, -98.1711 * DEG2RAD, + -38.0263 * DEG2RAD, -90.0785 * DEG2RAD, 31.7343 * DEG2RAD }, + { 121.9946 * DEG2RAD, 29.4157 * DEG2RAD, -99.0255 * DEG2RAD, + -38.3652 * DEG2RAD, -90.0779 * DEG2RAD, 32.0608 * DEG2RAD }, + { 121.9946 * DEG2RAD, 29.4157 * DEG2RAD, -99.0255 * DEG2RAD, + -38.3652 * DEG2RAD, -90.0779 * DEG2RAD, 32.0608 * DEG2RAD }, + { 90.0000 * DEG2RAD, -45.0000 * DEG2RAD, -150.0000 * DEG2RAD, + -90.0000 * DEG2RAD, -90.0000 * DEG2RAD, 0.0 * DEG2RAD } + }; + + // 从当前点开始比较。 + std::vector last_executed = + interface->getRobotState()->getJointPositions(); + + // 开启运行时。 + auto runtime = impl->getRuntimeMachine(); + auto start_time = std::chrono::steady_clock::now(); + int task_id = -1; + int start_ret = runtime->start(); + if (start_ret != AUBO_OK) { + std::cerr << "开启运行时失败, 返回值: " << start_ret << std::endl; + return false; + } + std::this_thread::sleep_for(std::chrono::milliseconds(20)); + while (task_id == -1) { + if (std::chrono::duration_cast( + std::chrono::steady_clock::now() - start_time) + .count() > 500) { + std::cerr << "等待运行时任务创建超时" << std::endl; + runtime->abort(); + return false; + } + auto context_result = runtime->getPlanContext(); + task_id = std::get<0>(context_result); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + bool success = true; + int line_number = 0; + for (size_t i = 0; i < joint_positions.size(); ++i) { + // 判断目标点是否过近。 + auto merge_ret = algorithm->mergeDenseWaypoints( + joint_path_type, { last_executed, joint_positions[i] }, + min_segment_length); + if (std::get<1>(merge_ret) != AUBO_OK) { + std::cout << "[失败] 点位[" << i + << "] mergeDenseWaypoints 返回值: " + << std::get<1>(merge_ret) << std::endl; + std::cout << " 点位值: "; + printVector(joint_positions[i]); + success = false; + break; + } + + if (std::get<0>(merge_ret).size() < 2) { + std::cout << "[跳过] 点位[" << i + << "], 判定过近, 未下发 moveJoint" << std::endl; + std::cout << " 点位值: "; + printVector(joint_positions[i]); + continue; + } + + const double current_blend_radius = + (line_number == 0 || i + 1 == joint_positions.size()) + ? 0.0 + : blend_radius; + + // 带交融执行点位。 + std::cout << "[执行] 点位[" << i << "]" << std::endl; + std::cout << " 点位值: "; + printVector(joint_positions[i]); + int current_line = line_number + 1; + runtime->setLabel(current_line, "moveJoint"); + int move_ret = interface->getMotionControl()->moveJoint( + joint_positions[i], max_acc, max_vel, current_blend_radius, 0); + if (move_ret != AUBO_OK) { + std::cout << "[失败] 点位[" << i + << "]失败, moveJoint 返回值: " << move_ret << std::endl; + std::cout << " 点位值: "; + printVector(joint_positions[i]); + success = false; + break; + } + line_number = current_line; + last_executed = joint_positions[i]; + } + + // 等待最后一个执行点到位。 + while (success && line_number > 0) { + if (runtime->getRuntimeState() != RuntimeState::Running) { + break; + } + auto context_result = runtime->getPlanContext(); + int current_line = std::get<1>(context_result); + if (current_line >= line_number && + interface->getMotionControl()->getExecId() == -1) { + break; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + + // 终止运行时。 + runtime->abort(); + return success; +} + +#define LOCAL_IP "127.0.0.1" + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时, 单位: ms + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 起始位姿和目标位姿 + std::vector pose1 = { 0.551, -0.295, 0.261, -3.135, 0.0, 1.569 }; + std::vector pose2 = { 0.551, 0.295, 0.261, -3.135, 0.0, 0 }; + + // 插值点数量 + int num_points = 30; + + // 检查给定的轨迹是否有效，进行插值和逆解验证 + // exampleTrajectoryValid(rpc_cli, pose1, pose2, num_points); + + // exampleTrajectoryValid3 + // 使用示教器读到的位姿作为起点，分别演示五种碰撞校验场景。 + // env_collision_drop: 下压量超过 start_z，末端 TCP 本体会碰到环境碰撞平面。 + // tool_collision_drop: 下压量小于 start_z，仅添加末端碰撞体时才会碰撞。 + + // std::vector pose_start = { 1.27114, -0.24923, 0.80691, + // -3.135, 0.004, 1.569 }; + // const double start_z = pose_start[2]; + // const double env_collision_drop = start_z + 0.02; + // const double tool_collision_drop = start_z - 0.06; + // std::vector pose_env_collision = { + // 1.27114, -0.24923, start_z - env_collision_drop, -3.135, + // 0.004, 1.569 + // }; + // std::vector pose_tool_collision = { + // 1.27114, -0.24923, start_z - tool_collision_drop, -3.135, + // 0.004, 1.569 + // }; + + // exampleTrajectoryValid3(rpc_cli, pose_start, pose_env_collision, + // pose_tool_collision); + + // exampleTrajectoryValid4(rpc_cli); + exampleTrajectoryValid5(rpc_cli); + + // exampleTrajectoryValid2 + // 关节角，单位: 弧度 + // std::vector q1 = { + // 0.0 * (M_PI / 180), -15.0 * (M_PI / 180), 100.0 * (M_PI / 180), + // 25.0 * (M_PI / 180), 90.0 * (M_PI / 180), 0.0 * (M_PI / 180) + // }; + + // std::vector q2 = { + // 35.92 * (M_PI / 180), -11.28 * (M_PI / 180), 59.96 * (M_PI / + // 180), -18.76 * (M_PI / 180), 90.0 * (M_PI / 180), 35.92 * (M_PI + // / 180) + // }; + // exampleTrajectoryValid2(rpc_cli, q1, 0, q2, 0); + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_waitarrival.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_waitarrival.cpp new file mode 100644 index 00000000..08e3813a --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/example_waitarrival.cpp @@ -0,0 +1,150 @@ +#include +#include "aubo_sdk/rpc.h" +#include "aubo_sdk/rtde.h" +#ifdef WIN32 +#include + +#include +#include +#include +#endif +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif +using namespace arcs::common_interface; +using namespace arcs::aubo_sdk; + +bool marks = true; +int line_number_ = -1; +void getIineNumberThread(RpcClientPtr cli) { + auto robot_name = cli->getRobotNames().front(); + auto robot_interface = cli->getRobotInterface(robot_name); + auto robot = robot_interface->getMotionControl(); + while (marks) { + int now_id = robot->getExecId(); + std::cout << "[Info] getExecId() = " << now_id << ", line_number = " << line_number_ << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(400)); + } +} +void exampleSubscribe(RtdeClientPtr cli) { + // 接口调用: 设置话题 + int topic6 = cli->setTopic( + false, + { "line_number" }, + 20, 1); + // 接口调用: 订阅 + cli->subscribe(topic6, [](InputParser& parser) { + line_number_ = parser.popInt32(); + }); +} + +int waitArrival(MotionControlPtr robot, int line_number) { + int pre = -1; + while (line_number_ <= line_number ) { + //判断执行到最后一个动作是否结束 + if (line_number == line_number_ && robot->getExecId() == -1) break; + if (pre != line_number_) { + std::cout << "当前运行的行号:" << line_number_ << std::endl; + } + pre = line_number_; + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + } + return 0; +} +void exampleLineNumber(RpcClientPtr cli) { + auto robot_name = cli->getRobotNames().front(); + + auto robot_interface = cli->getRobotInterface(robot_name); + + + auto robot = robot_interface->getMotionControl(); + + auto runtime_machine = cli->getRuntimeMachine(); + + robot->setSpeedFraction(0.75); + + std::thread t(getIineNumberThread, cli); + + std::vector p1 = { 0.19428619034678518,-0.5477608722089901,0.05945241593428857,3.0868983663567846,0.535193210204831,-0.6486764986738255 }; + std::vector p2 = { 0.26628055485158936,-0.4452622728139073,0.05943906412892791,3.086882116513631,0.5352135514900898,-1.4571389628082894 }; + std::vector p3 = { 0.476184624335076,-0.3371768923013714,0.059568293687588536,3.088011074607731,0.5343896398560942,-0.7063579432095806 }; + std::vector p4 = { 0.4425770780036432,-0.13597592887177673,0.05922236680382481,3.0911455124422482,0.535789927543353,0.06408754959673374 }; + std::vector p5 = { 0.4839375031260943,0.009252793806966662,0.05899314514545728,3.0916751089973316,0.5363234034471815,-0.741794514981592 }; + + int tid, ret, line_number = 0; + tid = runtime_machine->newTask(); //创建task + runtime_machine->start(); // 开始运行 + + runtime_machine->setPlanContext(tid,++line_number, "line 1"); + robot->moveLine(p1, 2, 0.25, 0, 0); + + runtime_machine->setPlanContext(tid, ++line_number, "line 2"); + robot->moveLine(p2, 2, 0.25, 0, 0); + + robot->setCirclePathMode(0); + runtime_machine->setPlanContext(tid, ++line_number, "circle 3"); + robot->moveCircle(p3, p4, 2, 0.25, 0, 0); + + runtime_machine->setPlanContext(tid, ++line_number, "line 4"); + robot->moveLine(p5, 2, 0.25, 0, 0); + + waitArrival(robot, line_number); + + runtime_machine->stop(); + runtime_machine->deleteTask(tid); //删除task + marks = false; + t.join(); +} + +/** + * 功能: 机器臂运行行号输出 + * 步骤: + * 第一步: 连接 RTDE 服务、机械臂登录 + * 第二步: 设置 RPC 超时、连接到 RPC 服务、登录 + * 第三步: 设置RTDE输入 + * 第四步: 信息输出 + * 第五步: RTDE 退出登录、断开连接 + * 第六步: RPC 退出登录、断开连接 + */ + +#define LOCAL_IP "192.168.1.103" + +int main(int argc, char** argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + + auto rtde_cli = std::make_shared(); + // 接口调用: 连接到 RTDE 服务 + rtde_cli->connect(LOCAL_IP, 30010); + // 接口调用: 登录 + rtde_cli->login("aubo", "123456"); + + //订阅行号信息 + exampleSubscribe(rtde_cli); + + auto rpc_cli = std::make_shared(); + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + + exampleLineNumber(rpc_cli); + + // 接口调用: 退出登录 + rtde_cli->logout(); + // 接口调用: 断开连接 + rtde_cli->disconnect(); + + // 接口调用: 退出登录 + rpc_cli->logout(); + // 接口调用: 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/offline_track.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/offline_track.cpp new file mode 100644 index 00000000..c5e5904e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/offline_track.cpp @@ -0,0 +1,304 @@ +#include +#include +#include +#include +#ifdef WIN32 +#include +#endif + +#include "aubo_sdk/rpc.h" +#include "trajectory_io.h" + +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + int cnt = 0; + // 在等待机械臂开始运动时，获取exec_id最大的重试次数 + int max_retry_count = 50; + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (exec_id != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + return 0; +} + +// 判断缓存是否有效 +int isBufferValid(RobotInterfacePtr impl) +{ + // 调用pathBufferValid最大的重试次数 + int max_retry_count = 5; + // 调用pathBufferValid的次数 + int cnt = 0; + bool isValid = impl->getMotionControl()->pathBufferValid("rec"); + + while (!isValid) { + if (cnt++ > max_retry_count) { + return -1; + } + isValid = impl->getMotionControl()->pathBufferValid("rec"); + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + return 0; +} + +#define LOCAL_IP "127.0.0.1" + +auto rpc_cli = std::make_shared(); +int task_id; + +// 定义信号处理函数 +void signalHandler(int signal) +{ + if (signal == SIGINT) { + std::cout << "Received SIGINT signal." << std::endl; + if (rpc_cli) { + rpc_cli->getRuntimeMachine()->stop(); + rpc_cli->getRuntimeMachine()->deleteTask(task_id); + rpc_cli->logout(); + rpc_cli->disconnect(); + } + // 退出程序 + exit(0); + } +} + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + // 注册信号处理函数 + signal(SIGINT, signalHandler); + + // 读取轨迹文件 + // + // CoffeCappuccino-heart-R_filtered.csv文件中的路点是TCP相对于用户坐标系下的 + // auto filename = "../trajs/CoffeCappuccino-heart-R_filtered.csv"; + auto filename = "../trajs/CoffeCappuccino-heart-L_filtered.csv"; + TrajectoryIo input(filename); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.open()) { + return 0; + } + + // 解析轨迹数据 + auto traj = input.parse(); + + // 检查轨迹文件中是否有路点， + // 如果数量为 0，输出错误消息并返回 + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0." << std::endl; + return 0; + } + + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(10000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 接口调用: 获取机器人的名字 + auto robot_name = rpc_cli->getRobotNames().front(); + + auto robot_interface = rpc_cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(1); + + // TCP相对于法兰盘中心的偏移位姿 + std::vector tcp_offset(6); + tcp_offset[0] = -0.093; + tcp_offset[1] = 0.0007249; + tcp_offset[2] = 0.152; + tcp_offset[3] = 90.66 / 180.0 * M_PI; + tcp_offset[4] = -0.7635 / 180.0 * M_PI; + tcp_offset[5] = -91.49 / 180.0 * M_PI; + // std::vector tcp_offset(6); + // tcp_offset[0] = 0.0; + // tcp_offset[1] = 0.0; + // tcp_offset[2] = 0.0; + // tcp_offset[3] = 0.0; + // tcp_offset[4] = 0.0; + // tcp_offset[5] = 0.0; + + // 接口调用: 设置TCP相对于法兰盘中心的偏移 + robot_interface->getRobotConfig()->setTcpOffset(tcp_offset); + + // 三个标定点的位姿 + std::vector coord_q0(6), coord_q1(6), coord_q2(6); + coord_q0[0] = -1.627214; + coord_q0[1] = -0.360182; + coord_q0[2] = 1.783065; + coord_q0[3] = -1.063912; + coord_q0[4] = -1.642473; + coord_q0[5] = -1.510366; + + coord_q1[0] = -0.806772; + coord_q1[1] = -0.344142; + coord_q1[2] = 1.806783; + coord_q1[3] = -1.079834; + coord_q1[4] = -0.824188; + coord_q1[5] = -1.444983; + + coord_q2[0] = -0.702519; + coord_q2[1] = -0.105247; + coord_q2[2] = 2.113576; + coord_q2[3] = -1.022056; + coord_q2[4] = -0.720357; + coord_q2[5] = -1.430912; + + // 接口调用: 正解求出标定点的关节角 + auto [coord_p0, ret0] = + robot_interface->getRobotAlgorithm()->forwardKinematics(coord_q0); + auto [coord_p1, ret1] = + robot_interface->getRobotAlgorithm()->forwardKinematics(coord_q1); + auto [coord_p2, ret2] = + robot_interface->getRobotAlgorithm()->forwardKinematics(coord_q2); + + // 接口调用: 用户坐标系标定 + auto [coord, ret3] = rpc_cli->getMath()->calibrateCoordinate( + { coord_p0, coord_p1, coord_p2 }, 0); + + // 创建了一个名为 traj_q 的变量， + // 其类型与表达式 traj 的类型相同 + decltype(traj) traj_q; + + // 接口调用: 开启规划器运行 + rpc_cli->getRuntimeMachine()->start(); + auto cur_plan_context = rpc_cli->getRuntimeMachine()->getPlanContext(); + // 接口调用: 获取新的线程id + task_id = rpc_cli->getRuntimeMachine()->newTask(); + rpc_cli->getRuntimeMachine()->setPlanContext( + task_id, std::get<1>(cur_plan_context), std::get<2>(cur_plan_context)); + + // 接口调用: 关节运动到原点 + auto home_q = { 0.0, + -15.0 / 180 * M_PI, + 100.0 / 180 * M_PI, + 25.0 / 180 * M_PI, + 90.0 / 180 * M_PI, + 0.0 }; + robot_interface->getMotionControl()->moveJoint(home_q, 30 * (M_PI / 180), + 30 * (M_PI / 180), 0., 0.); + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到原点成功" << std::endl; + } else { + std::cout << "关节运动到原点失败" << std::endl; + } + + // 接口调用: 获取当前的关节角， + // 作为代码后面的逆解的参考关节角 + auto current_q = robot_interface->getRobotState()->getJointPositions(); + + // 将轨迹文件中TCP在用户坐标系下的路点位姿转化成TCP在基坐标系下的路点位姿， + // 再逆解求出关节角， + // 并将路点的关节角保存在变量traj_q中 + for (const auto &p : traj) { + // 接口调用: 获得 TCP 在基坐标系下的位姿 + auto rp = rpc_cli->getMath()->poseTrans(coord, p); + // 接口调用: 逆解获得关节角 + auto [q, ret] = robot_interface->getRobotAlgorithm()->inverseKinematics( + current_q, rp); + current_q = q; + traj_q.push_back(q); + } + + // 接口调用: 关节运动到轨迹文件中的第一个路点 + robot_interface->getMotionControl()->moveJoint(traj_q[0], 30 * (M_PI / 180), + 30 * (M_PI / 180), 0., 0.); + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + + // 接口调用: 清除缓存"rec" + robot_interface->getMotionControl()->pathBufferFree("rec"); + + // 接口调用: 新建一个缓存"rec"，并指定轨迹运动类型和轨迹点数量 + robot_interface->getMotionControl()->pathBufferAlloc("rec", 3, traj_sz); + + // 将轨迹文件中的路点分组添加到路径缓存中， + // 以10个点为1组， + // 如果未添加的路点数量小于或者等于10时，则作为最后一组来添加 + size_t offset = 10; + auto it = traj_q.begin(); + while (true) { + std::cout << "添加轨迹路点 " << offset << std::endl; + // 接口调用: 添加轨迹路点道缓存路径中 + robot_interface->getMotionControl()->pathBufferAppend( + "rec", std::vector>{ it, it + 10 }); + it += 10; + if (offset + 10 >= traj_sz) { + std::cout << "添加轨迹路点 " << traj_sz << std::endl; + // 接口调用: 添加轨迹路点道缓存路径中 + robot_interface->getMotionControl()->pathBufferAppend( + "rec", std::vector>{ it, traj_q.end() }); + break; + } + + offset += 10; + } + + // 接口调用: 计算、优化等耗时操作，来对轨迹进行优化 + robot_interface->getMotionControl()->pathBufferEval( + "rec", { 3, 3, 3, 3, 3, 3 }, { 2, 2, 2, 2, 2, 2 }, 0); + + // 判断路径缓存是否有效 + if (isBufferValid(robot_interface) == -1) { + std::cerr << "路径缓存无效，无法进行轨迹运动" << std::endl; + } else { + // 接口调用: 执行轨迹运动 + robot_interface->getMotionControl()->movePathBuffer("rec"); + + // 等待轨迹运动完成 + ret = waitArrival(robot_interface); + if (ret == -1) { + std::cerr << "轨迹运动失败" << std::endl; + } else { + std::cout << "轨迹运动结束" << std::endl; + } + } + + // 接口调用: 停止规划器运行 + rpc_cli->getRuntimeMachine()->stop(); + // 接口调用: 删除线程 + rpc_cli->getRuntimeMachine()->deleteTask(task_id); + + // 接口调用: RPC 退出登录 + rpc_cli->logout(); + // 接口调用: RPC 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/record.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/record.cpp new file mode 100644 index 00000000..3dc39075 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/record.cpp @@ -0,0 +1,214 @@ +#include +#include +#include +#ifdef WIN32 +#include +#endif +#include + +#include "aubo_sdk/rpc.h" +#include "trajectory_io.h" + +using namespace arcs::aubo_sdk; +using namespace arcs::common_interface; + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 +int waitArrival(RobotInterfacePtr impl) +{ + // 接口调用: 获取当前的运动指令 ID + int exec_id = impl->getMotionControl()->getExecId(); + + int cnt = 0; + // 在等待机械臂开始运动时，获取exec_id最大的重试次数 + int max_retry_count = 50; + + // 等待机械臂开始运动 + while (exec_id == -1) { + if (cnt++ > max_retry_count) { + return -1; + } + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + // 等待机械臂动作完成 + while (exec_id != -1) { + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + exec_id = impl->getMotionControl()->getExecId(); + } + + return 0; +} + +// 判断缓存是否有效 +int isBufferValid(RobotInterfacePtr impl) +{ + // 调用pathBufferValid最大的重试次数 + int max_retry_count = 5; + // 调用pathBufferValid的次数 + int cnt = 0; + bool isValid = impl->getMotionControl()->pathBufferValid("rec"); + + while (!isValid) { + if (cnt++ > max_retry_count) { + return -1; + } + isValid = impl->getMotionControl()->pathBufferValid("rec"); + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + return 0; +} + +#define LOCAL_IP "127.0.0.1" + +auto rpc_cli = std::make_shared(); +int task_id; + +// 定义信号处理函数 +void signalHandler(int signal) +{ + if (signal == SIGINT) { + std::cout << "Received SIGINT signal." << std::endl; + if (rpc_cli) { + rpc_cli->getRuntimeMachine()->stop(); + rpc_cli->getRuntimeMachine()->deleteTask(task_id); + rpc_cli->logout(); + rpc_cli->disconnect(); + } + // 退出程序 + exit(0); + } +} + +int main(int argc, char **argv) +{ +#ifdef WIN32 + // 将Windows控制台输出代码页设置为 UTF-8 + SetConsoleOutputCP(CP_UTF8); +#endif + // 注册信号处理函数 + signal(SIGINT, signalHandler); + + // 读取轨迹文件 + auto filename = "../trajs/record6.offt"; + TrajectoryIo input(filename); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.open()) { + return 0; + } + + // 解析轨迹数据 + auto traj = input.parse(); + + // 检查轨迹文件中是否有路点， + // 如果数量为 0，输出错误消息并返回 + auto traj_sz = traj.size(); + if (traj_sz == 0) { + std::cerr << "轨迹文件中的路点数量为0." << std::endl; + return 0; + } + + // 接口调用: 设置 RPC 超时 + rpc_cli->setRequestTimeout(1000); + // 接口调用: 连接到 RPC 服务 + rpc_cli->connect(LOCAL_IP, 30004); + // 接口调用: 登录 + rpc_cli->login("aubo", "123456"); + + // 接口调用: 获取机器人的名字 + auto robot_name = rpc_cli->getRobotNames().front(); + + auto robot_interface = rpc_cli->getRobotInterface(robot_name); + + // 接口调用: 设置机械臂的速度比率 + robot_interface->getMotionControl()->setSpeedFraction(0.3); + + // 接口调用: 开启规划器运行 + rpc_cli->getRuntimeMachine()->start(); + + auto cur_plan_context = rpc_cli->getRuntimeMachine()->getPlanContext(); + // 接口调用: 获取新的线程id + task_id = rpc_cli->getRuntimeMachine()->newTask(); + rpc_cli->getRuntimeMachine()->setPlanContext( + task_id, std::get<1>(cur_plan_context), std::get<2>(cur_plan_context)); + + // 接口调用: 关节运动到轨迹文件中的第一个路点 + robot_interface->getMotionControl()->moveJoint(traj[0], 30 * (M_PI / 180), + 30 * (M_PI / 180), 0., 0.); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) { + std::cout << "关节运动到轨迹文件中的第一个路点成功" << std::endl; + } else { + std::cout << "关节运动到轨迹文件中的第一个路点失败" << std::endl; + } + + // 接口调用: 清除缓存"rec" + robot_interface->getMotionControl()->pathBufferFree("rec"); + + // 接口调用: 新建一个缓存"rec"，并指定轨迹运动类型和轨迹点数量 + robot_interface->getMotionControl()->pathBufferAlloc("rec", 2, traj_sz); + + // 将轨迹文件中的路点分组添加到路径缓存中， + // 以10个点为1组， + // 如果未添加的路点数量小于或者等于10时，则作为最后一组来添加 + size_t offset = 10; + auto it = traj.begin(); + while (true) { + std::cout << "添加轨迹路点 " << offset << std::endl; + // 接口调用: 添加轨迹路点道缓存路径中 + robot_interface->getMotionControl()->pathBufferAppend( + "rec", std::vector>{ it, it + 10 }); + it += 10; + if (offset + 10 >= traj_sz) { + std::cout << "添加轨迹路点 " << traj_sz << std::endl; + // 接口调用: 添加轨迹路点道缓存路径中 + robot_interface->getMotionControl()->pathBufferAppend( + "rec", std::vector>{ it, traj.end() }); + break; + } + + offset += 10; + } + + // 轨迹文件中的采样间隔 + double interval = 0.005; + + // 接口调用: 计算、优化等耗时操作，来对轨迹进行优化 + robot_interface->getMotionControl()->pathBufferEval( + "rec", { 1, 1, 1, 1, 1, 1 }, { 1, 1, 1, 1, 1, 1 }, interval); + + // 判断路径缓存是否有效 + if (isBufferValid(robot_interface) == -1) { + std::cerr << "路径缓存无效，无法进行轨迹运动" << std::endl; + } else { + // 接口调用: 执行轨迹运动 + robot_interface->getMotionControl()->movePathBuffer("rec"); + + // 等待轨迹运动完成 + ret = waitArrival(robot_interface); + if (ret == -1) { + std::cerr << "轨迹运动失败" << std::endl; + } else { + std::cout << "轨迹运动结束" << std::endl; + } + } + + // 接口调用: 停止规划器运行 + rpc_cli->getRuntimeMachine()->stop(); + // 接口调用: 删除线程 + rpc_cli->getRuntimeMachine()->deleteTask(task_id); + + // 接口调用: RPC 退出登录 + rpc_cli->logout(); + // 接口调用: RPC 断开连接 + rpc_cli->disconnect(); + + return 0; +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/CMakeLists.txt b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/CMakeLists.txt new file mode 100644 index 00000000..f8343655 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 3.16) + +set(CMAKE_INCLUDE_CURRENT_DIR ON) + +set(CMAKE_AUTOUIC ON) +set(CMAKE_AUTOMOC ON) +set(CMAKE_AUTORCC ON) + +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +add_executable(example_robot_proxy + main.cpp + widget.cpp + widget.h + widget.ui +) +target_link_libraries(example_robot_proxy PRIVATE ${SDK_LIB} ${PROXY_LIB} Qt5::Widgets) diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/main.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/main.cpp new file mode 100644 index 00000000..d57774ae --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/main.cpp @@ -0,0 +1,11 @@ +#include "widget.h" + +#include + +int main(int argc, char *argv[]) +{ + QApplication a(argc, argv); + Widget w; + w.show(); + return a.exec(); +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/widget.cpp b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/widget.cpp new file mode 100644 index 00000000..c63dea40 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/widget.cpp @@ -0,0 +1,49 @@ +#include "widget.h" +#include "./ui_widget.h" + +Widget::Widget(QWidget *parent) : QWidget(parent), ui(new Ui::Widget) +{ + ui->setupUi(this); + robot_proxy_ = std::make_shared(); +} + +Widget::~Widget() +{ + delete ui; +} + +void Widget::on_ip_edit_textEdited(const QString &arg1) +{ + ip_ = arg1; +} + +void Widget::on_port_edit_textEdited(const QString &arg1) +{ + port_ = arg1.toInt(); +} + +void Widget::on_connect_btn_clicked() +{ + if (!ui->ip_edit->text().isEmpty()) { + if (!ui->port_edit->text().isEmpty()) { + robot_proxy_->connect(ip_, port_); + robot_proxy_->login("aubo", "123456"); + } else { + ui->port_edit->setStyleSheet( + "QLineEdit{border:1px solid rgb(255, 0, 0);}"); + QString str = QString::fromLocal8Bit("Please input robot port!"); + ui->port_edit->setToolTip( + QStringLiteral("Please input robot port!")); + } + } else { + ui->ip_edit->setStyleSheet( + "QLineEdit{border:1px solid rgb(255, 0, 0);}"); + QString str = QString::fromLocal8Bit("Please input robot ip!"); + ui->ip_edit->setToolTip(QStringLiteral("Please input robot ip!")); + } +} + +void Widget::on_disconnect_btn_clicked() +{ + robot_proxy_->disconnectFromServer(); +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/widget.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/widget.h new file mode 100644 index 00000000..1bdca3a5 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/widget.h @@ -0,0 +1,38 @@ +#ifndef WIDGET_H +#define WIDGET_H + +#include +#include "robot_proxy/robot_proxy.h" +using namespace arcs::aubo_sdk; + +QT_BEGIN_NAMESPACE +namespace Ui { +class Widget; +} +QT_END_NAMESPACE + +class Widget : public QWidget +{ + Q_OBJECT + +public: + Widget(QWidget *parent = nullptr); + ~Widget(); + +private slots: + + void on_ip_edit_textEdited(const QString &arg1); + + void on_port_edit_textEdited(const QString &arg1); + + void on_connect_btn_clicked(); + + void on_disconnect_btn_clicked(); + +private: + Ui::Widget *ui; + RobotProxyPtr robot_proxy_; + QString ip_; + int port_; +}; +#endif // WIDGET_H diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/widget.ui b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/widget.ui new file mode 100644 index 00000000..da9c2f43 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/robot_proxy/widget.ui @@ -0,0 +1,74 @@ + + + Widget + + + + 0 + 0 + 800 + 600 + + + + Widget + + + + + + 3000 + + + + + 40 + 30 + 621 + 33 + + + + Qt::Horizontal + + + + IP: + + + + + + + + 2000 + + + + + + + + PORT: + + + + + + + + + + connect + + + + + disconnect + + + + + + + diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/trajectory_io.h b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/trajectory_io.h new file mode 100644 index 00000000..e58bd8c1 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/trajectory_io.h @@ -0,0 +1,98 @@ +#ifndef AUBO_SDK_TRJECTORY_IO_H +#define AUBO_SDK_TRJECTORY_IO_H +#include +#include +#include +#include +#include +#include +#include + +#ifdef WIN32 +#include +#endif + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +class TrajectoryIo +{ +public: + // 构造函数，接受要打开的文件名作为参数 + TrajectoryIo(const char *filename) + { + input_file_.open(filename, std::ios::in); + } + + // 检查文件是否成功打开 + bool open() + { + if (!input_file_.is_open()) { + std::cerr << "无法打开轨迹文件. 请检查输入的文件路径是否正确." + << std::endl; + return false; + } + return true; + } + ~TrajectoryIo() { input_file_.close(); } + + // 解析文件中的轨迹数据， + // 并将其转换为一个二维的 std::vector。 + // 它逐行读取文件内容，将每行数据解析为一组 double 数值， + // 并将这些数值存储在一个嵌套的二维向量中。 + std::vector> parse() + { + std::vector> res; + std::string tmp; + int linenum = 1; + while (std::getline(input_file_, tmp, '\n')) { + try { + auto q = split(tmp, ","); + res.push_back(q); + } catch (const char *p) { + std::cerr << "Line: " << linenum << " \"" << p << "\"" + << " is not a number of double" << std::endl; + break; + } + linenum++; + } + return res; + } + + // 切割字符串并转换为 double 类型 + std::vector split(const std::string &str, const char *delim) + { + std::vector res; + if ("" == str) { + return res; + } + // 先将要切割的字符串从string类型转换为char*类型 + char *strs = new char[str.length() + 1]; // 不要忘了 + std::strcpy(strs, str.c_str()); + + char *p = std::strtok(strs, delim); + char *endp = nullptr; + while (p) { + double v = std::strtod(p, &endp); + if (endp[0] != 0 && endp[0] != '\r') { + delete[] strs; + strs = nullptr; + throw p; + } + res.push_back(v); // 存入结果数组 + p = std::strtok(nullptr, delim); + } + + if (strs) { + delete[] strs; + strs = nullptr; + } + + return res; + } + +private: + std::ifstream input_file_; // 输入文件流 +}; +#endif diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/PropertySheetDebug.props b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/PropertySheetDebug.props new file mode 100644 index 00000000..5ccbb0bc --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/PropertySheetDebug.props @@ -0,0 +1,24 @@ + + + + + + $(ProjectDir)..\..\..\..\..\include;$(IncludePath) + $(ProjectDir)..\..\..\..\..\lib;$(LibraryPath) + + + + aubo_sdkd.lib;%(AdditionalDependencies) + + + WIN32;%(PreprocessorDefinitions) + stdcpp17 + Default + /utf-8 %(AdditionalOptions) + + + Xcopy "$(ProjectDir)..\..\..\..\..\lib\*.dll" "$(OutDir)" /y + + + + \ No newline at end of file diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/PropertySheetRelease.props b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/PropertySheetRelease.props new file mode 100644 index 00000000..4dffac08 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/PropertySheetRelease.props @@ -0,0 +1,25 @@ + + + + + + $(ProjectDir)..\..\..\..\..\include;$(IncludePath) + $(ProjectDir)..\..\..\..\..\lib;$(LibraryPath) + <_PropertySheetDisplayName>PropertySheetRelease + + + + aubo_sdk.lib;%(AdditionalDependencies) + + + WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + /utf-8 %(AdditionalOptions) + stdcpp17 + Default + + + Xcopy "$(ProjectDir)..\..\..\..\..\lib\*.dll" "$(OutDir)" /y + + + + \ No newline at end of file diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_movej/example_movej.vcxproj b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_movej/example_movej.vcxproj new file mode 100644 index 00000000..c18e1bec --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_movej/example_movej.vcxproj @@ -0,0 +1,137 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + Debug + x64 + + + Release + x64 + + + + 16.0 + Win32Proj + {158fd776-9834-4960-affa-12b750f65a4c} + examplemovej + 10.0 + + + + Application + true + v143 + Unicode + + + Application + false + v143 + true + Unicode + + + Application + true + v143 + Unicode + + + Application + false + v143 + true + Unicode + + + + + + + + + + + + + + + + + + + + + + + + Level3 + true + WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + + + + + Level3 + true + true + true + WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + true + true + + + + + Level3 + true + _DEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + + + + + Level3 + true + true + true + NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + true + true + + + + + + + + + \ No newline at end of file diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_movel/example_movel.vcxproj b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_movel/example_movel.vcxproj new file mode 100644 index 00000000..2396d98e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_movel/example_movel.vcxproj @@ -0,0 +1,137 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + Debug + x64 + + + Release + x64 + + + + 16.0 + Win32Proj + {39d24690-faa0-45fb-ae13-cd2edcfdbe84} + examplemovel + 10.0 + + + + Application + true + v143 + Unicode + + + Application + false + v143 + true + Unicode + + + Application + true + v143 + Unicode + + + Application + false + v143 + true + Unicode + + + + + + + + + + + + + + + + + + + + + + + + Level3 + true + WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + + + + + Level3 + true + true + true + WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + true + true + + + + + Level3 + true + _DEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + + + + + Level3 + true + true + true + NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + true + true + + + + + + + + + \ No newline at end of file diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_rtde/example_rtde.vcxproj b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_rtde/example_rtde.vcxproj new file mode 100644 index 00000000..ccf1b023 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_rtde/example_rtde.vcxproj @@ -0,0 +1,137 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + Debug + x64 + + + Release + x64 + + + + 16.0 + Win32Proj + {164c6c29-dac6-4acb-a757-a0af0f5b91be} + examplertde + 10.0 + + + + Application + true + v143 + Unicode + + + Application + false + v143 + true + Unicode + + + Application + true + v143 + Unicode + + + Application + false + v143 + true + Unicode + + + + + + + + + + + + + + + + + + + + + + + + Level3 + true + WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + + + + + Level3 + true + true + true + WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + true + true + + + + + Level3 + true + _DEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + + + + + Level3 + true + true + true + NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + true + true + + + + + + + + + \ No newline at end of file diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_servoj2/example_servoj2.vcxproj b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_servoj2/example_servoj2.vcxproj new file mode 100644 index 00000000..468e7c42 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_servoj2/example_servoj2.vcxproj @@ -0,0 +1,139 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + Debug + x64 + + + Release + x64 + + + + 16.0 + Win32Proj + {2bc8e888-f791-48eb-9747-21362e4e247b} + exampleservoj2 + 10.0 + + + + Application + true + v143 + Unicode + + + Application + false + v143 + true + Unicode + + + Application + true + v143 + Unicode + + + Application + false + v143 + true + Unicode + + + + + + + + + + + + + + + + + + + + + + + + Level3 + true + WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + + + + + Level3 + true + true + true + WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + true + true + + + + + Level3 + true + _DEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + + + + + Level3 + true + true + true + NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + Default + stdcpp17 + + + Console + true + true + true + + + + + + + + + \ No newline at end of file diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_startup/example_startup.vcxproj b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_startup/example_startup.vcxproj new file mode 100644 index 00000000..6b5baf28 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/example_startup/example_startup.vcxproj @@ -0,0 +1,157 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + Debug + x64 + + + Release + x64 + + + + 16.0 + Win32Proj + {87d32d6c-a49c-4b2a-8ed0-a6935d69e5fd} + examplestartup + 10.0 + + + + Application + true + v143 + Unicode + + + Application + false + v143 + true + Unicode + + + Application + true + v143 + Unicode + + + Application + false + v143 + true + Unicode + + + + + + + + + + + + + + + + + + + + + + + $(ExecutablePath) + $(ProjectDir)..\..\..\..\..\include;$(IncludePath) + $(ExternalIncludePath) + $(ProjectDir)..\..\..\..\..\lib;$(LibraryPath) + + + $(ProjectDir)..\..\..\..\..\include;$(IncludePath) + $(ProjectDir)..\..\..\..\..\lib;$(LibraryPath) + + + + Level3 + true + WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + + + + + Level3 + true + true + true + WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + true + true + + + + + Level3 + true + WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + /utf-8 %(AdditionalOptions) + + + Console + true + aubo_sdkd.lib;%(AdditionalDependencies) + + + Xcopy "$(ProjectDir)..\..\..\..\..\lib\*.dll" "$(OutDir)" /y + + + + + Level3 + true + true + true + WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + /utf-8 %(AdditionalOptions) + + + Console + true + true + true + aubo_sdk.lib;%(AdditionalDependencies) + + + Xcopy "$(ProjectDir)..\..\..\..\..\lib\*.dll" "$(OutDir)" /y + + + + + + + + + \ No newline at end of file diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/visual_studio.sln b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/visual_studio.sln new file mode 100644 index 00000000..01c9b39f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/c++/visual_studio/visual_studio.sln @@ -0,0 +1,71 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio Version 17 +VisualStudioVersion = 17.3.32825.248 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "example_startup", "example_startup\example_startup.vcxproj", "{87D32D6C-A49C-4B2A-8ED0-A6935D69E5FD}" +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "example_movej", "example_movej\example_movej.vcxproj", "{158FD776-9834-4960-AFFA-12B750F65A4C}" +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "example_movel", "example_movel\example_movel.vcxproj", "{39D24690-FAA0-45FB-AE13-CD2EDCFDBE84}" +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "example_servoj2", "example_servoj2\example_servoj2.vcxproj", "{2BC8E888-F791-48EB-9747-21362E4E247B}" +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "example_rtde", "example_rtde\example_rtde.vcxproj", "{164C6C29-DAC6-4ACB-A757-A0AF0F5B91BE}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|x64 = Debug|x64 + Debug|x86 = Debug|x86 + Release|x64 = Release|x64 + Release|x86 = Release|x86 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {87D32D6C-A49C-4B2A-8ED0-A6935D69E5FD}.Debug|x64.ActiveCfg = Debug|x64 + {87D32D6C-A49C-4B2A-8ED0-A6935D69E5FD}.Debug|x64.Build.0 = Debug|x64 + {87D32D6C-A49C-4B2A-8ED0-A6935D69E5FD}.Debug|x86.ActiveCfg = Debug|Win32 + {87D32D6C-A49C-4B2A-8ED0-A6935D69E5FD}.Debug|x86.Build.0 = Debug|Win32 + {87D32D6C-A49C-4B2A-8ED0-A6935D69E5FD}.Release|x64.ActiveCfg = Release|x64 + {87D32D6C-A49C-4B2A-8ED0-A6935D69E5FD}.Release|x64.Build.0 = Release|x64 + {87D32D6C-A49C-4B2A-8ED0-A6935D69E5FD}.Release|x86.ActiveCfg = Release|Win32 + {87D32D6C-A49C-4B2A-8ED0-A6935D69E5FD}.Release|x86.Build.0 = Release|Win32 + {158FD776-9834-4960-AFFA-12B750F65A4C}.Debug|x64.ActiveCfg = Debug|x64 + {158FD776-9834-4960-AFFA-12B750F65A4C}.Debug|x64.Build.0 = Debug|x64 + {158FD776-9834-4960-AFFA-12B750F65A4C}.Debug|x86.ActiveCfg = Debug|Win32 + {158FD776-9834-4960-AFFA-12B750F65A4C}.Debug|x86.Build.0 = Debug|Win32 + {158FD776-9834-4960-AFFA-12B750F65A4C}.Release|x64.ActiveCfg = Release|x64 + {158FD776-9834-4960-AFFA-12B750F65A4C}.Release|x64.Build.0 = Release|x64 + {158FD776-9834-4960-AFFA-12B750F65A4C}.Release|x86.ActiveCfg = Release|Win32 + {158FD776-9834-4960-AFFA-12B750F65A4C}.Release|x86.Build.0 = Release|Win32 + {39D24690-FAA0-45FB-AE13-CD2EDCFDBE84}.Debug|x64.ActiveCfg = Debug|x64 + {39D24690-FAA0-45FB-AE13-CD2EDCFDBE84}.Debug|x64.Build.0 = Debug|x64 + {39D24690-FAA0-45FB-AE13-CD2EDCFDBE84}.Debug|x86.ActiveCfg = Debug|Win32 + {39D24690-FAA0-45FB-AE13-CD2EDCFDBE84}.Debug|x86.Build.0 = Debug|Win32 + {39D24690-FAA0-45FB-AE13-CD2EDCFDBE84}.Release|x64.ActiveCfg = Release|x64 + {39D24690-FAA0-45FB-AE13-CD2EDCFDBE84}.Release|x64.Build.0 = Release|x64 + {39D24690-FAA0-45FB-AE13-CD2EDCFDBE84}.Release|x86.ActiveCfg = Release|Win32 + {39D24690-FAA0-45FB-AE13-CD2EDCFDBE84}.Release|x86.Build.0 = Release|Win32 + {2BC8E888-F791-48EB-9747-21362E4E247B}.Debug|x64.ActiveCfg = Debug|x64 + {2BC8E888-F791-48EB-9747-21362E4E247B}.Debug|x64.Build.0 = Debug|x64 + {2BC8E888-F791-48EB-9747-21362E4E247B}.Debug|x86.ActiveCfg = Debug|Win32 + {2BC8E888-F791-48EB-9747-21362E4E247B}.Debug|x86.Build.0 = Debug|Win32 + {2BC8E888-F791-48EB-9747-21362E4E247B}.Release|x64.ActiveCfg = Release|x64 + {2BC8E888-F791-48EB-9747-21362E4E247B}.Release|x64.Build.0 = Release|x64 + {2BC8E888-F791-48EB-9747-21362E4E247B}.Release|x86.ActiveCfg = Release|Win32 + {2BC8E888-F791-48EB-9747-21362E4E247B}.Release|x86.Build.0 = Release|Win32 + {164C6C29-DAC6-4ACB-A757-A0AF0F5B91BE}.Debug|x64.ActiveCfg = Debug|x64 + {164C6C29-DAC6-4ACB-A757-A0AF0F5B91BE}.Debug|x64.Build.0 = Debug|x64 + {164C6C29-DAC6-4ACB-A757-A0AF0F5B91BE}.Debug|x86.ActiveCfg = Debug|Win32 + {164C6C29-DAC6-4ACB-A757-A0AF0F5B91BE}.Debug|x86.Build.0 = Debug|Win32 + {164C6C29-DAC6-4ACB-A757-A0AF0F5B91BE}.Release|x64.ActiveCfg = Release|x64 + {164C6C29-DAC6-4ACB-A757-A0AF0F5B91BE}.Release|x64.Build.0 = Release|x64 + {164C6C29-DAC6-4ACB-A757-A0AF0F5B91BE}.Release|x86.ActiveCfg = Release|Win32 + {164C6C29-DAC6-4ACB-A757-A0AF0F5B91BE}.Release|x86.Build.0 = Release|Win32 + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {D969B2A6-D164-44B3-A42F-7C111FD6DCE2} + EndGlobalSection +EndGlobal diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/README.md b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/README.md new file mode 100644 index 00000000..86305340 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/README.md @@ -0,0 +1,5 @@ +# auboi5-sdk-for-windows-x86-csharp + +1 将DLL文件存放至 ./auboi5-sdk-for-windows-x86-csharp/bin/x64/Debug +2 将csharp_binding.cs中DllImport的库全部替换为"serviceinterface2.dll" + diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example.sln b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example.sln new file mode 100644 index 00000000..04d8fbdf --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example.sln @@ -0,0 +1,31 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio Version 16 +VisualStudioVersion = 16.0.35425.106 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "csharp-example", "csharp-example\csharp-example.csproj", "{9E7E89A9-4BBE-4399-BF67-453431AB1AE3}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|x64 = Debug|x64 + Debug|x86 = Debug|x86 + Release|x64 = Release|x64 + Release|x86 = Release|x86 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {9E7E89A9-4BBE-4399-BF67-453431AB1AE3}.Debug|x64.ActiveCfg = Debug|x64 + {9E7E89A9-4BBE-4399-BF67-453431AB1AE3}.Debug|x64.Build.0 = Debug|x64 + {9E7E89A9-4BBE-4399-BF67-453431AB1AE3}.Debug|x86.ActiveCfg = Debug|x86 + {9E7E89A9-4BBE-4399-BF67-453431AB1AE3}.Debug|x86.Build.0 = Debug|x86 + {9E7E89A9-4BBE-4399-BF67-453431AB1AE3}.Release|x64.ActiveCfg = Release|x64 + {9E7E89A9-4BBE-4399-BF67-453431AB1AE3}.Release|x64.Build.0 = Release|x64 + {9E7E89A9-4BBE-4399-BF67-453431AB1AE3}.Release|x86.ActiveCfg = Release|x86 + {9E7E89A9-4BBE-4399-BF67-453431AB1AE3}.Release|x86.Build.0 = Release|x86 + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {C30F1185-4780-4867-B238-8769D191C311} + EndGlobalSection +EndGlobal diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/DemoPE.cs b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/DemoPE.cs new file mode 100644 index 00000000..cf1cfedf --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/DemoPE.cs @@ -0,0 +1,1080 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Runtime.InteropServices; +using System.Text; +using System.Threading; +using System.Threading.Tasks; +using csharp_example; + + class Program{ + const int RSERR_SUCC = 0; + + static UInt16 rshd = 0xffff; + //机械臂IP地址 + const string robotIP = "192.168.204.151"; + //机械臂端口号 + const int serverPort = 30004; + //M_PI + const double M_PI = 3.14159265358979323846; + //接口板用户DI地址 + const int ROBOT_IO_F1 = 30; + const int ROBOT_IO_F2 = 31; + const int ROBOT_IO_F3 = 32; + const int ROBOT_IO_F4 = 33; + const int ROBOT_IO_F5 = 34; + const int ROBOT_IO_F6 = 35; + const int ROBOT_IO_U_DI_00 = 36; + const int ROBOT_IO_U_DI_01 = 37; + const int ROBOT_IO_U_DI_02 = 38; + const int ROBOT_IO_U_DI_03 = 39; + const int ROBOT_IO_U_DI_04 = 40; + const int ROBOT_IO_U_DI_05 = 41; + const int ROBOT_IO_U_DI_06 = 42; + const int ROBOT_IO_U_DI_07 = 43; + const int ROBOT_IO_U_DI_10 = 44; + const int ROBOT_IO_U_DI_11 = 45; + const int ROBOT_IO_U_DI_12 = 46; + const int ROBOT_IO_U_DI_13 = 47; + const int ROBOT_IO_U_DI_14 = 48; + const int ROBOT_IO_U_DI_15 = 49; + const int ROBOT_IO_U_DI_16 = 50; + const int ROBOT_IO_U_DI_17 = 51; + + //接口板用户DO地址 + const int ROBOT_IO_U_DO_00 = 32; + const int ROBOT_IO_U_DO_01 = 33; + const int ROBOT_IO_U_DO_02 = 34; + const int ROBOT_IO_U_DO_03 = 35; + const int ROBOT_IO_U_DO_04 = 36; + const int ROBOT_IO_U_DO_05 = 37; + const int ROBOT_IO_U_DO_06 = 38; + const int ROBOT_IO_U_DO_07 = 39; + const int ROBOT_IO_U_DO_10 = 40; + const int ROBOT_IO_U_DO_11 = 41; + const int ROBOT_IO_U_DO_12 = 42; + const int ROBOT_IO_U_DO_13 = 43; + const int ROBOT_IO_U_DO_14 = 44; + const int ROBOT_IO_U_DO_15 = 45; + const int ROBOT_IO_U_DO_16 = 46; + const int ROBOT_IO_U_DO_17 = 47; + + //接口板用户AI地址 + const int ROBOT_IO_VI0 = 0; + const int ROBOT_IO_VI1 = 1; + const int ROBOT_IO_VI2 = 2; + const int ROBOT_IO_VI3 = 3; + + //接口板用户AO地址 + const int ROBOT_IO_VO0 = 0; + const int ROBOT_IO_VO1 = 1; + const int ROBOT_IO_CO0 = 2; + const int ROBOT_IO_CO1 = 3; + + //接口板IO类型 + // + //接口板用户DI(数字量输入)　可读可写 + const int Robot_User_DI = 4; + //接口板用户DO(数字量输出) 可读可写 + const int Robot_User_DO = 5; + //接口板用户AI(模拟量输入) 可读可写 + const int Robot_User_AI = 6; + //接口板用户AO(模拟量输出) 可读可写 + const int Robot_User_AO = 7; + + //工具端IO类型 + // + //工具端DI + const int Robot_Tool_DI = 8; + //工具端DO + const int Robot_Tool_DO = 9; + //工具端AI + const int Robot_Tool_AI = 10; + //工具端AO + const int Robot_Tool_AO = 11; + //工具端DI + const int Robot_ToolIoType_DI = Robot_Tool_DI; + //工具端DO + const int Robot_ToolIoType_DO = Robot_Tool_DO; + + //工具端IO名称 + const string TOOL_IO_0 = ("T_DI/O_00"); + const string TOOL_IO_1 = ("T_DI/O_01"); + const string TOOL_IO_2 = ("T_DI/O_02"); + const string TOOL_IO_3 = ("T_DI/O_03"); + + //工具端数字IO类型 + // + //输入 + const int TOOL_IO_IN = 0; + //输出 + const int TOOL_IO_OUT = 0; + + //工具端电源类型 + // + const int OUT_0V = 0; + const int OUT_12V = 1; + const int OUT_24V = 2; + + //IO状态-无效 + const double IO_STATUS_INVALID = 0.0; + //IO状态-有效 + const double IO_STATUS_VALID = 1.0; + + //坐标系枚举 + const int BaseCoordinate = 0; + const int EndCoordinate = 1; + const int WorldCoordinate = 2; + + //坐标系标定方法 + const int Origin_AnyPointOnPositiveXAxis_AnyPointOnPositiveYAxis = 0; // 原点、x轴正半轴、y轴正半轴 + const int Origin_AnyPointOnPositiveYAxis_AnyPointOnPositiveZAxis = 1; // 原点、y轴正半轴、z轴正半轴 + const int Origin_AnyPointOnPositiveZAxis_AnyPointOnPositiveXAxis = 2; // 原点、z轴正半轴、x轴正半轴 + const int Origin_AnyPointOnPositiveXAxis_AnyPointOnFirstQuadrantOfXOYPlane = 3; // 原点、x轴正半轴、x、y轴平面的第一象限上任意一点 + const int Origin_AnyPointOnPositiveXAxis_AnyPointOnFirstQuadrantOfXOZPlane = 4; // 原点、x轴正半轴、x、z轴平面的第一象限上任意一点 + const int Origin_AnyPointOnPositiveYAxis_AnyPointOnFirstQuadrantOfYOZPlane = 5; // 原点、y轴正半轴、y、z轴平面的第一象限上任意一点 + const int Origin_AnyPointOnPositiveYAxis_AnyPointOnFirstQuadrantOfYOXPlane = 6; // 原点、y轴正半轴、y、x轴平面的第一象限上任意一点 + const int Origin_AnyPointOnPositiveZAxis_AnyPointOnFirstQuadrantOfZOXPlane = 7; // 原点、z轴正半轴、z、x轴平面的第一象限上任意一点 + const int Origin_AnyPointOnPositiveZAxis_AnyPointOnFirstQuadrantOfZOYPlane = 8; // 原点、z轴正半轴、z、y轴平面的第一象限上任意一点 + + //工具标定方法 + const int ToolKinematicsOriCalibrateMathod_xOxy = 0; // 原点、x轴正半轴、x、y轴平面的第一象限上任意一点 + const int ToolKinematicsOriCalibrateMathod_yOyz = 1; // 原点、y轴正半轴、y、z轴平面的第一象限上任意一点 + const int ToolKinematicsOriCalibrateMathod_zOzx = 2; // 原点、z轴正半轴、z、x轴平面的第一象限上任意一点 + const int ToolKinematicsOriCalibrateMathod_TxRBz_TxyPBzAndTyABnz = 3; // 工具x轴平行反向于基坐标系z轴; 工具xOy平面平行于基坐标系z轴、工具y轴与基坐标系负z轴夹角为锐角 + const int ToolKinematicsOriCalibrateMathod_TyRBz_TyzPBzAndTzABnz = 4; // 工具y轴平行反向于基坐标系z轴; 工具yOz平面平行于基坐标系z轴、工具z轴与基坐标系负z轴夹角为锐角 + const int ToolKinematicsOriCalibrateMathod_TzRBz_TzxPBzAndTxABnz = 5; // 工具z轴平行反向于基坐标系z轴; 工具zOx平面平行于基坐标系z轴、工具x轴与基坐标系负z轴夹角为锐角 + + //运动轨迹类型 + // + //圆 + const int ARC_CIR = 2; + //圆弧 + const int CARTESIAN_MOVEP = 3; + + //机械臂状态 + const int RobotStopped = 0; + const int RobotRunning = 1; + const int RobotPaused = 2; + const int RobotResumed = 3; + + //机械臂工作模式 + const int RobotModeSimulator = 0; //机械臂仿真模式 + const int RobotModeReal = 1; //机械臂真实模式 + + + const int RobotRelease = 0; // 释放刹车 + const int RobotBrake = 1; // 刹车 + const int OverspeedWarning = 2; // 拖动示教速度过快报警 + const int OverspeedRecover = 3; // 解除拖动过速报警 + const int DisableForceControl = 4; // 失能力控 + const int EnableForceControl = 5; // 使能力控 + const int OrpeOpen = 6; // 打开上位机软件 + const int OrpeClose = 7; // 关闭上位机软件 + const int EnableReadPose = 8; // 打开读取位姿 + const int DisableReadPose = 9; // 关闭读取位姿 + const int MountingPoseChanged = 10; // 安装位置已改变 + const int MountingPoseUnChanged = 11; // 安装位置未改变 + const int EnableStaticCollisionDetect = 12; // 打开静止碰撞检测 + const int DisableStaticCollisionDetect = 13; // 关闭静止碰撞检测 + const int ClearSingularityOverSpeedAlarm = 14; // 解除机械臂奇异点过速警告 + const int ClearRobotCurrentAlarm = 15; // 解除机械臂电流错误警告RobotRelease + + + static int checkUsercoordExample() + { + cSharpBinding.CoordCalibrate user_coord = new cSharpBinding.CoordCalibrate(); + IntPtr pt_user_coord = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(cSharpBinding.CoordCalibrate))); + user_coord = (cSharpBinding.CoordCalibrate)Marshal.PtrToStructure(pt_user_coord, typeof(cSharpBinding.CoordCalibrate)); + + //检查用户坐标系参数设置是否合理 + user_coord.coordType = WorldCoordinate; + //坐标系标定方法xoxy + user_coord.methods = Origin_AnyPointOnPositiveXAxis_AnyPointOnFirstQuadrantOfXOYPlane; + //为了简化，使用法兰盘中心为工具端 + user_coord.toolDesc.cartPos.x = 0; + user_coord.toolDesc.cartPos.y = 0; + user_coord.toolDesc.cartPos.z = 0; + user_coord.toolDesc.orientation.w = 1; + user_coord.toolDesc.orientation.x = 0; + user_coord.toolDesc.orientation.y = 0; + user_coord.toolDesc.orientation.z = 0; + //原点 + user_coord.jointPara[0].jointRadian[0] = -0.000172 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[1] = -7.291862 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[2] = -75.694718 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[3] = 21.596727 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[4] = -89.999982 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[5] = -0.00458 / 180 * M_PI; + //x轴正半轴上一点 + user_coord.jointPara[1].jointRadian[0] = -0.000172 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[1] = -1.106149 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[2] = -55.497882 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[3] = 35.608266 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[4] = -89.999982 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[5] = -0.000458 / 180 * M_PI; + //x、y轴平面的第一象限上任意一点 + user_coord.jointPara[2].jointRadian[0] = -0.000172 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[1] = -9.503956 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[2] = -113.279220 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[3] = -13.775266 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[4] = -89.999982 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[5] = -0.000458 / 180 * M_PI; + + //检查用户坐标系参数设置是否合理 + if (RSERR_SUCC == cSharpBinding.rs_check_user_coord(rshd, ref user_coord)) + { + Console.Out.WriteLine("user coord check ok."); + } + else + { + Console.Out.WriteLine("user coord check failed!"); + } + return 0; + } + + static int relativeOffsetExample() + { + + cSharpBinding.CoordCalibrate user_coord = new cSharpBinding.CoordCalibrate(); + IntPtr pt_user_coord = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(cSharpBinding.CoordCalibrate))); + user_coord = (cSharpBinding.CoordCalibrate)Marshal.PtrToStructure(pt_user_coord, typeof(cSharpBinding.CoordCalibrate)); + + cSharpBinding.MoveRelative relative = new cSharpBinding.MoveRelative(); + IntPtr pt_relative = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(cSharpBinding.MoveRelative))); + relative = (cSharpBinding.MoveRelative)Marshal.PtrToStructure(pt_relative, typeof(cSharpBinding.MoveRelative)); + relative.enable = 1; + relative.orientation.w = 1; + relative.orientation.x = 0; + relative.orientation.y = 0; + relative.orientation.z = 0; + relative.pos[0] = 0; + relative.pos[1] = 0; + relative.pos[2] = 0.1F; + + double[] target0 = { 0, 0, 0, 0, 0, 0 }; //注意这个里面的值是弧度！ + target0[0] = -0.000172 / 180 * M_PI; + target0[1] = -7.291862 / 180 * M_PI; + target0[2] = -75.694718 / 180 * M_PI; + target0[3] = 21.596727 / 180 * M_PI; + target0[4] = -89.999982 / 180 * M_PI; + target0[5] = -0.00458 / 180 * M_PI; + + user_coord.coordType = BaseCoordinate; + //移动到坐标系原点 + cSharpBinding.rs_move_joint(rshd, target0, true); + //相对坐标系原点沿z轴正向运动 + cSharpBinding.rs_set_relative_offset_on_user(rshd, ref relative, ref user_coord); + cSharpBinding.rs_move_line(rshd, target0, true); + return 0; + } + + static int baseToUserExample() + { + //基座坐标系转用户坐标系 + cSharpBinding.Ori ori_onbase = new cSharpBinding.Ori(); + cSharpBinding.Pos pos_onbase = new cSharpBinding.Pos(); + cSharpBinding.ToolInEndDesc tool_pos = new cSharpBinding.ToolInEndDesc(); + cSharpBinding.Pos pos_onuser = new cSharpBinding.Pos(); + cSharpBinding.Ori ori_onuser = new cSharpBinding.Ori(); + cSharpBinding.wayPoint_S waypoint = new cSharpBinding.wayPoint_S(); + cSharpBinding.CoordCalibrate user_coord = new cSharpBinding.CoordCalibrate(); + IntPtr pt_user_coord = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(cSharpBinding.CoordCalibrate))); + user_coord = (cSharpBinding.CoordCalibrate)Marshal.PtrToStructure(pt_user_coord, typeof(cSharpBinding.CoordCalibrate)); + user_coord.coordType = WorldCoordinate; + user_coord.methods= Origin_AnyPointOnPositiveXAxis_AnyPointOnFirstQuadrantOfXOYPlane; + //为了简化，使用法兰盘中心为工具端 + user_coord.toolDesc.cartPos.x = 0; + user_coord.toolDesc.cartPos.y = 0; + user_coord.toolDesc.cartPos.z = 0; + user_coord.toolDesc.orientation.w = 1; + user_coord.toolDesc.orientation.x = 0; + user_coord.toolDesc.orientation.y = 0; + user_coord.toolDesc.orientation.z = 0; + //原点 + user_coord.jointPara[0].jointRadian[0] = -0.000172 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[1] = -7.291862 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[2] = -75.694718 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[3] = 21.596727 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[4] = -89.999982 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[5] = -0.00458 / 180 * M_PI; + //x轴正半轴上一点 + user_coord.jointPara[1].jointRadian[0] = 11.116932 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[1] = -0.858816 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[2] = -64.008663 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[3] = 26.850182 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[4] = -90.000064 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[5] = 11.116645 / 180 * M_PI; + //x、y轴平面的第一象限上任意一点 + user_coord.jointPara[2].jointRadian[0] = 9.012562 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[1] = 13.378931 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[2] = -47.871256 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[3] = 28.749813 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[4] = -90.000064 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[5] = 9.012275 / 180 * M_PI; + user_coord.coordType = WorldCoordinate; + //首先获取当前位置 + cSharpBinding.rs_get_current_waypoint(rshd, ref waypoint); + //打印路点信息 + cSharpBinding.PrintWaypoint(waypoint); + ori_onbase = waypoint.orientation; + pos_onbase = waypoint.cartPos; + tool_pos.orientation.w = 1; + tool_pos.orientation.x = 0; + tool_pos.orientation.y = 0; + tool_pos.orientation.z = 0; + tool_pos.cartPos.x = 0; + tool_pos.cartPos.y = 0; + tool_pos.cartPos.z = 0; + + //基座坐标系转用户坐标系 + cSharpBinding.rs_base_to_user(rshd, ref pos_onbase, ref ori_onbase, ref user_coord, ref tool_pos, ref pos_onuser, ref ori_onuser); + + return 0; + } + static int userToBaseExample() + { + cSharpBinding.Ori ori_onbase = new cSharpBinding.Ori(); + cSharpBinding.Pos pos_onbase = new cSharpBinding.Pos(); + cSharpBinding.Pos pos_onuser = new cSharpBinding.Pos(); + cSharpBinding.Ori ori_onuser = new cSharpBinding.Ori(); + cSharpBinding.ToolInEndDesc tool_pos = new cSharpBinding.ToolInEndDesc(); + cSharpBinding.CoordCalibrate user_coord = new cSharpBinding.CoordCalibrate(); + IntPtr pt_user_coord = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(cSharpBinding.CoordCalibrate))); + user_coord = (cSharpBinding.CoordCalibrate)Marshal.PtrToStructure(pt_user_coord, typeof(cSharpBinding.CoordCalibrate)); + //设置工具坐标系 + tool_pos.orientation.w = 1; + tool_pos.orientation.x = 0; + tool_pos.orientation.y = 0; + tool_pos.orientation.z = 0; + tool_pos.cartPos.x = 0; + tool_pos.cartPos.y = 0; + tool_pos.cartPos.z = 0; + //用坐标系转基座坐标系 + pos_onbase.x = 0; + pos_onbase.y = 0; + pos_onbase.z = 0; + ori_onbase.w = 1; + ori_onbase.x = 0; + ori_onbase.y = 0; + ori_onbase.z = 0; + cSharpBinding.rs_user_to_base(rshd, ref pos_onuser, ref ori_onuser, ref user_coord, ref tool_pos, ref pos_onbase, ref ori_onbase); + System.Console.Out.WriteLine("onbase pos.x={0}\npos.y={1}\npos.z={2}\n", + pos_onbase.x, pos_onbase.y, pos_onbase.z); + return 0; + } + + static int forwardAndInverseExample() + { + cSharpBinding.wayPoint_S waypoint = new cSharpBinding.wayPoint_S(); + cSharpBinding.Pos pos = new cSharpBinding.Pos(); + cSharpBinding.Ori ori = new cSharpBinding.Ori(); + //正解测试 + double[] temp_joint = {-4.358721 / 180 * M_PI, + -6.4477722 / 180 * M_PI, + -68.298347 / 180 * M_PI, + 19.191783 / 180 * M_PI, + -81.194208 / 180 * M_PI, + -4.366669 / 180 * M_PI + }; + //正解 + cSharpBinding.rs_forward_kin(rshd, temp_joint, ref waypoint); + //打印路点信息 + cSharpBinding.PrintWaypoint(waypoint); + //逆解测试 + pos.x = -0.484595; + pos.y = 0.030930; + pos.z = 0.341558; + //参考当前机械臂姿态 + cSharpBinding.rs_get_current_waypoint(rshd, ref waypoint); + ori = waypoint.orientation; + //逆解 + cSharpBinding.rs_inverse_kin(rshd, waypoint.jointpos, ref pos, ref ori, ref waypoint); + cSharpBinding.PrintWaypoint(waypoint); + return 0; + } + static int inverseExample() + { + cSharpBinding.wayPoint_S waypoint = new cSharpBinding.wayPoint_S(); + + double[] startPointJointAngle = { 0.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI, 0.0 / 180.0 * M_PI }; + + cSharpBinding.Pos pos = new cSharpBinding.Pos(); + pos.x = -0.400; + pos.y = -0.1215; + pos.z = 0.5476; + + cSharpBinding.Rpy rpy; + rpy.rx = 180.0 / 180.0 * M_PI; + rpy.ry = 0.0 / 180.0 * M_PI; + rpy.rz = -90.0 / 180.0 * M_PI; + + + cSharpBinding.Ori ori = new cSharpBinding.Ori(); + //欧拉角转四元数 + cSharpBinding.rs_rpy_to_quaternion(rshd, ref rpy, ref ori); + //逆解测试 + cSharpBinding.rs_inverse_kin(rshd, startPointJointAngle, ref pos, ref ori, ref waypoint); + Console.Out.WriteLine("rs_inverse_kin succ"); + cSharpBinding.PrintWaypoint(waypoint); + + cSharpBinding.ik_solutions solution = new cSharpBinding.ik_solutions(); + cSharpBinding.rs_inverse_kin_closed_form(rshd, ref pos, ref ori, ref solution); + Console.Out.WriteLine("rs_inverse_kin_closed_form succ"); + for (int i = 0; i < 8; i++) + { + Console.Out.WriteLine("************************"); + cSharpBinding.PrintWaypoint(solution.waypoint[i]); + } + return 0; + } + static int quaternion_rpy_example() + { + cSharpBinding.wayPoint_S waypoint = new cSharpBinding.wayPoint_S(); + cSharpBinding.Ori ori = new cSharpBinding.Ori(); + cSharpBinding.Rpy rpy = new cSharpBinding.Rpy(); + cSharpBinding.rs_get_current_waypoint(rshd, ref waypoint); + //四元数转欧拉角 + ori = waypoint.orientation; + cSharpBinding.rs_quaternion_to_rpy(rshd, ref ori, ref rpy); + System.Console.Out.WriteLine("rpy.rx={0}\nrpy.ry={1}\nrpy.rz={2}\n", + rpy.rx * 180 / M_PI, rpy.ry * 180 / M_PI, rpy.rz * 180 / M_PI); + //欧拉角转四元数 + cSharpBinding.rs_rpy_to_quaternion(rshd, ref rpy, ref ori); + Console.Out.WriteLine("ori.w={0} x={1} y={2} z={3}", + ori.w, ori.x, ori.y, ori.z); + return 0; + } + static int jointMoveExample() + { + double[] target0 = {0,0,0,0,0,0 }; + double[] target1 = { 1, 1, 1, 1, 1, 1 }; + cSharpBinding.Pos pos = new cSharpBinding.Pos(); + cSharpBinding.ToolInEndDesc tool_pos = new cSharpBinding.ToolInEndDesc(); + tool_pos.orientation.w = 1; + tool_pos.orientation.x = 0; + tool_pos.orientation.y = 0; + tool_pos.orientation.z = 0; + tool_pos.cartPos.x = 0; + tool_pos.cartPos.y = 0; + tool_pos.cartPos.z = 0; + //轴动机械臂 + cSharpBinding.rs_move_joint(rshd, target0, true); + for (int i = 0; i < 5; i++) + { + cSharpBinding.rs_move_joint(rshd, target1, true); + cSharpBinding.rs_move_joint(rshd, target0, true); + } + + //轴动到目标位置 + pos.x = -0.502071; + pos.y = -0.104238; + pos.z = 0.476826; + cSharpBinding.rs_move_line_to(rshd, ref pos, ref tool_pos, true); + return 0; + } + static int getTargetWaypointByPositionExample() + { + cSharpBinding.wayPoint_S target_waypoint_on_basecoord = new cSharpBinding.wayPoint_S(); + cSharpBinding.wayPoint_S source_waypoint_on_basecoord = new cSharpBinding.wayPoint_S(); + cSharpBinding.Pos tool_End_Position = new cSharpBinding.Pos(); + cSharpBinding.ToolInEndDesc tool_pos = new cSharpBinding.ToolInEndDesc(); + cSharpBinding.CoordCalibrate user_coord = new cSharpBinding.CoordCalibrate(); + IntPtr pt_user_coord = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(cSharpBinding.CoordCalibrate))); + user_coord = (cSharpBinding.CoordCalibrate)Marshal.PtrToStructure(pt_user_coord, typeof(cSharpBinding.CoordCalibrate)); + + cSharpBinding.rs_get_current_waypoint(rshd ,ref source_waypoint_on_basecoord); + + user_coord.coordType = WorldCoordinate; + //坐标系标定方法xoxy + user_coord.methods = Origin_AnyPointOnPositiveXAxis_AnyPointOnFirstQuadrantOfXOYPlane; + //为了简化，使用法兰盘中心为工具端 + user_coord.toolDesc.cartPos.x = 0; + user_coord.toolDesc.cartPos.y = 0; + user_coord.toolDesc.cartPos.z = 0; + user_coord.toolDesc.orientation.w = 1; + user_coord.toolDesc.orientation.x = 0; + user_coord.toolDesc.orientation.y = 0; + user_coord.toolDesc.orientation.z = 0; + //原点 + user_coord.jointPara[0].jointRadian[0] = -0.000172 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[1] = -7.291862 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[2] = -75.694718 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[3] = 21.596727 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[4] = -89.999982 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[5] = -0.00458 / 180 * M_PI; + //x轴正半轴上一点 + user_coord.jointPara[1].jointRadian[0] = 14.283838 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[1] = -1.310068 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[2] = -70.235286 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[3] = 21.074762 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[4] = -90.000098 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[5] = 14.283551 / 180 * M_PI; + //x、y轴平面的第一象限上任意一点 + user_coord.jointPara[2].jointRadian[0] = 11.701804 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[1] = 11.909616 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[2] = -55.591688 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[3] = 22.498677 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[4] = -90.000037 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[5] = 11.701517 / 180 * M_PI; + //设置工具坐标系 + tool_pos.orientation.w = 1; + tool_pos.orientation.x = 0; + tool_pos.orientation.y = 0; + tool_pos.orientation.z = 0; + tool_pos.cartPos.x = 0; + tool_pos.cartPos.y = 0; + tool_pos.cartPos.z = 0; + //工具末端目标位置 + tool_End_Position.x = 0.2; + tool_End_Position.y = 0; + tool_End_Position.z = 0; + + cSharpBinding.rs_get_target_waypoint_by_position(rshd, ref source_waypoint_on_basecoord, ref user_coord, ref tool_End_Position, ref tool_pos, ref target_waypoint_on_basecoord ); + cSharpBinding.rs_move_line(rshd,target_waypoint_on_basecoord.jointpos,true); + return 0; + } + static int toolCalibrationExample() + { + + cSharpBinding.ToolInEndDesc tool_pos = new cSharpBinding.ToolInEndDesc(); + cSharpBinding.ToolCalibrate toolCalibrate = new cSharpBinding.ToolCalibrate(); + cSharpBinding.wayPoint_S currentWaypoint = new cSharpBinding.wayPoint_S(); + toolCalibrate.posCalibrateWaypoint = new cSharpBinding.wayPoint_S[4]; + toolCalibrate.oriCalibrateWaypoint = new cSharpBinding.wayPoint_S[3]; + + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + Console.Out.WriteLine("工具标定选点：\n"); + double[] jointpos = { 0, 0, 0, 0, 0, 0 }; + + jointpos[0] = -0.000172 / 180 * M_PI; + jointpos[1] = -7.291862 / 180 * M_PI; + jointpos[2] = -75.694718 / 180 * M_PI; + jointpos[3] = 21.596727 / 180 * M_PI; + jointpos[4] = -89.999982 / 180 * M_PI; + jointpos[5] = -0.000458 / 180 * M_PI; + cSharpBinding.rs_move_line(rshd, jointpos, true); + cSharpBinding.rs_get_current_waypoint(rshd, ref currentWaypoint); + toolCalibrate.posCalibrateWaypoint[0] = currentWaypoint; + Console.Out.WriteLine("Position_1:"); + cSharpBinding.PrintWaypoint(currentWaypoint); + + jointpos[0] = -7.157335 / 180 * M_PI; + jointpos[1] = -9.198799 / 180 * M_PI; + jointpos[2] = -78.285142 / 180 * M_PI; + jointpos[3] = 25.303605 / 180 * M_PI; + jointpos[4] = -58.632352 / 180 * M_PI; + jointpos[5] = -8.390680 / 180 * M_PI; + cSharpBinding.rs_move_line(rshd, jointpos, true); + cSharpBinding.rs_get_current_waypoint(rshd, ref currentWaypoint); + toolCalibrate.posCalibrateWaypoint[1] = currentWaypoint; + Console.Out.WriteLine("Position_2:"); + cSharpBinding.PrintWaypoint(currentWaypoint); + + jointpos[0] = 8.423011 / 180 * M_PI; + jointpos[1] = -4.640062 / 180 * M_PI; + jointpos[2] = -74.922312 / 180 * M_PI; + jointpos[3] = 26.760133 / 180 * M_PI; + jointpos[4] = -129.625885 / 180 * M_PI; + jointpos[5] = 10.962565 / 180 * M_PI; + cSharpBinding.rs_move_line(rshd, jointpos, true); + cSharpBinding.rs_get_current_waypoint(rshd, ref currentWaypoint); + toolCalibrate.posCalibrateWaypoint[2] = currentWaypoint; + Console.Out.WriteLine("Position_3:"); + cSharpBinding.PrintWaypoint(currentWaypoint); + + jointpos[0] = 1.981716 / 180 * M_PI; + jointpos[1] = 0.742380 / 180 * M_PI; + jointpos[2] = -63.190745 / 180 * M_PI; + jointpos[3] = 47.592509 / 180 * M_PI; + jointpos[4] = -98.514182 / 180 * M_PI; + jointpos[5] = -11.502224 / 180 * M_PI; + cSharpBinding.rs_move_line(rshd, jointpos, true); + cSharpBinding.rs_get_current_waypoint(rshd, ref currentWaypoint); + toolCalibrate.posCalibrateWaypoint[3] = currentWaypoint; + Console.Out.WriteLine("Position_4:"); + cSharpBinding.PrintWaypoint(currentWaypoint); + + jointpos[0] = -0.000172 / 180 * M_PI; + jointpos[1] = -7.291862 / 180 * M_PI; + jointpos[2] = -75.694718 / 180 * M_PI; + jointpos[3] = 21.596727 / 180 * M_PI; + jointpos[4] = -89.999982 / 180 * M_PI; + jointpos[5] = -0.000458 / 180 * M_PI; + cSharpBinding.rs_move_line(rshd, jointpos, true); + cSharpBinding.rs_get_current_waypoint(rshd, ref currentWaypoint); + toolCalibrate.oriCalibrateWaypoint[0] = currentWaypoint; + Console.Out.WriteLine("Orientation_1:"); + cSharpBinding.PrintWaypoint(currentWaypoint); + + jointpos[0] = 14.285429 / 180 * M_PI; + jointpos[1] = -1.309190 / 180 * M_PI; + jointpos[2] = -70.234425 / 180 * M_PI; + jointpos[3] = 21.074762 / 180 * M_PI; + jointpos[4] = -90.000084 / 180 * M_PI; + jointpos[5] = 14.285143 / 180 * M_PI; + cSharpBinding.rs_move_line(rshd, jointpos, true); + cSharpBinding.rs_get_current_waypoint(rshd, ref currentWaypoint); + toolCalibrate.oriCalibrateWaypoint[1] = currentWaypoint; + Console.Out.WriteLine("Orientation_2:"); + cSharpBinding.PrintWaypoint(currentWaypoint); + + jointpos[0] = 12.018674 / 180 * M_PI; + jointpos[1] = 9.866897 / 180 * M_PI; + jointpos[2] = -58.086873 / 180 * M_PI; + jointpos[3] = 22.046228 / 180 * M_PI; + jointpos[4] = -90.000071 / 180 * M_PI; + jointpos[5] = 12.018387 / 180 * M_PI; + cSharpBinding.rs_move_line(rshd, jointpos, true); + cSharpBinding.rs_get_current_waypoint(rshd, ref currentWaypoint); + toolCalibrate.oriCalibrateWaypoint[2] = currentWaypoint; + Console.Out.WriteLine("Orientation_3:"); + cSharpBinding.PrintWaypoint(currentWaypoint); + + toolCalibrate.posCalibrateNum = 4; + toolCalibrate.oriCalibrateNum = 3; + toolCalibrate.CalibMethod = ToolKinematicsOriCalibrateMathod_xOxy; + //IntPtr ptr_toolCalibrate = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(cSharpBinding.ToolCalibrate))); + //Marshal.StructureToPtr(toolCalibrate, ptr_toolCalibrate, true); + cSharpBinding.rs_tool_calibration(rshd, ref toolCalibrate, ref tool_pos); + Console.Out.WriteLine("工具标定结果:\n"); + Console.Out.WriteLine("pos: x={0},y={1},z={2}", tool_pos.cartPos.x, tool_pos.cartPos.y, tool_pos.cartPos.z); + Console.Out.WriteLine("ori: x={0},y={1},z={2},w={3}", tool_pos.orientation.x, tool_pos.orientation.y, tool_pos.orientation.z, tool_pos.orientation.w); + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + return 0; + } + + static int getJointStatusExample() + { + /* c#向c++封送结构体问题 + * 要先分配一段非托管内存，接口中结构体参数应传入IntPtr + * 调用接口后，再将非托管内容数据读取到托管结构体数据中 + */ + int size = Marshal.SizeOf(typeof(cSharpBinding.JointStatus)) * 6; + byte[] bytes = new byte[size]; + IntPtr pBuff = Marshal.AllocHGlobal(size); + cSharpBinding.JointStatus[] jointStatus = new cSharpBinding.JointStatus[6]; + cSharpBinding.rs_get_joint_status(rshd, pBuff); + for (int i = 0; i < 6; i++) + { + IntPtr pPonitor = new IntPtr(pBuff.ToInt64() + Marshal.SizeOf(typeof(cSharpBinding.JointStatus)) * i); + jointStatus[i] = (cSharpBinding.JointStatus)Marshal.PtrToStructure(pPonitor, typeof(cSharpBinding.JointStatus)); + } + for (int i = 0; i < 6; i++) + { + Console.Out.WriteLine("jointStatus {0}",i+1); + Console.Out.WriteLine("joint I: {0}\njoint Speed: {1}\njoint Angel: {2}", jointStatus[i].jointCurrentI, jointStatus[i].jointSpeedMoto, jointStatus[i].jointPosJ); + Console.Out.WriteLine("joint vol: {0}\njoint temp: {1}\njoint target I: {2}", jointStatus[i].jointCurVol, jointStatus[i].jointCurTemp, jointStatus[i].jointTagCurrentI); + Console.Out.WriteLine("joint target Speed: {0}\njoint Target Angel: {1}\njoint Errnum: {2}", jointStatus[i].jointTagSpeedMoto, jointStatus[i].jointTagPosJ, jointStatus[i].jointErrorNum); + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + + } + Marshal.FreeHGlobal(pBuff); + + return 0; + } + + static int getRobotDiagnosisExample() + { + cSharpBinding.RobotDiagnosis robotDiagnosis = new cSharpBinding.RobotDiagnosis(); + cSharpBinding.rs_get_diagnosis_info(rshd,ref robotDiagnosis); + + Console.Out.WriteLine("armCanbusStatus:{0}\n", robotDiagnosis.armCanbusStatus); + Console.Out.WriteLine("armPowerCurrent:{0}\n", robotDiagnosis.armPowerCurrent); + Console.Out.WriteLine("armPowerVoltage:{0}\n", robotDiagnosis.armPowerVoltage); + Console.Out.WriteLine("armPowerStatus:{0}\n", robotDiagnosis.armPowerStatus); + Console.Out.WriteLine("contorllerTemp:{0}\n", robotDiagnosis.contorllerTemp); + Console.Out.WriteLine("contorllerHumidity:{0}\n", robotDiagnosis.contorllerHumidity); + Console.Out.WriteLine("remoteHalt:{0}\n", robotDiagnosis.remoteHalt); + Console.Out.WriteLine("softEmergency:{0}\n", robotDiagnosis.softEmergency); + Console.Out.WriteLine("remoteEmergency:{0}\n", robotDiagnosis.remoteEmergency); + Console.Out.WriteLine("robotCollision:{0}\n", robotDiagnosis.robotCollision); + Console.Out.WriteLine("forceControlMode:{0}\n", robotDiagnosis.forceControlMode); + Console.Out.WriteLine("brakeStuats:{0}\n", robotDiagnosis.brakeStuats); + Console.Out.WriteLine("robotEndSpeed:{0}\n", robotDiagnosis.robotEndSpeed); + Console.Out.WriteLine("robotMaxAcc:{0}\n", robotDiagnosis.robotMaxAcc); + Console.Out.WriteLine("orpeStatus:{0}\n", robotDiagnosis.orpeStatus); + Console.Out.WriteLine("enableReadPose:{0}\n", robotDiagnosis.enableReadPose); + Console.Out.WriteLine("robotMountingPoseChanged:{0}\n", robotDiagnosis.robotMountingPoseChanged); + Console.Out.WriteLine("encoderErrorStatus:{0}\n", robotDiagnosis.encoderErrorStatus); + Console.Out.WriteLine("staticCollisionDetect:{0}\n", robotDiagnosis.staticCollisionDetect); + Console.Out.WriteLine("jointCollisionDetect:{0}\n", robotDiagnosis.jointCollisionDetect); + Console.Out.WriteLine("encoderLinesError:{0}\n", robotDiagnosis.encoderLinesError); + Console.Out.WriteLine("jointErrorStatus:{0}\n", robotDiagnosis.jointErrorStatus); + Console.Out.WriteLine("singularityOverSpeedAlarm:{0}\n", robotDiagnosis.singularityOverSpeedAlarm); + Console.Out.WriteLine("robotCurrentAlarm:{0}\n", robotDiagnosis.robotCurrentAlarm); + Console.Out.WriteLine("toolIoError:{0}\n", robotDiagnosis.toolIoError); + Console.Out.WriteLine("robotMountingPoseWarning:{0}\n", robotDiagnosis.robotMountingPoseWarning); + Console.Out.WriteLine("macTargetPosBufferSize:{0}\n", robotDiagnosis.macTargetPosBufferSize); + Console.Out.WriteLine("macTargetPosDataSize:{0}\n", robotDiagnosis.macTargetPosDataSize); + Console.Out.WriteLine("macDataInterruptWarning:{0}\n", robotDiagnosis.macDataInterruptWarning); + Console.Out.WriteLine("controlBoardAbnormalStateFlag:{0}\n", robotDiagnosis.controlBoardAbnormalStateFlag); + + return 0; + } + + static int getDeviceInfoExample() + { + cSharpBinding.RobotDevInfo dev = new cSharpBinding.RobotDevInfo(); + cSharpBinding.rs_get_device_info(rshd,ref dev); + return 0; + } + + static int userCoordCalibrateExample() + { + cSharpBinding.CoordCalibrate user_coord = new cSharpBinding.CoordCalibrate(); + IntPtr pt_user_coord = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(cSharpBinding.CoordCalibrate))); + user_coord = (cSharpBinding.CoordCalibrate)Marshal.PtrToStructure(pt_user_coord, typeof(cSharpBinding.CoordCalibrate)); + + user_coord.coordType = WorldCoordinate; + //坐标系标定方法xoxy + user_coord.methods = Origin_AnyPointOnPositiveXAxis_AnyPointOnFirstQuadrantOfXOYPlane; + //为了简化，使用法兰盘中心为工具端 + user_coord.toolDesc.cartPos.x = 0; + user_coord.toolDesc.cartPos.y = 0; + user_coord.toolDesc.cartPos.z = 0; + user_coord.toolDesc.orientation.w = 1; + user_coord.toolDesc.orientation.x = 0; + user_coord.toolDesc.orientation.y = 0; + user_coord.toolDesc.orientation.z = 0; + + //传正常坐标系 + //原点 + user_coord.jointPara[0].jointRadian[0] = -0.000172 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[1] = -7.291862 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[2] = -75.694718 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[3] = 21.596727 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[4] = -89.999982 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[5] = -0.00458 / 180 * M_PI; + //x轴正半轴上一点 + user_coord.jointPara[1].jointRadian[0] = 14.283838 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[1] = -1.310068 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[2] = -70.235286 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[3] = 21.074762 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[4] = -90.000098 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[5] = 14.283551 / 180 * M_PI; + //x、y轴平面的第一象限上任意一点 + user_coord.jointPara[2].jointRadian[0] = 11.701804 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[1] = 11.909616 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[2] = -55.591688 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[3] = 22.498677 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[4] = -90.000037 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[5] = 11.701517 / 180 * M_PI; + int ret= cSharpBinding.rs_check_user_coord(rshd, ref user_coord); + if (ret == 0) + { + double[] bInWPos = { 0, 0, 0 }; + double[] bInWOri = { 0, 0, 0, 0, 0, 0, 0, 0, 0 }; + double[] wInBPos = { 0, 0, 0 }; + + cSharpBinding.rs_user_coord_calibrate(rshd, ref user_coord, bInWPos, bInWOri, wInBPos); + Console.Out.WriteLine("bInWPos: x={0:f5} y={1:f5} z={2:f5}", bInWPos[0], bInWPos[1], bInWPos[2]); + Console.Out.WriteLine("wInBPos: x={0:f5} y={1:f5} z={2:f5}", wInBPos[0], wInBPos[1], wInBPos[2]); + Console.Out.WriteLine("bInWOri:"); + for (int i = 0; i < 9; i++) + { + Console.Out.Write("{0,10:f5}", bInWOri[i]); + if (i == 2 || i == 5 || i == 8) + { + Console.Out.Write("\n"); + } + } + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + } + else { + Console.Out.Write("UserCoord Calibrate Fail!\n"); + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + } + + //传一条直线 + user_coord.jointPara[0].jointRadian[0] = -0.000172 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[1] = -7.291862 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[2] = -75.694718 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[3] = 21.596727 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[4] = -89.999982 / 180 * M_PI; + user_coord.jointPara[0].jointRadian[5] = -0.00458 / 180 * M_PI; + + user_coord.jointPara[1].jointRadian[0] = -0.0000172 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[1] = 11.351293 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[2] = -23.993406 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[3] = 54.655300 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[4] = -89.999982 / 180 * M_PI; + user_coord.jointPara[1].jointRadian[5] = -0.000458 / 180 * M_PI; + + user_coord.jointPara[2].jointRadian[0] = -0.0000172 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[1] = -10.055338 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[2] = -111.085131 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[3] = -11.029791 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[4] = -89.999982 / 180 * M_PI; + user_coord.jointPara[2].jointRadian[5] = -0.000458 / 180 * M_PI; + ret = cSharpBinding.rs_check_user_coord(rshd, ref user_coord); + if (ret == 0) + { + double[] bInWPos = { 0, 0, 0 }; + double[] bInWOri = { 0, 0, 0, 0, 0, 0, 0, 0, 0 }; + double[] wInBPos = { 0, 0, 0 }; + + cSharpBinding.rs_user_coord_calibrate(rshd, ref user_coord, bInWPos, bInWOri, wInBPos); + Console.Out.WriteLine("bInWPos: x={0:f5} y={1:f5} z={2:f5}", bInWPos[0], bInWPos[1], bInWPos[2]); + Console.Out.WriteLine("wInBPos: x={0:f5} y={1:f5} z={2:f5}", wInBPos[0], wInBPos[1], wInBPos[2]); + Console.Out.WriteLine("bInWOri:"); + for (int i = 0; i < 9; i++) + { + Console.Out.Write("{0,10:f5}", bInWOri[i]); + if (i == 2 || i == 5 || i == 8) + { + Console.Out.Write("\n"); + } + } + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + } + else + { + Console.Out.Write("UserCoord Calibrate Fail!\n"); + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + } + + return 0; + } + + static int callbackTestExample() + { + //设置是否允许实时路点信息推送 + cSharpBinding.rs_enable_push_realtime_roadpoint(rshd, true); + + //函数指针实例化 + cSharpBinding.REALTIME_ROADPOINT_CALLBACK RobotPosCallBack = new cSharpBinding.REALTIME_ROADPOINT_CALLBACK(cSharpBinding.CurrentPositionCallback); + cSharpBinding.rs_setcallback_realtime_roadpoint(rshd, RobotPosCallBack, IntPtr.Zero); + + + //机械臂事件回调 + cSharpBinding.ROBOT_EVENT_CALLBACK RobotEventCallbackPtr = new cSharpBinding.ROBOT_EVENT_CALLBACK(cSharpBinding.RobotEventCallback); + cSharpBinding.rs_setcallback_robot_event(rshd, RobotEventCallbackPtr, IntPtr.Zero); + + cSharpBinding.REALTIME_ENDSPEED_CALLBACK RobotEndSpeedCallbackPtr = new cSharpBinding.REALTIME_ENDSPEED_CALLBACK(cSharpBinding.CurrentEndSpeedCallback); + cSharpBinding.rs_setcallback_realtime_end_speed(rshd, RobotEndSpeedCallbackPtr, IntPtr.Zero); + + cSharpBinding.ROBOT_JOINT_STATUS_CALLBACK RobotJointStatusCallbackPtr = new cSharpBinding.ROBOT_JOINT_STATUS_CALLBACK(cSharpBinding.CurrentJointStatusCallback); + cSharpBinding.rs_setcallback_realtime_joint_status(rshd, RobotJointStatusCallbackPtr, IntPtr.Zero); + + Thread.Sleep(50 * 1000); + + return 0; + } + + static int ioTestExample() + { + double io_status = 0; + int result; + //设置用户IO（必须连接控制柜！！！） + if (RSERR_SUCC == (result = cSharpBinding.rs_set_board_io_status_by_addr(rshd, Robot_User_DO, ROBOT_IO_U_DO_00, IO_STATUS_VALID))) + Console.Out.WriteLine("set io succ"); + else + Console.Out.WriteLine("set io error, error code={0}", result); + + //获取用户IO（必须连接控制柜！！！） + if (RSERR_SUCC == (result = cSharpBinding.rs_get_board_io_status_by_addr(rshd, Robot_User_DI, ROBOT_IO_U_DI_00, ref io_status))) + Console.Out.WriteLine("get io status = {0}", io_status); + else + Console.Out.WriteLine("get io status error, error code={0}", result); + + //设置工具端IO + if (RSERR_SUCC == (result = cSharpBinding.rs_set_tool_do_status(rshd, TOOL_IO_0, 1))) + Console.Out.WriteLine("set io succ"); + else + Console.Out.WriteLine("set io error, error code={0}", result); + + //获取设置工具端IO + if (RSERR_SUCC == (result = cSharpBinding.rs_get_tool_io_status(rshd, TOOL_IO_0, ref io_status))) + Console.Out.WriteLine("get tool_io status = {0}", io_status); + else + Console.Out.WriteLine("get tool_io status error, error code={0}", result); + + Thread.Sleep(1 * 1000); + + return 0; + } + static int MountingPoseChangedTestExample() + { + cSharpBinding.RobotDiagnosis robotDiagnosis = new cSharpBinding.RobotDiagnosis(); + cSharpBinding.rs_get_diagnosis_info(rshd, ref robotDiagnosis); + + if (1==robotDiagnosis.robotMountingPoseChanged) + { + Console.Out.WriteLine("Mounting Pose Changed,Reload or Not?"); + Console.Out.WriteLine("Pleas Input cmd(Yes:cmd=10,No:cmd=11):"); + int cmd = Convert.ToInt32(Console.ReadLine()); + cSharpBinding.rs_robot_control(rshd, cmd); + } + + return 0; + } + + static void MainPE (string[] args) + { + cSharpBinding csharpbingding = new cSharpBinding(); + double end_max_angle_velc = 3; + double end_max_angle_acc = 3; + double[] joint_max_velc = { 1.5, 1.5, 1.5, 1.5, 1.5, 1.5 }; + double[] joint_max_acc = { 5, 5, 5, 5, 5, 5 }; + + int result = 0xffff; + Console.Out.WriteLine ("call rs_initialize"); + + //初始化机械臂控制库 + result = cSharpBinding.rs_initialize (); + Console.Out.WriteLine ("rs_initialize.ret={0}", result); + + if (RSERR_SUCC == result) + { + //创建机械臂控制上下文句柄 + if (cSharpBinding.rs_create_context (ref rshd) == RSERR_SUCC) + { + Console.Out.WriteLine ("rshd={0}", rshd); + //链接机械臂服务器 + if (cSharpBinding.rs_login(rshd, robotIP, serverPort) == RSERR_SUCC) + { + Console.Out.WriteLine("login succ."); + cSharpBinding.ToolDynamicsParam tool = new cSharpBinding.ToolDynamicsParam { positionX = 0, positionY = 0,positionZ=0,payload=0,}; + tool.toolInertia = new cSharpBinding.ToolInertia { xx = 0, xy = 0, xz = 0, yy = 0, yz = 0, zz=0 }; + int state = 0; + + result=cSharpBinding.rs_robot_startup( rshd, + ref tool, + 6 /*Collision level*/, + true /*Whether to allow reading poses defaults to true*/, + true, /*Leave the default to true */ + 1000, /*Leave the default to 1000 */ + ref state); + //判断基座安装位置是否发送改变 + MountingPoseChangedTestExample(); + + cSharpBinding.wayPoint_S waypoint = new cSharpBinding.wayPoint_S(); + cSharpBinding.JointVelcAccParam temp = new cSharpBinding.JointVelcAccParam(); + //直接获取机械臂当前位置信息 + cSharpBinding.rs_get_current_waypoint(rshd, ref waypoint); + //打印路点信息 + cSharpBinding.PrintWaypoint(waypoint); + + //根据错误号返回错误信息 + int err_code = 10024; + IntPtr _errinfo = cSharpBinding.rs_get_error_information_by_errcode(rshd, err_code); + string err_information = Marshal.PtrToStringAnsi(_errinfo); + Console.Out.WriteLine("err_information is:{0}", err_information); + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + //设置碰撞等级 + int grade = 6; + cSharpBinding.rs_set_collision_class(rshd, grade); + Console.Out.WriteLine("set robot collision ret is:{0}", +grade); + //获取当前碰撞等级 + int current_grade = 0; + cSharpBinding.rs_get_collision_class(rshd, ref current_grade); + Console.Out.WriteLine("current grade is:{0}", current_grade); + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + //初始化全局的运动属性 + cSharpBinding.rs_init_global_move_profile(rshd); + + //设置六个关节轴动的最大加速度 + cSharpBinding.rs_set_global_joint_maxacc(rshd, joint_max_acc); + + //设置六个关节轴动的最大速度 + cSharpBinding.rs_set_global_joint_maxvelc(rshd, joint_max_velc); + + //获取六个关节轴动的最大速度 + cSharpBinding.rs_get_global_joint_maxvelc(rshd, ref temp); + Console.Out.WriteLine("joint max velc = {0},{1},{2},{3},{4},{5}", + temp.jointPara[0], temp.jointPara[1], temp.jointPara[2], + temp.jointPara[3], temp.jointPara[4], temp.jointPara[5]); + + //获取六个关节轴动的最大加速度 + cSharpBinding.rs_get_global_joint_maxacc(rshd, ref temp); + Console.Out.WriteLine("joint max acc = {0},{1},{2},{3},{4},{5}", + temp.jointPara[0], temp.jointPara[1], temp.jointPara[2], + temp.jointPara[3], temp.jointPara[4], temp.jointPara[5]); + + //设置末端型运动旋转最大角加速度 + cSharpBinding.rs_set_global_end_max_angle_acc(rshd, end_max_angle_acc); + //设置末端型运动旋转最大角速度 + cSharpBinding.rs_set_global_end_max_angle_velc(rshd, end_max_angle_velc); + //获取末端型运动旋转最大角加速度 + double get_end_max_angle_acc = 0; + cSharpBinding.rs_get_global_end_max_angle_acc(rshd, ref get_end_max_angle_acc); + Console.Out.WriteLine("end max angle acc = {0}", get_end_max_angle_acc); + //获取末端型运动旋转最大角速度 + double get_end_max_angle_velc = 0; + cSharpBinding.rs_get_global_end_max_angle_velc(rshd, ref get_end_max_angle_velc); + Console.Out.WriteLine("end max angle velc = {0}", get_end_max_angle_velc); + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + + //回调函数测试 + //callbackTest(); + + //检查用户坐标系是否合理 + //checkUsercoordExample(); + + //坐标系偏移Example + //relativeOffsetExample(); + + //基坐标系转用户坐标系 + //baseToUserExample(); + + //用户坐标系转基坐标系 + //userToBaseExample(); + + //正逆解测试 + //forwardAndInverseExample(); + //inverseExample(); + + //四元数与欧拉角转换 + //quaternion_rpy_example(); + + //轴动 + //jointMoveExample(); + + //根据位置获取目标路点信息(获取基于基座标下的目标路点通过基于用户坐标系的位置，目标路点保持起点姿态) + //getTargetWaypointByPositionExample(); + + //工具标定 + //toolCalibrationExample(); + + //获取关节状态信息 + //getJointStatusExample(); + + //获取机器人诊断信息 + //getRobotDiagnosisExample(); + + //获取设备信息 + //getDeviceInfoExample(); + + //坐标系标定检查 + //userCoordCalibrateExample(); + + //机器人下电 + cSharpBinding.rs_robot_shutdown(rshd); + //断开机械臂服务器链接 + cSharpBinding.rs_logout(rshd); + } else { + Console.Error.WriteLine("login failed!"); + } + //注销机械臂控制上下文句柄 + cSharpBinding.rs_destory_context (rshd); + } else { + Console.Error.WriteLine ("rs_create_context failed!"); + } + + //反初始化机械臂控制库 + cSharpBinding.rs_uninitialize (); + } else { + Console.Error.WriteLine ("rs_initialize failed!"); + } + + Console.Out.WriteLine ("bye"); + } + + + + private static void rs_get_current_waypoint(ushort rshd, ref cSharpBinding.wayPoint_S waypoint) + { + throw new NotImplementedException(); + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleMath.cs b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleMath.cs new file mode 100644 index 00000000..e89ec309 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleMath.cs @@ -0,0 +1,518 @@ +using System; +using System.Linq; +using System.Runtime.InteropServices; +using System.Threading; + +namespace csharp_example +{ + class ExampleMath + { + const int RSERR_SUCC = 0; + + static UInt16 rshd = 0xffff; + //机械臂IP地址 + const string robot_ip = "127.0.0.1"; + //机械臂端口号 + const int server_port = 30004; + + // 展平二维数组为一维数组（行优先） + public static double[] flattenArray(double[][] nestedArray) + { + int totalSize = nestedArray.Sum(subArray => subArray.Length); + double[] flatArray = new double[totalSize]; + int index = 0; + foreach (var subArray in nestedArray) + { + foreach (var value in subArray) + { + flatArray[index++] = value; + } + } + return flatArray; + } + + static int waitArrival(IntPtr robot_interface) + { + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + IntPtr motion_control = cSharpBinging_RobotInterface.robot_getMotionControl(robot_interface); + int exec_id = cSharpBinging_MotionControl.getExecId(motion_control); + + // 等待机械臂开始运动 + while (exec_id == -1) + { + if (cnt++ > max_retry_count) + { + return -1; + } + Thread.Sleep(50); + exec_id = cSharpBinging_MotionControl.getExecId(motion_control); + } + + // 等待机械臂动作完成 + while (cSharpBinging_MotionControl.getExecId(motion_control) != -1) + { + Thread.Sleep(50); + } + + return 0; + } + + + // 打印单个变量的值和名称 + public static void printSingle(T param, string name) + { + Console.WriteLine($"{name}: {param}"); + } + // 打印 double[] 类型的数组 + public static void printArray(double[] param, string name) + { + Console.Write($"{name}: "); + for (int i = 0; i < param.Length; i++) + { + Console.Write(param[i]); + if (i != param.Length - 1) + { + Console.Write(", "); + } + } + Console.WriteLine(); + } + // 打印 double[][] 类型的二维数组 + public static void print2DArray(double[][] param, string name) + { + Console.WriteLine($"{name}: "); + for (int i = 0; i < param.Length; i++) + { + Console.Write($" 第{i + 1}组: "); + for (int j = 0; j < param[i].Length; j++) + { + Console.Write(param[i][j]); + if (j != param[i].Length - 1) + { + Console.Write(", "); + } + else + { + Console.WriteLine(); + } + } + if (i == param.Length - 1) + { + Console.WriteLine(); + } + } + } + + public static int exampleTcpOffsetIdentify(IntPtr cli) + { + IntPtr[] robot_names = new IntPtr[10]; + for (int i = 0; i < 10; i++) + { + robot_names[i] = Marshal.AllocHGlobal(100); // 分配100字节内存用于存放字符串（考虑 '\0' 结尾） + } + + int num = cSharpBinding_RPC.rpc_getRobotNames(cli, robot_names); + if (num <= 0) + { + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); // 释放分配的内存 + } + return -1; + } + string robot_name = Marshal.PtrToStringAnsi(robot_names[0]); + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); // 释放分配的内存 + } + if (robot_name == "") + { + return -1; + } + + IntPtr robot_interface = cSharpBinding_RPC.rpc_getRobotInterface(cli, robot_name); + + + // 调用函数 + double[][] nestedPoses = new double[][] + { + new double[] { 1.0, 2.0, 3.0, 4, 5, 6 }, + new double[] { 4.0, 5.0, 6.0, 4, 5, 6 } + }; + + int rows = nestedPoses.Length; + + double[] flatPoses = flattenArray(nestedPoses); + + double[] result = new double[10]; + IntPtr robot_state = cSharpBinging_RobotInterface.robot_getRobotState(robot_interface); + cSharpBinding_Math.tcpOffsetIdentify(robot_state, flatPoses, rows, result); + + printArray(result, "tcpOffsetIdentify result: "); + + return 0; + } + + public static void examplePoseAdd(IntPtr cli) + { + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + + double[] p1 = { 0.2, 0.5, 0.1, 1.57, 0, 0 }; + double[] p2 = { 0.2, 0.5, 0.6, 1.57, 0, 0 }; + + // 接口调用: 位姿加法 + double[] result = new double[6]; + cSharpBinding_Math.poseAdd(mathPtr, p1, p2, result); + + printArray(result, "poseAdd"); + } + + public static void examplePoseSub(IntPtr cli) + { + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + + double[] p1 = { 0.2, 0.5, 0.1, 1.57, 0, 0 }; + double[] p2 = { 0.2, 0.5, 0.6, 1.57, 0, 0 }; + + // 接口调用: 位姿减法 + double[] result = new double[6]; + cSharpBinding_Math.poseSub(mathPtr, p1, p2, result); + + printArray(result, "poseSub"); + } + + // 线性插值 + public static void exampleInterpolatePose(IntPtr cli) + { + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + + double[] p1 = { 0.2, 0.2, 0.4, 0, 0, 0 }; + double[] p2 = { 0.2, 0.2, 0.6, 0, 0, 0 }; + double alpha = 0.5; + + // 接口调用: 计算线性插值 + double[] result = new double[6]; + cSharpBinding_Math.interpolatePose(mathPtr, p1, p2, alpha, result); + + printArray(result, "interpolatePose"); + } + + // 位姿变换 + public static void examplePoseTrans(IntPtr cli) + { + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + + // B相对于A的位姿 + double[] F_B_A = { 0.2, 0.5, 0.1, 1.57, 0, 0 }; + // C相对于B的位姿 + double[] F_C_B = { 0.2, 0.5, 0.6, 1.57, 0, 0 }; + + // 接口调用: 位姿变换获得C相对于A的位姿 + double[] F_C_A = new double[6]; + cSharpBinding_Math.poseTrans(mathPtr, F_B_A, F_C_B, F_C_A); + + printArray(F_C_A, "poseTrans"); + } + + // 位姿逆变换 + public static void examplePoseTransInv(IntPtr cli) + { + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + + // C相对于A的位姿 + double[] F_C_A = { 0.4, -0.0996016, 0.600478, 3.14, 0, 0 }; + // C相对于B的位姿 + double[] F_C_B = { 0.2, 0.5, 0.6, 1.57, 0, 0 }; + + // 接口调用: 位姿逆变换获得B相对于A的位姿 + double[] F_B_A = new double[6]; + cSharpBinding_Math.poseTransInv(mathPtr, F_C_A, F_C_B, F_B_A); + + printArray(F_B_A, "poseTransInv"); + } + + // 位姿逆 + public static void examplePoseInverse(IntPtr cli) + { + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + + double[] p = { 0.2, 0.5, 0.1, 1.57, 0, 3.14 }; + + // 接口调用: 获取位姿的逆 + double[] result = new double[6]; + cSharpBinding_Math.poseInverse(mathPtr, p, result); + + printArray(result, "poseInverse"); + } + + // 位姿距离 + public static void examplePoseDistance(IntPtr cli) + { + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + + double[] p1 = { 0.1, 0.3, 0.1, 0.3142, 0.0, 1.571 }; + double[] p2 = { 0.2, 0.5, 0.6, 0, -0.172, 0.0 }; + + // 接口调用: 获得两个位姿的位置距离 + double result = cSharpBinding_Math.poseDistance(mathPtr, p1, p2); + + printSingle(result, "poseDistance"); + } + + // 位姿相等判断 + public static void examplePoseEqual(IntPtr cli) + { + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + + double[] p1 = { 0.1, 0.3, 0.1, 0.3142, 0.0, 1.571 }; + double[] p2 = { 0.1, 0.3, 0.1, 0.3142, 0.0, 1.5711 }; + + // 接口调用: 判断两个位姿是否相等 + double eps = 0.00005; + bool result = cSharpBinding_Math.poseEqual(mathPtr, p1, p2, eps); + + printSingle(result, "poseEqual"); + } + + // 欧拉角转四元数 + public static void exampleRpyToQuat(IntPtr cli) + { + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + + double[] rpy = { 0.611, 0.785, 0.960 }; + + // 接口调用: 欧拉角转四元数 + double[] quat = new double[4]; + cSharpBinding_Math.rpyToQuaternion(mathPtr, rpy, quat); + + printArray(quat, "欧拉角 -> 四元数"); + } + + // 四元数转欧拉角 + public static void exampleQuatToRpy(IntPtr cli) + { + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + + double[] quat = { 0.834722, 0.0780426, 0.451893, 0.304864 }; + + // 接口调用: 四元数转欧拉角 + double[] rpy = new double[3]; + cSharpBinding_Math.quaternionToRpy(mathPtr, quat, rpy); + + printArray(rpy, "四元数 -> 欧拉角"); + } + + // 坐标系标定 + public static void exampleCalibrateCoordinate(IntPtr cli) + { + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + + // 获取机器人的名字 + IntPtr[] robot_names = new IntPtr[10]; + for (int i = 0; i < 10; i++) + { + robot_names[i] = Marshal.AllocHGlobal(100); // 分配100字节内存用于存放字符串 + } + int num = cSharpBinding_RPC.rpc_getRobotNames(cli, robot_names); + if (num <= 0) + { + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); // 释放分配的内存 + } + return; + } + string robot_name = Marshal.PtrToStringAnsi(robot_names[0]); + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); // 释放分配的内存 + } + + // 设置 TCP 偏移值 + double[] tcp_offset = { 0.17734, 0.00233, 0.14682, 0.0, 0.0, 0.0 }; + IntPtr robot_interface = cSharpBinding_RPC.rpc_getRobotInterface(cli, robot_name); + IntPtr robot_config = cSharpBinging_RobotInterface.robot_getRobotConfig(robot_interface); + cSharpBinging_RobotConfig.setTcpOffset(robot_config, tcp_offset); + + // TCP 在基坐标系下的位姿 + double[][] nested_coords = new double[][] + { + new double[]{ 0.55462, 0.06219, 0.37175, -3.142, 0.0, 1.580 }, + new double[]{ 0.63746, 0.11805, 0.37175, -3.142, 0.0, 1.580 }, + new double[]{ 0.40441, 0.28489, 0.37174, -3.142, 0.0, 1.580 }, + }; + int rows = nested_coords.Length; + + double[] flat_coords = flattenArray(nested_coords); + // 用户坐标系标定 + double[] user_on_base = new double[6]; + cSharpBinding_Math.calibrateCoordinate(mathPtr, flat_coords, rows, 0, user_on_base); + + // 获取 TCP 在基坐标系下的当前位姿 + double[] tcp_on_base = new double[6]; + IntPtr robot_state = cSharpBinging_RobotInterface.robot_getRobotState(robot_interface); + cSharpBinging_RobotState.getTcpPose(robot_state, tcp_on_base); + + // 获取用户坐标系相对于基坐标系的位姿的逆 + double[] tcp_on_base_inv = new double[6]; + cSharpBinding_Math.poseInverse(mathPtr, user_on_base, tcp_on_base_inv); + + // 获取 TCP 在用户坐标系下的当前位姿 + double[] tcp_on_user = new double[6]; + cSharpBinding_Math.poseTrans(mathPtr, tcp_on_base_inv, tcp_on_base, tcp_on_user); + + printArray(tcp_on_base, "TCP在基坐标系下的位姿"); + printArray(tcp_offset, "TCP偏移"); + printArray(user_on_base, "用户坐标系相对于基坐标系的位姿"); + printArray(tcp_on_user, "TCP在用户坐标系下的位姿"); + } + + // 计算另一半圆弧的中间点 + public static void exampleCalculateCircleFourthPoint(IntPtr cli) + { + // 获取机器人的名字 + IntPtr[] robot_names = new IntPtr[10]; + for (int i = 0; i < 10; i++) + { + robot_names[i] = Marshal.AllocHGlobal(100); // 分配100字节内存用于存放字符串 + } + int num = cSharpBinding_RPC.rpc_getRobotNames(cli, robot_names); + if (num <= 0) + { + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); // 释放分配的内存 + } + return; + } + string robot_name = Marshal.PtrToStringAnsi(robot_names[0]); + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); // 释放分配的内存 + } + + // 设置 TCP 偏移值 + double[] tcp_offset = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + IntPtr robot_interface = cSharpBinding_RPC.rpc_getRobotInterface(cli, robot_name); + IntPtr robot_config = cSharpBinging_RobotInterface.robot_getRobotConfig(robot_interface); + cSharpBinging_RobotConfig.setTcpOffset(robot_config, tcp_offset); + + // 设置机械臂运动的速度比率 + IntPtr motion_control = cSharpBinging_RobotInterface.robot_getMotionControl(robot_interface); + cSharpBinging_MotionControl.setSpeedFraction(motion_control, 0.3); + + // 关节运动到起始位置 + double[] q = { 0.00, + -10.43 / 180 * Math.PI, + 87.39 / 180 * Math.PI, + 7.82 / 180 * Math.PI, + 90.0 / 180 * Math.PI, + 0.0 / 180 * Math.PI }; + cSharpBinging_MotionControl.moveJoint(motion_control, q, 1.2, 1.0, 0, 0); + + // 阻塞，等待机械臂运动完成 + int ret = waitArrival(robot_interface); + if (ret == 0) + { + Console.WriteLine("关节运动到初始位置成功"); + } + else + { + Console.WriteLine("关节运动到初始位置失败"); + } + + // 定义三个点的位姿 + double[] p1 = { 0.5488696249770836, -0.1214996547187204, 0.2631931199112321, -3.14159198038469, -3.673205103150083e-06, 1.570796326792424 }; + double[] p2 = { 0.5488696249770835, -0.1214996547187207, 0.3599720701808493, -3.14159198038469, -3.6732051029273e-06, 1.570796326792423 }; + double[] p3 = { 0.5488696249770836, -0.0389996547187214, 0.3599720701808496, -3.141591980384691, -3.673205102557476e-06, 1.570796326792422 }; + + // 直线运动到圆的第一个点 + cSharpBinging_MotionControl.moveLine(motion_control, p1, 1.2, 0.25, 0, 0); + + // 阻塞，等待机械臂运动完成 + ret = waitArrival(robot_interface); + if (ret == 0) + { + Console.WriteLine("直线运动到圆的起始点成功"); + } + else + { + Console.WriteLine("直线运动到圆的起始点失败"); + } + + // 计算另一半圆弧的中间点位置 + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + double[] p4 = new double[6]; + int retval = cSharpBinding_Math.calculateCircleFourthPoint(mathPtr, p1, p2, p3, 1, p4); + + if (retval == 0) + { + Console.Error.WriteLine("计算另一半圆弧的中间点失败，无法完成圆运动"); + } + else + { + // 设置为固定模式 + cSharpBinging_MotionControl.setCirclePathMode(motion_control, 0); + + // 做圆弧运动 + cSharpBinging_MotionControl.moveCircle(motion_control, p2, p3, 1.2, 0.25, 0, 0); + + // 阻塞，等待机械臂运动完成 + ret = waitArrival(robot_interface); + if (ret == -1) + { + Console.WriteLine("圆运动失败"); + } + + // 做组成圆运动的另一半圆弧运动 + cSharpBinging_MotionControl.moveCircle(motion_control, p4, p1, 1.2, 0.25, 0, 0); + + // 阻塞，等待机械臂运动完成 + ret = waitArrival(robot_interface); + if (ret == 0) + { + Console.WriteLine("圆运动成功"); + } + else + { + Console.WriteLine("圆运动失败"); + } + } + } + + static void Main(string[] args) + { + cSharpBinding_RPC csharpbingding_rpc = new cSharpBinding_RPC(); + //初始化机械臂控制库 + IntPtr rpc_client = cSharpBinding_RPC.rpc_create_client(0); + Console.Out.WriteLine("rpc_create_client ret={0}", rpc_client); + if (rpc_client == IntPtr.Zero) + { + Console.Error.WriteLine("rpc_create_client failed!"); + } + cSharpBinding_RPC.rpc_connect(rpc_client, robot_ip, server_port); + cSharpBinding_RPC.rpc_setRequestTimeout(rpc_client, 1000); + cSharpBinding_RPC.rpc_login(rpc_client, "aubo", "123456"); + + exampleTcpOffsetIdentify(rpc_client); + examplePoseAdd(rpc_client); + examplePoseSub(rpc_client); + exampleInterpolatePose(rpc_client); + examplePoseTrans(rpc_client); + examplePoseTransInv(rpc_client); + examplePoseInverse(rpc_client); + examplePoseDistance(rpc_client); + examplePoseEqual(rpc_client); + exampleRpyToQuat(rpc_client); + exampleQuatToRpy(rpc_client); + exampleCalibrateCoordinate(rpc_client); + // exampleCalculateCircleFourthPoint(rpc_client); + + cSharpBinding_RPC.rpc_logout(rpc_client); + cSharpBinding_RPC.rpc_disconnect(rpc_client); + } + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleMoveJ.cs b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleMoveJ.cs new file mode 100644 index 00000000..5c09b0ef --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleMoveJ.cs @@ -0,0 +1,172 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Runtime.InteropServices; +using System.Threading.Tasks; +using System.Threading; + +namespace csharp_example +{ + class ExampleMoveJ + { + const int RSERR_SUCC = 0; + + static UInt16 rshd = 0xffff; + //机械臂IP地址 + const string robotIP = "192.168.204.151"; + //机械臂端口号 + const int serverPort = 30004; + //M_PI + const double M_PI = 3.14159265358979323846; + + + // 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 + static int waitArrival(IntPtr robot_interface) + { + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + IntPtr motion_control = cSharpBinging_RobotInterface.robot_getMotionControl(robot_interface); + int exec_id = cSharpBinging_MotionControl.getExecId(motion_control); + + // 等待机械臂开始运动 + while (exec_id == -1) + { + if (cnt++ > max_retry_count) + { + return -1; + } + Thread.Sleep(50); + exec_id = cSharpBinging_MotionControl.getExecId(motion_control); + } + + // 等待机械臂动作完成 + while (cSharpBinging_MotionControl.getExecId(motion_control) != -1) + { + Thread.Sleep(50); + } + + return 0; + } + + static int exampleMoveJ(IntPtr cli) + { + + + List joint_angle1 = new List() + { + 0.0 * (M_PI / 180), -15.0 * (M_PI / 180), 100.0 * (M_PI / 180), + 25.0 * (M_PI / 180), 90.0 * (M_PI / 180), 0.0 * (M_PI / 180) + }; + + List joint_angle2 = new List() + { + 35.92 * (M_PI / 180), -11.28 * (M_PI / 180), 59.96 * (M_PI / 180), + -18.76 * (M_PI / 180), 90.0 * (M_PI / 180), 35.92 * (M_PI / 180) + }; + + List joint_angle3 = new List() + { + 41.04 * (M_PI / 180), -7.65 * (M_PI / 180), 98.80 * (M_PI / 180), + 16.44 * (M_PI / 180), 90.0 * (M_PI / 180), 11.64 * (M_PI / 180) + }; + + // 接口调用: 获取机器人的名字 + IntPtr[] robot_names = new IntPtr[10]; + for (int i = 0; i < 10; i++) + { + robot_names[i] = Marshal.AllocHGlobal(100); // 分配100字节内存用于存放字符串（考虑 '\0' 结尾） + } + + int num = cSharpBinding_RPC.rpc_getRobotNames(cli, robot_names); + if (num <= 0) + { + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); // 释放分配的内存 + } + return -1; + } + string robot_name = Marshal.PtrToStringAnsi(robot_names[0]); + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); // 释放分配的内存 + } + if (robot_name == "") + { + return -1; + } + + IntPtr robot_interface = cSharpBinding_RPC.rpc_getRobotInterface(cli, robot_name); + + // 接口调用: 设置机械臂的速度比率， + IntPtr motion_control = cSharpBinging_RobotInterface.robot_getMotionControl(robot_interface); + cSharpBinging_MotionControl.setSpeedFraction(motion_control, 0.3); + + // 接口调用: 关节运动 + cSharpBinging_MotionControl.moveJoint(motion_control, joint_angle1.ToArray(), 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) + { + Console.WriteLine("关节运动到路点1成功"); + } + else + { + Console.WriteLine("关节运动到路点1失败"); + } + + // 接口调用: 关节运动 + cSharpBinging_MotionControl.moveJoint(motion_control, joint_angle2.ToArray(), 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) + { + Console.WriteLine("关节运动到路点2成功"); + } + else + { + Console.WriteLine("关节运动到路点2失败"); + } + + // 接口调用: 关节运动 + cSharpBinging_MotionControl.moveJoint(motion_control, joint_angle3.ToArray(), 80 * (M_PI / 180), 60 * (M_PI / 180), 0, 0); + + // 阻塞 + ret = waitArrival(robot_interface); + if (ret == 0) + { + Console.WriteLine("关节运动到路点3成功"); + } + else + { + Console.WriteLine("关节运动到路点3失败"); + } + return 0; + + + } + static void Main_MoveJ(string[] args) + { + cSharpBinding_RPC csharpbingding_rpc = new cSharpBinding_RPC(); + //初始化机械臂控制库 + IntPtr rpc_client = cSharpBinding_RPC.rpc_create_client(0); + Console.Out.WriteLine("rpc_create_client ret={0}", rpc_client); + if (rpc_client == IntPtr.Zero) + { + Console.Error.WriteLine("rpc_create_client failed!"); + } + + cSharpBinding_RPC.rpc_connect(rpc_client, robotIP, serverPort); + cSharpBinding_RPC.rpc_setRequestTimeout(rpc_client, 1000); + cSharpBinding_RPC.rpc_login(rpc_client, "aubo", "123456"); + + exampleMoveJ(rpc_client); + + cSharpBinding_RPC.rpc_logout(rpc_client); + cSharpBinding_RPC.rpc_disconnect(rpc_client); + } + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleMoveSpeed2.cs b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleMoveSpeed2.cs new file mode 100644 index 00000000..3526bc16 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleMoveSpeed2.cs @@ -0,0 +1,520 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Runtime.InteropServices; +using System.Threading; + +namespace csharp_example +{ + class ExampleSpeedLine + { + const int RSERR_SUCC = 0; + + // M_PI + const double M_PI = 3.14159265358979323846; + + // 机械臂IP地址和端口号（请根据实际情况修改） + const string robotIP = "127.0.0.1"; + const int rpcServerPort = 30004; + const int rtdeServerPort = 30010; + + // 坐标系类型枚举 + enum CoordinateSystem + { + BASE_COORDINATE_SYSTEM = 1, + TOOL_COORDINATE_SYSTEM = 2, + USER_COORDINATE_SYSTEM = 3 + } + + // 动作类型枚举 + enum ActionType + { + POSITION_MOVE, // 位置移动 + ORIENTATION_MOVE, // 姿态旋转 + STOP_MOVE, // 停止运动 + EXIT_PROGRAM // 退出程序 + } + + // 用户输入结构 + struct UserInput + { + public ActionType actionType; // 动作类型 + public char axis; // 坐标轴 + public bool positiveDirection; // 坐标轴方向 + } + + // 辅助函数：打印List + static void PrintVec(List param, string name) + { + Console.Write(name + ": "); + for (int i = 0; i < param.Count; i++) + { + Console.Write(param[i]); + if (i != param.Count - 1) + { + Console.Write(", "); + } + } + Console.WriteLine(); + } + + private static cSharpBinging_TypeDef.RobotModeType robot_mode_ = cSharpBinging_TypeDef.RobotModeType.NoController; + // 用于线程同步的锁对象 + private static readonly object rtdeMtx = new object(); + private static cSharpBinding_RTDE.SubscribeCallbackDelegate subscribedCallback; + + private static void PrintMsgLog(cSharpBinging_TypeDef.RobotMsg msg) + { + Console.WriteLine("\n"); + Console.WriteLine($"Timestamp: {msg.timestamp}"); + Console.WriteLine($"Level: {msg.level}"); + Console.WriteLine($"Code: {msg.code}"); + Console.WriteLine($"Source: {msg.source}"); + + if (msg.args != null && msg.args_count > 0) + { + // 解析 args + string[] args = new string[msg.args_count]; + for (int j = 0; j < msg.args_count; j++) + { + IntPtr argPtr = Marshal.ReadIntPtr(msg.args, j * IntPtr.Size); + args[j] = Marshal.PtrToStringAnsi(argPtr); + } + Console.WriteLine("Args:"); + if (args != null) + { + foreach (var arg in args) + { + Console.WriteLine($" - {arg}"); + } + } + + } + else + { + Console.WriteLine("(None)"); + } + + Console.WriteLine(new string('-', 50)); + } + + public static cSharpBinging_TypeDef.RobotMsg[] ReadRobotMsgVector(ref cSharpBinging_TypeDef.RobotMsgVector robot_msg_vec) + { + if (robot_msg_vec.data == IntPtr.Zero || robot_msg_vec.size <= 0) + { + return Array.Empty(); + } + + cSharpBinging_TypeDef.RobotMsg[] result = new cSharpBinging_TypeDef.RobotMsg[robot_msg_vec.size]; + + for (int i = 0; i < robot_msg_vec.size; ++i) + { + IntPtr msgPtr = IntPtr.Add(robot_msg_vec.data, i * Marshal.SizeOf(typeof(cSharpBinging_TypeDef.RobotMsg))); + cSharpBinging_TypeDef.RobotMsg msg = Marshal.PtrToStructure(msgPtr); + + result[i] = new cSharpBinging_TypeDef.RobotMsg + { + timestamp = msg.timestamp, + level = msg.level, + code = msg.code, + source = msg.source, + args = msg.args, + args_count = msg.args_count + }; + } + + return result; + } + + private static void OnDataReceived(IntPtr parser) + { + lock (rtdeMtx) + { + robot_mode_ = cSharpBinding_RTDE.rtde_popRobotModeType(parser); + OnRobotMsgReceived(parser); + } + } + + private static void OnRobotMsgReceived(IntPtr parser) + { + cSharpBinging_TypeDef.RobotMsgVector robotMsgVec = new cSharpBinging_TypeDef.RobotMsgVector(); + + int result = cSharpBinding_RTDE.rtde_popRobotMsgVector(parser, ref robotMsgVec); + if (result <= 0) + { + Console.WriteLine("No messages received or error occurred."); + return; + } + + // 解析消息 + cSharpBinging_TypeDef.RobotMsg[] msgs = ReadRobotMsgVector(ref robotMsgVec); + foreach (var msg in msgs) + { + PrintMsgLog(msg); + } + + } + + // 选择坐标系对应的参考帧 + static List SelectedCoordinate(CoordinateSystem coordinate, IntPtr cli) + { + // 接口调用: 获取机器人的名字 + IntPtr[] robot_names = new IntPtr[10]; + for (int i = 0; i < 10; i++) + { + robot_names[i] = Marshal.AllocHGlobal(100); + } + + int num = cSharpBinding_RPC.rpc_getRobotNames(cli, robot_names); + if (num <= 0) + { + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); + } + return new List(new double[6]); + } + string robot_name = Marshal.PtrToStringAnsi(robot_names[0]); + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); + } + if (string.IsNullOrEmpty(robot_name)) + { + return new List(new double[6]); + } + + IntPtr robot_interface = cSharpBinding_RPC.rpc_getRobotInterface(cli, robot_name); + List frame = new List(new double[6]); + + switch (coordinate) + { + case CoordinateSystem.BASE_COORDINATE_SYSTEM: + frame = new List(new double[6]); + break; + case CoordinateSystem.TOOL_COORDINATE_SYSTEM: + double[] tcpPose = new double[6]; + IntPtr robot_state = cSharpBinging_RobotInterface.robot_getRobotState(robot_interface); + cSharpBinging_RobotState.getTcpPose(robot_state, tcpPose); + frame = tcpPose.ToList(); + frame[0] = 0; + frame[1] = 0; + frame[2] = 0; + break; + case CoordinateSystem.USER_COORDINATE_SYSTEM: + // TCP 在基坐标系下的位姿 + List coord_p0 = new List(new double[6]); + List coord_p1 = new List(new double[6]); + List coord_p2 = new List(new double[6]); + coord_p0[0] = 0.49946; + coord_p0[1] = 0.32869; + coord_p0[2] = 0.35522; + coord_p0[3] = 2.414; + coord_p0[4] = 0.0; + coord_p0[5] = 2.357; + + coord_p1[0] = 0.58381; + coord_p1[1] = 0.41325; + coord_p1[2] = 0.22122; + coord_p1[3] = 2.414; + coord_p1[4] = 0.0; + coord_p1[5] = 2.357; + + coord_p2[0] = 0.58826; + coord_p2[1] = 0.41772; + coord_p2[2] = 0.46730; + coord_p2[3] = 2.414; + coord_p2[4] = 0.0; + coord_p2[5] = 2.357; + + // 展平二维数组为一维数组（行优先） + double[] flat_coords = new double[3 * 6]; + for (int i = 0; i < 3; i++) + { + List coord = (i == 0) ? coord_p0 : (i == 1) ? coord_p1 : coord_p2; + for (int j = 0; j < 6; j++) + { + flat_coords[i * 6 + j] = coord[j]; + } + } + + double[] user_on_base = new double[6]; + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + int ret = cSharpBinding_Math.calibrateCoordinate(mathPtr, flat_coords, 3, 0, user_on_base); + if (ret != RSERR_SUCC) + { + Console.WriteLine("calibrateCoordinate failed, ret = " + ret); + } + frame = user_on_base.ToList(); + frame[0] = 0; + frame[1] = 0; + frame[2] = 0; + break; + } + return frame; + } + + // 在不同坐标系下的位置姿态示教 + static void exampleSpeedLine(IntPtr cli) + { + int input_coord; + Console.WriteLine("请选择坐标系："); + Console.WriteLine("1. 基坐标系"); + Console.WriteLine("2. 工具坐标系"); + Console.WriteLine("3. 用户坐标系"); + Console.Write("请输入选项编号："); + string input = Console.ReadLine(); + if (!int.TryParse(input, out input_coord)) + { + Console.WriteLine("输入值无效"); + Console.WriteLine("以下为有效输入值: 1、2、3"); + return; + } + + if (input_coord != 1 && input_coord != 2 && input_coord != 3) + { + Console.WriteLine("输入值无效"); + Console.WriteLine("以下为有效输入值: 1、2、3"); + return; + } + + CoordinateSystem selected_coord; + switch (input_coord) + { + case 1: + selected_coord = CoordinateSystem.BASE_COORDINATE_SYSTEM; + break; + case 2: + selected_coord = CoordinateSystem.TOOL_COORDINATE_SYSTEM; + break; + case 3: + selected_coord = CoordinateSystem.USER_COORDINATE_SYSTEM; + break; + default: + selected_coord = CoordinateSystem.BASE_COORDINATE_SYSTEM; + break; + } + + // 定义输入字符串和键值映射 + Dictionary keymap = new Dictionary + { + { "x+", new UserInput { actionType = ActionType.POSITION_MOVE, axis = 'x', positiveDirection = true } }, + { "x-", new UserInput { actionType = ActionType.POSITION_MOVE, axis = 'x', positiveDirection = false } }, + { "y+", new UserInput { actionType = ActionType.POSITION_MOVE, axis = 'y', positiveDirection = true } }, + { "y-", new UserInput { actionType = ActionType.POSITION_MOVE, axis = 'y', positiveDirection = false } }, + { "z+", new UserInput { actionType = ActionType.POSITION_MOVE, axis = 'z', positiveDirection = true } }, + { "z-", new UserInput { actionType = ActionType.POSITION_MOVE, axis = 'z', positiveDirection = false } }, + { "rx+", new UserInput { actionType = ActionType.ORIENTATION_MOVE, axis = 'x', positiveDirection = true } }, + { "rx-", new UserInput { actionType = ActionType.ORIENTATION_MOVE, axis = 'x', positiveDirection = false } }, + { "ry+", new UserInput { actionType = ActionType.ORIENTATION_MOVE, axis = 'y', positiveDirection = true } }, + { "ry-", new UserInput { actionType = ActionType.ORIENTATION_MOVE, axis = 'y', positiveDirection = false } }, + { "rz+", new UserInput { actionType = ActionType.ORIENTATION_MOVE, axis = 'z', positiveDirection = true } }, + { "rz-", new UserInput { actionType = ActionType.ORIENTATION_MOVE, axis = 'z', positiveDirection = false } }, + { "s", new UserInput { actionType = ActionType.STOP_MOVE, axis = 'x', positiveDirection = true } }, + { "exit", new UserInput { actionType = ActionType.EXIT_PROGRAM, axis = 'x', positiveDirection = true } } + }; + + // 初始化循环控制变量 + bool continue_loop = true; + int cnt = 0; + while (continue_loop) + { + Console.WriteLine("请输入机械臂要运动的轴: "); + // 显示有效输入提示 + if (cnt++ == 0) + { + Console.WriteLine("有效输入值如下: x+、x-、y+、y-、z+、z-、rx+、rx-、ry+、ry-、rz+、rz-、s、exit"); + Console.WriteLine("x+表示x轴正方向做直线运动，x-表示x轴负方向做直线运动，y+表示y轴正方向做直线运动，y-表示y轴负方向做直线运动，z+表示z轴正方向做直线运动，z-表示z轴负方向做直线运动，rx+表示x轴正方向做旋转运动，rx-表示x轴负方向做旋转运动，ry+表示y轴正方向做旋转运动，ry-表示y轴负方向做旋转运动，rz+表示z轴正方向做旋转运动，rz-表示z轴负方向做旋转运动，s表示停止运动，exit表示退出循环"); + } + string input_axis = Console.ReadLine(); + + // 定义有效的输入值集合 + HashSet validInputs = new HashSet + { + "x+", "x-", "y+", "y-", "z+", "z-", "rx+", "rx-", "ry+", "ry-", "rz+", "rz-", "s", "exit" + }; + + if (!validInputs.Contains(input_axis)) + { + Console.WriteLine("输入值无效"); + Console.WriteLine("以下为有效输入值: x+、x-、y+、y-、z+、z-、rx+、rx-、ry+、ry-、rz+、rz-、s、exit"); + continue; + } + + // 接口调用: 获取机器人的名字 + IntPtr[] robot_names = new IntPtr[10]; + for (int i = 0; i < 10; i++) + { + robot_names[i] = Marshal.AllocHGlobal(100); + } + int num = cSharpBinding_RPC.rpc_getRobotNames(cli, robot_names); + if (num <= 0) + { + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); + } + Console.WriteLine("获取机器人名字失败"); + continue; + } + string robot_name = Marshal.PtrToStringAnsi(robot_names[0]); + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); + } + if (string.IsNullOrEmpty(robot_name)) + { + Console.WriteLine("机器人名字为空"); + continue; + } + + IntPtr robot_interface = cSharpBinding_RPC.rpc_getRobotInterface(cli, robot_name); + IntPtr motion_control = cSharpBinging_RobotInterface.robot_getMotionControl(robot_interface); + + // 接口调用: 设置机械臂的速度比率 + cSharpBinging_MotionControl.setSpeedFraction(motion_control, 0.75); + + UserInput userInput = keymap[input_axis]; + + double[] speed = new double[6]; + double tcp_speed = 0.25; + double a = 1.2; + tcp_speed = userInput.positiveDirection ? tcp_speed : -tcp_speed; + + List frame = new List(); + if (userInput.actionType == ActionType.EXIT_PROGRAM) + { + continue_loop = false; + } + else if (userInput.actionType == ActionType.STOP_MOVE) + { + // 接口调用: 停止位置姿态示教 + cSharpBinging_MotionControl.stopLine(motion_control, 10, 10); + } + else if (userInput.actionType == ActionType.POSITION_MOVE) + { + frame = SelectedCoordinate(selected_coord, cli); + + // 位置移动 + switch (userInput.axis) + { + case 'x': + speed[0] = tcp_speed; + break; + case 'y': + speed[1] = tcp_speed; + break; + case 'z': + speed[2] = tcp_speed; + break; + } + + double[] frameArray = frame.ToArray(); + double[] result = new double[6]; + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + cSharpBinding_Math.poseTrans(mathPtr, frameArray, speed, result); + result[3] = 0; + result[4] = 0; + result[5] = 0; + + cSharpBinging_MotionControl.speedLine(motion_control, result, a, 100); + } + else if (userInput.actionType == ActionType.ORIENTATION_MOVE) + { + frame = SelectedCoordinate(selected_coord, cli); + // 姿态旋转 + switch (userInput.axis) + { + case 'x': + speed[0] = tcp_speed; + break; + case 'y': + speed[1] = tcp_speed; + break; + case 'z': + speed[2] = tcp_speed; + break; + } + + double[] frameArray = frame.ToArray(); + double[] result = new double[6]; + IntPtr mathPtr = cSharpBinding_RPC.rpc_getMath(cli); + cSharpBinding_Math.poseTrans(mathPtr, frameArray, speed, result); + + result[3] = result[0]; + result[4] = result[1]; + result[5] = result[2]; + result[0] = 0; + result[1] = 0; + result[2] = 0; + + cSharpBinging_MotionControl.speedLine(motion_control, result, a, 100); + } + } + } + + static void PrintLog(int level, string source, int code, string content) + { + string[] level_names = { "Critical", "Error", "Warning", "Info", "Debug", "BackTrace" }; + Console.WriteLine($"[{level_names[level]}] {source} - {code} {content}"); + } + + + static void Main(string[] args) + { + // 初始化RPC客户端 + IntPtr rpc_client = cSharpBinding_RPC.rpc_create_client(0); + Console.WriteLine("rpc_create_client ret={0}", rpc_client); + if (rpc_client == IntPtr.Zero) + { + Console.WriteLine("rpc_create_client failed!"); + return; + } + + cSharpBinding_RPC.rpc_connect(rpc_client, robotIP, rpcServerPort); + cSharpBinding_RPC.rpc_setRequestTimeout(rpc_client, 1000); + cSharpBinding_RPC.rpc_login(rpc_client, "aubo", "123456"); + + // 初始化RTDE客户端 + IntPtr rtde_client = cSharpBinding_RTDE.rtde_create_client(0); + Console.WriteLine("rtde_create_client ret={0}", rtde_client); + if (rtde_client == IntPtr.Zero) + { + Console.WriteLine("rtde_create_client failed!"); + cSharpBinding_RPC.rpc_logout(rpc_client); + cSharpBinding_RPC.rpc_disconnect(rpc_client); + return; + } + + cSharpBinding_RTDE.rtde_connect(rtde_client, robotIP, rtdeServerPort); + cSharpBinding_RTDE.rtde_login(rtde_client, "aubo", "123456"); + + // 设置RTDE话题 + string topicNames = "R1_robot_mode,R1_message"; + int topic = cSharpBinding_RTDE.rtde_setTopic(rtde_client, false, topicNames, 1, 0); + if (topic < 0) + { + Console.WriteLine("设置话题失败!"); + cSharpBinding_RTDE.rtde_logout(rtde_client); + cSharpBinding_RTDE.rtde_disconnect(rtde_client); + cSharpBinding_RPC.rpc_logout(rpc_client); + cSharpBinding_RPC.rpc_disconnect(rpc_client); + return; + } + + // 订阅话题 + subscribedCallback = new cSharpBinding_RTDE.SubscribeCallbackDelegate(OnDataReceived); + cSharpBinding_RTDE.rtde_subscribe(rtde_client, topic, subscribedCallback); + + // 执行速度直线示教示例 + exampleSpeedLine(rpc_client); + + cSharpBinding_RTDE.rtde_removeTopic(rtde_client, false, topic); + cSharpBinding_RTDE.rtde_logout(rtde_client); + cSharpBinding_RTDE.rtde_disconnect(rtde_client); + + cSharpBinding_RPC.rpc_logout(rpc_client); + cSharpBinding_RPC.rpc_disconnect(rpc_client); + } + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleRtde.cs b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleRtde.cs new file mode 100644 index 00000000..b6114e24 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleRtde.cs @@ -0,0 +1,190 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Threading; +using System.Runtime.InteropServices; + +namespace csharp_example +{ + class ExampleRtde + { + const int RSERR_SUCC = 0; + + static UInt16 rshd = 0xffff; + //机械臂IP地址 + const string robotIP = "192.168.124.154"; + //机械臂端口号 + const int rpcServerPort = 30004; + const int rtdeServerPort = 30010; + //M_PI + const double M_PI = 3.14159265358979323846; + + private static cSharpBinging_TypeDef.RobotModeType robot_mode_ = cSharpBinging_TypeDef.RobotModeType.NoController; + private static cSharpBinging_TypeDef.SafetyModeType safety_mode_ = cSharpBinging_TypeDef.SafetyModeType.Normal; + private static cSharpBinging_TypeDef.RuntimeState runtime_state_ = cSharpBinging_TypeDef.RuntimeState.Stopped; + private static double actual_main_voltage_ = 0; + private static double actual_robot_voltage_ = 0; + private static double[] actual_TCP_pose_ = new double[6]; + + // 用于线程同步的锁对象 + private static readonly object rtdeMtx = new object(); + private static cSharpBinding_RTDE.SubscribeCallbackDelegate subscribedCallback; + + private static void PrintMsgLog(cSharpBinging_TypeDef.RobotMsg msg) + { + Console.WriteLine($"Timestamp: {msg.timestamp}"); + Console.WriteLine($"Level: {msg.level}"); + Console.WriteLine($"Code: {msg.code}"); + Console.WriteLine($"Source: {msg.source}"); + + if (msg.args != null && msg.args_count > 0) + { + // 解析 args + string[] args = new string[msg.args_count]; + for (int j = 0; j < msg.args_count; j++) + { + IntPtr argPtr = Marshal.ReadIntPtr(msg.args, j * IntPtr.Size); + args[j] = Marshal.PtrToStringAnsi(argPtr); + } + Console.WriteLine("Args:"); + if (args != null) + { + foreach (var arg in args) + { + Console.WriteLine($" - {arg}"); + } + } + + } + else + { + Console.WriteLine("(None)"); + } + + Console.WriteLine(new string('-', 50)); + } + + public static cSharpBinging_TypeDef.RobotMsg[] ReadRobotMsgVector(ref cSharpBinging_TypeDef.RobotMsgVector robot_msg_vec) + { + if (robot_msg_vec.data == IntPtr.Zero || robot_msg_vec.size <= 0) + { + return Array.Empty(); + } + + cSharpBinging_TypeDef.RobotMsg[] result = new cSharpBinging_TypeDef.RobotMsg[robot_msg_vec.size]; + + for (int i = 0; i < robot_msg_vec.size; ++i) + { + IntPtr msgPtr = IntPtr.Add(robot_msg_vec.data, i * Marshal.SizeOf(typeof(cSharpBinging_TypeDef.RobotMsg))); + cSharpBinging_TypeDef.RobotMsg msg = Marshal.PtrToStructure(msgPtr); + + result[i] = new cSharpBinging_TypeDef.RobotMsg + { + timestamp = msg.timestamp, + level = msg.level, + code = msg.code, + source = msg.source, + args = msg.args, + args_count = msg.args_count + }; + } + + return result; + } + + private static void OnDataReceived(IntPtr parser) + { + lock (rtdeMtx) + { + robot_mode_ = cSharpBinding_RTDE.rtde_popRobotModeType(parser); + safety_mode_ = cSharpBinding_RTDE.rtde_popSafetyModeType(parser); + runtime_state_ = cSharpBinding_RTDE.rtde_popRuntimeState(parser); + actual_main_voltage_ = cSharpBinding_RTDE.rtde_popDouble(parser); + actual_robot_voltage_ = cSharpBinding_RTDE.rtde_popDouble(parser); + cSharpBinding_RTDE.rtde_popVectorDouble(parser, actual_TCP_pose_ ,6); + OnRobotMsgReceived(parser); + } + } + + private static void OnRobotMsgReceived(IntPtr parser) + { + cSharpBinging_TypeDef.RobotMsgVector robotMsgVec = new cSharpBinging_TypeDef.RobotMsgVector(); + + int result = cSharpBinding_RTDE.rtde_popRobotMsgVector(parser, ref robotMsgVec); + if (result <= 0) + { + Console.WriteLine("No messages received or error occurred."); + return; + } + + // 解析消息 + cSharpBinging_TypeDef.RobotMsg[] msgs = ReadRobotMsgVector(ref robotMsgVec); + foreach (var msg in msgs) + { + PrintMsgLog(msg); + } + + } + static int exampleSubscribe(IntPtr cli) + { + + // 设置话题 + string topicNames = "R1_robot_mode,R1_safety_mode,runtime_state,R1_actual_main_voltage,R1_actual_robot_voltage,R1_actual_TCP_pose,R1_message"; + int topic7 = cSharpBinding_RTDE.rtde_setTopic(cli, false, topicNames, 3, 7); + subscribedCallback = new cSharpBinding_RTDE.SubscribeCallbackDelegate(OnDataReceived); + cSharpBinding_RTDE.rtde_subscribe(cli, topic7, subscribedCallback); + + return 0; + } + + static void Main_Rtde(string[] args) + { + + cSharpBinding_RPC csharpbingding_rpc = new cSharpBinding_RPC(); + //初始化机械臂控制库 + IntPtr rpc_client = cSharpBinding_RPC.rpc_create_client(0); + Console.Out.WriteLine("rpc_create_client ret={0} ", rpc_client); + if (rpc_client == IntPtr.Zero) + { + Console.Error.WriteLine("rpc_create_client failed!"); + } + + cSharpBinding_RPC.rpc_connect(rpc_client, robotIP, rpcServerPort); + cSharpBinding_RPC.rpc_setRequestTimeout(rpc_client, 1000); + cSharpBinding_RPC.rpc_login(rpc_client, "aubo", "123456"); + + IntPtr rtde_client = cSharpBinding_RTDE.rtde_create_client(0); + Console.Out.WriteLine("rtde_create_client ret={0} ", rtde_client); + if (rtde_client == IntPtr.Zero) + { + Console.Error.WriteLine("rtde_create_client failed!"); + } + + cSharpBinding_RTDE.rtde_connect(rtde_client, robotIP, rtdeServerPort); + cSharpBinding_RTDE.rtde_login(rtde_client, "aubo", "123456"); + + // RTDE订阅 + exampleSubscribe(rtde_client); + + // 主循环 + while (true) + { + Console.WriteLine($"当前模式: {robot_mode_}"); + Console.WriteLine($"安全状态: {safety_mode_}"); + Console.WriteLine($"运行状态: {runtime_state_}"); + Console.WriteLine($"主电压: {actual_main_voltage_:F2} V"); + Console.WriteLine($"机器人电压: {actual_robot_voltage_:F2} V"); + Console.WriteLine("机器人当前位姿: " + string.Join(", ", actual_TCP_pose_.Select(v => v.ToString("F6")))); + Console.WriteLine(new string('-', 30)); + + Thread.Sleep(1000); + } + + + cSharpBinding_RPC.rpc_logout(rpc_client); + cSharpBinding_RPC.rpc_disconnect(rpc_client); + + } + + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleSkillForceControl.cs b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleSkillForceControl.cs new file mode 100644 index 00000000..2222230e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleSkillForceControl.cs @@ -0,0 +1,314 @@ +using csharp_example; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Runtime.InteropServices; +using System.Text; +using System.Threading; +using System.Threading.Tasks; +using static csharp_skill_example.cSharpSkillBinding_TypeDef; + +namespace csharp_skill_example +{ + internal class ExampleSkillForceControl + { + const int RSERR_SUCC = 0; + + static UInt16 rshd = 0xffff; + //机械臂IP地址 + const string robot_ip = "192.168.1.20"; + //机械臂端口号 + const int server_port = 30004; + + const int server_port_1 = 30010; + + + // 等待机械臂进入目标模式，避免无限阻塞 + static bool WaitForRobotMode(IntPtr robot_state, cSharpBinging_TypeDef.RobotModeType target_mode, int timeoutMs = 30000) + { + // 接口调用: 获取当前机械臂的模式 + cSharpBinging_TypeDef.RobotModeType current_mode = cSharpBinging_RobotState.getRobotModeType(robot_state); + int elapsedMs = 0; + const int pollIntervalMs = 1000; + + while (current_mode != target_mode) + { + if (elapsedMs >= timeoutMs) + { + Console.Error.WriteLine($"等待机械臂进入模式 {target_mode} 超时，当前模式: {current_mode}"); + return false; + } + Console.WriteLine($"机械臂当前模式: {current_mode}"); + Thread.Sleep(pollIntervalMs); + elapsedMs += pollIntervalMs; + current_mode = cSharpBinging_RobotState.getRobotModeType(robot_state); + } + return true; + } + + static int exampleStartup(IntPtr cli) + { + IntPtr[] robot_names = new IntPtr[10]; + for (int i = 0; i < 10; i++) + { + robot_names[i] = Marshal.AllocHGlobal(100); // 分配100字节内存用于存放字符串（考虑 '\0' 结尾） + } + try + { + int num = cSharpBinding_RPC.rpc_getRobotNames(cli, robot_names); + if (num <= 0) + { + return -1; + } + + string robot_name = Marshal.PtrToStringAnsi(robot_names[0]); + if (string.IsNullOrEmpty(robot_name)) + { + return -1; + } + + IntPtr robot_interface = cSharpBinding_RPC.rpc_getRobotInterface(cli, robot_name); + + // 接口调用: 设置负载 + double mass = 0.0; // 示例质量值 + double[] cog = { 0.0, 0.0, 0.0 }; // 示例重心坐标 + double[] aom = { 0.0, 0.0, 0.0 }; // 示例附加质量矩 + double[] inertia = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; // 示例惯性张量 + + IntPtr robot_config = cSharpBinging_RobotInterface.robot_getRobotConfig(robot_interface); + + cSharpBinging_RobotConfig.setPayload(robot_config, mass, cog, aom, inertia); + + IntPtr robot_state = cSharpBinging_RobotInterface.robot_getRobotState(robot_interface); + // 接口调用: 获取机械臂当前模式 + cSharpBinging_TypeDef.RobotModeType robot_mode = cSharpBinging_RobotState.getRobotModeType(robot_state); + + if (robot_mode == cSharpBinging_TypeDef.RobotModeType.Running) + { + Console.WriteLine("机械臂已松刹车，处于运行模式"); + return 0; + } + + IntPtr robot_manage = cSharpBinging_RobotInterface.robot_getRobotManage(robot_interface); + // 接口调用: 机械臂发起上电请求 + cSharpBinging_RobotManage.poweron(robot_manage); + + + // 等待机械臂进入空闲模式 + if (!WaitForRobotMode(robot_state, cSharpBinging_TypeDef.RobotModeType.Idle)) + { + return -1; + } + + robot_mode = cSharpBinging_RobotState.getRobotModeType(robot_state); + Console.WriteLine($"机械臂上电成功，当前模式:{robot_mode}"); + + // 接口调用: 机械臂发起松刹车请求 + cSharpBinging_RobotManage.startup(robot_manage); + + // 等待机械臂进入运行模式 + if (!WaitForRobotMode(robot_state, cSharpBinging_TypeDef.RobotModeType.Running)) + { + return -1; + } + + robot_mode = cSharpBinging_RobotState.getRobotModeType(robot_state); + Console.WriteLine($"机械臂松刹车成功，当前模式: {robot_mode}"); + + return 0; + } + finally + { + for (int i = 0; i < 10; i++) + { + if (robot_names[i] != IntPtr.Zero) + { + Marshal.FreeHGlobal(robot_names[i]); // 释放分配的内存 + robot_names[i] = IntPtr.Zero; + } + } + } + } + + static public void exampleInsert(IntPtr rpc_client, IntPtr rtde_client) + { + IntPtr fc = cSharpSkillBinding_ForceControl.create_fc_ptr(rpc_client, rtde_client); + if (fc == IntPtr.Zero) + { + Console.Error.WriteLine("create_fc_ptr failed!"); + return; + } + // 设置插孔参数 + cSharpSkillBinding_TypeDef.InsertParams param = new cSharpSkillBinding_TypeDef.InsertParams(); + param.insert_select = cSharpSkillBinding_TypeDef.InsertSelect.z; + param.hole_diameter = 0.0; + param.insert_max_speed = 0.005; + param.insert_time = 1000; + param.insert_max_force = new cSharpSkillBinding_TypeDef.Vector6d(0.0, 0.0, 10.0, 0.0 ,0.0, 0.0); + param.insert_max_depth = 0.005; + param.insert_guide_force = 5; + + param.insert_damp_scale = new cSharpSkillBinding_TypeDef.Vector6d(0.0, 0.0, 0.5, 0.0, 0.0, 0.0); + param.insert_stiff_scale = new cSharpSkillBinding_TypeDef.Vector6d(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + + // 无参考轨迹 + param.guide_traj_type = cSharpSkillBinding_TypeDef.GuideTrajType.NONE; + + // 螺旋线 + //param.guide_traj_type = cSharpSkillBinding_TypeDef.GuideTrajType.SPIRAL; + //param.spiral_param.step = 3; + //param.spiral_param.direction = 1; + //param.spiral_param.plane = cSharpSkillBinding_TypeDef.SpiralPlane.xy; + //param.spiral_param.spiral = 0.005; + //param.spiral_param.helix = 0.005; + //param.spiral_param.radius = 0.06; + + // 摆线 + //param.guide_traj_type = cSharpSkillBinding_TypeDef.GuideTrajType.WEAVE; + //param.weave_param.step = 30; + //param.weave_param.direction = cSharpSkillBinding_TypeDef.WeaveSelect.rx; + //param.weave_param.amplitude = 0.005; + //param.weave_param.hold_distance = 0.2; + //param.weave_param.angle = 0.1; + + cSharpSkillBinding_ForceControl.fcInsert(fc, param); + + // 等待插孔流程结束 + int ret = cSharpSkillBinding_ForceControl.fcWaitCondition(fc); + + if (ret == (int)cSharpSkillBinding_TypeDef.StateCode.Insert_Succeed) + { + Console.WriteLine("插孔成功!"); + } + else if (ret == (int)cSharpSkillBinding_TypeDef.StateCode.Insert_MaxForce) + { + Console.Error.WriteLine("插孔力过大!"); + } + else if (ret == (int)cSharpSkillBinding_TypeDef.StateCode.TimeOut) + { + Console.Error.WriteLine("插孔超时!"); + } + else + { + Console.Error.WriteLine("Error state code!"); + } + + // 退出力控 + cSharpSkillBinding_ForceControl.fcExit(fc); + cSharpSkillBinding_ForceControl.destroy_fc_ptr(fc); + } + + + static public void exampleSearch(IntPtr rpc_client, IntPtr rtde_client) + { + IntPtr fc = cSharpSkillBinding_ForceControl.create_fc_ptr(rpc_client, rtde_client); + if (fc == IntPtr.Zero) + { + Console.Error.WriteLine("create_fc_ptr failed!"); + return; + } + // 设置插孔参数 + cSharpSkillBinding_TypeDef.SearchParams param = new cSharpSkillBinding_TypeDef.SearchParams(); + param.search_plane = cSharpSkillBinding_TypeDef.SearchPlane.xy; + param.hole_diameter = 0.0; + param.search_range = 0.005; + param.search_time = 1000; + param.search_max_force = 10.0; + param.search_guide_force = 5; + + param.search_damp_scale = new cSharpSkillBinding_TypeDef.Vector6d(0.0, 0.0, 1000, 0.0, 0.0, 0.0); + param.search_stiff_scale = new cSharpSkillBinding_TypeDef.Vector6d(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + + + // 无参考轨迹 + param.guide_traj_type = cSharpSkillBinding_TypeDef.GuideTrajType.NONE; + + // 螺旋线 + //param.guide_traj_type = cSharpSkillBinding_TypeDef.GuideTrajType.SPIRAL; + //param.spiral_param.step = 3; + //param.spiral_param.direction = 1; + //param.spiral_param.plane = cSharpSkillBinding_TypeDef.SpiralPlane.xy; + //param.spiral_param.spiral = 0.005; + //param.spiral_param.helix = 0.005; + //param.spiral_param.radius = 0.06; + + // 摆线 + //param.guide_traj_type = cSharpSkillBinding_TypeDef.GuideTrajType.WEAVE; + //param.weave_param.step = 30; + //param.weave_param.direction = cSharpSkillBinding_TypeDef.WeaveSelect.rx; + //param.weave_param.amplitude = 0.005; + //param.weave_param.hold_distance = 0.2; + //param.weave_param.angle = 0.1; + + cSharpSkillBinding_ForceControl.fcSearch(fc, param); + + // 等待接近流程结束 + int ret = cSharpSkillBinding_ForceControl.fcWaitCondition(fc); + if (ret == (int)cSharpSkillBinding_TypeDef.StateCode.Search_Succeed) + { + Console.WriteLine("搜孔成功!"); + } + else if (ret == (int)cSharpSkillBinding_TypeDef.StateCode.Search_MaxForce) + { + Console.Error.WriteLine("搜孔力过大!"); + } + else if (ret == (int)cSharpSkillBinding_TypeDef.StateCode.TimeOut) + { + Console.Error.WriteLine("搜孔超时!"); + } + else + { + Console.Error.WriteLine("Error state code!"); + } + + // 退出力控 + cSharpSkillBinding_ForceControl.fcExit(fc); + cSharpSkillBinding_ForceControl.destroy_fc_ptr(fc); + } + + static void Main(string[] args) + { + //初始化机械臂控制库 + IntPtr rpc_client = cSharpBinding_RPC.rpc_create_client(0); + Console.Out.WriteLine("rpc_create_client ret={0}", rpc_client); + if (rpc_client == IntPtr.Zero) + { + Console.Error.WriteLine("rpc_create_client failed!"); + return; + } + + IntPtr rtde_client = cSharpBinding_RTDE.rtde_create_client(0); + Console.Out.WriteLine("rtde_create_client ret={0}", rtde_client); + if (rtde_client == IntPtr.Zero) + { + Console.Error.WriteLine("rtde_create_client failed!"); + return; + } + + cSharpBinding_RPC.rpc_connect(rpc_client, robot_ip, server_port); + cSharpBinding_RPC.rpc_setRequestTimeout(rpc_client, 1000); + cSharpBinding_RPC.rpc_login(rpc_client, "aubo", "123456"); + + cSharpBinding_RTDE.rtde_connect(rtde_client, robot_ip, server_port_1); + cSharpBinding_RTDE.rtde_login(rtde_client, "aubo", "123456"); + + if (exampleStartup(rpc_client) != 0) + { + cSharpBinding_RTDE.rtde_logout(rtde_client); + cSharpBinding_RTDE.rtde_disconnect(rtde_client); + cSharpBinding_RPC.rpc_logout(rpc_client); + cSharpBinding_RPC.rpc_disconnect(rpc_client); + return; + } + + exampleInsert(rpc_client, rtde_client); + //exampleSearch(rpc_client, rtde_client); + + cSharpBinding_RTDE.rtde_logout(rtde_client); + cSharpBinding_RTDE.rtde_disconnect(rtde_client); + + cSharpBinding_RPC.rpc_logout(rpc_client); + cSharpBinding_RPC.rpc_disconnect(rpc_client); + } + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleStartup.cs b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleStartup.cs new file mode 100644 index 00000000..eb5f82b6 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleStartup.cs @@ -0,0 +1,127 @@ +using System; +using System.Threading; +using System.Runtime.InteropServices; + +namespace csharp_example +{ + + class ExampleStartup + { + + const int RSERR_SUCC = 0; + + static UInt16 rshd = 0xffff; + //机械臂IP地址 + const string robot_ip = "192.168.204.151"; + //机械臂端口号 + const int server_port = 30004; + + + // 等待机械臂进入目标模式 + static void WaitForRobotMode(IntPtr robot_state, cSharpBinging_TypeDef.RobotModeType target_mode) + { + // 接口调用: 获取当前机械臂的模式 + cSharpBinging_TypeDef.RobotModeType current_mode = cSharpBinging_RobotState.getRobotModeType(robot_state); + + while (current_mode != target_mode) + { + Console.WriteLine($"机械臂当前模式: {current_mode}"); + Thread.Sleep(1000); + current_mode = cSharpBinging_RobotState.getRobotModeType(robot_state); + } + } + + static int exampleStartup(IntPtr cli) + { + IntPtr[] robot_names = new IntPtr[10]; + for (int i = 0; i < 10; i++) + { + robot_names[i] = Marshal.AllocHGlobal(100); // 分配100字节内存用于存放字符串（考虑 '\0' 结尾） + } + + int num = cSharpBinding_RPC.rpc_getRobotNames(cli, robot_names); + if (num <= 0) + { + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); // 释放分配的内存 + } + return -1; + } + string robot_name = Marshal.PtrToStringAnsi(robot_names[0]); + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); // 释放分配的内存 + } + if (robot_name == "") { + return -1; + } + + IntPtr robot_interface = cSharpBinding_RPC.rpc_getRobotInterface(cli, robot_name); + + // 接口调用: 设置负载 + double mass = 0.0; // 示例质量值 + double[] cog = { 0.0, 0.0, 0.0 }; // 示例重心坐标 + double[] aom = { 0.0, 0.0, 0.0 }; // 示例附加质量矩 + double[] inertia = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; // 示例惯性张量 + + IntPtr robot_config = cSharpBinging_RobotInterface.robot_getRobotConfig(robot_interface); + + cSharpBinging_RobotConfig.setPayload(robot_config, mass, cog, aom, inertia); + + IntPtr robot_state = cSharpBinging_RobotInterface.robot_getRobotState(robot_interface); + // 接口调用: 获取机械臂当前模式 + cSharpBinging_TypeDef.RobotModeType robot_mode = cSharpBinging_RobotState.getRobotModeType(robot_state); + + if (robot_mode == cSharpBinging_TypeDef.RobotModeType.Running) + { + Console.WriteLine("机械臂已松刹车，处于运行模式"); + return -1; + } + + IntPtr robot_manage = cSharpBinging_RobotInterface.robot_getRobotManage(robot_interface); + // 接口调用: 机械臂发起上电请求 + cSharpBinging_RobotManage.poweron(robot_manage); + + + // 等待机械臂进入空闲模式 + WaitForRobotMode(robot_state, cSharpBinging_TypeDef.RobotModeType.Idle); + + robot_mode = cSharpBinging_RobotState.getRobotModeType(robot_state); + Console.WriteLine($"机械臂上电成功，当前模式:{0}", robot_mode); + + // 接口调用: 机械臂发起松刹车请求 + cSharpBinging_RobotManage.startup(robot_manage); + + // 等待机械臂进入运行模式 + WaitForRobotMode(robot_state, cSharpBinging_TypeDef.RobotModeType.Running); + + robot_mode = cSharpBinging_RobotState.getRobotModeType(robot_state); + Console.WriteLine($"机械臂松刹车成功，当前模式: {0}", robot_mode); + + return 0; + } + + static void Main(string[] args) + { + cSharpBinding_RPC csharpbingding_rpc = new cSharpBinding_RPC(); + //初始化机械臂控制库 + IntPtr rpc_client = cSharpBinding_RPC.rpc_create_client(0); + Console.Out.WriteLine("rpc_create_client ret={0}", rpc_client); + if (rpc_client == IntPtr.Zero) + { + Console.Error.WriteLine("rpc_create_client failed!"); + } + + cSharpBinding_RPC.rpc_connect(rpc_client, robot_ip, server_port); + cSharpBinding_RPC.rpc_setRequestTimeout(rpc_client, 1000); + cSharpBinding_RPC.rpc_login(rpc_client, "aubo", "123456"); + + exampleStartup(rpc_client); + + cSharpBinding_RPC.rpc_logout(rpc_client); + cSharpBinding_RPC.rpc_disconnect(rpc_client); + } + + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleTrackJ.cs b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleTrackJ.cs new file mode 100644 index 00000000..b86a0bff --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/ExampleTrackJ.cs @@ -0,0 +1,262 @@ +using System; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using System.IO; +using System.Threading; + +namespace csharp_example +{ + + class ExampleTrackJ + { + const int RSERR_SUCC = 0; + + static UInt16 rshd = 0xffff; + //机械臂IP地址 + const string robot_ip = "192.168.204.151"; + //机械臂端口号 + const int server_port = 30004; + //M_PI + const double M_PI = 3.14159265358979323846; + + // 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行 + static int waitArrival(IntPtr robot_interface) + { + const int max_retry_count = 5; + int cnt = 0; + + // 接口调用: 获取当前的运动指令 ID + IntPtr motion_control = cSharpBinging_RobotInterface.robot_getMotionControl(robot_interface); + int exec_id = cSharpBinging_MotionControl.getExecId(motion_control); + + // 等待机械臂开始运动 + while (exec_id == -1) + { + if (cnt++ > max_retry_count) + { + return -1; + } + Thread.Sleep(50); + exec_id = cSharpBinging_MotionControl.getExecId(motion_control); + } + + // 等待机械臂动作完成 + while (cSharpBinging_MotionControl.getExecId(motion_control) != -1) + { + Thread.Sleep(50); + } + + return 0; + } + + // 轨迹数据读取类 + class TrajectoryIo + { + private StreamReader input_file; + + // 构造函数，接受要打开的文件名作为参数 + public TrajectoryIo(string filename) + { + try + { + input_file = new StreamReader(filename); + } + catch (Exception ex) + { + Console.WriteLine($"无法打开轨迹文件. 请检查输入的文件路径是否正确. 异常信息: {ex.Message}"); + } + } + + // 检查文件是否成功打开 + public bool Open() + { + return input_file != null; + } + + // 解析文件中的轨迹数据， + public List> Parse() + { + List> res = new List>(); + string tmp; + int linenum = 1; + while ((tmp = input_file.ReadLine()) != null) + { + try + { + List q = Split(tmp, ","); + res.Add(q); + } + catch (Exception p) + { + Console.WriteLine($"Line: {linenum} \"{p.Message}\" is not a number of double"); + break; + } + linenum++; + } + return res; + } + + // 切割字符串并转换为double类型 + private List Split(string str, string delim) + { + List res = new List(); + if (string.IsNullOrEmpty(str)) + { + return res; + } + + string[] parts = str.Split(delim.ToCharArray(), StringSplitOptions.RemoveEmptyEntries); + foreach (string part in parts) + { + if (double.TryParse(part, out double v)) + { + res.Add(v); + } + else + { + throw new Exception(part); + } + } + return res; + } + } + + static int exampleTrackJoint(IntPtr cli) + { + // 读取轨迹文件 + string filename = "../trajs/record6.offt"; + TrajectoryIo input = new TrajectoryIo(filename); + + // 尝试打开轨迹文件，如果无法打开，直接返回 + if (!input.Open()) + { + return 0; + } + + // 解析轨迹数据 + List> traj = input.Parse(); + + // 检查轨迹文件中是否有路点， + if (traj.Count == 0) + { + Console.WriteLine("轨迹文件中的路点数量为0."); + return 0; + } + + // 接口调用: 获取机器人的名字 + IntPtr[] robot_names = new IntPtr[10]; + for (int i = 0; i < 10; i++) + { + robot_names[i] = Marshal.AllocHGlobal(100); // 分配100字节内存用于存放字符串（考虑 '\0' 结尾） + } + + int num = cSharpBinding_RPC.rpc_getRobotNames(cli, robot_names); + if (num <= 0) + { + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); // 释放分配的内存 + } + return -1; + } + string robot_name = Marshal.PtrToStringAnsi(robot_names[0]); + for (int i = 0; i < 10; i++) + { + Marshal.FreeHGlobal(robot_names[i]); // 释放分配的内存 + } + if (robot_name == "") + { + return -1; + } + + IntPtr robot_interface = cSharpBinding_RPC.rpc_getRobotInterface(cli, robot_name); + + // 接口调用: 设置机械臂的速度比率， + IntPtr motion_control = cSharpBinging_RobotInterface.robot_getMotionControl(robot_interface); + cSharpBinging_MotionControl.setSpeedFraction(motion_control, 0.3); + + // 接口调用: 关节运动到轨迹中的第一个点，否则容易引起较大超调 + cSharpBinging_MotionControl.moveJoint(motion_control, traj[0].ToArray(), 80 * (M_PI / 180), + 60 * (M_PI / 180), 0, 0); + + // 阻塞 + int ret = waitArrival(robot_interface); + if (ret == 0) + { + Console.WriteLine("关节运动到轨迹文件中的第一个路点成功"); + } + else + { + Console.WriteLine("关节运动到轨迹文件中的第一个路点失败"); + } + + for (int i = 1; i < traj.Count; i++) + { + int traj_queue_size = cSharpBinging_MotionControl.getTrajectoryQueueSize(motion_control); + Console.WriteLine($"traj_queue_size: {traj_queue_size}"); + while (traj_queue_size > 8) + { + traj_queue_size = cSharpBinging_MotionControl.getTrajectoryQueueSize(motion_control); + Thread.Sleep(1); + } + + cSharpBinging_MotionControl.moveJoint(motion_control, traj[i].ToArray(), 0.01, 0.5, 1, 0); + + } + + // 等待运动结束 + IntPtr robot_state = cSharpBinging_RobotInterface.robot_getRobotState(robot_interface); + while (!cSharpBinging_RobotState.isSteady(robot_state)) + { + Thread.Sleep(5); + } + + cSharpBinging_MotionControl.stopJoint(motion_control, 1); + + Console.WriteLine("trackJoint 运动结束"); + + return 0; + } + + + static void Main_TrackJ() + { +#if NETCOREAPP + // 获取实时优先级最大值 + int sched_max = GetMaxPriority(); + + // 设置实时调度策略及优先级 + SchedParam sParam = new SchedParam(); + sParam.Priority = sched_max; + SetScheduler(0, SchedType.FIFO, sParam); + int i_schedFlag = GetScheduler(0); + Console.WriteLine($"设置调度策略 = [{i_schedFlag}]"); + + // 绑定CPU + CpuSet cpuset = new CpuSet(); + CpuSet.Clear(cpuset); + CpuSet.Set(1, cpuset); + SetAffinity(0, cpuset); +#endif + + IntPtr rpc_client = cSharpBinding_RPC.rpc_create_client(0); + Console.Out.WriteLine("rpc_create_client ret={0}", rpc_client); + if (rpc_client == IntPtr.Zero) + { + Console.Error.WriteLine("rpc_create_client failed!"); + } + + cSharpBinding_RPC.rpc_connect(rpc_client, robot_ip, server_port); + cSharpBinding_RPC.rpc_setRequestTimeout(rpc_client, 1000); + cSharpBinding_RPC.rpc_login(rpc_client, "aubo", "123456"); + + exampleTrackJoint(rpc_client); + + cSharpBinding_RPC.rpc_logout(rpc_client); + cSharpBinding_RPC.rpc_disconnect(rpc_client); + } + + + + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/csharp-example.csproj b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/csharp-example.csproj new file mode 100644 index 00000000..408b133b --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/csharp-example.csproj @@ -0,0 +1,121 @@ + + + + Debug + x86 + 8.0.30703 + 2.0 + {9E7E89A9-4BBE-4399-BF67-453431AB1AE3} + Exe + Properties + auboi5_sdk_for_windows_x86_csharp + auboi5-sdk-for-windows-x86-csharp + v4.8 + + + 512 + publish\ + true + Disk + false + Foreground + 7 + Days + false + false + true + 0 + 1.0.0.%2a + false + false + true + + + x64 + true + full + false + bin\Debug\ + DEBUG;TRACE + prompt + 4 + false + + + x86 + pdbonly + true + bin\Release\ + TRACE + prompt + 4 + false + + + true + bin\x64\Debug\ + DEBUG;TRACE + full + x64 + prompt + true + false + false + + + bin\x64\Release\ + TRACE + true + pdbonly + x64 + prompt + false + false + false + + + + + + + + + + + + + + + + + + + + + False + Microsoft .NET Framework 4 Client Profile %28x86 和 x64%29 + true + + + False + .NET Framework 3.5 SP1 + false + + + False + Windows Installer 4.5 + true + + + + + + + + \ No newline at end of file diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/csharp_binding.cs b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/csharp_binding.cs new file mode 100644 index 00000000..4fa6c9b4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/csharp_binding.cs @@ -0,0 +1,4174 @@ +using System; +using System.ComponentModel; +using System.Runtime.InteropServices; +using System.Text; + +namespace csharp_example +{ + using ROBOT_HANDLER = IntPtr; + using SYNC_MOVE_HANDLER = IntPtr; + using TRACE_HANDLER = IntPtr; + using FORCE_CONTROL_HANDLER = IntPtr; + using IO_CONTROL_HANDLER = IntPtr; + using MOTION_CONTROL_HANDLER = IntPtr; + using ROBOT_ALGORITHM_HANDLER = IntPtr; + using ROBOT_MANAGE_HANDLER = IntPtr; + using ROBOT_CONFIG_HANDLER = IntPtr; + using ROBOT_STATE_HANDLER = IntPtr; + + public static class GlobalConstants + { + // 需要根据使用的dll库更改 + public const string service_interface_dll = "aubo_sdkd.dll"; + } + + public class cSharpBinding + { + const string service_interface_dll = GlobalConstants.service_interface_dll; + //关节个数 + const int ARM_DOF = 6; + //M_PI + const double M_PI = 3.14159265358979323846; + //路点位置信息的表示方法 + [StructLayout(LayoutKind.Sequential)] + public struct Pos + { + public double x; + public double y; + public double z; + } + + //路点位置信息的表示方法 + [StructLayout(LayoutKind.Sequential)] + public struct cartesianPos_U + { + // 指定数组尺寸 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] + public double[] positionVector; + }; + + //姿态的四元素表示方法 + [StructLayout(LayoutKind.Sequential)] + public struct Ori + { + public double w; + public double x; + public double y; + public double z; + }; + + //姿态的欧拉角表示方法 + [StructLayout(LayoutKind.Sequential)] + public struct Rpy + { + public double rx; + public double ry; + public double rz; + }; + + //描述机械臂的路点信息 + [StructLayout(LayoutKind.Sequential)] + public struct wayPoint_S + { + //机械臂的位置信息　X,Y,Z + public Pos cartPos; + //机械臂姿态信息 + public Ori orientation; + //机械臂关节角信息 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = ARM_DOF)] + public double[] jointpos; + }; + + [StructLayout(LayoutKind.Sequential)] + public struct ik_solutions + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)] + public wayPoint_S[] waypoint; + public int solution_count; + }; + + + //机械臂关节速度加速度信息 + [StructLayout(LayoutKind.Sequential)] + public struct JointVelcAccParam + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = ARM_DOF)] + public double[] jointPara; + }; + + //机械臂关节角度 + [StructLayout(LayoutKind.Sequential)] + public struct JointRadian + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = ARM_DOF)] + public double[] jointRadian; + }; + + //机械臂工具端参数 + [StructLayout(LayoutKind.Sequential)] + public struct ToolInEndDesc + { + //工具相对于末端坐标系的位置 + public Pos cartPos; + //工具相对于末端坐标系的姿态 + public Ori orientation; + }; + + //坐标系结构体 + [StructLayout(LayoutKind.Sequential)] + public struct CoordCalibrate + { + //坐标系类型：当coordType==BaseCoordinate或者coordType==EndCoordinate是，下面3个参数不做处理 + public int coordType; + //坐标系标定方法 + public int methods; + //用于标定坐标系的３个点（关节角），对应于机械臂法兰盘中心点基于基座标系 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] + public JointRadian[] jointPara; + //标定的时候使用的工具描述 + public ToolInEndDesc toolDesc; + }; + + + //工具标定结构体 + [StructLayout(LayoutKind.Sequential)] + public struct ToolCalibrate + { + //用于位置标定点的数量 + public int posCalibrateNum; + //位置标定点 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)] + public wayPoint_S[] posCalibrateWaypoint; + //用于姿态标定点的数量 + public int oriCalibrateNum; + //姿态标定点 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] + public wayPoint_S[] oriCalibrateWaypoint; + public int CalibMethod; + }; + + //转轴定义 + [StructLayout(LayoutKind.Sequential)] + public struct MoveRotateAxis + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] + public double[] rotateAxis; + }; + + //描述运动属性中的偏移属性 + [StructLayout(LayoutKind.Sequential)] + public struct MoveRelative + { + //是否使能偏移 + public byte enable; + //偏移量 x,y,z + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] + public float[] pos; + //public Pos pos; + //相对姿态偏移量 + public Ori orientation; + }; + + //该结构体描述工具惯量 + [StructLayout(LayoutKind.Sequential)] + public struct ToolInertia + { + public double xx; + public double xy; + public double xz; + public double yy; + public double yz; + public double zz; + }; + + //动力学参数 + [StructLayout(LayoutKind.Sequential)] + public struct ToolDynamicsParam + { + public double positionX; //工具重心的X坐标 + public double positionY; //工具重心的Y坐标 + public double positionZ; //工具重心的Z坐标 + public double payload; //工具重量 + public ToolInertia toolInertia; //工具惯量 + }; + + //机械臂事件 + [StructLayout(LayoutKind.Sequential)] + public struct RobotEventInfo + { + public int eventType; //事件类型号 + public int eventCode; //事件代码 + public IntPtr eventContent; //事件内容(std::string) + }; + + //关节状态信息 + [StructLayout(LayoutKind.Sequential)] + public struct JointStatus + { + public int jointCurrentI; // 关节电流 Current of driver + public int jointSpeedMoto; // 关节速度 Speed of driver + public float jointPosJ; // 关节角 Current position in radian + public float jointCurVol; // 关节电压 Rated voltage of motor. Unit: mV + public float jointCurTemp; // 当前温度 Current temprature of joint + public int jointTagCurrentI; // 电机目标电流 Target current of motor + public float jointTagSpeedMoto; // 电机目标速度 Target speed of motor + public float jointTagPosJ; // 目标关节角　 Target position of joint in radian + public short jointErrorNum; // 关节错误码 Joint error of joint num + }; + //机械臂诊断信息 + [StructLayout(LayoutKind.Sequential)] + public struct RobotDiagnosis + { + public Byte armCanbusStatus; // CAN通信状态:0x01~0x80：关节CAN通信错误（每个关节占用1bit） 0x00：无错误 + public float armPowerCurrent; // 机械臂48V电源当前电流 + public float armPowerVoltage; // 机械臂48V电源当前电压 + public Byte armPowerStatus; // 机械臂48V电源状态（开、关） + public Byte contorllerTemp; // 控制箱温度 + public Byte contorllerHumidity; // 控制箱湿度 + public Byte remoteHalt; // 远程关机信号 + public Byte softEmergency; // 机械臂软急停 + public Byte remoteEmergency; // 远程急停信号 + public Byte robotCollision; // 碰撞检测位 + public Byte forceControlMode; // 机械臂进入力控模式标志位 + public Byte brakeStuats; // 刹车状态 + public float robotEndSpeed; // 末端速度 + public int robotMaxAcc; // 最大加速度 + public Byte orpeStatus; // 上位机软件状态位 + public Byte enableReadPose; // 位姿读取使能位 + public Byte robotMountingPoseChanged; // 安装位置状态 + public Byte encoderErrorStatus; // 磁编码器错误状态 + public Byte staticCollisionDetect; // 静止碰撞检测开关 + public Byte jointCollisionDetect; // 关节碰撞检测 每个关节占用1bit 0-无碰撞 1-存在碰撞 + public Byte encoderLinesError; // 光电编码器不一致错误 0-无错误 1-有错误 + public Byte jointErrorStatus; // joint error status + public Byte singularityOverSpeedAlarm; // 机械臂奇异点过速警告 + public Byte robotCurrentAlarm; // 机械臂电流错误警告 + public Byte toolIoError; // tool error + public Byte robotMountingPoseWarning; // 机械臂安装位置错位（只在力控模式下起作用） + public ushort macTargetPosBufferSize; // mac缓冲器长度 预留 + public ushort macTargetPosDataSize; // mac缓冲器有效数据长度 预留 + public Byte macDataInterruptWarning; // mac数据中断 预留 + public Byte controlBoardAbnormalStateFlag; //主控板(接口板)异常状态标志 + }; + + //关节版本信息 + [StructLayout(LayoutKind.Sequential)] + public struct JointVersion + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)] + char[] hw_version; //硬件版本信息 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] + char[] sw_version; //固件版本信息 + + }; + + //机械臂ID信息 + [StructLayout(LayoutKind.Sequential)] + public struct JointProductID + { + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] + char[] productID; + + }; + + //设备信息 + [StructLayout(LayoutKind.Sequential)] + public struct RobotDevInfo + { + Byte type; // 设备型号、芯片型号：上位机主站：0x01 接口板0x02 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] + char[] revision; // 设备版本号，eg:V1.0 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] + char[] manu_id; // 厂家ID，"OUR "的ASCII码0x4F 55 52 00 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] + char[] joint_type; // 机械臂类型 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)] + JointVersion[] joint_ver; // 机械臂关节及工具端信息 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] + char[] desc; // 设备描述字符串以0x00结束 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)] + JointProductID[] jointProductID; // 关节ID信息 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] + char[] slave_version; // 从设备版本号 - 字符串表示，如“V1.0.0 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] + char[] extio_version; // IO扩展板版本号 -字符串标志，如“V1.0.0 + + }; + + //初始化机械臂控制库 + [DllImport(service_interface_dll, EntryPoint = "rs_initialize", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_initialize(); + + //反初始化机械臂控制库 + [DllImport(service_interface_dll, EntryPoint = "rs_uninitialize", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_uninitialize(); + + //创建机械臂控制上下文句柄 + [DllImport(service_interface_dll, EntryPoint = "rs_create_context", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_create_context(ref UInt16 rshd); + + //注销机械臂控制上下文句柄 + [DllImport(service_interface_dll, EntryPoint = "rs_destory_context", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_destory_context(UInt16 rshd); + + //链接机械臂服务器 + [DllImport(service_interface_dll, EntryPoint = "rs_login", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_login(UInt16 rshd, [MarshalAs(UnmanagedType.LPStr)] string addr, int port); + + //断开机械臂服务器链接 + [DllImport(service_interface_dll, EntryPoint = "rs_logout", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_logout(UInt16 rshd); + + //初始化全局的运动属性 + [DllImport(service_interface_dll, EntryPoint = "rs_init_global_move_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_init_global_move_profile(UInt16 rshd); + + //设置六个关节轴动的最大速度（最大为180度/秒），注意如果没有特殊需求，6个关节尽量配置成一样！ + [DllImport(service_interface_dll, EntryPoint = "rs_set_global_joint_maxvelc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_global_joint_maxvelc(UInt16 rshd, double[] max_velc); + + //获取六个关节轴动的最大速度 + [DllImport(service_interface_dll, EntryPoint = "rs_get_global_joint_maxvelc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_global_joint_maxvelc(UInt16 rshd, ref JointVelcAccParam max_velc); + + //设置六个关节轴动的最大加速度 （十倍的最大速度），注意如果没有特殊需求，6个关节尽量配置成一样！ + [DllImport(service_interface_dll, EntryPoint = "rs_set_global_joint_maxacc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_global_joint_maxacc(UInt16 rshd, double[] max_acc); + + //获取六个关节轴动的最大加速度 + [DllImport(service_interface_dll, EntryPoint = "rs_get_global_joint_maxacc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_global_joint_maxacc(UInt16 rshd, ref JointVelcAccParam max_acc); + + //设置机械臂末端最大线加速度 + [DllImport(service_interface_dll, EntryPoint = "rs_set_global_end_max_line_acc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_global_end_max_line_acc(UInt16 rshd, double max_acc); + + //设置机械臂末端最大线速度 + [DllImport(service_interface_dll, EntryPoint = "rs_set_global_end_max_line_velc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_global_end_max_line_velc(UInt16 rshd, double max_velc); + + //获取机械臂末端最大线加速度 + [DllImport(service_interface_dll, EntryPoint = "rs_get_global_end_max_line_acc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_global_end_max_line_acc(UInt16 rshd, ref double max_acc); + + //获取机械臂末端最大线速度 + [DllImport(service_interface_dll, EntryPoint = "rs_get_global_end_max_line_velc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_global_end_max_line_velc(UInt16 rshd, ref double max_velc); + + //设置机械臂末端最大角加速度 + [DllImport(service_interface_dll, EntryPoint = "rs_set_global_end_max_angle_acc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_global_end_max_angle_acc(UInt16 rshd, double max_acc); + + //设置机械臂末端最大角速度 + [DllImport(service_interface_dll, EntryPoint = "rs_set_global_end_max_angle_velc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_global_end_max_angle_velc(UInt16 rshd, double max_velc); + + //获取机械臂末端最大角加速度 + [DllImport(service_interface_dll, EntryPoint = "rs_get_global_end_max_angle_acc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_global_end_max_angle_acc(UInt16 rshd, ref double max_acc); + + //获取机械臂末端最大角加速度 + [DllImport(service_interface_dll, EntryPoint = "rs_get_global_end_max_angle_velc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_global_end_max_angle_velc(UInt16 rshd, ref double max_velc); + + //设置用户坐标系 + [DllImport(service_interface_dll, EntryPoint = "rs_set_user_coord", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_user_coord(UInt16 rshd, ref CoordCalibrate user_coord); + + //设置基座坐标系 + [DllImport(service_interface_dll, EntryPoint = "rs_set_base_coord", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_base_coord(UInt16 rshd); + + //机械臂轴动 + [DllImport(service_interface_dll, EntryPoint = "rs_move_joint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_move_joint(UInt16 rshd, double[] joint_radia, bool isblock); + + //机械臂直线运动 + [DllImport(service_interface_dll, EntryPoint = "rs_move_line", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_move_line(UInt16 rshd, double[] joint_radia, bool isblock); + + //机械臂直线运动 + [DllImport(service_interface_dll, EntryPoint = "rs_move_rotate_to_waypoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_move_rotate_to_waypoint(UInt16 rshd, ref wayPoint_S target_waypoint, bool isblock); + + //保持当前位置变换姿态做旋转运动 + [DllImport(service_interface_dll, EntryPoint = "rs_move_rotate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_move_rotate(UInt16 rshd, ref CoordCalibrate user_coord, ref MoveRotateAxis rotate_axis, double rotate_angle, bool isblock); + + //根据当前路点信息获取姿态旋转变换目标路点 + [DllImport(service_interface_dll, EntryPoint = "rs_get_rotate_target_waypiont", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_rotate_target_waypiont(UInt16 rshd, ref wayPoint_S source_waypoint, double[] rotate_axis_on_basecoord, double rotate_angle, ref wayPoint_S target_waypoint); + + //将用户坐标系下描述的坐标轴变换到基坐标系下描述 + [DllImport(service_interface_dll, EntryPoint = "rs_get_rotateaxis_user_to_Base", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_rotateaxis_user_to_Base(UInt16 rshd, ref Ori ori_usercoord, double[] rotate_axis_on_usercoord, double[] rotate_axis_on_basecoord); + + //根据位置获取目标路点信息(获取基于基座标下的目标路点通过基于用户坐标系的位置，目标路点保持起点姿态) + [DllImport(service_interface_dll, EntryPoint = "rs_get_target_waypoint_by_position", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_target_waypoint_by_position(UInt16 rshd, ref wayPoint_S source_waypoint_on_basecoord, ref CoordCalibrate usercoord, ref Pos tool_End_Position, ref ToolInEndDesc toolInEndDesc, ref wayPoint_S target_waypoint_on_basecoord); + + //清除所有已经设置的全局路点 + [DllImport(service_interface_dll, EntryPoint = "rs_remove_all_waypoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_remove_all_waypoint(UInt16 rshd); + + //添加全局路点用于轨迹运动 + [DllImport(service_interface_dll, EntryPoint = "rs_add_waypoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_add_waypoint(UInt16 rshd, double[] joint_radia); + + //设置交融半径 + [DllImport(service_interface_dll, EntryPoint = "rs_set_blend_radius", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_blend_radius(UInt16 rshd, double radius); + + //设置圆运动圈数 + [DllImport(service_interface_dll, EntryPoint = "rs_set_circular_loop_times", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_circular_loop_times(UInt16 rshd, int times); + + //检查用户坐标系参数设置是否合理 + [DllImport(service_interface_dll, EntryPoint = "rs_check_user_coord", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_check_user_coord(UInt16 rshd, ref CoordCalibrate user_coord); + + //用户坐标系标定 + [DllImport(service_interface_dll, EntryPoint = "rs_user_coord_calibrate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_user_coord_calibrate(UInt16 rshd, ref CoordCalibrate user_coord, double[] bInWPos, double[] bInWOri, double[] wInBPos); + + //工具标定 + [DllImport(service_interface_dll, EntryPoint = "rs_tool_calibration", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_tool_calibration(UInt16 rshd, ref ToolCalibrate toolCalibrate, ref ToolInEndDesc toolInEndDesc); + + //设置基于基座标系运动偏移量 + [DllImport(service_interface_dll, EntryPoint = "rs_set_relative_offset_on_base", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_relative_offset_on_base(UInt16 rshd, ref MoveRelative relative); + + //设置基于用户标系运动偏移量 + [DllImport(service_interface_dll, EntryPoint = "rs_set_relative_offset_on_user", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_relative_offset_on_user(UInt16 rshd, ref MoveRelative relative, ref CoordCalibrate user_coord); + + //取消提前到位设置 + [DllImport(service_interface_dll, EntryPoint = "rs_set_no_arrival_ahead", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_no_arrival_ahead(UInt16 rshd); + + //设置距离模式下的提前到位距离 + [DllImport(service_interface_dll, EntryPoint = "rs_set_arrival_ahead_distance", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_arrival_ahead_distance(UInt16 rshd, double distance); + + //设置时间模式下的提前到位时间 + [DllImport(service_interface_dll, EntryPoint = "rs_set_arrival_ahead_time", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_arrival_ahead_time(UInt16 rshd, double sec); + + //轨迹运动 + [DllImport(service_interface_dll, EntryPoint = "rs_move_track", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_move_track(UInt16 rshd, int sub_move_mode, bool isblock); + + //保持当前位姿通过直线运动的方式运动到目标位置 + [DllImport(service_interface_dll, EntryPoint = "rs_move_line_to", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_move_line_to(UInt16 rshd, ref Pos target, ref ToolInEndDesc tool, bool isblock); + + //保持当前位姿通过关节运动的方式运动到目标位置 + [DllImport(service_interface_dll, EntryPoint = "rs_move_joint_to", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_move_joint_to(UInt16 rshd, ref Pos target, ref ToolInEndDesc tool, bool isblock); + + //获取机械臂当前位置信息 + [DllImport(service_interface_dll, EntryPoint = "rs_get_current_waypoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_current_waypoint(UInt16 rshd, ref wayPoint_S waypoint); + + //正解 + [DllImport(service_interface_dll, EntryPoint = "rs_forward_kin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_forward_kin(UInt16 rshd, double[] joint_radia, ref wayPoint_S waypoint); + + //逆解 + [DllImport(service_interface_dll, EntryPoint = "rs_inverse_kin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_inverse_kin(UInt16 rshd, double[] joint_radia, ref Pos pos, ref Ori ori, ref wayPoint_S waypoint); + + //逆解 （最多八组解） + [DllImport(service_interface_dll, EntryPoint = "rs_inverse_kin_closed_form", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_inverse_kin_closed_form(UInt16 rshd, ref Pos pos, ref Ori ori, ref ik_solutions waypoint); + + //四元素转欧拉角 + [DllImport(service_interface_dll, EntryPoint = "rs_rpy_to_quaternion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_rpy_to_quaternion(UInt16 rshd, ref Rpy rpy, ref Ori ori); + + //欧拉角转四元素 + [DllImport(service_interface_dll, EntryPoint = "rs_quaternion_to_rpy", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_quaternion_to_rpy(UInt16 rshd, ref Ori ori, ref Rpy rpy); + + //基座坐标系转用户坐标系 + [DllImport(service_interface_dll, EntryPoint = "rs_base_to_user", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_base_to_user(UInt16 rshd, ref Pos pos_onbase, ref Ori ori_onbase, ref CoordCalibrate user_coord, ref ToolInEndDesc tool_pos, ref Pos pos_onuser, ref Ori ori_onuser); + + //用户坐标系转基座坐标系 + [DllImport(service_interface_dll, EntryPoint = "rs_user_to_base", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_user_to_base(UInt16 rshd, ref Pos pos_onuser, ref Ori ori_onuser, ref CoordCalibrate user_coord, ref ToolInEndDesc tool_pos, ref Pos pos_onbase, ref Ori ori_onbase); + + //基坐标系转基座标得到工具末端点的位置和姿态 + [DllImport(service_interface_dll, EntryPoint = "rs_base_to_base_additional_tool", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_base_to_base_additional_tool(UInt16 rshd, ref Pos flange_center_pos_onbase, ref Ori flange_center_ori_onbase, ref ToolInEndDesc tool_pos, ref Pos tool_end_pos_onbase, ref Ori tool_end_ori_onbase); + + //设置工具的运动学参数 + [DllImport(service_interface_dll, EntryPoint = "rs_set_tool_end_param", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_tool_end_param(UInt16 rshd, ref ToolInEndDesc tool); + + //设置无工具的动力学参数 + [DllImport(service_interface_dll, EntryPoint = "rs_set_none_tool_dynamics_param", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_none_tool_dynamics_param(UInt16 rshd); + + //根据接口板IO类型和地址设置IO状态 + [DllImport(service_interface_dll, EntryPoint = "rs_set_board_io_status_by_addr", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_board_io_status_by_addr(UInt16 rshd, int io_type, int addr, double val); + + //根据接口板IO类型和地址获取IO状态 + [DllImport(service_interface_dll, EntryPoint = "rs_get_board_io_status_by_addr", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_board_io_status_by_addr(UInt16 rshd, int io_type, int addr, ref double val); + + //设置工具端IO状态 + [DllImport(service_interface_dll, EntryPoint = "rs_set_tool_do_status", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_tool_do_status(UInt16 rshd, string name, int val); + + //获取工具端IO状态 + [DllImport(service_interface_dll, EntryPoint = "rs_get_tool_io_status", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_tool_io_status(UInt16 rshd, string name, ref double val); + + //设置工具端电源电压类型 + [DllImport(service_interface_dll, EntryPoint = "rs_set_tool_power_type", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_tool_power_type(UInt16 rshd, int type); + + //获取工具端电源电压类型 + [DllImport(service_interface_dll, EntryPoint = "rs_get_tool_power_type", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_tool_power_type(UInt16 rshd, ref int type); + + //设置工具端数字量IO的类型 + [DllImport(service_interface_dll, EntryPoint = "rs_set_tool_io_type", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_tool_io_type(UInt16 rshd, int addr, int type); + + //设置工具的动力学参数 + [DllImport(service_interface_dll, EntryPoint = "rs_set_tool_dynamics_param", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_tool_dynamics_param(UInt16 rshd, ref ToolDynamicsParam tool); + + //获取工具的动力学参数 + [DllImport(service_interface_dll, EntryPoint = "rs_get_tool_dynamics_param", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_tool_dynamics_param(UInt16 rshd, ref ToolDynamicsParam tool); + + //设置无工具运动学参数 + [DllImport(service_interface_dll, EntryPoint = "rs_set_none_tool_kinematics_param", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_none_tool_kinematics_param(UInt16 rshd); + + //设置工具的运动学参数 + [DllImport(service_interface_dll, EntryPoint = "rs_set_tool_kinematics_param", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_tool_kinematics_param(UInt16 rshd, ref ToolInEndDesc tool); + + //获取工具的运动学参数 + [DllImport(service_interface_dll, EntryPoint = "rs_get_tool_kinematics_param", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_tool_kinematics_param(UInt16 rshd, ref ToolInEndDesc tool); + + //启动机械臂 + [DllImport(service_interface_dll, EntryPoint = "rs_robot_startup", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_robot_startup(UInt16 rshd, ref ToolDynamicsParam tool, byte colli_class, bool read_pos, bool static_colli_detect, int board_maxacc, ref int state); + + //关闭机械臂 + [DllImport(service_interface_dll, EntryPoint = "rs_robot_shutdown", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_robot_shutdown(UInt16 rshd); + + //关闭机械臂 + [DllImport(service_interface_dll, EntryPoint = "rs_robot_control", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_robot_control(UInt16 rshd, int robotControlCommand); + + //通知机械臂工程启动，服务器同时开始检测安全IO + [DllImport(service_interface_dll, EntryPoint = "rs_project_startup", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_project_startup(UInt16 rshd); + + //通知机械臂工程停止，服务器停止检测安全IO + [DllImport(service_interface_dll, EntryPoint = "rs_project_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_project_stop(UInt16 rshd); + + //停止机械臂运动 + [DllImport(service_interface_dll, EntryPoint = "rs_move_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_move_stop(UInt16 rshd); + + //停止机械臂运动 + [DllImport(service_interface_dll, EntryPoint = "rs_move_fast_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_move_fast_stop(UInt16 rshd); + + //暂停机械臂运动 + [DllImport(service_interface_dll, EntryPoint = "rs_move_pause", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_move_pause(UInt16 rshd); + + //暂停后回复机械臂运动 + [DllImport(service_interface_dll, EntryPoint = "rs_move_continue", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_move_continue(UInt16 rshd); + + //机械臂碰撞后恢复 + [DllImport(service_interface_dll, EntryPoint = "rs_collision_recover", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_collision_recover(UInt16 rshd); + + //获取机械臂当前状态 + [DllImport(service_interface_dll, EntryPoint = "rs_get_robot_state", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_robot_state(UInt16 rshd, ref int state); + + //获取关节状态信息 + [DllImport(service_interface_dll, EntryPoint = "rs_get_joint_status", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_joint_status(UInt16 rshd, IntPtr pBuff); + + //获取机械臂诊断信息 + [DllImport(service_interface_dll, EntryPoint = "rs_get_diagnosis_info", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_diagnosis_info(UInt16 rshd, ref RobotDiagnosis robotDiagnosis); + + //获取机械臂诊断信息 + [DllImport(service_interface_dll, EntryPoint = "rs_get_device_info", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_device_info(UInt16 rshd, ref RobotDevInfo dev); + + //设置机械臂服务器工作模式 + [DllImport(service_interface_dll, EntryPoint = "rs_set_work_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_work_mode(UInt16 rshd, int state); + + //获取机械臂服务器当前工作模式 + [DllImport(service_interface_dll, EntryPoint = "rs_get_work_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_work_mode(UInt16 rshd, ref int state); + + //设置机械臂碰撞等级 + [DllImport(service_interface_dll, EntryPoint = "rs_set_collision_class", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_set_collision_class(UInt16 rshd, int grade); + + //获取当前碰撞等级 + [DllImport(service_interface_dll, EntryPoint = "rs_get_collision_class", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_collision_class(UInt16 rshd, ref int grade); + + //根据错误号返回错误信息 + [DllImport(service_interface_dll, EntryPoint = "rs_get_error_information_by_errcode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr rs_get_error_information_by_errcode(UInt16 rshd, int err_code); + + //获取socket链接状态 + [DllImport(service_interface_dll, EntryPoint = "rs_get_socket_status", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_get_socket_status(UInt16 rshd, ref byte connected); + + //设置是否允许实时路点信息推送 + [DllImport(service_interface_dll, EntryPoint = "rs_enable_push_realtime_roadpoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rs_enable_push_realtime_roadpoint(UInt16 rshd, bool enable); + + //实时路点回调函数 + [System.Runtime.InteropServices.UnmanagedFunctionPointerAttribute(System.Runtime.InteropServices.CallingConvention.Cdecl)] + public delegate void REALTIME_ROADPOINT_CALLBACK(ref wayPoint_S waypoint, IntPtr arg); + + [DllImport(service_interface_dll, CallingConvention = CallingConvention.Cdecl)] + public static extern void rs_setcallback_realtime_roadpoint(UInt16 rshd, [MarshalAs(UnmanagedType.FunctionPtr)] REALTIME_ROADPOINT_CALLBACK CurrentPositionCallback, IntPtr arg); + + //实时末端速度回调函数 + [System.Runtime.InteropServices.UnmanagedFunctionPointerAttribute(System.Runtime.InteropServices.CallingConvention.Cdecl)] + public delegate void REALTIME_ENDSPEED_CALLBACK(double speed, IntPtr arg); + + [DllImport(service_interface_dll, CallingConvention = CallingConvention.Cdecl)] + public static extern void rs_setcallback_realtime_end_speed(UInt16 rshd, [MarshalAs(UnmanagedType.FunctionPtr)] REALTIME_ENDSPEED_CALLBACK CurrentEndSpeedCallback, IntPtr arg); + + + //机械臂事件回调 + [System.Runtime.InteropServices.UnmanagedFunctionPointerAttribute(System.Runtime.InteropServices.CallingConvention.Cdecl)] + public delegate void ROBOT_EVENT_CALLBACK(ref RobotEventInfo rs_event, IntPtr arg); + + [DllImport(service_interface_dll, CallingConvention = CallingConvention.Cdecl)] + public static extern void rs_setcallback_robot_event(UInt16 rshd, [MarshalAs(UnmanagedType.FunctionPtr)] ROBOT_EVENT_CALLBACK RobotEventCallback, IntPtr arg); + + //机械臂关节状态回调 + [System.Runtime.InteropServices.UnmanagedFunctionPointerAttribute(System.Runtime.InteropServices.CallingConvention.Cdecl)] + public delegate void ROBOT_JOINT_STATUS_CALLBACK(IntPtr pBuff, int size, IntPtr arg); + + [DllImport(service_interface_dll, CallingConvention = CallingConvention.Cdecl)] + public static extern void rs_setcallback_realtime_joint_status(UInt16 rshd, [MarshalAs(UnmanagedType.FunctionPtr)] ROBOT_JOINT_STATUS_CALLBACK RobotJointStatusCallback, IntPtr arg); + + + //位置回调 + public static void CurrentPositionCallback(ref wayPoint_S waypoint, IntPtr arg) + { + PrintWaypoint(waypoint); + } + //速度回调 + public static void CurrentEndSpeedCallback(double speed, IntPtr arg) + { + Console.Out.WriteLine("CurrentSpeed:{0}\n", speed); + } + + + //关节状态回调 + public static void CurrentJointStatusCallback(IntPtr pBuff, int size, IntPtr arg) + { + cSharpBinding.JointStatus[] jointStatus = new cSharpBinding.JointStatus[6]; + for (int i = 0; i < 6; i++) + { + IntPtr pPonitor = new IntPtr(pBuff.ToInt64() + Marshal.SizeOf(typeof(cSharpBinding.JointStatus)) * i); + jointStatus[i] = (cSharpBinding.JointStatus)Marshal.PtrToStructure(pPonitor, typeof(cSharpBinding.JointStatus)); + } + for (int i = 0; i < 6; i++) + { + Console.Out.WriteLine("jointStatus {0}", i + 1); + Console.Out.WriteLine("joint I: {0}\njoint Speed: {1}\njoint Angel: {2}", jointStatus[i].jointCurrentI, jointStatus[i].jointSpeedMoto, jointStatus[i].jointPosJ); + Console.Out.WriteLine("joint vol: {0}\njoint temp: {1}\njoint target I: {2}", jointStatus[i].jointCurVol, jointStatus[i].jointCurTemp, jointStatus[i].jointTagCurrentI); + Console.Out.WriteLine("joint target Speed: {0}\njoint Target Angel: {1}\njoint Errnum: {2}", jointStatus[i].jointTagSpeedMoto, jointStatus[i].jointTagPosJ, jointStatus[i].jointErrorNum); + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + + } + + } + + + //打印路点信息 + public static void PrintWaypoint(wayPoint_S point) + { + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + Console.Out.WriteLine("pos.x={0} y={1} z={2}", point.cartPos.x, point.cartPos.y, point.cartPos.z); + Console.Out.WriteLine("ori.w={0} x={1} y={2} z={3}", point.orientation.w, point.orientation.x, point.orientation.y, point.orientation.z); + Console.Out.WriteLine("joint1={0} joint2={1} joint3={2}", point.jointpos[0] * 180 / M_PI, point.jointpos[1] * 180 / M_PI, point.jointpos[2] * 180 / M_PI); + Console.Out.WriteLine("joint4={0} joint5={1} joint6={2}", point.jointpos[3] * 180 / M_PI, point.jointpos[4] * 180 / M_PI, point.jointpos[5] * 180 / M_PI); + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + } + + public static void RobotEventCallback(ref RobotEventInfo rs_event, IntPtr arg) + { + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + Console.Out.WriteLine("robot event.type={0}", rs_event.eventType); + Console.Out.WriteLine("robot event.eventCode={0}", rs_event.eventCode); + Console.Out.WriteLine("robot event.eventContent={0}", Marshal.PtrToStringAnsi(rs_event.eventContent)); + Console.Out.WriteLine("---------------------------------------------------------------------------------------"); + } + + } + + public class cSharpBinding_RPC + { + const string service_interface_dll = GlobalConstants.service_interface_dll; + //初始化机械臂控制库 + [DllImport(service_interface_dll, EntryPoint = "rpc_create_client", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr rpc_create_client(int mode); + + //反初始化机械臂控制库 + [DllImport(service_interface_dll, EntryPoint = "rpc_destroy_client", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern void rpc_destroy_client(IntPtr cli); + + //设置日志处理器 + [DllImport(service_interface_dll, EntryPoint = "rpc_setLogHandler", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern void rpc_setLogHandler(IntPtr cli, LogHandlerDelegate handler); + // 定义日志处理函数委托类型，需和C++中函数原型对应 + public delegate void LogHandlerDelegate(int level, string filename, int line, string message); + + //连接到RPC服务 + [DllImport(service_interface_dll, EntryPoint = "rpc_connect", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rpc_connect(IntPtr cli, [MarshalAs(UnmanagedType.LPStr)] string ip, int port); + + //断开RPC连接 + [DllImport(service_interface_dll, EntryPoint = "rpc_disconnect", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rpc_disconnect(IntPtr cli); + + //判断是否连接RPC + [DllImport(service_interface_dll, EntryPoint = "rpc_hasConnected", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool rpc_hasConnected(IntPtr cli); + + //登录 + [DllImport(service_interface_dll, EntryPoint = "rpc_login", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rpc_login(IntPtr cli, [MarshalAs(UnmanagedType.LPStr)] string usrname, [MarshalAs(UnmanagedType.LPStr)] string passwd); + + //登出 + [DllImport(service_interface_dll, EntryPoint = "rpc_logout", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rpc_logout(IntPtr cli); + + //判断是否登录 + [DllImport(service_interface_dll, EntryPoint = "rpc_hasLogined", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool rpc_hasLogined(IntPtr cli); + + //设置RPC请求超时时间 + [DllImport(service_interface_dll, EntryPoint = "rpc_setRequestTimeout", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rpc_setRequestTimeout(IntPtr cli, int timeout); + + //设置事件处理 + [DllImport(service_interface_dll, EntryPoint = "rpc_setEventHandler", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rpc_setEventHandler(IntPtr cli, EventCallbackDelegate cb); + // 定义事件回调委托类型，需根据实际C++中回调函数原型补充准确参数等定义 + public delegate void EventCallbackDelegate(); + + //设置是否关闭异常抛出 + [DllImport(service_interface_dll, EntryPoint = "rpc_set_exception_free", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rpc_set_exception_free(IntPtr cli, bool enable); + + //返回错误代码 + [DllImport(service_interface_dll, EntryPoint = "rpc_errorCode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rpc_errorCode(IntPtr cli); + + //设备关机 + [DllImport(service_interface_dll, EntryPoint = "rpc_shutdown", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rpc_shutdown(IntPtr cli); + + //获取纯数学相关接口 + [DllImport(service_interface_dll, EntryPoint = "rpc_getMath", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr rpc_getMath(IntPtr cli); + + //获取系统信息 + [DllImport(service_interface_dll, EntryPoint = "rpc_getSystemInfo", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr rpc_getSystemInfo(IntPtr cli); + + //获取运行时接口 + [DllImport(service_interface_dll, EntryPoint = "rpc_getRuntimeMachine", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr rpc_getRuntimeMachine(IntPtr cli); + + //对外寄存器接口 + [DllImport(service_interface_dll, EntryPoint = "rpc_getRegisterControl", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr rpc_getRegisterControl(IntPtr cli); + + //获取机器人列表 + [DllImport(service_interface_dll, EntryPoint = "rpc_getRobotNames", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rpc_getRobotNames(IntPtr cli, IntPtr[] names); + + //根据名字获取RobotInterfacePtr接口 + [DllImport(service_interface_dll, EntryPoint = "rpc_getRobotInterface", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr rpc_getRobotInterface(IntPtr cli, [MarshalAs(UnmanagedType.LPStr)] string name); + + //获取外部轴列表 + [DllImport(service_interface_dll, EntryPoint = "rpc_getAxisNames", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rpc_getAxisNames(IntPtr cli, [MarshalAs(UnmanagedType.LPArray)] string[] names); + + //获取外部轴接口 + [DllImport(service_interface_dll, EntryPoint = "rpc_getAxisInterface", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr rpc_getAxisInterface(IntPtr cli, [MarshalAs(UnmanagedType.LPStr)] string name); + + // 获取socket + [DllImport(service_interface_dll, EntryPoint = "rpc_getSocket", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr rpc_getSocket(IntPtr cli); + + // 获取Serial + [DllImport(service_interface_dll, EntryPoint = "rpc_getSerial", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr rpc_getSerial(IntPtr cli); + + //获取同步运动接口 + [DllImport(service_interface_dll, EntryPoint = "rpc_getSyncMove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr rpc_getSyncMove(IntPtr cli, [MarshalAs(UnmanagedType.LPStr)] string name); + + //获取告警信息接口 + [DllImport(service_interface_dll, EntryPoint = "rpc_getTrace", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr rpc_getTrace(IntPtr cli, [MarshalAs(UnmanagedType.LPStr)] string name); + + } + + + public class cSharpBinding_RTDE + { + const string service_interface_dll = GlobalConstants.service_interface_dll; + + // OutputBuilder + [DllImport(service_interface_dll, EntryPoint = "rtde_pushInt", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_pushInt(IntPtr builder, int val); + + [DllImport(service_interface_dll, EntryPoint = "rtde_pushDouble", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_pushDouble(IntPtr builder, double val); + + [DllImport(service_interface_dll, EntryPoint = "rtde_pushVectorDouble", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_pushVectorDouble(IntPtr builder, double[] val, int size); + + [DllImport(service_interface_dll, EntryPoint = "rtde_pushTupleIntBool", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_pushTupleIntBool(IntPtr builder, int first, bool second); + + [DllImport(service_interface_dll, EntryPoint = "rtde_pushInt16", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_pushInt16(IntPtr builder, short val); + + [DllImport(service_interface_dll, EntryPoint = "rtde_pushVectorInt16", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_pushVectorInt16(IntPtr builder, short[] val, int size); + + [DllImport(service_interface_dll, EntryPoint = "rtde_pushVectorInt", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_pushVectorInt(IntPtr builder, int[] val, int size); + + [DllImport(service_interface_dll, EntryPoint = "rtde_pushString", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_pushString(IntPtr builder, string val); + + [DllImport(service_interface_dll, EntryPoint = "rtde_pushChar", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_pushChar(IntPtr builder, char val); + + [DllImport(service_interface_dll, EntryPoint = "rtde_pushRtdeRecipe", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_pushRtdeRecipe(IntPtr builder, ref cSharpBinging_TypeDef.RtdeRecipe val); + + + // InputParser + [DllImport(service_interface_dll, EntryPoint = "rtde_popBool", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool rtde_popBool(IntPtr parser); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popInt32", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_popInt32(IntPtr parser); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popInt64", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern long rtde_popInt64(IntPtr parser); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popInt16", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern short rtde_popInt16(IntPtr parser); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popDouble", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double rtde_popDouble(IntPtr parser); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popChar", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern char rtde_popChar(IntPtr parser); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popVectorInt", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_popVectorInt(IntPtr parser, [In, Out] int[] data, int size); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popVectorInt16", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_popVectorInt16(IntPtr parser, [In, Out] short[] data, int size); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popVectorDouble", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_popVectorDouble(IntPtr parser, [In, Out] double[] data, int size); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popVectorVectorDouble", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_popVectorVectorDouble(IntPtr parser, [In, Out] IntPtr[] data, int rows, int cols); + + // 枚举类型 + [DllImport(service_interface_dll, EntryPoint = "rtde_popVectorJointStateType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.JointStateType rtde_popVectorJointStateType(IntPtr parser); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popRobotModeType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.RobotModeType rtde_popRobotModeType(IntPtr parser); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popOperationalModeType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.OperationalModeType rtde_popOperationalModeType(IntPtr parser); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popSafetyModeType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.SafetyModeType rtde_popSafetyModeType(IntPtr parser); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popRuntimeState", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.RuntimeState rtde_popRuntimeState(IntPtr parser); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popRobotMsgVector", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_popRobotMsgVector(IntPtr parser, ref cSharpBinging_TypeDef.RobotMsgVector robot_msg_vec); + + [DllImport(service_interface_dll, EntryPoint = "rtde_popPayload", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_popPayload(IntPtr parser, ref cSharpBinging_TypeDef.Payload payload); + + + // RtdeClient + [DllImport(service_interface_dll, EntryPoint = "rtde_create_client", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr rtde_create_client(int mode); + + [DllImport(service_interface_dll, EntryPoint = "rtde_destroy_client", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern void rtde_destroy_client(IntPtr cli); + + [DllImport(service_interface_dll, EntryPoint = "rtde_setLogHandler", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern void rtde_setLogHandler(IntPtr cli, LogHandlerDelegate handler); + public delegate void LogHandlerDelegate(int level, string filename, int line, string message); + + [DllImport(service_interface_dll, EntryPoint = "rtde_connect", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_connect(IntPtr cli, [MarshalAs(UnmanagedType.LPStr)] string ip, int port); + + [DllImport(service_interface_dll, EntryPoint = "rtde_hasConnected", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool rtde_hasConnected(IntPtr cli); + + [DllImport(service_interface_dll, EntryPoint = "rtde_login", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_login(IntPtr cli, [MarshalAs(UnmanagedType.LPStr)] string username, [MarshalAs(UnmanagedType.LPStr)] string password); + + [DllImport(service_interface_dll, EntryPoint = "rtde_hasLogined", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool rtde_hasLogined(IntPtr cli); + + [DllImport(service_interface_dll, EntryPoint = "rtde_logout", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_logout(IntPtr cli); + + [DllImport(service_interface_dll, EntryPoint = "rtde_disconnect", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_disconnect(IntPtr cli); + + [DllImport(service_interface_dll, EntryPoint = "rtde_getProtocolVersion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_getProtocolVersion(IntPtr cli); + + [DllImport(service_interface_dll, EntryPoint = "rtde_setTopic", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_setTopic(IntPtr cli, [MarshalAs(UnmanagedType.I1)] bool to_server, [MarshalAs(UnmanagedType.LPStr)] string names, double freq, int expected_chanel); + + [DllImport(service_interface_dll, EntryPoint = "rtde_removeTopic", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_removeTopic(IntPtr cli, [MarshalAs(UnmanagedType.I1)] bool to_server, int chanel); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate void SubscribeCallbackDelegate(IntPtr parser); + [DllImport(service_interface_dll, EntryPoint = "rtde_subscribe", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_subscribe(IntPtr cli, int chanel, SubscribeCallbackDelegate callback); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate void PublishCallbackDelegate(IntPtr builder); + [DllImport(service_interface_dll, EntryPoint = "rtde_publish", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rtde_publish(IntPtr cli, int chanel, PublishCallbackDelegate callback); + + } + + + public class cSharpBinding_Math + { + + const string service_interface_dll = GlobalConstants.service_interface_dll; + + // 位姿相加函数封装 + [DllImport(service_interface_dll, EntryPoint = "poseAdd", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int poseAdd(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] p1, [MarshalAs(UnmanagedType.LPArray)] double[] p2, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 位姿相减函数封装 + [DllImport(service_interface_dll, EntryPoint = "poseSub", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int poseSub(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] p1, [MarshalAs(UnmanagedType.LPArray)] double[] p2, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 位姿插值函数封装 + [DllImport(service_interface_dll, EntryPoint = "interpolatePose", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int interpolatePose(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] p1, [MarshalAs(UnmanagedType.LPArray)] double[] p2, double alpha, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 位姿变换函数封装 + [DllImport(service_interface_dll, EntryPoint = "poseTrans", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int poseTrans(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose_from, [MarshalAs(UnmanagedType.LPArray)] double[] pose_from_to, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 位姿逆变换函数封装 + [DllImport(service_interface_dll, EntryPoint = "poseTransInv", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int poseTransInv(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose_from, [MarshalAs(UnmanagedType.LPArray)] double[] pose_to_from, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 位姿求逆函数封装 + [DllImport(service_interface_dll, EntryPoint = "poseInverse", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int poseInverse(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 位姿距离计算函数封装 + [DllImport(service_interface_dll, EntryPoint = "poseDistance", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double poseDistance(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] p1, [MarshalAs(UnmanagedType.LPArray)] double[] p2); + + // 位姿角度距离计算函数封装 + [DllImport(service_interface_dll, EntryPoint = "poseAngleDistance", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double poseAngleDistance(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] p1, [MarshalAs(UnmanagedType.LPArray)] double[] p2); + + // 位姿相等判断函数封装 + [DllImport(service_interface_dll, EntryPoint = "poseEqual", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool poseEqual(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] p1, [MarshalAs(UnmanagedType.LPArray)] double[] p2, double eps); + + // 参考系转换函数封装 + [DllImport(service_interface_dll, EntryPoint = "transferRefFrame", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int transferRefFrame(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] F_b_a_old, [MarshalAs(UnmanagedType.LPArray)] double[] V_in_a, int type, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 位姿旋转函数封装 + [DllImport(service_interface_dll, EntryPoint = "poseRotation", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int poseRotation(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose, [MarshalAs(UnmanagedType.LPArray)] double[] rotv, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 欧拉角转四元数函数封装 + [DllImport(service_interface_dll, EntryPoint = "rpyToQuaternion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int rpyToQuaternion(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] rpy, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 四元数转欧拉角函数封装 + [DllImport(service_interface_dll, EntryPoint = "quaternionToRpy", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int quaternionToRpy(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] quant, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // TCP偏移识别函数封装 + [DllImport(service_interface_dll, EntryPoint = "tcpOffsetIdentify", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int tcpOffsetIdentify(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] poses, int rows, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 坐标校准函数封装 + [DllImport(service_interface_dll, EntryPoint = "calibrateCoordinate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int calibrateCoordinate(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] poses, int rows, int type, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 计算圆上第四点函数封装 + [DllImport(service_interface_dll, EntryPoint = "calculateCircleFourthPoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int calculateCircleFourthPoint(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] p1, [MarshalAs(UnmanagedType.LPArray)] double[] p2, [MarshalAs(UnmanagedType.LPArray)] double[] p3, int mode, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 力的变换函数封装 + [DllImport(service_interface_dll, EntryPoint = "forceTrans", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int forceTrans(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose_a_in_b, [MarshalAs(UnmanagedType.LPArray)] double[] force_in_a, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 根据传感器距离获取位姿增量函数封装 + [DllImport(service_interface_dll, EntryPoint = "getDeltaPoseBySensorDistance", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getDeltaPoseBySensorDistance(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] distances, double position, double radius, double track_scale, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 位姿增量变换函数封装 + [DllImport(service_interface_dll, EntryPoint = "deltaPoseTrans", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int deltaPoseTrans(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose_a_in_b, [MarshalAs(UnmanagedType.LPArray)] double[] ft_in_a, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 位姿增量相加函数封装 + [DllImport(service_interface_dll, EntryPoint = "deltaPoseAdd", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int deltaPoseAdd(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose_a_in_b, [MarshalAs(UnmanagedType.LPArray)] double[] v_in_b, [MarshalAs(UnmanagedType.LPArray)] double[] result); + } + + + public class cSharpBinding_RegisterControl + { + + const string service_interface_dll = GlobalConstants.service_interface_dll; + + + // 获取布尔型输入值函数封装 + [DllImport(service_interface_dll, EntryPoint = "getBoolInput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool getBoolInput(IntPtr h, int address); + + // 设置布尔型输入值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setBoolInput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setBoolInput(IntPtr h, int address, bool value); + + // 获取Int32型输入值函数封装 + [DllImport(service_interface_dll, EntryPoint = "getInt32Input", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getInt32Input(IntPtr h, int address); + + // 设置Int32型输入值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setInt32Input", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setInt32Input(IntPtr h, int address, int value); + + // 获取Float型输入值函数封装 + [DllImport(service_interface_dll, EntryPoint = "getFloatInput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern float getFloatInput(IntPtr h, int address); + + // 设置Float型输入值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setFloatInput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setFloatInput(IntPtr h, int address, float value); + + // 获取Double型输入值函数封装 + [DllImport(service_interface_dll, EntryPoint = "getDoubleInput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getDoubleInput(IntPtr h, int address); + + // 设置Double型输入值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setDoubleInput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setDoubleInput(IntPtr h, int address, double value); + + // 获取布尔型输出值函数封装 + [DllImport(service_interface_dll, EntryPoint = "getBoolOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool getBoolOutput(IntPtr h, int address); + + // 设置布尔型输出值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setBoolOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setBoolOutput(IntPtr h, int address, bool value); + + // 获取Int32型输出值函数封装 + [DllImport(service_interface_dll, EntryPoint = "getInt32Output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getInt32Output(IntPtr h, int address); + + // 设置Int32型输出值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setInt32Output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setInt32Output(IntPtr h, int address, int value); + + // 获取Float型输出值函数封装 + [DllImport(service_interface_dll, EntryPoint = "getFloatOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern float getFloatOutput(IntPtr h, int address); + + // 设置Float型输出值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setFloatOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setFloatOutput(IntPtr h, int address, float value); + + // 获取Double型输出值函数封装 + [DllImport(service_interface_dll, EntryPoint = "getDoubleOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getDoubleOutput(IntPtr h, int address); + + // 设置Double型输出值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setDoubleOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setDoubleOutput(IntPtr h, int address, double value); + + // 获取Int16型寄存器值函数封装 + [DllImport(service_interface_dll, EntryPoint = "getInt16Register", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern Int16 getInt16Register(IntPtr h, int address); + + // 设置Int16型寄存器值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setInt16Register", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setInt16Register(IntPtr h, int address, Int16 value); + + // 检查变量是否更新函数封装 + [DllImport(service_interface_dll, EntryPoint = "variableUpdated", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool variableUpdated(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, UInt64 since); + + // 检查是否存在指定名称变量函数封装 + [DllImport(service_interface_dll, EntryPoint = "hasNamedVariable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool hasNamedVariable(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key); + + // 获取指定名称变量类型函数封装 + [DllImport(service_interface_dll, EntryPoint = "getNamedVariableType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getNamedVariableType(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, [MarshalAs(UnmanagedType.LPStr)] string result); + + // 获取指定名称布尔型变量值（带默认值）函数封装 + [DllImport(service_interface_dll, EntryPoint = "getBool", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool getBool(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, bool default_value); + + // 设置指定名称布尔型变量值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setBool", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setBool(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, bool value); + + // 获取指定名称字符向量变量值（带默认值）函数封装 + [DllImport(service_interface_dll, EntryPoint = "getVecChar", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getVecChar(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, [MarshalAs(UnmanagedType.LPStr)] string default_value, [MarshalAs(UnmanagedType.LPStr)] string result); + + // 设置指定名称字符向量变量值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setVecChar", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setVecChar(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, [MarshalAs(UnmanagedType.LPStr)] string value); + + // 获取指定名称Int32型变量值（带默认值）函数封装 + [DllImport(service_interface_dll, EntryPoint = "getInt32", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getInt32(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, int default_value); + + // 设置指定名称Int32型变量值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setInt32", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setInt32(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, int value); + + + // 获取指定名称Int32向量型变量值（带默认值）函数封装 + [DllImport(service_interface_dll, EntryPoint = "getVecInt32", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getVecInt32(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, [MarshalAs(UnmanagedType.LPArray)] Int32[] default_value, [MarshalAs(UnmanagedType.LPArray)] int[] result); + + // 设置指定名称Int32向量型变量值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setVecInt32", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setVecInt32(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, [MarshalAs(UnmanagedType.LPArray)] Int32[] value); + + // 获取指定名称Float型变量值（带默认值）函数封装 + [DllImport(service_interface_dll, EntryPoint = "getFloat", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern float getFloat(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, float default_value); + + // 设置指定名称Float型变量值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setFloat", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setFloat(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, float value); + + // 获取指定名称Float向量型变量值（带默认值）函数封装 + [DllImport(service_interface_dll, EntryPoint = "getVecFloat", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getVecFloat(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, [MarshalAs(UnmanagedType.LPArray)] float[] default_value, [MarshalAs(UnmanagedType.LPArray)] float[] result); + + // 设置指定名称Float向量型变量值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setVecFloat", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setVecFloat(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, [MarshalAs(UnmanagedType.LPArray)] float[] value); + + // 获取指定名称Double型变量值（带默认值）函数封装 + [DllImport(service_interface_dll, EntryPoint = "getDouble", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getDouble(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, double default_value); + + // 设置指定名称Double型变量值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setDouble", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setDouble(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, double value); + + // 获取指定名称Double向量型变量值（带默认值）函数封装 + [DllImport(service_interface_dll, EntryPoint = "getVecDouble", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getVecDouble(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, [MarshalAs(UnmanagedType.LPArray)] double[] default_value, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 设置指定名称Double向量型变量值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setVecDouble", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setVecDouble(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, [MarshalAs(UnmanagedType.LPArray)] double[] value); + + // 获取指定名称字符串变量值（带默认值）函数封装 + [DllImport(service_interface_dll, EntryPoint = "getString", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getString(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, [MarshalAs(UnmanagedType.LPStr)] string default_value, [Out] StringBuilder result); + + // 设置指定名称字符串变量值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setString", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setString(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, [MarshalAs(UnmanagedType.LPStr)] string value); + + // 清除指定名称变量函数封装 + [DllImport(service_interface_dll, EntryPoint = "clearNamedVariable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int clearNamedVariable(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key); + + // 设置看门狗相关参数函数封装 + [DllImport(service_interface_dll, EntryPoint = "setWatchDog", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setWatchDog(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key, double timeout, int action); + + // 获取看门狗动作函数封装 + [DllImport(service_interface_dll, EntryPoint = "getWatchDogAction", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getWatchDogAction(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key); + + // 获取看门狗超时时间函数封装 + [DllImport(service_interface_dll, EntryPoint = "getWatchDogTimeout", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getWatchDogTimeout(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string key); + + // 添加Modbus信号函数封装 + [DllImport(service_interface_dll, EntryPoint = "modbusAddSignal", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int modbusAddSignal(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string device_info, int slave_number, int signal_address, int signal_type, [MarshalAs(UnmanagedType.LPStr)] string signal_name, bool sequential_mode); + + // 删除Modbus信号函数封装 + [DllImport(service_interface_dll, EntryPoint = "modbusDeleteSignal", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int modbusDeleteSignal(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string signal_name); + + // 删除所有Modbus信号函数封装 + [DllImport(service_interface_dll, EntryPoint = "modbusDeleteAllSignals", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int modbusDeleteAllSignals(IntPtr h); + + // 获取Modbus信号状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "modbusGetSignalStatus", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int modbusGetSignalStatus(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string signal_name); + + // 获取Modbus信号名称函数封装 + [DllImport(service_interface_dll, EntryPoint = "modbusGetSignalNames", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int modbusGetSignalNames(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] string[] result); + + // 获取Modbus信号类型函数封装 + [DllImport(service_interface_dll, EntryPoint = "modbusGetSignalTypes", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int modbusGetSignalTypes(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] int[] result); + + // 获取Modbus信号值函数封装 + [DllImport(service_interface_dll, EntryPoint = "modbusGetSignalValues", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int modbusGetSignalValues(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] int[] result); + + // 获取Modbus信号错误信息函数封装 + [DllImport(service_interface_dll, EntryPoint = "modbusGetSignalErrors", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int modbusGetSignalErrors(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] int[] result); + + // 发送Modbus自定义命令函数封装 + [DllImport(service_interface_dll, EntryPoint = "modbusSendCustomCommand", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int modbusSendCustomCommand(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string IP, int slave_number, int function_code, [MarshalAs(UnmanagedType.LPArray)] byte[] data); + + // 设置Modbus数字输入动作函数封装 + // [DllImport(service_interface_dll, EntryPoint = "modbusSetDigitalInputAction", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + // public static extern int modbusSetDigitalInputAction(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string robot_name, [MarshalAs(UnmanagedType.LPStr)] string signal_name, StandardInputAction_C action); + + // 设置Modbus输出运行状态函数封装 + // [DllImport(service_interface_dll, EntryPoint = "modbusSetOutputRunstate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + // public static extern int modbusSetOutputRunstate(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string robot_name, [MarshalAs(UnmanagedType.LPStr)] string signal_name, StandardOutputRunState_C runstate); + + // 设置Modbus输出信号值函数封装 + [DllImport(service_interface_dll, EntryPoint = "modbusSetOutputSignal", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int modbusSetOutputSignal(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string signal_name, ushort value); + + // 设置Modbus输出信号脉冲函数封装 + [DllImport(service_interface_dll, EntryPoint = "modbusSetOutputSignalPulse", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int modbusSetOutputSignalPulse(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string signal_name, ushort value, double duration); + + // 设置Modbus信号更新频率函数封装 + [DllImport(service_interface_dll, EntryPoint = "modbusSetSignalUpdateFrequency", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int modbusSetSignalUpdateFrequency(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string signal_name, int update_frequency); + + // 获取Modbus信号索引函数封装 + [DllImport(service_interface_dll, EntryPoint = "modbusGetSignalIndex", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int modbusGetSignalIndex(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string signal_name); + + // 获取Modbus信号错误函数封装 + [DllImport(service_interface_dll, EntryPoint = "modbusGetSignalError", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int modbusGetSignalError(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string signal_name); + + // 获取Modbus设备状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "getModbusDeviceStatus", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getModbusDeviceStatus(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string device_name); + } + + + + public class cSharpBinging_RuntimeMachine + { + const string service_interface_dll = GlobalConstants.service_interface_dll; + + // 创建新任务函数封装 + [DllImport(service_interface_dll, EntryPoint = "newTask", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int newTask(IntPtr h, bool daemon); + + // 删除任务函数封装 + [DllImport(service_interface_dll, EntryPoint = "deleteTask", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int deleteTask(IntPtr h, int tid); + + // 分离任务函数封装 + [DllImport(service_interface_dll, EntryPoint = "detachTask", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int detachTask(IntPtr h, int tid); + + // 检查任务是否存活函数封装 + [DllImport(service_interface_dll, EntryPoint = "isTaskAlive", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isTaskAlive(IntPtr h, int tid); + + // 空操作函数封装 + [DllImport(service_interface_dll, EntryPoint = "nop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int nop(IntPtr h); + + // 切换任务函数封装 + [DllImport(service_interface_dll, EntryPoint = "switchTask", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int switchTask(IntPtr h, int tid); + + // 设置任务标签函数封装 + [DllImport(service_interface_dll, EntryPoint = "setLabel", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setLabel(IntPtr h, int tid, [MarshalAs(UnmanagedType.LPStr)] string lineno); + + // 设置计划上下文函数封装 + [DllImport(service_interface_dll, EntryPoint = "setPlanContext", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setPlanContext(IntPtr h, int tid, int lineno, [MarshalAs(UnmanagedType.LPStr)] string comment); + + // 跳转到指定行函数封装 + [DllImport(service_interface_dll, EntryPoint = "gotoLine", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int gotoLine(IntPtr h, int lineno); + + // 获取高级计划上下文函数封装 + [DllImport(service_interface_dll, EntryPoint = "getAdvancePlanContext", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getAdvancePlanContext(IntPtr h, int tid, ref cSharpBinging_TypeDef.PlanContextResult result); + + // 获取高级指针函数封装 + [DllImport(service_interface_dll, EntryPoint = "getAdvancePtr", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getAdvancePtr(IntPtr h, int tid); + + // 获取主指针函数封装 + [DllImport(service_interface_dll, EntryPoint = "getMainPtr", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getMainPtr(IntPtr h, int tid); + + // 获取解释器指针函数封装 + [DllImport(service_interface_dll, EntryPoint = "getInterpPtr", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getInterpPtr(IntPtr h, int tid); + + // 获取计划上下文函数封装 + [DllImport(service_interface_dll, EntryPoint = "getPlanContext", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getPlanContext(IntPtr h, int tid, ref cSharpBinging_TypeDef.PlanContextResult result); + + // 获取执行状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "getExecutionStatus", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getExecutionStatus(IntPtr h, ref cSharpBinging_TypeDef.ExecutionStatusResult result); + + // 获取执行状态1函数封装 + [DllImport(service_interface_dll, EntryPoint = "getExecutionStatus1", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getExecutionStatus1(IntPtr h, ref cSharpBinging_TypeDef.ExecutionStatus1Result result); + + // 加载程序函数封装 + [DllImport(service_interface_dll, EntryPoint = "loadProgram", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int loadProgram(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string program); + + // 运行程序函数封装 + [DllImport(service_interface_dll, EntryPoint = "runProgram", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int runProgram(IntPtr h); + + // 启动函数封装 + [DllImport(service_interface_dll, EntryPoint = "start", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int start(IntPtr h); + + // 停止函数封装 + [DllImport(service_interface_dll, EntryPoint = "stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int stop(IntPtr h); + + // 终止函数封装 + [DllImport(service_interface_dll, EntryPoint = "abort1", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int abort(IntPtr h); + + // 暂停函数封装 + [DllImport(service_interface_dll, EntryPoint = "pause", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int pause(IntPtr h); + + // 单步执行函数封装 + [DllImport(service_interface_dll, EntryPoint = "step", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int step(IntPtr h); + + // 设置恢复等待状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "setResumeWait", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setResumeWait(IntPtr h, bool wait); + + // 恢复执行函数封装 + [DllImport(service_interface_dll, EntryPoint = "resume", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int resume(IntPtr h); + + // 获取运行时状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStatus", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.RuntimeState getStatus(IntPtr h); + + // 获取运行时状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "getRuntimeState", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.RuntimeState getRuntimeState(IntPtr h); + + // 设置断点函数封装 + [DllImport(service_interface_dll, EntryPoint = "setBreakPoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setBreakPoint(IntPtr h, int lineno); + + // 移除断点函数封装 + [DllImport(service_interface_dll, EntryPoint = "removeBreakPoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int removeBreakPoint(IntPtr h, int lineno); + + // 清除所有断点函数封装 + [DllImport(service_interface_dll, EntryPoint = "clearBreakPoints", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int clearBreakPoints(IntPtr h); + + // 定时器启动函数封装 + [DllImport(service_interface_dll, EntryPoint = "timerStart", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int timerStart(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string name); + + // 定时器停止函数封装 + [DllImport(service_interface_dll, EntryPoint = "timerStop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int timerStop(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string name); + + // 定时器重置函数封装 + [DllImport(service_interface_dll, EntryPoint = "timerReset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int timerReset(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string name); + + // 定时器删除函数封装 + [DllImport(service_interface_dll, EntryPoint = "timerDelete", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int timerDelete(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string name); + + // 获取定时器值函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTimer", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getTimer(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string name); + + // 触发开始函数封装 + [DllImport(service_interface_dll, EntryPoint = "triggBegin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int triggBegin(IntPtr h, double distance, double delay); + + // 触发结束函数封装 + [DllImport(service_interface_dll, EntryPoint = "triggEnd", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int triggEnd(IntPtr h); + + // 触发中断函数封装 + [DllImport(service_interface_dll, EntryPoint = "triggInterrupt", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int triggInterrupt(IntPtr h, double distance, double delay); + + // 获取触发中断信息函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTriggInterrupts", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTriggInterrupts(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] int[] result); + } + + public class cSharpBinging_Serial + { + const string service_interface_dll = GlobalConstants.service_interface_dll; + + // 打开串口函数封装 + [DllImport(service_interface_dll, EntryPoint = "serialOpen", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int serialOpen(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string device, int baud, float stop_bits, int even, [MarshalAs(UnmanagedType.LPStr)] string serial_name); + + // 关闭串口函数封装 + [DllImport(service_interface_dll, EntryPoint = "serialClose", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int serialClose(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string serial_name); + + // 读取单个字节函数封装 + [DllImport(service_interface_dll, EntryPoint = "serialReadByte", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int serialReadByte(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string variable, [MarshalAs(UnmanagedType.LPStr)] string serial_name); + + // 读取字节列表函数封装 + [DllImport(service_interface_dll, EntryPoint = "serialReadByteList", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int serialReadByteList(IntPtr h, int number, [MarshalAs(UnmanagedType.LPStr)] string variable, [MarshalAs(UnmanagedType.LPStr)] string serial_name); + + // 读取字符串函数封装 + [DllImport(service_interface_dll, EntryPoint = "serialReadString", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int serialReadString(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string variable, [MarshalAs(UnmanagedType.LPStr)] string serial_name, [MarshalAs(UnmanagedType.LPStr)] string prefix, [MarshalAs(UnmanagedType.LPStr)] string suffix, bool interpret_escape); + + // 发送单个字节函数封装 + [DllImport(service_interface_dll, EntryPoint = "serialSendByte", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int serialSendByte(IntPtr h, char value, [MarshalAs(UnmanagedType.LPStr)] string serial_name); + + // 发送整数函数封装 + [DllImport(service_interface_dll, EntryPoint = "serialSendInt", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int serialSendInt(IntPtr h, int value, [MarshalAs(UnmanagedType.LPStr)] string serial_name); + + // 发送一行数据函数封装 + [DllImport(service_interface_dll, EntryPoint = "serialSendLine", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int serialSendLine(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string str, [MarshalAs(UnmanagedType.LPStr)] string serial_name); + + // 发送字符串函数封装 + [DllImport(service_interface_dll, EntryPoint = "serialSendString", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int serialSendString(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string str, [MarshalAs(UnmanagedType.LPStr)] string serial_name); + + // 发送全部字符串函数封装 + [DllImport(service_interface_dll, EntryPoint = "serialSendAllString", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int serialSendAllString(IntPtr h, bool is_check, [MarshalAs(UnmanagedType.LPStr)] string str, [MarshalAs(UnmanagedType.LPStr)] string serial_name); + } + + + public class cSharpBinging_Socket + { + + const string service_interface_dll = GlobalConstants.service_interface_dll; + + // 打开Socket函数封装 + [DllImport(service_interface_dll, EntryPoint = "socketOpen", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int socketOpen(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string address, int port, [MarshalAs(UnmanagedType.LPStr)] string socket_name); + + // 关闭Socket函数封装 + [DllImport(service_interface_dll, EntryPoint = "socketClose", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int socketClose(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string socket_name); + + // 从Socket读取ASCII格式浮点数函数封装 + [DllImport(service_interface_dll, EntryPoint = "socketReadAsciiFloat", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int socketReadAsciiFloat(IntPtr h, int number, [MarshalAs(UnmanagedType.LPStr)] string variable, [MarshalAs(UnmanagedType.LPStr)] string socket_name); + + // 从Socket读取二进制整数函数封装 + [DllImport(service_interface_dll, EntryPoint = "socketReadBinaryInteger", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int socketReadBinaryInteger(IntPtr h, int number, [MarshalAs(UnmanagedType.LPStr)] string variable, [MarshalAs(UnmanagedType.LPStr)] string socket_name); + + // 从Socket读取字节列表函数封装 + [DllImport(service_interface_dll, EntryPoint = "socketReadByteList", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int socketReadByteList(IntPtr h, int number, [MarshalAs(UnmanagedType.LPStr)] string variable, [MarshalAs(UnmanagedType.LPStr)] string socket_name); + + // 从Socket读取字符串函数封装 + [DllImport(service_interface_dll, EntryPoint = "socketReadString", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int socketReadString(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string variable, [MarshalAs(UnmanagedType.LPStr)] string socket_name, [MarshalAs(UnmanagedType.LPStr)] string prefix, [MarshalAs(UnmanagedType.LPStr)] string suffix, bool interpret_escape); + + // 从Socket读取全部字符串函数封装 + [DllImport(service_interface_dll, EntryPoint = "socketReadAllString", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int socketReadAllString(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string variable, [MarshalAs(UnmanagedType.LPStr)] string socket_name); + + // 向Socket发送单个字节函数封装 + [DllImport(service_interface_dll, EntryPoint = "socketSendByte", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int socketSendByte(IntPtr h, char value, [MarshalAs(UnmanagedType.LPStr)] string socket_name); + + // 向Socket发送整数函数封装 + [DllImport(service_interface_dll, EntryPoint = "socketSendInt", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int socketSendInt(IntPtr h, int value, [MarshalAs(UnmanagedType.LPStr)] string socket_name); + + // 向Socket发送一行数据函数封装 + [DllImport(service_interface_dll, EntryPoint = "socketSendLine", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int socketSendLine(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string str, [MarshalAs(UnmanagedType.LPStr)] string socket_name); + + // 向Socket发送字符串函数封装 + [DllImport(service_interface_dll, EntryPoint = "socketSendString", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int socketSendString(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string str, [MarshalAs(UnmanagedType.LPStr)] string socket_name); + + // 向Socket发送全部字符串函数封装 + [DllImport(service_interface_dll, EntryPoint = "socketSendAllString", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int socketSendAllString(IntPtr h, bool is_check, [MarshalAs(UnmanagedType.LPStr)] string str, [MarshalAs(UnmanagedType.LPStr)] string socket_name); + } + public class cSharpBinging_SyncMove + { + + const string service_interface_dll = GlobalConstants.service_interface_dll; + + + // 执行同步操作函数封装 + [DllImport(service_interface_dll, EntryPoint = "sync", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int sync(IntPtr h); + + // 开启同步移动函数封装 + [DllImport(service_interface_dll, EntryPoint = "syncMoveOn", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int syncMoveOn(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string syncident, [MarshalAs(UnmanagedType.LPArray)] string[] taskset); + + // 判断同步移动段是否有效函数封装 + [DllImport(service_interface_dll, EntryPoint = "syncMoveSegment", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool syncMoveSegment(IntPtr h, int id); + + // 关闭同步移动函数封装 + [DllImport(service_interface_dll, EntryPoint = "syncMoveOff", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int syncMoveOff(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string syncident); + + // 撤销同步移动操作函数封装 + [DllImport(service_interface_dll, EntryPoint = "syncMoveUndo", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int syncMoveUndo(IntPtr h); + + // 等待同步任务函数封装 + [DllImport(service_interface_dll, EntryPoint = "waitSyncTasks", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int waitSyncTasks(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string syncident, [MarshalAs(UnmanagedType.LPArray)] string[] taskset); + + // 判断同步移动是否开启函数封装 + [DllImport(service_interface_dll, EntryPoint = "isSyncMoveOn", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isSyncMoveOn(IntPtr h); + + // 暂停同步移动函数封装 + [DllImport(service_interface_dll, EntryPoint = "syncMoveSuspend", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int syncMoveSuspend(IntPtr h); + + // 恢复同步移动函数封装 + [DllImport(service_interface_dll, EntryPoint = "syncMoveResume", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int syncMoveResume(IntPtr h); + } + + public class cSharpBinging_SystemInfo + { + + const string service_interface_dll = GlobalConstants.service_interface_dll; + + // 获取控制软件版本代码函数封装 + [DllImport(service_interface_dll, EntryPoint = "getControlSoftwareVersionCode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getControlSoftwareVersionCode(IntPtr h); + + // 获取控制软件完整版本信息函数封装 + [DllImport(service_interface_dll, EntryPoint = "getControlSoftwareFullVersion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getControlSoftwareFullVersion(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string result); + + // 获取接口版本代码函数封装 + [DllImport(service_interface_dll, EntryPoint = "getInterfaceVersionCode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getInterfaceVersionCode(IntPtr h); + + // 获取控制软件构建日期函数封装 + [DllImport(service_interface_dll, EntryPoint = "getControlSoftwareBuildDate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getControlSoftwareBuildDate(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string result); + + // 获取控制软件版本哈希值函数封装 + [DllImport(service_interface_dll, EntryPoint = "getControlSoftwareVersionHash", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getControlSoftwareVersionHash(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string result); + + // 获取控制系统时间函数封装 + [DllImport(service_interface_dll, EntryPoint = "getControlSystemTime", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern ulong getControlSystemTime(IntPtr h); + } + + public class cSharpBinging_Trace + { + + const string service_interface_dll = GlobalConstants.service_interface_dll; + public enum TraceLevel_C + { + // 根据实际C语言中TraceLevel_C的枚举值添加对应项 + } + + [StructLayout(LayoutKind.Sequential)] + public struct RobotMsg_C + { + // 根据实际RobotMsg_C结构体的成员添加对应字段 + } + + // 触发告警函数封装 + [DllImport(service_interface_dll, EntryPoint = "alarm", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int alarm(IntPtr h, TraceLevel_C level, int code, [MarshalAs(UnmanagedType.LPArray)] string[] args); + + // 弹出提示框函数封装 + [DllImport(service_interface_dll, EntryPoint = "popup", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int popup(IntPtr h, TraceLevel_C level, [MarshalAs(UnmanagedType.LPStr)] string title, [MarshalAs(UnmanagedType.LPStr)] string msg, int mode); + + // 显示文本消息函数封装 + [DllImport(service_interface_dll, EntryPoint = "textmsg", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int textmsg(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string msg); + + // 发送通知函数封装 + [DllImport(service_interface_dll, EntryPoint = "notify", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int notify(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string msg); + + // 查看消息函数封装 + [DllImport(service_interface_dll, EntryPoint = "peek", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int peek(IntPtr h, ulong num, ulong last_time, [MarshalAs(UnmanagedType.LPStruct)] RobotMsg_C result); + } + + + + public class cSharpBinging_TypeDef + { + + // 定义常量 + public const int CARTESIAN_DOF = 6; + public const int SAFETY_PARAM_SELECT_NUM = 2; // normal + reduced + public const int SAFETY_PLANES_NUM = 8; // 安全平面的数量 + public const int SAFETY_CUBIC_NUM = 10; // 安全立方体的数量 + public const int TOOL_CONFIGURATION_NUM = 3; // 工具配置数量 + public const int MAX_DOF = 7; // 工具配置数量（或最大自由度） + + + // 定义向量类型 + public struct Vector3d + { + public double X, Y, Z; + + public Vector3d(double x, double y, double z) + { + X = x; + Y = y; + Z = z; + } + } + + public struct Vector4d + { + public double W, X, Y, Z; + + public Vector4d(double w, double x, double y, double z) + { + W = w; + X = x; + Y = y; + Z = z; + } + } + + public struct Vector3f + { + public float X, Y, Z; + + public Vector3f(float x, float y, float z) + { + X = x; + Y = y; + Z = z; + } + } + + public struct Vector4f + { + public float W, X, Y, Z; + + public Vector4f(float w, float x, float y, float z) + { + W = w; + X = x; + Y = y; + Z = z; + } + } + + public struct Vector6f + { + public float X, Y, Z, Rx, Ry, Rz; + + public Vector6f(float x, float y, float z, float rx, float ry, float rz) + { + X = x; + Y = y; + Z = z; + Rx = rx; + Ry = ry; + Rz = rz; + } + } + + + // 定义机器人安全参数范围结构体 + [StructLayout(LayoutKind.Sequential)] + public struct RobotSafetyParameterRange_C + { + public uint crc32; + + // 定义参数结构体 + [StructLayout(LayoutKind.Sequential)] + public struct SafetyParameter + { + public float power; + public float momentum; + public float stop_time; + public float stop_distance; + public float reduced_entry_time; + public float reduced_entry_distance; + public float tcp_speed; + public float elbow_speed; + public float tcp_force; + public float elbow_force; + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = MAX_DOF)] + public float[] qmin; + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = MAX_DOF)] + public float[] qmax; + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = MAX_DOF)] + public float[] qdmax; + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = MAX_DOF)] + public float[] joint_torque; + + public Vector3f tool_orientation; + public float tool_deviation; + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = SAFETY_PLANES_NUM)] + public Vector4f[] planes; + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = SAFETY_PLANES_NUM)] + public int[] restrict_elbow; + } + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = SAFETY_PARAM_SELECT_NUM)] + public SafetyParameter[] params_; // 注意：在C#中，'params' 是关键字，因此使用 'params_' 作为字段名 + + // 定义触发平面结构体 + [StructLayout(LayoutKind.Sequential)] + public struct TriggerPlane + { + public Vector4f plane; + public int restrict_elbow; + } + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = SAFETY_PLANES_NUM)] + public TriggerPlane[] trigger_planes; + + // 定义立方块结构体 + [StructLayout(LayoutKind.Sequential)] + public struct Cubic + { + public Vector6f orig; + public Vector3f size; + public int restrict_elbow; + } + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = SAFETY_CUBIC_NUM)] + public Cubic[] cubic; + + // 工具数组 + [MarshalAs(UnmanagedType.ByValArray, SizeConst = TOOL_CONFIGURATION_NUM)] + public Vector4f[] tools; + + public float tool_inclination; + public float tool_azimuth; + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = MAX_DOF)] + public float[] safety_home; + + // 可配置IO的输入输出安全功能配置 + public uint safety_input_emergency_stop; + public uint safety_input_safeguard_stop; + public uint safety_input_safeguard_reset; + public uint safety_input_auto_safeguard_stop; + public uint safety_input_auto_safeguard_reset; + public uint safety_input_three_position_switch; + public uint safety_input_operational_mode; + public uint safety_input_reduced_mode; + public uint safety_input_handguide; + + public uint safety_output_emergency_stop; + public uint safety_output_not_emergency_stop; + public uint safety_output_robot_moving; + public uint safety_output_robot_steady; + public uint safety_output_reduced_mode; + public uint safety_output_not_reduced_mode; + public uint safety_output_safe_home; + public uint safety_output_robot_not_stopping; + public uint safety_output_safetyguard_stop; + + public int tp_3pe_for_handguide; + public int allow_manual_high_speed; + } + + public enum AuboErrorCodes + { + AUBO_OK = 0, // Success + AUBO_BAD_STATE = 1, // State error + AUBO_QUEUE_FULL = 2, // Planning queue full + AUBO_BUSY = 3, // The previous command is executing + AUBO_TIMEOUT = 4, // Timeout + AUBO_INVL_ARGUMENT = 5, // Invalid parameters + AUBO_NOT_IMPLEMENTED = 6, // Interface not implemented (fixed typo) + AUBO_NO_ACCESS = 7, // Cannot access + AUBO_CONN_REFUSED = 8, // Connection refused + AUBO_CONN_RESET = 9, // Connection is reset + AUBO_INPROGRESS = 10, // Execution in progress + AUBO_EIO = 11, // Input/Output error + AUBO_NOBUFFS = 12, // No buffers (assuming an appropriate description) + AUBO_REQUEST_IGNORE = 13, // Request was ignored + AUBO_ALGORITHM_PLAN_FAILED = 14, // Motion planning algorithm error + AUBO_VERSION_INCOMPAT = 15, // Interface version unmatch + AUBO_DIMENSION_ERR = 16, // Input parameter dimension is incorrect + AUBO_SINGULAR_ERR = 17, // Input configuration may be singular + AUBO_POS_BOUND_ERR = 18, // Input position boundary exceeds the limit range + AUBO_INIT_POS_ERR = 19, // Initial position input is unreasonable + AUBO_ELP_SETTING_ERR = 20, // Envelope body setting error + AUBO_TRAJ_GEN_FAIL = 21, // Trajectory generation failed + AUBO_TRAJ_SELF_COLLISION = 22, // Trajectory self collision + AUBO_IK_NO_CONVERGE = 23, // Inverse kinematics computation did not converge; computation failed + AUBO_IK_OUT_OF_RANGE = 24, // Inverse kinematics result out of robot range + AUBO_IK_CONFIG_DISMATCH = 25, // Inverse kinematics input configuration contains errors + AUBO_IK_JACOBIAN_FAILED = 26, // The calculation of the inverse Jacobian matrix failed + AUBO_IK_NO_SOLU = 27, // The target point has solutions, but it has exceeded the joint limit conditions + AUBO_IK_UNKNOWN_ERROR = 28, // Inverse kinematics unknown error (fixed typo) + AUBO_ERR_UNKNOWN = 99999 // Unknown error occurred. + } + + + public enum RuntimeState + { + [Description("正在运行中")] + Running = 0, + + [Description("倒退")] + Retracting = 1, + + [Description("暂停中")] + Pausing = 2, + + [Description("暂停状态")] + Paused = 3, + + [Description("单步执行中")] + Stepping = 4, + + [Description("受控停止中(保持原有轨迹)")] + Stopping = 5, + + [Description("已停止")] + Stopped = 6, + + [Description("停止(最大速度关节运动停机)")] + Aborting = 7 + } + + public enum RobotModeType + { + [Description("提供给示教器使用的, 如果aubo_control进程崩溃则会显示为NoController")] + NoController = -1, + + [Description("没有连接到机械臂本体(控制器与接口板断开连接或是 EtherCAT 等总线断开)")] + Disconnected = 0, + + [Description("正在进行安全配置, 断电状态下进行")] + ConfirmSafety = 1, + + [Description("机械臂本体正在上电初始化")] + Booting = 2, + + [Description("机械臂本体处于断电状态")] + PowerOff = 3, + + [Description("机械臂本体上电成功, 刹车暂未松开(抱死), 关节初始状态未获取")] + PowerOn = 4, + + [Description("机械臂上电成功, 刹车暂未松开(抱死), 电机不通电, 关节初始状态获取完成")] + Idle = 5, + + [Description("机械臂上电成功, 刹车正在松开")] + BrakeReleasing = 6, + + [Description("反向驱动：刹车松开, 电机不通电")] + BackDrive = 7, + + [Description("机械臂刹车松开, 运行模式, 控制权由硬件移交给软件")] + Running = 8, + + [Description("维护模式: 包括固件升级、参数写入等")] + Maintaince = 9, + + [Description("")] + Error = 10, + + [Description("机械臂本体处于断电过程中")] + PowerOffing = 11 + } + + public enum SafetyModeType + { + [Description("安全状态待定")] + Undefined = 0, + + [Description("正常运行模式")] + Normal = 1, + + [Description("缩减运行模式")] + ReducedMode = 2, + + [Description("启动时如果在安全限制之外, 机器人将进入recovery模式")] + Recovery = 3, + + [Description("超出安全限制（根据安全配置, 例如速度超限等）")] + Violation = 4, + + [Description("软件触发的停机（保持轨迹, 不抱闸, 不断电）")] + ProtectiveStop = 5, + + [Description("IO触发的防护停机（不保持轨迹, 抱闸, 不断电）")] + SafeguardStop = 6, + + [Description("系统急停：急停信号由外部输入(可配置输入), 不对外输出急停信号")] + SystemEmergencyStop = 7, + + [Description("机器人急停：控制柜急停输入或者示教器急停按键触发, 对外输出急停信号")] + RobotEmergencyStop = 8, + + [Description("机械臂硬件故障或者系统故障")] + Fault = 9 + } + + public enum OperationalModeType + { + [Description("禁用模式: 不使用Operational Mode")] + Disabled = 0, + + [Description("自动模式: 机器人正常工作模式, 运行速度不会被限制")] + Automatic = 1, + + [Description("手动模式: 机器人编程示教模式(T1), 机器人运行速度将会被限制或者机器人程序校验模式(T2)")] + Manual = 2 + } + + public enum RobotControlModeType + { + [Description("未知的控制模式")] + Unknown = 0, + + [Description("位置控制 movej")] + Position = 1, + + [Description("速度控制 speedj/speedl")] + Speed = 2, + + [Description("位置控制 servoj")] + Servo = 3, + + [Description("拖动示教 freedrive_mode")] + Freedrive = 4, + + [Description("末端力控 force_mode")] + Force = 5, + + [Description("关节力矩控制")] + Torque = 6, + + [Description("碰撞模式")] + Collision = 7 + } + + public enum JointServoModeType + { + [Description("未知")] + Unknown = -1, + + [Description("开环模式")] + Open = 0, + + [Description("电流伺服模式")] + Current = 1, + + [Description("速度伺服模式")] + Velocity = 2, + + [Description("位置伺服模式")] + Position = 3, + + [Description("力矩伺服模式")] + Torque = 4 + } + + public enum JointStateType + { + [Description("节点未连接到接口板或者已经断电")] + Poweroff = 0, + + [Description("节点空闲")] + Idle = 2, + + [Description("节点错误, 节点停止伺服运动, 刹车抱死")] + Fault = 3, + + [Description("节点伺服")] + Running = 4, + + [Description("节点bootloader状态, 暂停一切通讯")] + Bootload = 5 + } + + public enum StandardInputAction + { + [Description("无触发")] + Default = 0, + + [Description("拖动示教，高电平触发")] + Handguide = 1, + + [Description("运动到工程初始位姿，高电平触发")] + GoHome = 2, + + [Description("开始工程，上升沿触发")] + StartProgram = 3, + + [Description("停止工程，上升沿触发")] + StopProgram = 4, + + [Description("暂停工程，上升沿触发")] + PauseProgram = 5, + + [Description("消除弹窗，上升沿触发")] + PopupDismiss = 6, + + [Description("机器人上电/松刹车，上升沿触发")] + PowerOn = 7, + + [Description("机器人抱死刹车/断电，上升沿触发")] + PowerOff = 8, + + [Description("恢复工程，上升沿触发")] + ResumeProgram = 9, + + [Description("机器人减速触发1，高电平触发")] + SlowDown1 = 10, + + [Description("机器人减速触发2，高电平触发")] + SlowDown2 = 11, + + [Description("安全停止，高电平触发")] + SafeStop = 12, + + [Description("信号，高电平有效")] + RunningGuard = 13, + + [Description("运动到工程初始位姿，高电平触发")] + MoveToFirstPoint = 14, + + [Description("机器人减速触发1，低电平触发")] + xSlowDown1 = 15, + + [Description("机器人减速触发2，低电平触发")] + xSlowDown2 = 16 + } + + public enum StandardOutputRunState + { + [Description("标准输出状态未定义")] + None = 0, + [Description("低电平指示工程停止")] + StopLow = 1, + [Description("高电平指示机器人停止")] + StopHigh = 2, + [Description("指示工程正在运行")] + RunningHigh = 3, + [Description("指示工程已经暂停")] + PausedHigh = 4, + [Description("高电平指示机器人正在拖动")] + AtHome = 5, + [Description("高电平指示机器人正在拖动（注意：与AtHome重复描述，可能需要修正）")] + Handguiding = 6, + [Description("高电平指示机器人已经上电")] + PowerOn = 7, + [Description("高电平指示机器人急停按下")] + RobotEmergencyStop = 8, + [Description("高电平指示外部输入系统急停按下")] + SystemEmergencyStop = 9, + [Description("系统错误，包括故障、超限、急停、安全停止、防护停止")] + SystemError = 10, + [Description("无系统错误，包括普通模式、缩减模式和恢复模式")] + NotSystemError = 11, + [Description("机器人可操作，机器人上电且松刹车了")] + RobotOperable = 12 + } + + public enum SafetyInputAction + { + [Description("安全输入未分配动作")] + Unassigned = 0, + [Description("安全输入触发急停")] + EmergencyStop = 1, + [Description("安全输入触发防护停止, 边沿触发")] + SafeguardStop = 2, + [Description("安全输入触发防护重置, 边沿触发")] + SafeguardReset = 3, + [Description("3档位使能开关")] + ThreePositionSwitch = 4, + [Description("切换自动模式和手动模式")] + OperationalMode = 5, + [Description("拖动示教")] + HandGuide = 6, + [Description("安全参数切换1(缩减模式)，序号越低优先级越高，三路输出都无效时，选用第0组安全参数")] + ReducedMode = 7, + [Description("自动模式下防护停机输入(需要配置三档位使能设备)")] + AutomaticModeSafeguardStop = 8, + [Description("自动模式下上升沿触发防护重置(需要配置三档位使能设备)")] + AutomaticModeSafeguardReset = 9 + } + + public enum SafetyOutputRunState + { + [Description("安全输出未定义")] + Unassigned = 0, + [Description("输出高当有机器人急停输入或者急停按键被按下")] + SystemEmergencyStop = 1, + [Description("输出低当有机器人急停输入或者急停按键被按下")] + NotSystemEmergencyStop = 2, + [Description("输出高当有关节运动速度超过 0.1rad/s")] + RobotMoving = 3, + [Description("输出高当所有的关节运动速度不超过 0.1rad/s")] + RobotNotMoving = 4, + [Description("输出高当机器人处于缩减模式")] + ReducedMode = 5, + [Description("输出高当机器人不处于缩减模式")] + NotReducedMode = 6, + [Description("输出高当机器人已经处于安全Home位姿")] + SafeHome = 7, + [Description("输出低当机器人正在急停或者安全停止中")] + RobotNotStopping = 8 + } + + public enum PayloadIdentifyMoveAxis + { + [Description("第2和6关节运动")] + Joint_2_6 = 0, + [Description("第3和6关节运动")] + Joint_3_6 = 1, + [Description("第4和6关节运动")] + Joint_4_6 = 2, + [Description("第4、5、6关节运动")] + Joint_4_5_6 = 3 + } + + public enum EnvelopingShape + { + [Description("立方体")] + Cube = 1, + + [Description("柱状体")] + Column = 2, + + [Description("以STL文件的形式描述负载碰撞集合体")] + Stl = 3 + } + + public enum TaskFrameType + { + [Description("")] + NONE = 0, + + [Description("力控坐标系发生变换, 使得力控参考坐标系的y轴沿着机器人TCP指向力控所选特征的原点, x和z轴取决于所选特征的原始方向\n力控坐标系发生变换, 使得力控参考坐标系的y轴沿着机器人TCP指向力控所选特征的原点, x和z轴取决于所选特征的原始方向\n机器人TCP与所选特征的起点之间的距离至少为10mm\n优先选择X轴, 为所选特征的X轴在力控坐标系Y轴垂直平面上的投影, 如果所选特征的X轴与力控坐标系的Y轴平行, \n通过类似方法确定力控坐标系Z轴, Y-X或者Y-Z轴确定之后, 通过右手法则确定剩下的轴")] + POINT_FORCE = 1, + + [Description("力控坐标系不发生变换 SIMPLE_FORC")] + FRAME_FORCE = 2, + + [Description("力控坐标系发生变换, 使得力控参考坐标系的x轴为机器人TCP速度在所选特征x-y平面上的投影y轴将垂直于机械臂运动, 并在所选特征的x-y平面内")] + MOTION_FORCE = 3, + + [Description("以工具末端坐标系作为力控参考坐标系")] + TOOL_FORCE = 4 + } + + public enum TraceLevel + { + [Description("")] + FATAL = 0, + + [Description("")] + ERROR = 1, + + [Description("")] + WARNING = 2, + + [Description("")] + INFO = 3, + + [Description("")] + DEBUG = 4 + } + + public enum AxisModeType + { + [Description("提供给示教器使用的, 如果aubo_control进程崩溃则会显示为NoController")] + NoController = -1, + + [Description("未连接")] + Disconnected = 0, + + [Description("断电")] + PowerOff = 1, + + [Description("刹车松开中")] + BrakeReleasing = 2, + + [Description("空闲")] + Idle = 3, + + [Description("运行中")] + Running = 4, + + [Description("错误状态")] + Fault = 5 + } + + public enum SafeguedStopType + { + [Description("无安全停止")] + None = 0, + + [Description("安全停止(IO输入)")] + SafeguedStopIOInput = 1, + + [Description("安全停止(三态开关)")] + SafeguedStop3PE = 2, + + [Description("安全停止(操作模式)")] + SafeguedStopOperational = 3 + } + + + public enum ForceControlState + { + [Description("力控状态：已停止")] + ForceControlState_Stopped, + + [Description("力控状态：正在启动")] + ForceControlState_Starting, + + // 注意：原枚举值 "Stropping" 可能是 "Stopping" 的拼写错误，这里按照原样保留，但建议检查是否为拼写错误 + [Description("力控状态：正在停止（注意：可能是'Stopping'的拼写错误）")] + ForceControlState_Stropping, + + [Description("力控状态：正在运行")] + ForceControlState_Running + } + + public enum RefFrameType + { + [Description("无参考坐标系")] + RefFrameType_None, + + [Description("工具坐标系")] + RefFrameType_Tool, + + [Description("轨迹坐标系")] + RefFrameType_Path, + + [Description("基坐标系")] + RefFrameType_Base + } + + // 圆周运动参数定义 + [StructLayout(LayoutKind.Sequential)] + public struct CircleParameters + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] PoseVia; // 圆周运动途中点的位姿 + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] PoseTo; // 圆周运动结束点的位姿 + + public double Acceleration; // 加速度, 单位: m/s^2 + public double Speed; // 速度，单位: m/s + public double BlendRadius; // 交融半径, 单位: m + public double Duration; // 运行时间，单位: s + public double Helix; + public double Spiral; + public double Direction; + public int LoopTimes; // 暂不支持 + } + + // 螺旋线参数定义 + [StructLayout(LayoutKind.Sequential)] + public struct SpiralParameters + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] Frame; // 参考点，螺旋线的中心点和参考坐标系 + public int Plane; // 参考平面选择 0-XY 1-YZ 2-ZX + public double Angle; // 转动的角度，如果为正数，机器人逆时针旋转 + public double Spiral; // 正数外扩 + public double Helix; // 正数上升 + } + + [StructLayout(LayoutKind.Sequential)] + public struct Enveloping + { + public EnvelopingShape Shape; // 包络体形状 + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] EpArgs; // 包络体组合，根据shape的不同，数组元素含义不同 + + [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 100)] + private string stlPath; // STL文件路径（在C#中，我们通常使用string而不是char数组） + + // 提供STL路径的公共属性，带有getter和setter + public string StlPath + { + get { return stlPath; } + set { stlPath = value; } + } + } + + // 用于负载辨识的轨迹配置 + public class TrajConfig + { + public Enveloping[] Envelopings; // 包络体组合（使用数组而不是指针） + public int MoveAxis; // 运动的轴(ID), 下标从0开始（假设只有一个轴在运动） + // 如果需要多个轴，可以考虑使用数组或集合 + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = MAX_DOF)] // 注意：MAX_DOF需要在某处定义 + public double[] InitJoint; // 关节初始位置 + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = MAX_DOF)] + public double[] UpperJointBound; // 运动轴上限 + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = MAX_DOF)] + public double[] LowerJointBound; // 运动轴下限 + + public double MaxVelocity; // 关节运动的最大速度，默认值为3.0 + public double MaxAcceleration; // 关节运动的最大加速度，默认值为5.0 + } + + + // 对应C语言中的DHParam_C结构体 + [StructLayout(LayoutKind.Sequential)] + public struct DHParam + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] theta; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] beta; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] d; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] a; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] alpha; + } + + // 对应C语言中的DHComp_C结构体 + [StructLayout(LayoutKind.Sequential)] + public struct DHComp + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] theta_comp; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] beta_comp; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] d_comp; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] a_comp; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] alpha_comp; + } + + // 对应C语言中的Payload_C结构体 + [StructLayout(LayoutKind.Sequential)] + public struct Payload + { + public double mass; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] + public double[] cog; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] + public double[] aom; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] inertia; + } + + [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)] + public struct PlanContextResult + { + public int tid; + public int lineno; + [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 100)] + public string comment; + } + + [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)] + public struct ExecutionStatusResult + { + [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 100)] + public string name; + [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 100)] + public string status; + } + + [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)] + public struct ExecutionStatus1Result + { + [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 100)] + public string name; + [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 100)] + public string status; + public int retval; + } + + // 对应C语言中的ForceSensorCalibResult_C结构体 + [StructLayout(LayoutKind.Sequential)] + public struct ForceSensorCalibResult + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] force_offset; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] + public double[] com; + public double mass; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] angle; + } + + // 对应C语言中的DynamicsModel结构体 + [StructLayout(LayoutKind.Sequential)] + public struct DynamicsModel + { + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] m; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] d; + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public double[] k; + } + + [StructLayout(LayoutKind.Sequential)] + public struct RobotMsg + { + public ulong timestamp; + public TraceLevel level; + public int code; + [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 100)] + public string source; + public IntPtr args; + public int args_count; + } + + [StructLayout(LayoutKind.Sequential)] + public struct RobotMsgVector + { + public IntPtr data; // RobotMsg* + public int size; // RobotMsg个数 + } + + [StructLayout(LayoutKind.Sequential)] + public struct RtdeRecipe + { + public bool to_server; + public int chanel; + public double frequency; + public int trigger; + public IntPtr segments; + public int segments_count; + } + + public enum ErrorType + { + [Description("解析错误")] + ParseError = -32700, + [Description("无效请求")] + InvalidRequest = -32600, + [Description("方法未找到")] + MethodNotFound = -32601, + [Description("无效参数")] + InvalidParams = -32602, + [Description("内部错误")] + InternalError = -32603, + [Description("服务器错误")] + ServerError, // 在C#中，如果不指定值，则默认为前一个值加1（但这里由于前面有显式值，所以默认是0，需要手动设置） + [Description("无效")] + Invalid = 1 + } + + public enum ExceptionCode + { + [Description("断开连接")] + Disconnected = -1, + [Description("未登录")] + NotLogined = -2, + [Description("无效套接字")] + InvalidSocket = -3, + [Description("请求繁忙")] + RequestBusy = -4, + [Description("发送失败")] + SendFailed = -5, + [Description("接收超时")] + RecvTimeout = -6, + [Description("接收错误")] + RecvError = -7, + [Description("解析错误")] + ParseError = -8, + [Description("无效请求")] + InvalidRequest = -9, + [Description("方法未找到")] + MethodNotFound = -10, + [Description("无效参数")] + InvalidParams = -11, + [Description("内部错误")] + InternalError = -12, + [Description("服务器错误")] + ServerError = -13, + [Description("无效")] + Invalid = -14 + } + + // 定义一个帮助类来获取枚举值的描述 + public static class EnumHelper + { + public static string GetDescription(Enum value) + { + var field = value.GetType().GetField(value.ToString()); + var descriptionAttribute = Attribute.GetCustomAttribute(field, typeof(DescriptionAttribute)) as DescriptionAttribute; + return descriptionAttribute == null ? value.ToString() : descriptionAttribute.Description; + } + } + } + + public class cSharpBinging_RobotInterface + { + const string dllName = "aubo_sdkd.dll"; + + [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)] + public static extern ROBOT_CONFIG_HANDLER robot_getRobotConfig(ROBOT_HANDLER robot); + + [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)] + public static extern MOTION_CONTROL_HANDLER robot_getMotionControl(ROBOT_HANDLER robot); + + [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)] + public static extern FORCE_CONTROL_HANDLER robot_getForceControl(ROBOT_HANDLER robot); + + [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)] + public static extern IO_CONTROL_HANDLER robot_getIoControl(ROBOT_HANDLER robot); + + [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)] + public static extern SYNC_MOVE_HANDLER robot_getSyncMove(ROBOT_HANDLER robot); + + [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)] + public static extern ROBOT_ALGORITHM_HANDLER robot_getRobotAlgorithm(ROBOT_HANDLER robot); + + [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)] + public static extern ROBOT_MANAGE_HANDLER robot_getRobotManage(ROBOT_HANDLER robot); + + [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)] + public static extern ROBOT_STATE_HANDLER robot_getRobotState(ROBOT_HANDLER robot); + + [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)] + public static extern TRACE_HANDLER robot_getTrace(ROBOT_HANDLER robot); + } + // aubo_sdk/robot + public class cSharpBinging_ForceControl + { + const string service_interface_dll = GlobalConstants.service_interface_dll; + + // 启用力控功能函数封装 + [DllImport(service_interface_dll, EntryPoint = "fcEnable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int fcEnable(IntPtr h); + + // 禁用力控功能函数封装 + [DllImport(service_interface_dll, EntryPoint = "fcDisable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int fcDisable(IntPtr h); + + // 判断力控是否启用函数封装 + [DllImport(service_interface_dll, EntryPoint = "isFcEnabled", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isFcEnabled(IntPtr h); + + // 设置目标力函数封装 + [DllImport(service_interface_dll, EntryPoint = "setTargetForce", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setTargetForce(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] feature, [MarshalAs(UnmanagedType.LPArray)] byte[] compliance, [MarshalAs(UnmanagedType.LPArray)] double[] wrench, [MarshalAs(UnmanagedType.LPArray)] double[] limits, cSharpBinging_TypeDef.TaskFrameType type); + + // 设置动力学模型函数封装 + [DllImport(service_interface_dll, EntryPoint = "setDynamicModel", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setDynamicModel(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] m, [MarshalAs(UnmanagedType.LPArray)] double[] d, [MarshalAs(UnmanagedType.LPArray)] double[] k); + + // 获取动力学模型函数封装 + [DllImport(service_interface_dll, EntryPoint = "getDynamicModel", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.DynamicsModel getDynamicModel(IntPtr h); + + // 设置条件力函数封装 + [DllImport(service_interface_dll, EntryPoint = "setCondForce", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setCondForce(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] min, [MarshalAs(UnmanagedType.LPArray)] double[] max, bool outside, double timeout); + + // 设置条件方向函数封装 + [DllImport(service_interface_dll, EntryPoint = "setCondOrient", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setCondOrient(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] frame, double max_angle, double max_rot, bool outside, double timeout); + + // 设置条件平面函数封装 + [DllImport(service_interface_dll, EntryPoint = "setCondPlane", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setCondPlane(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] plane, double timeout); + + // 设置条件圆柱函数封装 + [DllImport(service_interface_dll, EntryPoint = "setCondCylinder", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setCondCylinder(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] axis, double radius, bool outside, double timeout); + + // 设置条件球体函数封装 + [DllImport(service_interface_dll, EntryPoint = "setCondSphere", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setCondSphere(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] center, double radius, bool outside, double timeout); + + // 设置条件TCP速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "setCondTcpSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setCondTcpSpeed(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] min, [MarshalAs(UnmanagedType.LPArray)] double[] max, bool outside, double timeout); + + // 设置条件激活函数封装 + [DllImport(service_interface_dll, EntryPoint = "setCondActive", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setCondActive(IntPtr h); + + // 设置条件距离函数封装 + [DllImport(service_interface_dll, EntryPoint = "setCondDistance", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setCondDistance(IntPtr h, double distance, double timeout); + + // 设置高级条件函数封装 + [DllImport(service_interface_dll, EntryPoint = "setCondAdvanced", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setCondAdvanced(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string type, [MarshalAs(UnmanagedType.LPArray)] double[] args, double timeout); + + // 判断条件是否满足函数封装 + [DllImport(service_interface_dll, EntryPoint = "isCondFullfiled", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isCondFullfiled(IntPtr h); + + // 设置监督力函数封装 + [DllImport(service_interface_dll, EntryPoint = "setSupvForce", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setSupvForce(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] min, [MarshalAs(UnmanagedType.LPArray)] double[] max); + + // 设置监督方向函数封装 + [DllImport(service_interface_dll, EntryPoint = "setSupvOrient", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setSupvOrient(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] frame, double max_angle, double max_rot, bool outside); + + // 设置监督位置盒子函数封装 + [DllImport(service_interface_dll, EntryPoint = "setSupvPosBox", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setSupvPosBox(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] frame, [MarshalAs(UnmanagedType.LPArray)] double[] box); + + // 设置监督位置圆柱函数封装 + [DllImport(service_interface_dll, EntryPoint = "setSupvPosCylinder", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setSupvPosCylinder(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] frame, [MarshalAs(UnmanagedType.LPArray)] double[] cylinder); + + // 设置监督位置球体函数封装 + [DllImport(service_interface_dll, EntryPoint = "setSupvPosSphere", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setSupvPosSphere(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] frame, [MarshalAs(UnmanagedType.LPArray)] double[] sphere); + + // 设置监督重定向速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "setSupvReoriSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setSupvReoriSpeed(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] speed_limit, bool outside, double timeout); + + // 设置监督TCP速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "setSupvTcpSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setSupvTcpSpeed(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] speed_limit, bool outside, double timeout); + + // 设置低通滤波器函数封装 + [DllImport(service_interface_dll, EntryPoint = "setLpFilter", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setLpFilter(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] cutoff_freq); + + // 重置低通滤波器函数封装 + [DllImport(service_interface_dll, EntryPoint = "resetLpFilter", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int resetLpFilter(IntPtr h); + + // 速度变化调谐函数封装 + [DllImport(service_interface_dll, EntryPoint = "speedChangeTune", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int speedChangeTune(IntPtr h, int speed_levels, double speed_ratio_min); + + // 启用速度变化函数封装 + [DllImport(service_interface_dll, EntryPoint = "speedChangeEnable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int speedChangeEnable(IntPtr h, double ref_force); + + // 禁用速度变化函数封装 + [DllImport(service_interface_dll, EntryPoint = "speedChangeDisable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int speedChangeDisable(IntPtr h); + + // 设置阻尼函数封装 + [DllImport(service_interface_dll, EntryPoint = "setDamping", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setDamping(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] damping, double ramp_time); + + // 重置阻尼函数封装 + [DllImport(service_interface_dll, EntryPoint = "resetDamping", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int resetDamping(IntPtr h); + + // 启用软浮动函数封装 + [DllImport(service_interface_dll, EntryPoint = "softFloatEnable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int softFloatEnable(IntPtr h); + + // 禁用软浮动函数封装 + [DllImport(service_interface_dll, EntryPoint = "softFloatDisable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int softFloatDisable(IntPtr h); + + // 判断软浮动是否启用函数封装 + [DllImport(service_interface_dll, EntryPoint = "isSoftFloatEnabled", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isSoftFloatEnabled(IntPtr h); + + // 设置软浮动参数函数封装 + [DllImport(service_interface_dll, EntryPoint = "setSoftFloatParams", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setSoftFloatParams(IntPtr h, bool joint_space, [MarshalAs(UnmanagedType.LPArray)] byte[] select, [MarshalAs(UnmanagedType.LPArray)] double[] stiff_percent, [MarshalAs(UnmanagedType.LPArray)] double[] stiff_damp_ratio, [MarshalAs(UnmanagedType.LPArray)] double[] force_threshold, [MarshalAs(UnmanagedType.LPArray)] double[] force_limit); + + // 工具接触函数封装 + [DllImport(service_interface_dll, EntryPoint = "toolContact", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int toolContact(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] byte[] direction); + } + public class cSharpBinging_IoControl + { + const string service_interface_dll = GlobalConstants.service_interface_dll; + + // 获取标准数字输入数量函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardDigitalInputNum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getStandardDigitalInputNum(IntPtr h); + + // 获取工具数字输入数量函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolDigitalInputNum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getToolDigitalInputNum(IntPtr h); + + // 获取可配置数字输入数量函数封装 + [DllImport(service_interface_dll, EntryPoint = "getConfigurableDigitalInputNum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getConfigurableDigitalInputNum(IntPtr h); + + // 获取标准数字输出数量函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardDigitalOutputNum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getStandardDigitalOutputNum(IntPtr h); + + // 获取工具数字输出数量函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolDigitalOutputNum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getToolDigitalOutputNum(IntPtr h); + + // 设置工具IO输入函数封装 + [DllImport(service_interface_dll, EntryPoint = "setToolIoInput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setToolIoInput(IntPtr h, int index, bool input); + + // 判断工具IO输入状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "isToolIoInput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isToolIoInput(IntPtr h, int index); + + // 获取可配置数字输出数量函数封装 + [DllImport(service_interface_dll, EntryPoint = "getConfigurableDigitalOutputNum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getConfigurableDigitalOutputNum(IntPtr h); + + // 获取标准模拟输入数量函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardAnalogInputNum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getStandardAnalogInputNum(IntPtr h); + + // 获取工具模拟输入数量函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolAnalogInputNum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getToolAnalogInputNum(IntPtr h); + + // 获取标准模拟输出数量函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardAnalogOutputNum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getStandardAnalogOutputNum(IntPtr h); + + // 获取工具模拟输出数量函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolAnalogOutputNum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getToolAnalogOutputNum(IntPtr h); + + // 设置数字输入动作默认值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setDigitalInputActionDefault", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setDigitalInputActionDefault(IntPtr h); + + // 设置标准数字输入动作函数封装 + [DllImport(service_interface_dll, EntryPoint = "setStandardDigitalInputAction", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setStandardDigitalInputAction(IntPtr h, int index, cSharpBinging_TypeDef.StandardInputAction action); + + // 设置工具数字输入动作函数封装 + [DllImport(service_interface_dll, EntryPoint = "setToolDigitalInputAction", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setToolDigitalInputAction(IntPtr h, int index, cSharpBinging_TypeDef.StandardInputAction action); + + // 设置可配置数字输入动作函数封装 + [DllImport(service_interface_dll, EntryPoint = "setConfigurableDigitalInputAction", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setConfigurableDigitalInputAction(IntPtr h, int index, cSharpBinging_TypeDef.StandardInputAction action); + + // 获取标准数字输入动作函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardDigitalInputAction", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.StandardInputAction getStandardDigitalInputAction(IntPtr h, int index); + + // 获取工具数字输入动作函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolDigitalInputAction", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.StandardInputAction getToolDigitalInputAction(IntPtr h, int index); + + // 获取可配置数字输入动作函数封装 + [DllImport(service_interface_dll, EntryPoint = "getConfigurableDigitalInputAction", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.StandardInputAction getConfigurableDigitalInputAction(IntPtr h, int index); + + // 设置数字输出运行状态默认值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setDigitalOutputRunstateDefault", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setDigitalOutputRunstateDefault(IntPtr h); + + // 设置标准数字输出运行状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "setStandardDigitalOutputRunstate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setStandardDigitalOutputRunstate(IntPtr h, int index, cSharpBinging_TypeDef.StandardOutputRunState runstate); + + // 设置工具数字输出运行状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "setToolDigitalOutputRunstate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setToolDigitalOutputRunstate(IntPtr h, int index, cSharpBinging_TypeDef.StandardOutputRunState runstate); + + // 设置可配置数字输出运行状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "setConfigurableDigitalOutputRunstate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setConfigurableDigitalOutputRunstate(IntPtr h, int index, cSharpBinging_TypeDef.StandardOutputRunState runstate); + + // 获取标准数字输出运行状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardDigitalOutputRunstate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.StandardOutputRunState getStandardDigitalOutputRunstate(IntPtr h, int index); + + // 获取工具数字输出运行状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolDigitalOutputRunstate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.StandardOutputRunState getToolDigitalOutputRunstate(IntPtr h, int index); + + // 获取可配置数字输出运行状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "getConfigurableDigitalOutputRunstate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.StandardOutputRunState getConfigurableDigitalOutputRunstate(IntPtr h, int index); + + // 设置标准模拟输出运行状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "setStandardAnalogOutputRunstate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setStandardAnalogOutputRunstate(IntPtr h, int index, cSharpBinging_TypeDef.StandardOutputRunState runstate); + + // 设置工具模拟输出运行状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "setToolAnalogOutputRunstate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setToolAnalogOutputRunstate(IntPtr h, int index, cSharpBinging_TypeDef.StandardOutputRunState runstate); + + // 获取标准模拟输出运行状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardAnalogOutputRunstate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.StandardOutputRunState getStandardAnalogOutputRunstate(IntPtr h, int index); + + // 获取工具模拟输出运行状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolAnalogOutputRunstate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.StandardOutputRunState getToolAnalogOutputRunstate(IntPtr h, int index); + + // 设置标准模拟输入域函数封装 + [DllImport(service_interface_dll, EntryPoint = "setStandardAnalogInputDomain", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setStandardAnalogInputDomain(IntPtr h, int index, int domain); + + // 设置工具模拟输入域函数封装 + [DllImport(service_interface_dll, EntryPoint = "setToolAnalogInputDomain", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setToolAnalogInputDomain(IntPtr h, int index, int domain); + + // 获取标准模拟输入域函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardAnalogInputDomain", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getStandardAnalogInputDomain(IntPtr h, int index); + + // 获取工具模拟输入域函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolAnalogInputDomain", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getToolAnalogInputDomain(IntPtr h, int index); + + // 设置标准模拟输出域函数封装 + [DllImport(service_interface_dll, EntryPoint = "setStandardAnalogOutputDomain", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setStandardAnalogOutputDomain(IntPtr h, int index, int domain); + + // 设置工具模拟输出域函数封装 + [DllImport(service_interface_dll, EntryPoint = "setToolAnalogOutputDomain", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setToolAnalogOutputDomain(IntPtr h, int index, int domain); + + // 设置工具电压输出域函数封装 + [DllImport(service_interface_dll, EntryPoint = "setToolVoltageOutputDomain", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setToolVoltageOutputDomain(IntPtr h, int domain); + + // 获取工具电压输出域函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolVoltageOutputDomain", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getToolVoltageOutputDomain(IntPtr h); + + // 获取标准模拟输出域函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardAnalogOutputDomain", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getStandardAnalogOutputDomain(IntPtr h, int index); + + // 获取工具模拟输出域函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolAnalogOutputDomain", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getToolAnalogOutputDomain(IntPtr h, int index); + + // 设置标准数字输出函数封装 + [DllImport(service_interface_dll, EntryPoint = "setStandardDigitalOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setStandardDigitalOutput(IntPtr h, int index, bool value); + + // 设置标准数字输出脉冲函数封装 + [DllImport(service_interface_dll, EntryPoint = "setStandardDigitalOutputPulse", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setStandardDigitalOutputPulse(IntPtr h, int index, bool value, double duration); + + // 设置工具数字输出函数封装 + [DllImport(service_interface_dll, EntryPoint = "setToolDigitalOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setToolDigitalOutput(IntPtr h, int index, bool value); + + // 设置工具数字输出脉冲函数封装 + [DllImport(service_interface_dll, EntryPoint = "setToolDigitalOutputPulse", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setToolDigitalOutputPulse(IntPtr h, int index, bool value, double duration); + + // 设置可配置数字输出函数封装 + [DllImport(service_interface_dll, EntryPoint = "setConfigurableDigitalOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setConfigurableDigitalOutput(IntPtr h, int index, bool value); + + // 设置可配置数字输出脉冲函数封装 + [DllImport(service_interface_dll, EntryPoint = "setConfigurableDigitalOutputPulse", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setConfigurableDigitalOutputPulse(IntPtr h, int index, bool value, double duration); + + // 设置标准模拟输出函数封装 + [DllImport(service_interface_dll, EntryPoint = "setStandardAnalogOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setStandardAnalogOutput(IntPtr h, int index, double value); + + // 设置工具模拟输出函数封装 + [DllImport(service_interface_dll, EntryPoint = "setToolAnalogOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setToolAnalogOutput(IntPtr h, int index, double value); + + // 获取标准数字输入函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardDigitalInput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool getStandardDigitalInput(IntPtr h, int index); + + // 获取所有标准数字输入函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardDigitalInputs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern UInt32 getStandardDigitalInputs(IntPtr h); + + // 获取工具数字输入函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolDigitalInput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool getToolDigitalInput(IntPtr h, int index); + + // 获取所有工具数字输入函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolDigitalInputs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern UInt32 getToolDigitalInputs(IntPtr h); + + // 获取可配置数字输入函数封装 + [DllImport(service_interface_dll, EntryPoint = "getConfigurableDigitalInput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool getConfigurableDigitalInput(IntPtr h, int index); + + // 获取所有可配置数字输入函数封装 + [DllImport(service_interface_dll, EntryPoint = "getConfigurableDigitalInputs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern UInt32 getConfigurableDigitalInputs(IntPtr h); + + // 获取标准模拟输入函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardAnalogInput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getStandardAnalogInput(IntPtr h, int index); + + // 获取工具模拟输入函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolAnalogInput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getToolAnalogInput(IntPtr h, int index); + + // 获取标准数字输出函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardDigitalOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool getStandardDigitalOutput(IntPtr h, int index); + + // 获取所有标准数字输出函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardDigitalOutputs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern UInt32 getStandardDigitalOutputs(IntPtr h); + + // 获取工具数字输出函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolDigitalOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool getToolDigitalOutput(IntPtr h, int index); + + // 获取所有工具数字输出函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolDigitalOutputs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern UInt32 getToolDigitalOutputs(IntPtr h); + + // 获取可配置数字输出函数封装 + [DllImport(service_interface_dll, EntryPoint = "getConfigurableDigitalOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool getConfigurableDigitalOutput(IntPtr h, int index); + + // 获取所有可配置数字输出函数封装 + [DllImport(service_interface_dll, EntryPoint = "getConfigurableDigitalOutputs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern UInt32 getConfigurableDigitalOutputs(IntPtr h); + + // 获取标准模拟输出函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStandardAnalogOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getStandardAnalogOutput(IntPtr h, int index); + + // 获取工具模拟输出函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolAnalogOutput", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getToolAnalogOutput(IntPtr h, int index); + + // 获取静态链路输入数量函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStaticLinkInputNum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getStaticLinkInputNum(IntPtr h); + + // 获取静态链路输出数量函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStaticLinkOutputNum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getStaticLinkOutputNum(IntPtr h); + + // 获取所有静态链路输入函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStaticLinkInputs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern UInt32 getStaticLinkInputs(IntPtr h); + + // 获取所有静态链路输出函数封装 + [DllImport(service_interface_dll, EntryPoint = "getStaticLinkOutputs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern UInt32 getStaticLinkOutputs(IntPtr h); + + // 判断是否有编码器传感器函数封装 + [DllImport(service_interface_dll, EntryPoint = "hasEncoderSensor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool hasEncoderSensor(IntPtr h); + + // 设置编码器解码器类型函数封装 + [DllImport(service_interface_dll, EntryPoint = "setEncDecoderType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setEncDecoderType(IntPtr h, int type, int range_id); + + // 设置编码器计数值函数封装 + [DllImport(service_interface_dll, EntryPoint = "setEncTickCount", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setEncTickCount(IntPtr h, int tick); + + // 获取编码器解码器类型函数封装 + [DllImport(service_interface_dll, EntryPoint = "getEncDecoderType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getEncDecoderType(IntPtr h); + + // 获取编码器计数值函数封装 + [DllImport(service_interface_dll, EntryPoint = "getEncTickCount", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getEncTickCount(IntPtr h); + + // 展开编码器增量计数值函数封装 + [DllImport(service_interface_dll, EntryPoint = "unwindEncDeltaTickCount", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int unwindEncDeltaTickCount(IntPtr h, int delta_count); + + // 获取工具按钮状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolButtonStatus", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool getToolButtonStatus(IntPtr h); + + } + public class cSharpBinging_MotionControl + { + const string service_interface_dll = GlobalConstants.service_interface_dll; + + // 获取等效半径函数封装 + [DllImport(service_interface_dll, EntryPoint = "getEqradius", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getEqradius(IntPtr h); + + // 设置等效半径函数封装 + [DllImport(service_interface_dll, EntryPoint = "setEqradius", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setEqradius(IntPtr h, double eqradius); + + // 获取速度分数函数封装 + [DllImport(service_interface_dll, EntryPoint = "getSpeedFraction", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getSpeedFraction(IntPtr h); + + // 设置速度分数函数封装 + [DllImport(service_interface_dll, EntryPoint = "setSpeedFraction", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setSpeedFraction(IntPtr h, double fraction); + + // 启用/禁用速度分数临界功能函数封装 + [DllImport(service_interface_dll, EntryPoint = "speedFractionCritical", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int speedFractionCritical(IntPtr h, bool enable); + + // 判断速度分数是否处于临界状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "isSpeedFractionCritical", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isSpeedFractionCritical(IntPtr h); + + // 判断是否处于混合状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "isBlending", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isBlending(IntPtr h); + + // 启用路径偏移功能函数封装 + [DllImport(service_interface_dll, EntryPoint = "pathOffsetEnable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int pathOffsetEnable(IntPtr h); + + // 设置路径偏移函数封装 + [DllImport(service_interface_dll, EntryPoint = "pathOffsetSet", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int pathOffsetSet(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] offset, int type); + + // 禁用路径偏移功能函数封装 + [DllImport(service_interface_dll, EntryPoint = "pathOffsetDisable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int pathOffsetDisable(IntPtr h); + + // 启用关节偏移功能函数封装 + [DllImport(service_interface_dll, EntryPoint = "jointOffsetEnable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int jointOffsetEnable(IntPtr h); + + // 设置关节偏移函数封装 + [DllImport(service_interface_dll, EntryPoint = "jointOffsetSet", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int jointOffsetSet(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] offset, int type); + + // 禁用关节偏移功能函数封装 + [DllImport(service_interface_dll, EntryPoint = "jointOffsetDisable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int jointOffsetDisable(IntPtr h); + + // 获取轨迹队列大小函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTrajectoryQueueSize", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTrajectoryQueueSize(IntPtr h); + + // 获取队列大小函数封装 + [DllImport(service_interface_dll, EntryPoint = "getQueueSize", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getQueueSize(IntPtr h); + + // 获取执行ID函数封装 + [DllImport(service_interface_dll, EntryPoint = "getExecId", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getExecId(IntPtr h); + + // 获取指定ID的持续时间函数封装 + [DllImport(service_interface_dll, EntryPoint = "getDuration", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getDuration(IntPtr h, int id); + + // 获取指定ID的运动剩余时间函数封装 + [DllImport(service_interface_dll, EntryPoint = "getMotionLeftTime", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getMotionLeftTime(IntPtr h, int id); + + // 获取进度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getProgress", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getProgress(IntPtr h); + + // 设置工作对象保持相关信息函数封装 + [DllImport(service_interface_dll, EntryPoint = "setWorkObjectHold", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setWorkObjectHold(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string module_name, [MarshalAs(UnmanagedType.LPArray)] double[] mounting_pose); + + // 获取工作对象保持相关信息函数封装 + [DllImport(service_interface_dll, EntryPoint = "getWorkObjectHold", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr getWorkObjectHold(IntPtr h); + + // 获取暂停关节位置函数封装 + [DllImport(service_interface_dll, EntryPoint = "getPauseJointPositions", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getPauseJointPositions(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 设置伺服模式启用状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "setServoMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setServoMode(IntPtr h, bool enable); + + // 判断伺服模式是否启用函数封装 + [DllImport(service_interface_dll, EntryPoint = "isServoModeEnabled", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isServoModeEnabled(IntPtr h); + + // 设置伺服模式选择函数封装 + [DllImport(service_interface_dll, EntryPoint = "setServoModeSelect", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setServoModeSelect(IntPtr h, int mode); + + // 获取伺服模式选择函数封装 + [DllImport(service_interface_dll, EntryPoint = "getServoModeSelect", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getServoModeSelect(IntPtr h); + + // 关节伺服控制函数封装 + [DllImport(service_interface_dll, EntryPoint = "servoJoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int servoJoint(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] q, double a, double v, double t, double lookahead_time, double gain); + + // 笛卡尔坐标伺服控制函数封装 + [DllImport(service_interface_dll, EntryPoint = "servoCartesian", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int servoCartesian(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose, double a, double v, double t, double lookahead_time, double gain); + + // 带外部坐标的关节伺服控制函数封装 + [DllImport(service_interface_dll, EntryPoint = "servoJointWithAxes", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int servoJointWithAxes(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] q, [MarshalAs(UnmanagedType.LPArray)] double[] extq, double a, double v, double t, double lookahead_time, double gain); + + // 带外部坐标的笛卡尔坐标伺服控制函数封装 + [DllImport(service_interface_dll, EntryPoint = "servoCartesianWithAxes", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int servoCartesianWithAxes(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose, [MarshalAs(UnmanagedType.LPArray)] double[] extq, double a, double v, double t, double lookahead_time, double gain); + + // 关节轨迹跟踪函数封装 + [DllImport(service_interface_dll, EntryPoint = "trackJoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int trackJoint(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] q, double t, double smooth_scale, double delay_sacle); + + // 笛卡尔坐标轨迹跟踪函数封装 + [DllImport(service_interface_dll, EntryPoint = "trackCartesian", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int trackCartesian(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose, double t, double smooth_scale, double delay_sacle); + + // 关节跟随控制函数封装 + [DllImport(service_interface_dll, EntryPoint = "followJoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int followJoint(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] q); + + // 直线跟随控制函数封装 + [DllImport(service_interface_dll, EntryPoint = "followLine", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int followLine(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose); + + // 关节速度控制函数封装 + [DllImport(service_interface_dll, EntryPoint = "speedJoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int speedJoint(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] qd, double a, double t); + + // 恢复关节速度控制函数封装 + [DllImport(service_interface_dll, EntryPoint = "resumeSpeedJoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int resumeSpeedJoint(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] qd, double a, double t); + + // 直线速度控制函数封装 + [DllImport(service_interface_dll, EntryPoint = "speedLine", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int speedLine(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] xd, double a, double t); + + // 恢复直线速度控制函数封装 + [DllImport(service_interface_dll, EntryPoint = "resumeSpeedLine", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int resumeSpeedLine(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] xd, double a, double t); + + // 样条曲线运动函数封装 + [DllImport(service_interface_dll, EntryPoint = "moveSpline", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int moveSpline(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] q, double a, double v, double duration); + + // 关节运动函数封装 + [DllImport(service_interface_dll, EntryPoint = "moveJoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int moveJoint(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] q, double a, double v, double blend_radius, double duration); + + // 恢复关节运动函数封装 + [DllImport(service_interface_dll, EntryPoint = "resumeMoveJoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int resumeMoveJoint(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] q, double a, double v, double duration); + + // 直线运动函数封装 + [DllImport(service_interface_dll, EntryPoint = "moveLine", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int moveLine(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose, double a, double v, double blend_radius, double duration); + + // 过程运动函数封装 + [DllImport(service_interface_dll, EntryPoint = "moveProcess", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int moveProcess(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose, double a, double v, double blend_radius); + + // 恢复直线运动函数封装 + [DllImport(service_interface_dll, EntryPoint = "resumeMoveLine", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int resumeMoveLine(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose, double a, double v, double duration); + + // 圆形运动函数封装 + [DllImport(service_interface_dll, EntryPoint = "moveCircle", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int moveCircle(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] via_pose, [MarshalAs(UnmanagedType.LPArray)] double[] end_pose, double a, double v, double blend_radius, double duration); + + // 设置圆形路径模式函数封装 + [DllImport(service_interface_dll, EntryPoint = "setCirclePathMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setCirclePathMode(IntPtr h, int mode); + + // 圆形运动（使用参数结构体）函数封装 + [DllImport(service_interface_dll, EntryPoint = "moveCircle2", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int moveCircle2(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] cSharpBinging_TypeDef.CircleParameters param); + + // 路径缓冲区分配函数封装 + [DllImport(service_interface_dll, EntryPoint = "pathBufferAlloc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int pathBufferAlloc(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string name, int type, int size); + + // 路径缓冲区添加路径点函数封装 + [DllImport(service_interface_dll, EntryPoint = "pathBufferAppend", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int pathBufferAppend(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string name, [MarshalAs(UnmanagedType.LPArray)] double[] waypoints, int rows); + + // 路径缓冲区评估函数封装 + [DllImport(service_interface_dll, EntryPoint = "pathBufferEval", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int pathBufferEval(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string name, [MarshalAs(UnmanagedType.LPArray)] double[] a, [MarshalAs(UnmanagedType.LPArray)] double[] v, double t); + + // 判断路径缓冲区是否有效函数封装 + [DllImport(service_interface_dll, EntryPoint = "pathBufferValid", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool pathBufferValid(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string name); + + // 释放路径缓冲区函数封装 + [DllImport(service_interface_dll, EntryPoint = "pathBufferFree", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int pathBufferFree(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string name); + + // 获取路径缓冲区列表函数封装 + [DllImport(service_interface_dll, EntryPoint = "pathBufferList", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int pathBufferList(IntPtr h, out IntPtr result); + + // 按路径缓冲区移动函数封装 + [DllImport(service_interface_dll, EntryPoint = "movePathBuffer", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int movePathBuffer(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string name); + + // 移动到交点函数封装 + [DllImport(service_interface_dll, EntryPoint = "moveIntersection", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int moveIntersection(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] poses, int rows, double a, double v, double main_pipe_radius, double sub_pipe_radius, double normal_distance, double normal_alpha); + + // 停止关节运动函数封装 + [DllImport(service_interface_dll, EntryPoint = "stopJoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int stopJoint(IntPtr h, double acc); + + // 恢复停止关节运动函数封装 + [DllImport(service_interface_dll, EntryPoint = "resumeStopJoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int resumeStopJoint(IntPtr h, double acc); + + // 停止直线运动函数封装 + [DllImport(service_interface_dll, EntryPoint = "stopLine", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int stopLine(IntPtr h, double acc, double acc_rot); + + // 恢复停止直线运动函数封装 + [DllImport(service_interface_dll, EntryPoint = "resumeStopLine", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int resumeStopLine(IntPtr h, double acc, double acc_rot); + + // 编织运动开始函数封装 + [DllImport(service_interface_dll, EntryPoint = "weaveStart", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int weaveStart(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string param); + + // 编织运动结束函数封装 + [DllImport(service_interface_dll, EntryPoint = "weaveEnd", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int weaveEnd(IntPtr h); + + // 存储路径函数封装 + [DllImport(service_interface_dll, EntryPoint = "storePath", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int storePath(IntPtr h, bool keep_sync); + + // 停止运动函数封装 + [DllImport(service_interface_dll, EntryPoint = "stopMove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int stopMove(IntPtr h, bool quick, bool all_tasks); + + // 开始运动函数封装 + [DllImport(service_interface_dll, EntryPoint = "startMove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int startMove(IntPtr h); + + // 清除路径函数封装 + [DllImport(service_interface_dll, EntryPoint = "clearPath", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int clearPath(IntPtr h); + + // 恢复路径（可能是拼写错误，推测正确应为restorePath）函数封装 + [DllImport(service_interface_dll, EntryPoint = "restoPath", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int restoPath(IntPtr h); + + // 设置未来点采样周期函数封装 + [DllImport(service_interface_dll, EntryPoint = "setFuturePointSamplePeriod", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setFuturePointSamplePeriod(IntPtr h, double sample_time); + + // 获取未来关节路径点函数封装 + [DllImport(service_interface_dll, EntryPoint = "getFuturePathPointsJoint", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getFuturePathPointsJoint(IntPtr h, out IntPtr result); + + // 圆形传送带跟踪函数封装 + [DllImport(service_interface_dll, EntryPoint = "conveyorTrackCircle", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int conveyorTrackCircle(IntPtr h, int encoder_id, [MarshalAs(UnmanagedType.LPArray)] double[] center, int tick_per_revo, bool rotate_tool); + + // 直线传送带跟踪函数封装 + [DllImport(service_interface_dll, EntryPoint = "conveyorTrackLine", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int conveyorTrackLine(IntPtr h, int encoder_id, [MarshalAs(UnmanagedType.LPArray)] double[] direction, int tick_per_meter); + + // 停止传送带跟踪函数封装 + [DllImport(service_interface_dll, EntryPoint = "conveyorTrackStop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int conveyorTrackStop(IntPtr h, double a); + + // 螺旋运动函数封装 + [DllImport(service_interface_dll, EntryPoint = "moveSpiral", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int moveSpiral(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] cSharpBinging_TypeDef.SpiralParameters param, double blend_radius, double v, double a, double t); + + // 设置路径偏移限制函数封装 + [DllImport(service_interface_dll, EntryPoint = "pathOffsetLimits", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int pathOffsetLimits(IntPtr h, double v, double a); + + // 设置路径偏移坐标参考函数封装 + [DllImport(service_interface_dll, EntryPoint = "pathOffsetCoordinate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int pathOffsetCoordinate(IntPtr h, int ref_coord); + + // 获取前瞻尺寸函数封装 + [DllImport(service_interface_dll, EntryPoint = "getLookAheadSize", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getLookAheadSize(IntPtr h); + + // 设置前瞻尺寸函数封装 + [DllImport(service_interface_dll, EntryPoint = "setLookAheadSize", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setLookAheadSize(IntPtr h, int size); + + } + public class cSharpBinging_RobotAlgorithm + { + const string service_interface_dll = GlobalConstants.service_interface_dll; + + // 校准TCP力传感器（第一个版本）函数封装 + [DllImport(service_interface_dll, EntryPoint = "calibrateTcpForceSensor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.ForceSensorCalibResult calibrateTcpForceSensor(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] forces, int forcesRows, [MarshalAs(UnmanagedType.LPArray)] double[] poses, int posesRows); + // 校准TCP力传感器（第二个版本）函数封装 + [DllImport(service_interface_dll, EntryPoint = "calibrateTcpForceSensor2", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.ForceSensorCalibResult calibrateTcpForceSensor2(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] forces, int forcesRows, [MarshalAs(UnmanagedType.LPArray)] double[] poses, int posesRows); + + // 负载识别（版本1，使用两个字符串参数）函数封装 + [DllImport(service_interface_dll, EntryPoint = "payloadIdentify", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int payloadIdentify(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string data_no_payload, [MarshalAs(UnmanagedType.LPStr)] string data_with_payload); + + // 负载识别（版本2，使用文件名参数）函数封装 + [DllImport(service_interface_dll, EntryPoint = "payloadIdentify1", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int payloadIdentify1(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string file_name); + + // 判断负载计算是否完成函数封装 + [DllImport(service_interface_dll, EntryPoint = "payloadCalculateFinished", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int payloadCalculateFinished(IntPtr h); + + // 获取负载识别结果函数封装 + [DllImport(service_interface_dll, EntryPoint = "getPayloadIdentifyResult", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.Payload getPayloadIdentifyResult(IntPtr h); + + // 生成负载识别轨迹函数封装 + [DllImport(service_interface_dll, EntryPoint = "generatePayloadIdentifyTraj", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int generatePayloadIdentifyTraj(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string name, [MarshalAs(UnmanagedType.LPArray)] cSharpBinging_TypeDef.TrajConfig TrajConfig); + + // 判断负载识别轨迹生成是否完成函数封装 + [DllImport(service_interface_dll, EntryPoint = "payloadIdentifyTrajGenFinished", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int payloadIdentifyTrajGenFinished(IntPtr h); + + // 摩擦模型识别函数封装 + [DllImport(service_interface_dll, EntryPoint = "frictionModelIdentify", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool frictionModelIdentify(IntPtr h, + [MarshalAs(UnmanagedType.LPArray)] double[] q, int qRows, + [MarshalAs(UnmanagedType.LPArray)] double[] qd, int qdRows, + [MarshalAs(UnmanagedType.LPArray)] double[] qdd, int qddRows, + [MarshalAs(UnmanagedType.LPArray)] double[] temp, int tempRows); + + // 校准工件坐标参数函数封装 + [DllImport(service_interface_dll, EntryPoint = "calibWorkpieceCoordinatePara", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int calibWorkpieceCoordinatePara(IntPtr h, + [MarshalAs(UnmanagedType.LPArray)] double[] q, int qRows, int type, + [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 正向动力学（版本1）函数封装 + [DllImport(service_interface_dll, EntryPoint = "forwardDynamics", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int forwardDynamics(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] q, [MarshalAs(UnmanagedType.LPArray)] double[] torqs, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 正向运动学（版本1）函数封装 + [DllImport(service_interface_dll, EntryPoint = "forwardKinematics", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int forwardKinematics(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] q, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 正向工具运动学（版本1）函数封装 + [DllImport(service_interface_dll, EntryPoint = "forwardToolKinematics", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int forwardToolKinematics(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] q, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 正向动力学（版本2）函数封装 + [DllImport(service_interface_dll, EntryPoint = "forwardDynamics1", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int forwardDynamics1(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] q, [MarshalAs(UnmanagedType.LPArray)] double[] torqs, [MarshalAs(UnmanagedType.LPArray)] double[] tcp_offset, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 正向运动学（版本2）函数封装 + [DllImport(service_interface_dll, EntryPoint = "forwardKinematics1", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int forwardKinematics1(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] q, [MarshalAs(UnmanagedType.LPArray)] double[] tcp_offset, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 逆运动学（版本1）函数封装 + [DllImport(service_interface_dll, EntryPoint = "inverseKinematics", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int inverseKinematics(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] qnear, [MarshalAs(UnmanagedType.LPArray)] double[] pose, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 逆运动学（获取所有解，版本1）函数封装 + [DllImport(service_interface_dll, EntryPoint = "inverseKinematicsAll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int inverseKinematicsAll(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose, out IntPtr result); + + // 逆运动学（版本2）函数封装 + [DllImport(service_interface_dll, EntryPoint = "inverseKinematics1", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int inverseKinematics1(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] qnear, [MarshalAs(UnmanagedType.LPArray)] double[] pose, [MarshalAs(UnmanagedType.LPArray)] double[] tcp_offset, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 逆运动学（获取所有解，版本2）函数封装 + [DllImport(service_interface_dll, EntryPoint = "inverseKinematicsAll1", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int inverseKinematicsAll1(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose, [MarshalAs(UnmanagedType.LPArray)] double[] tcp_offset, out IntPtr result); + + // 逆工具运动学（版本1）函数封装 + [DllImport(service_interface_dll, EntryPoint = "inverseToolKinematics", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int inverseToolKinematics(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] qnear, [MarshalAs(UnmanagedType.LPArray)] double[] pose, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 逆工具运动学（获取所有解，版本1）函数封装 + [DllImport(service_interface_dll, EntryPoint = "inverseToolKinematicsAll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int inverseToolKinematicsAll(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose, out IntPtr result); + + // 路径关节移动函数封装 + [DllImport(service_interface_dll, EntryPoint = "pathMovej", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int pathMovej(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] q1, double r1, [MarshalAs(UnmanagedType.LPArray)] double[] q2, double r2, double d, out IntPtr result); + + // 三点路径混合函数封装 + [DllImport(service_interface_dll, EntryPoint = "pathBlend3Points", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int pathBlend3Points(IntPtr h, int type, [MarshalAs(UnmanagedType.LPArray)] double[] q_start, [MarshalAs(UnmanagedType.LPArray)] double[] q_via, [MarshalAs(UnmanagedType.LPArray)] double[] q_to, double r, double d, out IntPtr result); + + // 计算雅可比矩阵函数封装 + [DllImport(service_interface_dll, EntryPoint = "calcJacobian", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int calcJacobian(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] q, bool base_or_end, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + } + public class cSharpBinging_RobotConfig + { + const string service_interface_dll = GlobalConstants.service_interface_dll; + + // 获取自由度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getDof", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getDof(IntPtr h); + + // 获取机器人名称函数封装 + [DllImport(service_interface_dll, EntryPoint = "getName", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getName(IntPtr h, [Out] StringBuilder result); + + // 获取循环时间函数封装 + [DllImport(service_interface_dll, EntryPoint = "getCycletime", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getCycletime(IntPtr h); + + // 设置减速分数函数封装 + [DllImport(service_interface_dll, EntryPoint = "setSlowDownFraction", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setSlowDownFraction(IntPtr h, int level, double fraction); + + // 获取减速分数函数封装 + [DllImport(service_interface_dll, EntryPoint = "getSlowDownFraction", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getSlowDownFraction(IntPtr h, int level); + + // 获取机器人类型函数封装 + [DllImport(service_interface_dll, EntryPoint = "getRobotType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getRobotType(IntPtr h, [Out] StringBuilder result); + + // 获取机器人子类型函数封装 + [DllImport(service_interface_dll, EntryPoint = "getRobotSubType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getRobotSubType(IntPtr h, [Out] StringBuilder result); + + // 获取控制箱类型函数封装 + [DllImport(service_interface_dll, EntryPoint = "getControlBoxType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getControlBoxType(IntPtr h, [Out] StringBuilder result); + + // 获取默认工具加速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getDefaultToolAcc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getDefaultToolAcc(IntPtr h); + + // 获取默认工具速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getDefaultToolSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getDefaultToolSpeed(IntPtr h); + + // 获取默认关节加速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getDefaultJointAcc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getDefaultJointAcc(IntPtr h); + + // 获取默认关节速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getDefaultJointSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getDefaultJointSpeed(IntPtr h); + + // 设置安装姿态函数封装 + [DllImport(service_interface_dll, EntryPoint = "setMountingPose", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setMountingPose(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose); + + // 获取安装姿态函数封装 + [DllImport(service_interface_dll, EntryPoint = "getMountingPose", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getMountingPose(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 设置碰撞级别函数封装 + [DllImport(service_interface_dll, EntryPoint = "setCollisionLevel", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setCollisionLevel(IntPtr h, int level); + + // 获取碰撞级别函数封装 + [DllImport(service_interface_dll, EntryPoint = "getCollisionLevel", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getCollisionLevel(IntPtr h); + + // 设置碰撞停止类型函数封装 + [DllImport(service_interface_dll, EntryPoint = "setCollisionStopType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setCollisionStopType(IntPtr h, int type); + + // 获取碰撞停止类型函数封装 + [DllImport(service_interface_dll, EntryPoint = "getCollisionStopType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getCollisionStopType(IntPtr h); + + // 设置回零位置函数封装 + [DllImport(service_interface_dll, EntryPoint = "setHomePosition", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setHomePosition(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] positions); + + // 获取回零位置函数封装 + [DllImport(service_interface_dll, EntryPoint = "getHomePosition", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getHomePosition(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 设置自由驱动阻尼函数封装 + [DllImport(service_interface_dll, EntryPoint = "setFreedriveDamp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setFreedriveDamp(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] damp); + + // 获取自由驱动阻尼函数封装 + [DllImport(service_interface_dll, EntryPoint = "getFreedriveDamp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getFreedriveDamp(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取TCP力传感器名称列表函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTcpForceSensorNames", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTcpForceSensorNames(IntPtr h, out IntPtr result); + + // 选择TCP力传感器函数封装 + [DllImport(service_interface_dll, EntryPoint = "selectTcpForceSensor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int selectTcpForceSensor(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string name); + + // 判断是否有TCP力传感器函数封装 + [DllImport(service_interface_dll, EntryPoint = "hasTcpForceSensor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool hasTcpForceSensor(IntPtr h); + + // 设置TCP力偏移函数封装 + [DllImport(service_interface_dll, EntryPoint = "setTcpForceOffset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setTcpForceOffset(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] force_offset); + + // 获取TCP力偏移函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTcpForceOffset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTcpForceOffset(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取基座力传感器名称列表函数封装 + [DllImport(service_interface_dll, EntryPoint = "getBaseForceSensorNames", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getBaseForceSensorNames(IntPtr h, out IntPtr result); + + // 选择基座力传感器函数封装 + [DllImport(service_interface_dll, EntryPoint = "selectBaseForceSensor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int selectBaseForceSensor(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string name); + + // 判断是否有基座力传感器函数封装 + [DllImport(service_interface_dll, EntryPoint = "hasBaseForceSensor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool hasBaseForceSensor(IntPtr h); + + // 设置基座力偏移函数封装 + [DllImport(service_interface_dll, EntryPoint = "setBaseForceOffset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setBaseForceOffset(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] force_offset); + + // 获取基座力偏移函数封装 + [DllImport(service_interface_dll, EntryPoint = "getBaseForceOffset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getBaseForceOffset(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 设置持久化参数函数封装 + [DllImport(service_interface_dll, EntryPoint = "setPersistentParameters", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setPersistentParameters(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string param); + + // 设置运动学补偿参数函数封装 + [DllImport(service_interface_dll, EntryPoint = "setKinematicsCompensate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setKinematicsCompensate(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] param); + + // 设置硬件自定义参数函数封装 + [DllImport(service_interface_dll, EntryPoint = "setHardwareCustomParameters", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setHardwareCustomParameters(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string param); + + // 获取硬件自定义参数函数封装 + [DllImport(service_interface_dll, EntryPoint = "getHardwareCustomParameters", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getHardwareCustomParameters(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string param, [Out] StringBuilder result); + + // 设置机器人零点函数封装 + [DllImport(service_interface_dll, EntryPoint = "setRobotZero", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setRobotZero(IntPtr h); + + // 获取运动学参数函数封装 + [DllImport(service_interface_dll, EntryPoint = "getKinematicsParam", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr getKinematicsParam(IntPtr h, bool real); + + // 获取运动学补偿参数（指定参考温度）函数封装 + [DllImport(service_interface_dll, EntryPoint = "getKinematicsCompensate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr getKinematicsCompensate(IntPtr h, double ref_temperature); + + // 获取安全参数校验和函数封装 + [DllImport(service_interface_dll, EntryPoint = "getSafetyParametersCheckSum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern UInt32 getSafetyParametersCheckSum(IntPtr h); + + // 确认安全参数函数封装 + [DllImport(service_interface_dll, EntryPoint = "confirmSafetyParameters", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int confirmSafetyParameters(IntPtr h, cSharpBinging_TypeDef.RobotSafetyParameterRange_C parameters); + + // 计算安全参数校验和函数封装 + [DllImport(service_interface_dll, EntryPoint = "calcSafetyParametersCheckSum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern UInt32 calcSafetyParametersCheckSum(IntPtr h, cSharpBinging_TypeDef.RobotSafetyParameterRange_C parameters); + + // 获取关节最大位置函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointMaxPositions", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointMaxPositions(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节最小位置函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointMinPositions", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointMinPositions(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节最大速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointMaxSpeeds", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointMaxSpeeds(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节最大加速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointMaxAccelerations", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointMaxAccelerations(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取TCP最大速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTcpMaxSpeeds", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTcpMaxSpeeds(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取TCP最大加速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTcpMaxAccelerations", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTcpMaxAccelerations(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 判断工具空间是否在范围内函数封装 + [DllImport(service_interface_dll, EntryPoint = "toolSpaceInRange", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool toolSpaceInRange(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] pose); + + // 设置负载函数封装 + [DllImport(service_interface_dll, EntryPoint = "setPayload", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setPayload(IntPtr h, double m, [MarshalAs(UnmanagedType.LPArray)] double[] cog, [MarshalAs(UnmanagedType.LPArray)] double[] aom, [MarshalAs(UnmanagedType.LPArray)] double[] inertia); + + // 获取负载函数封装 + [DllImport(service_interface_dll, EntryPoint = "getPayload", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.Payload getPayload(IntPtr h); + + // 获取TCP偏移函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTcpOffset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTcpOffset(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取重力函数封装 + [DllImport(service_interface_dll, EntryPoint = "getGravity", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getGravity(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 设置重力函数封装 + [DllImport(service_interface_dll, EntryPoint = "setGravity", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setGravity(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] gravity); + + // 设置TCP偏移函数封装 + [DllImport(service_interface_dll, EntryPoint = "setTcpOffset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setTcpOffset(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] offset); + + // 设置工具惯性参数函数封装 + [DllImport(service_interface_dll, EntryPoint = "setToolInertial", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setToolInertial(IntPtr h, double m, [MarshalAs(UnmanagedType.LPArray)] double[] com, [MarshalAs(UnmanagedType.LPArray)] double[] inertial); + + // 固件更新函数封装 + [DllImport(service_interface_dll, EntryPoint = "firmwareUpdate", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int firmwareUpdate(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string fw); + + // 获取固件更新进度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getFirmwareUpdateProcess", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getFirmwareUpdateProcess(IntPtr h); + + // 设置TCP力传感器姿态函数封装 + [DllImport(service_interface_dll, EntryPoint = "setTcpForceSensorPose", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setTcpForceSensorPose(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] sensor_pose); + + // 获取TCP力传感器姿态函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTcpForceSensorPose", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTcpForceSensorPose(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节极限最大位置函数封装 + [DllImport(service_interface_dll, EntryPoint = "getLimitJointMaxPositions", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getLimitJointMaxPositions(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节极限最小位置函数封装 + [DllImport(service_interface_dll, EntryPoint = "getLimitJointMinPositions", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getLimitJointMinPositions(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节极限最大速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getLimitJointMaxSpeeds", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getLimitJointMaxSpeeds(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节极限最大加速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getLimitJointMaxAccelerations", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getLimitJointMaxAccelerations(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取TCP极限最大速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getLimitTcpMaxSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getLimitTcpMaxSpeed(IntPtr h); + + // 获取安全保护停止类型函数封装 + [DllImport(service_interface_dll, EntryPoint = "getSafeguardStopType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.SafeguedStopType getSafeguardStopType(IntPtr h); + + // 获取安全保护停止源函数封装 + [DllImport(service_interface_dll, EntryPoint = "getSafeguardStopSource", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getSafeguardStopSource(IntPtr h); + + } + public class cSharpBinging_RobotManage + { + const string service_interface_dll = GlobalConstants.service_interface_dll; + + + // 机器人上电函数封装 + [DllImport(service_interface_dll, EntryPoint = "poweron", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int poweron(IntPtr h); + + // 机器人启动函数封装 + [DllImport(service_interface_dll, EntryPoint = "startup", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int startup(IntPtr h); + + // 机器人下电函数封装 + [DllImport(service_interface_dll, EntryPoint = "poweroff", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int poweroff(IntPtr h); + + // 机器人反向驱动使能函数封装 + [DllImport(service_interface_dll, EntryPoint = "backdrive", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int backdrive(IntPtr h, bool enable); + + // 机器人自由驱动使能函数封装 + [DllImport(service_interface_dll, EntryPoint = "freedrive", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int freedrive(IntPtr h, bool enable); + + // 手动引导模式函数封装 + [DllImport(service_interface_dll, EntryPoint = "handguideMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int handguideMode(IntPtr h, out Int32 freeAxes, [MarshalAs(UnmanagedType.LPArray)] double[] feature); + + // 退出手动引导模式函数封装 + [DllImport(service_interface_dll, EntryPoint = "exitHandguideMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int exitHandguideMode(IntPtr h); + + // 获取手动引导状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "getHandguideStatus", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getHandguideStatus(IntPtr h); + + // 获取手动引导触发信号函数封装 + [DllImport(service_interface_dll, EntryPoint = "getHandguideTrigger", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getHandguideTrigger(IntPtr h); + + // 判断手动引导是否使能函数封装 + [DllImport(service_interface_dll, EntryPoint = "isHandguideEnabled", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isHandguideEnabled(IntPtr h); + + // 设置模拟模式使能函数封装 + [DllImport(service_interface_dll, EntryPoint = "setSim", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setSim(IntPtr h, bool enable); + + // 设置操作模式函数封装 + [DllImport(service_interface_dll, EntryPoint = "setOperationalMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setOperationalMode(IntPtr h, cSharpBinging_TypeDef.OperationalModeType mode); + + // 获取操作模式函数封装 + [DllImport(service_interface_dll, EntryPoint = "getOperationalMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.OperationalModeType getOperationalMode(IntPtr h); + + // 获取机器人控制模式函数封装 + [DllImport(service_interface_dll, EntryPoint = "getRobotControlMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.RobotControlModeType getRobotControlMode(IntPtr h); + + // 判断模拟模式是否使能函数封装 + [DllImport(service_interface_dll, EntryPoint = "isSimulationEnabled", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isSimulationEnabled(IntPtr h); + + // 判断自由驱动是否使能函数封装 + [DllImport(service_interface_dll, EntryPoint = "isFreedriveEnabled", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isFreedriveEnabled(IntPtr h); + + // 判断反向驱动是否使能函数封装 + [DllImport(service_interface_dll, EntryPoint = "isBackdriveEnabled", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isBackdriveEnabled(IntPtr h); + + // 设置解锁保护停止函数封装 + [DllImport(service_interface_dll, EntryPoint = "setUnlockProtectiveStop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setUnlockProtectiveStop(IntPtr h); + + // 开始记录函数封装 + [DllImport(service_interface_dll, EntryPoint = "startRecord", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int startRecord(IntPtr h, [MarshalAs(UnmanagedType.LPStr)] string file_name); + + // 停止记录函数封装 + [DllImport(service_interface_dll, EntryPoint = "stopRecord", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int stopRecord(IntPtr h); + + // 暂停/恢复记录函数封装 + [DllImport(service_interface_dll, EntryPoint = "pauseRecord", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int pauseRecord(IntPtr h, bool pause); + + // 重启接口板函数封装 + [DllImport(service_interface_dll, EntryPoint = "restartInterfaceBoard", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int restartInterfaceBoard(IntPtr h); + + // 设置链路模式使能函数封装 + [DllImport(service_interface_dll, EntryPoint = "setLinkModeEnable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int setLinkModeEnable(IntPtr h, bool enable); + + // 判断链路模式是否使能函数封装 + [DllImport(service_interface_dll, EntryPoint = "isLinkModeEnabled", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isLinkModeEnabled(IntPtr h); + + } + public class cSharpBinging_RobotState + { + + const string service_interface_dll = GlobalConstants.service_interface_dll; + + // 获取机器人模式类型函数封装 + [DllImport(service_interface_dll, EntryPoint = "getRobotModeType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.RobotModeType getRobotModeType(IntPtr h); + + // 获取安全模式类型函数封装 + [DllImport(service_interface_dll, EntryPoint = "getSafetyModeType", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern cSharpBinging_TypeDef.SafetyModeType getSafetyModeType(IntPtr h); + + // 判断是否上电函数封装 + [DllImport(service_interface_dll, EntryPoint = "isPowerOn", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isPowerOn(IntPtr h); + + // 判断是否稳定函数封装 + [DllImport(service_interface_dll, EntryPoint = "isSteady", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isSteady(IntPtr h); + + // 判断是否发生碰撞函数封装 + [DllImport(service_interface_dll, EntryPoint = "isCollisionOccurred", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isCollisionOccurred(IntPtr h); + + // 判断是否在安全限制内函数封装 + [DllImport(service_interface_dll, EntryPoint = "isWithinSafetyLimits", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + [return: MarshalAs(UnmanagedType.I1)] + public static extern bool isWithinSafetyLimits(IntPtr h); + + // 获取TCP位姿函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTcpPose", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTcpPose(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取实际TCP偏移函数封装 + [DllImport(service_interface_dll, EntryPoint = "getActualTcpOffset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getActualTcpOffset(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取目标TCP位姿函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTargetTcpPose", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTargetTcpPose(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取工具位姿函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolPose", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getToolPose(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取TCP速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTcpSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTcpSpeed(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取TCP力函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTcpForce", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTcpForce(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取肘部位置函数封装 + [DllImport(service_interface_dll, EntryPoint = "getElbowPosistion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getElbowPosistion(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取肘部速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getElbowVelocity", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getElbowVelocity(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取基座力函数封装 + [DllImport(service_interface_dll, EntryPoint = "getBaseForce", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getBaseForce(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取TCP目标位姿函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTcpTargetPose", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTcpTargetPose(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取TCP目标速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTcpTargetSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTcpTargetSpeed(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取TCP目标力函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTcpTargetForce", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTcpTargetForce(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节状态函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointState", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointState(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] cSharpBinging_TypeDef.JointStateType result); + + // 获取关节伺服模式函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointServoMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointServoMode(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] cSharpBinging_TypeDef.JointServoModeType result); + + // 获取关节位置函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointPositions", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointPositions(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节位置历史函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointPositionsHistory", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointPositionsHistory(IntPtr h, int steps, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointSpeeds", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointSpeeds(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节加速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointAccelerations", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointAccelerations(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节扭矩传感器数据函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointTorqueSensors", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointTorqueSensors(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节接触扭矩函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointContactTorques", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointContactTorques(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取基座力传感器数据函数封装 + [DllImport(service_interface_dll, EntryPoint = "getBaseForceSensor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getBaseForceSensor(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取TCP力传感器数据函数封装 + [DllImport(service_interface_dll, EntryPoint = "getTcpForceSensors", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getTcpForceSensors(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节电流函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointCurrents", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointCurrents(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节电压函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointVoltages", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointVoltages(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节温度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointTemperatures", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointTemperatures(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节唯一ID函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointUniqueIds", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointUniqueIds(IntPtr h, out IntPtr result); + + // 获取关节固件版本函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointFirmwareVersions", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointFirmwareVersions(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] int[] result); + + // 获取关节硬件版本函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointHardwareVersions", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointHardwareVersions(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] int[] result); + + // 获取主控板唯一ID函数封装 + [DllImport(service_interface_dll, EntryPoint = "getMasterBoardUniqueId", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getMasterBoardUniqueId(IntPtr h, [Out] StringBuilder result); + + // 获取主控板固件版本函数封装 + [DllImport(service_interface_dll, EntryPoint = "getMasterBoardFirmwareVersion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getMasterBoardFirmwareVersion(IntPtr h); + + // 获取主控板硬件版本函数封装 + [DllImport(service_interface_dll, EntryPoint = "getMasterBoardHardwareVersion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getMasterBoardHardwareVersion(IntPtr h); + + // 获取从控板唯一ID函数封装 + [DllImport(service_interface_dll, EntryPoint = "getSlaveBoardUniqueId", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getSlaveBoardUniqueId(IntPtr h, [Out] StringBuilder result); + + // 获取从控板固件版本函数封装 + [DllImport(service_interface_dll, EntryPoint = "getSlaveBoardFirmwareVersion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getSlaveBoardFirmwareVersion(IntPtr h); + + // 获取从控板硬件版本函数封装 + [DllImport(service_interface_dll, EntryPoint = "getSlaveBoardHardwareVersion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getSlaveBoardHardwareVersion(IntPtr h); + + // 获取工具唯一ID函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolUniqueId", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getToolUniqueId(IntPtr h, [Out] StringBuilder result); + + // 获取工具固件版本函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolFirmwareVersion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getToolFirmwareVersion(IntPtr h); + + // 获取工具硬件版本函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolHardwareVersion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getToolHardwareVersion(IntPtr h); + + // 获取工具通信模式函数封装 + [DllImport(service_interface_dll, EntryPoint = "getToolCommMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getToolCommMode(IntPtr h); + + // 获取底座唯一ID函数封装 + [DllImport(service_interface_dll, EntryPoint = "getPedestalUniqueId", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getPedestalUniqueId(IntPtr h, [Out] StringBuilder result); + + // 获取底座固件版本函数封装 + [DllImport(service_interface_dll, EntryPoint = "getPedestalFirmwareVersion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getPedestalFirmwareVersion(IntPtr h); + + // 获取底座硬件版本函数封装 + [DllImport(service_interface_dll, EntryPoint = "getPedestalHardwareVersion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getPedestalHardwareVersion(IntPtr h); + + // 获取关节目标位置函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointTargetPositions", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointTargetPositions(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节目标速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointTargetSpeeds", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointTargetSpeeds(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节目标加速度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointTargetAccelerations", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointTargetAccelerations(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节目标扭矩函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointTargetTorques", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointTargetTorques(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取关节目标电流函数封装 + [DllImport(service_interface_dll, EntryPoint = "getJointTargetCurrents", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getJointTargetCurrents(IntPtr h, [MarshalAs(UnmanagedType.LPArray)] double[] result); + + // 获取控制箱温度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getControlBoxTemperature", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getControlBoxTemperature(IntPtr h); + + // 获取控制箱湿度函数封装 + [DllImport(service_interface_dll, EntryPoint = "getControlBoxHumidity", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getControlBoxHumidity(IntPtr h); + + // 获取主电压函数封装 + [DllImport(service_interface_dll, EntryPoint = "getMainVoltage", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getMainVoltage(IntPtr h); + + // 获取主电流函数封装 + [DllImport(service_interface_dll, EntryPoint = "getMainCurrent", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getMainCurrent(IntPtr h); + + // 获取机器人电压函数封装 + [DllImport(service_interface_dll, EntryPoint = "getRobotVoltage", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getRobotVoltage(IntPtr h); + + // 获取机器人电流函数封装 + [DllImport(service_interface_dll, EntryPoint = "getRobotCurrent", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern double getRobotCurrent(IntPtr h); + + // 获取减速等级函数封装 + [DllImport(service_interface_dll, EntryPoint = "getSlowDownLevel", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int getSlowDownLevel(IntPtr h); + } + + +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/csharp_skill_binding.cs b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/csharp_skill_binding.cs new file mode 100644 index 00000000..295b09bf --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/csharp/csharp-example/csharp_skill_binding.cs @@ -0,0 +1,190 @@ +using csharp_example; +using System; +using System.Collections.Generic; +using System.ComponentModel; +using System.Linq; +using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; +using System.Security.Policy; +using System.Text; +using System.Threading.Tasks; +using static csharp_skill_example.cSharpSkillBinding_TypeDef; + +namespace csharp_skill_example +{ + + internal class cSharpSkillBinding_TypeDef + { + [StructLayout(LayoutKind.Sequential)] + public struct Vector6d + { + public double X, Y, Z, Rx, Ry, Rz; + + public Vector6d(double x, double y, double z, double rx, double ry, double rz) + { + X = x; + Y = y; + Z = z; + Rx = rx; + Ry = ry; + Rz = rz; + } + } + + public enum StateCode + { + // 失败状态码 + TimeOut = -100, // 超时 + Search_MaxForce = -4, // 搜孔达到最大力 + Insert_MaxForce = -3, // 插入达到最大力 + Constant_NotTouch = -2, // 恒力过程中未接触 + Touch_Distance = -1, // 超出探寻距离 + + Running = 0, // 力控执行中 + + // 成功状态码 + Touch_Succeed = 1, // 接触成功 + Insert_Succeed = 2, // 插孔成功 + Search_Succeed = 3, // 搜孔成功 + Constant_Succeed = 4, // 接触成功 + + } + + public enum GuideTrajType + { + NONE = 0, // 无参考轨迹 + LINE1 = 1, // 直线 speedLine + LINE2 = 2, // 直线 moveLine + SPIRAL = 3, // 螺旋线 + WEAVE = 4, // 摆线 + } + + // 螺旋线平面 + public enum SpiralPlane + { + xy = 0, + yz = 1, + zx = 2 + } + + [StructLayout(LayoutKind.Sequential)] + public struct SpiralTrajParams + { + public double step; // 圈数 + public double direction; // 旋转方向 -1顺时针旋转，1逆时针旋转 + public SpiralPlane plane; // 参考平面选择 + public double spiral; // 螺旋线外扩 + public double helix; // 螺旋上升 m + public double radius; // 第一圈半径 m + } + + // 摆线方向 + public enum WeaveSelect + { + x = 1, + y = 2, + z = 3, + rx = 4, + ry = 5, + rz = 6 + } + + // 摆线轨迹参数 + [StructLayout(LayoutKind.Sequential)] + public struct WeaveTrajParams + { + public double step; // 步长 + public double amplitude; // 幅度 m + public WeaveSelect direction; // 方向 + public double hold_distance; // 距离 m + public double angle; // 角度 + public double type; // 类型 保留，目前只支持锯齿摆 + } + + public enum InsertSelect + { + x = 1, + y = 2, + z = 3 + } + + [StructLayout(LayoutKind.Sequential)] + public struct InsertParams + { + public InsertSelect insert_select; // 插入方向,可选x\y\z + public double hole_diameter; // 轴孔直径 m + public double insert_max_speed; // 插入速度限制 m/s + public double insert_time; // 插入时间限制 ms + public Vector6d insert_max_force; // 最大力限制 + public double insert_max_depth; // 插入距离限制 m + public double insert_guide_force; // 插入引导力 + // 力控调节参数 + public Vector6d insert_damp_scale; // 表示速度反应能力 [0-1] 值越大，反应越慢 + public Vector6d insert_stiff_scale; // 表示系统软硬程序 [0-1] 值越大，越硬 + + public GuideTrajType guide_traj_type; // 主动轨迹类型 + public SpiralTrajParams spiral_param; // 螺旋轨迹参数 + public WeaveTrajParams weave_param; // 摆动轨迹参数 + } + + // 搜孔平面 + public enum SearchPlane + { + yz = 1, + xz = 2, + xy = 3 + } + + + // 搜孔参数 + [StructLayout(LayoutKind.Sequential)] + public struct SearchParams + { + public SearchPlane search_plane; // 搜孔平面 + public double hole_diameter; // 轴孔直径 m， 保留 + public double search_range; // 搜孔范围，保留 + public double search_time; // 搜孔时间限制 ms + public double search_max_force; // 最大力限制 + public double search_guide_force; // 搜孔引导力 + // 力控调节参数 + public Vector6d search_damp_scale; // 表示速度反应能力 [0-1] 值越大，反应越慢 + public Vector6d search_stiff_scale; // 表示系统软硬程序 [0-1] 值越大，越硬 + + public GuideTrajType guide_traj_type; // 搜孔过程主动轨迹类型 + public SpiralTrajParams spiral_param; // 螺旋轨迹参数 + public WeaveTrajParams weave_param; // 摆动轨迹参数 + } + + } + + internal class cSharpSkillBinding_ForceControl + { + const string service_interface_dll = GlobalConstants.service_interface_dll; + + // 初始化力控工艺包对象 + [DllImport(service_interface_dll, EntryPoint = "create_fc_ptr", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern IntPtr create_fc_ptr(IntPtr rpc, IntPtr rtde); + + // 反初始化力控工艺包对象 + [DllImport(service_interface_dll, EntryPoint = "destroy_fc_ptr", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern void destroy_fc_ptr(IntPtr ptr); + + // 插孔功能函数 + [DllImport(service_interface_dll, EntryPoint = "fcInsert", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int fcInsert(IntPtr h,cSharpSkillBinding_TypeDef.InsertParams param); + + // 搜孔功能函数 + [DllImport(service_interface_dll, EntryPoint = "fcSearch", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int fcSearch(IntPtr h, cSharpSkillBinding_TypeDef.SearchParams param); + + // 等待力控结束，返回状态吗 + [DllImport(service_interface_dll, EntryPoint = "fcWaitCondition", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int fcWaitCondition(IntPtr h); + + // 退出力控 + [DllImport(service_interface_dll, EntryPoint = "fcExit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)] + public static extern int fcExit(IntPtr h); + + + } +} diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_algorithm.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_algorithm.py new file mode 100644 index 00000000..d714d17d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_algorithm.py @@ -0,0 +1,61 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +机械臂正逆解 + +步骤: +第一步: 连接到 RPC 服务 +第二步: 机械臂登录 +第三步: 机械臂逆解 +第四步: 机械臂正解 +""" + +import pyaubo_sdk + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + +# 逆解 +def exampleInverseK(robot_name): + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + print("逆解") + # 机械臂目标位姿 + waypoint_1_p = [0.549273, -0.12094, 0.464501, + 3.13802, 0.00122674, 1.57095] + # 机械臂参考关节角, 单位: 弧度 + waypoint_0_q = [0.00123059, -0.26063, 1.7441, + 0.437503, 1.56957, 0.00107586] + # 接口调用: 逆解 + res = robot_rpc_client.getRobotInterface(robot_name).getRobotAlgorithm().inverseKinematics(waypoint_0_q, waypoint_1_p) + print("逆解函数返回值:", res[1]) + print("逆解得到的关节角:", res[0]) + pass + +# 正解 +def exampleForwardK(robot_name): + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + # 机械臂目标关节角 + q = [0.0012302916520035012, -0.17709153384169424, 1.3017793878477586, + -0.08835407161244224, 1.5695657489560777, 0.0010722296812234074] + # 接口调用: 正解 + res = robot_rpc_client.getRobotInterface(robot_name).getRobotAlgorithm().forwardKinematics(q) + print("正解函数返回值:", res[1]) + print("正解得到的位姿:", res[0]) + pass + + +if __name__ == '__main__': + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + exampleInverseK(robot_name) # 机械臂逆解 + exampleForwardK(robot_name) # 机械臂正解 + + diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_armplay.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_armplay.py new file mode 100644 index 00000000..3cb04538 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_armplay.py @@ -0,0 +1,123 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +PathBuffer 运动 + +步骤: +第一步: 连接到 RPC 服务、机械臂登录、设置RPC请求超时时间 +第二步: 读取 JSON 文件 +第三步: 关节运动到JSON文件中的第一个路点 +第四步: 释放路径缓存 +第五步: 新建一个路径点缓存 “rec” +第六步: 将 JSON 文件中的路点添加到 “rec” 缓存中 +第七步: 计算、优化等耗时操作，传入的参数相同时不会重新计算 +第八步: 判断"rec"这个buffer是否有效， + 有效则执行下一步；反之，则一直阻塞 +第九步: 执行缓存的路径 +第十步: 断开RPC连接 + +""" + +import pyaubo_sdk +import time +import json +import sys + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + + +# 阻塞 +def waitArrival(impl): + cnt = 0 + while impl.getMotionControl().getExecId() == -1: + cnt += 1 + if cnt > 5: + print("Motion fail!") + return -1 + time.sleep(0.05) + print("getExecId: ", impl.getMotionControl().getExecId()) + id = impl.getMotionControl().getExecId() + while True: + id1 = impl.getMotionControl().getExecId() + if id != id1: + break + time.sleep(0.05) + +# 等待 MovePathBuffer 完成 +def waitMovePathBufferFinished(impl): + while impl.getMotionControl().getExecId() == -1: + time.sleep(0.05) + while True: + id = impl.getMotionControl().getExecId() + if id == -1: + break + time.sleep(0.05) + + +if __name__ == '__main__': + robot_rpc_client.setRequestTimeout(1000) # 接口调用: 设置 RPC 超时 + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接到 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + + robot_rpc_client.setRequestTimeout(40) # 接口调用: 设置RPC请求超时时间 + + # 读取 JSON 文件 + f = open('../c++/trajs/aubo-joint-test-0929-10.armplay') + input = json.load(f) + traj = input['jointlist'] + interval = input['interval'] + print("采样时间间隔: ", interval) + + traj_sz = len(traj) + if traj_sz == 0: + print("没有路点") + sys.exit() + else: + print("加载点的数量: ", len(traj)) + + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + mc = robot_rpc_client.getRobotInterface(robot_name).getMotionControl() + + # 关节运动 + q1 = traj[0] + print("q1: ", q1) + print("goto p1") + mc.moveJoint(q1, M_PI, M_PI, 0., 0.) + waitArrival(robot_rpc_client.getRobotInterface(robot_name)) + + print("pathBufferAlloc") + mc.pathBufferFree("rec") # 接口调用: 释放路径缓存 + mc.pathBufferAlloc("rec", 2, traj_sz) # 接口调用: 新建一个路径点缓存 + + # 将 traj 中的路点添加到 “rec” 缓存中 + # 以每10个路点为一个列表来添加 + # 当未添加的路点数量小于或者等于10时，则作为最后一组列表来添加 + offset = 10 + it = 0 + while True: + print("pathBufferAppend ", offset) + mc.pathBufferAppend("rec", traj[it:it + 10:1]) # 接口调用: 向路径缓存添加路点 + it += 10 + if offset + 10 >= traj_sz: + print("pathBufferAppend ", traj_sz) + mc.pathBufferAppend("rec", traj[it:traj_sz:1]) + break + offset += 10 + + print("pathBufferEval ", mc.pathBufferEval("rec", [], [], interval)) # 接口调用: 计算、优化等耗时操作，传入的参数相同时不会重新计算 + while not mc.pathBufferValid("rec"): + print("pathBufferValid: ", mc.pathBufferValid("rec")) # 接口调用: 指定名字的buffer是否有效 + time.sleep(0.0005) + mc.movePathBuffer("rec") # 接口调用: 执行缓存的路径 + waitMovePathBufferFinished(robot_rpc_client.getRobotInterface(robot_name)) + print("end movePathBuffer") + robot_rpc_client.disconnect() # 接口调用: 断开RPC连接 + diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_config.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_config.py new file mode 100644 index 00000000..cffb679c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_config.py @@ -0,0 +1,138 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +获取机械臂配置信息 + +步骤: +第一步: 连接到 RPC 服务 +第二步: 机械臂登录 +第三步: 获取机械臂配置信息 +""" + +import pyaubo_sdk + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + + +# 获取机械臂相关配置 +def exampleConfig(robot_name): + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + # 接口调用: 获取机器人的名字 + name = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getName() + print("机器人的名字:", name) + # 接口调用: 获取机器人的自由度 + dof = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getDof() + print("机器人的自由度:", dof) + # 接口调用: 获取机器人的伺服控制周期（从硬件抽象层读取） + cycle_time = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getCycletime() + print("伺服控制周期:", cycle_time) + # 接口调用: 获取默认的工具端加速度，单位: m/s^2 + default_tool_acc = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getDefaultToolAcc() + print("默认的工具端加速度:", default_tool_acc) + # 接口调用: 获取默认的工具端速度，单位: m/s + default_tool_speed = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getDefaultToolSpeed() + print("默认的工具端速度:", default_tool_speed) + # 接口调用: 获取默认的关节加速度，单位: rad/s + default_joint_acc = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getDefaultJointAcc() + print("默认的关节加速度", default_joint_acc) + # 接口调用: 获取默认的关节速度，单位: rad/s + default_joint_speed = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getDefaultJointSpeed() + print("默认的关节加速度", default_joint_speed) + # 接口调用: 获取机器人类型代码 + robot_type = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getRobotType() + print("机器人类型代码", robot_type) + # 接口调用: 获取机器人子类型代码 + sub_robot_type = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getRobotSubType() + print("机器人子类型代码", sub_robot_type) + # 接口调用: 获取控制柜类型代码 + control_box_type = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getControlBoxType() + print("控制柜类型代码", control_box_type) + # 接口调用: 获取安装位姿(机器人的基坐标系相对于世界坐标系) + mounting_pose = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getMountingPose() + print("安装位姿(机器人的基坐标系相对于世界坐标系)", mounting_pose) + # 接口调用: 设置碰撞灵敏度等级 + level = 6 + robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().setCollisionLevel(level) + print("设置碰撞灵敏度等级:", level) + # 接口调用: 获取碰撞灵敏度等级 + level = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getCollisionLevel() + print("碰撞灵敏度等级", level) + # 接口调用: 设置碰撞停止类型 + collision_stop_type = 1 + robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().setCollisionStopType(collision_stop_type) + print("设置碰撞停止类型", collision_stop_type) + # 接口调用: 获取碰撞停止类型 + collision_stop_type = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getCollisionStopType() + print("碰撞停止类型", collision_stop_type) + # 接口调用: 获取机器人DH参数 + kin_param = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getKinematicsParam(True) + print("机器人DH参数", kin_param) + # 接口调用: 获取指定温度下的DH参数补偿值 + temperature = 20 + kin_compensate = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getKinematicsCompensate( + temperature) + print("指定温度下的DH参数补偿值", kin_compensate) + # 接口调用: 获取可用的末端力矩传感器的名字 + tcp_force_sensor_name = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getTcpForceSensorNames() + print("可用的末端力矩传感器的名字", tcp_force_sensor_name) + # 接口调用: 获取末端力矩偏移 + tcp_force_offset = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getTcpForceOffset() + print("末端力矩偏移", tcp_force_offset) + # 接口调用: 获取可用的底座力矩传感器的名字 + base_force_sensor_names = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getBaseForceSensorNames() + print("可用的底座力矩传感器的名字", base_force_sensor_names) + # 接口调用: 获取底座力矩偏移 + base_force_offset = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getBaseForceOffset() + print("底座力矩偏移", base_force_offset) + # 接口调用: 获取安全参数校验码 CRC32 + check_sum = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getSafetyParametersCheckSum() + print("安全参数校验码 CRC32", check_sum) + # 接口调用: 获取关节最大位置（物理极限） + joint_max_positions = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getJointMaxPositions() + print("关节最大位置（物理极限）", joint_max_positions) + # 接口调用: 获取关节最小位置（物理极限） + joint_min_positions = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getJointMinPositions() + print("关节最小位置（物理极限）", joint_min_positions) + # 接口调用: 获取关节最大速度（物理极限） + joint_max_speeds = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getJointMaxSpeeds() + print("关节最大速度（物理极限）", joint_max_speeds) + # 接口调用: 获取关节最大加速度（物理极限） + joint_max_acc = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getJointMaxAccelerations() + print("关节最大加速度（物理极限）", joint_max_acc) + # 接口调用: 获取TCP最大速度（物理极限） + tcp_max_speeds = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getTcpMaxSpeeds() + print("TCP最大速度（物理极限）", tcp_max_speeds) + # 接口调用: 获取TCP最大加速度（物理极限） + tcp_max_acc = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getTcpMaxAccelerations() + print("TCP最大加速度（物理极限）", tcp_max_acc) + # 接口调用:获取机器人的安装姿态 + gravity = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getGravity() + print("机器人的安装姿态", gravity) + # 接口调用: 获取TCP偏移 + tcp_offset = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getTcpOffset() + print("TCP偏移", tcp_offset) + # 接口调用: 获取末端负载 + payload = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getPayload() + print("末端负载如下:") + print("mass:", payload[0]) + print("cog:", payload[1]) + print("aom:", payload[2]) + print("inertia:", payload[3]) + # 接口调用: 获取固件升级的进程 + firmware_update_process = robot_rpc_client.getRobotInterface(robot_name).getRobotConfig().getFirmwareUpdateProcess() + print("固件升级的进程", firmware_update_process) + + +if __name__ == '__main__': + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + exampleConfig(robot_name) # 获取机械臂相关配置 diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_force_control.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_force_control.py new file mode 100644 index 00000000..c5fea575 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_force_control.py @@ -0,0 +1,291 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +力控示例 + +步骤: +第一步: 连接RPC服务器、登录 +第二步: 开启力传感器标定并开启力控模式 +第三步: 退出登陆并断开RPC连接 +""" +import pyaubo_sdk +import time +import csv +import math +from typing import List, Sequence, Tuple, Any, Optional + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() +EMBEDDED: bool = True # 是否使用机械臂内置力传感器 +SENSOR_VENDOR: str = "kw_ftsensor" # 外置力传感器厂商名称 + +# 阻塞 +def wait_arrival(robot_interface): + max_retry_count = 5 + cnt = 0 + + # 接口调用: 获取当前的运动指令 ID + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂开始运动 + while exec_id == -1: + if cnt > max_retry_count: + return -1 + time.sleep(0.05) + cnt += 1 + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂运动完成 + while robot_interface.getMotionControl().getExecId() != -1: + time.sleep(0.05) + + return 0 + +def calculate_distance(p1: Sequence[float], p2: Optional[Sequence[float]] = None) -> float: + """ + 计算两点之间的欧氏距离，默认第二点为原点 + """ + if p2 is None: + p2 = (0.0,) * 6 + if len(p1) != 6 or len(p2) != 6: + return 0.0 + return math.sqrt(sum((p1[i] - p2[i]) ** 2 for i in range(3))) + +def fc_enable(cli: Any)->int: + # 接口调用：获取机器人的名字 + robot_name = cli.getRobotNames()[0] + robot = cli.getRobotInterface(robot_name) + # 开启力控 + ret = robot.getForceControl().fcEnable() + if ret != 0: + print("力控开启失败, 错误码: ", ret) + return -1 + +def fc_disable(cli: Any)->int: + # 接口调用：获取机器人的名字 + robot_name = cli.getRobotNames()[0] + robot = cli.getRobotInterface(robot_name) + # 关闭力控 + ret = robot.getForceControl().fcDisable() + if ret != 0: + print("力控关闭失败, 错误码: ", ret) + return -1 + +def tcp_sensor_test(cli: Any, csv_path: str = "force.csv"): + # 接口调用：获取机器人的名字 + robot_name = cli.getRobotNames()[0] + + # 选择力传感器类型 + if EMBEDDED: + sensor_pose = [0, 0, 0, 0, 0, 0] + cli.getRobotInterface(robot_name) \ + .getRobotConfig() \ + .selectTcpForceSensor("embedded") + else: + sensor_pose = [0, 0, 0.047, 0, 0, 0] + cli.getRobotInterface(robot_name) \ + .getRobotConfig() \ + .selectTcpForceSensor(SENSOR_VENDOR) + + # 写入 CSV + with open(csv_path, "a", newline="") as f: + writer = csv.writer(f) + + # 表头 + writer.writerow(["Fx", "Fy", "Fz", "Tx", "Ty", "Tz"]) + f.flush() + + while True: + sensor_data = cli.getRobotInterface(robot_name) \ + .getRobotState() \ + .getTcpForceSensors() + + print("--------------------------------------") + for i, v in enumerate(sensor_data): + print(f"获取TCP力传感器读数: {i + 1}: {v}") + print("--------------------------------------") + + writer.writerow(list(sensor_data)) + f.flush() + + time.sleep(0.005) + +# --------- 力传感器标定 ---------- +def tcp_sensor_calibration(cli: Any, joints: List[List[float]]) -> Tuple[List[float], List[float], float]: + robot_name = cli.getRobotNames()[0] + robot_interface = cli.getRobotInterface(robot_name) + + print("goto p0") + robot_interface.getMotionControl().moveJoint( + joints[0], + 10.0 * (math.pi / 180.0), + 5.0 * (math.pi / 180.0), + 0, 0 + ) + wait_arrival(robot_interface) + time.sleep(1.0) + + q1 = robot_interface.getRobotState().getJointPositions() + tcp_force1 = robot_interface.getRobotState().getTcpForceSensors() + + print("goto p1") + robot_interface.getMotionControl().moveJoint( + joints[1], + 20.0 * (math.pi / 180.0), + 10.0 * (math.pi / 180.0), + 0, 0 + ) + wait_arrival(robot_interface) + time.sleep(1.0) + + q2 = robot_interface.getRobotState().getJointPositions() + tcp_force2 = robot_interface.getRobotState().getTcpForceSensors() + + print("goto p2") + robot_interface.getMotionControl().moveJoint( + joints[2], + 20.0 * (math.pi / 180.0), + 10.0 * (math.pi / 180.0), + 0, 0 + ) + wait_arrival(robot_interface) + time.sleep(1.0) + + q3 = robot_interface.getRobotState().getJointPositions() + tcp_force3 = robot_interface.getRobotState().getTcpForceSensors() + + pose1 = robot_interface.getRobotAlgorithm().forwardKinematics(q1) + pose2 = robot_interface.getRobotAlgorithm().forwardKinematics(q2) + pose3 = robot_interface.getRobotAlgorithm().forwardKinematics(q3) + + calib_forces = [list(tcp_force1), list(tcp_force2), list(tcp_force3)] + calib_poses = [list(pose1[0]), list(pose2[0]), list(pose3[0])] + + # 三点标定接口 + result = robot_interface.getRobotAlgorithm().calibrateTcpForceSensor(calib_forces, calib_poses) + + return result + + +# --------- 力控模式开启示例 ---------- +def example_force_control(cli: Any) -> None: + robot_name = cli.getRobotNames()[0] + robot_interface = cli.getRobotInterface(robot_name) + + # 选择传感器类型 + 传感器安装位姿 + if EMBEDDED: + sensor_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + robot_interface.getRobotConfig().selectTcpForceSensor("embedded") + else: + sensor_pose = [0.0, 0.0, 0.047, 0.0, 0.0, 0.0] + robot_interface.getRobotConfig().selectTcpForceSensor(SENSOR_VENDOR) + + robot_interface.getRobotConfig().setTcpForceSensorPose(sensor_pose) + + # 设置TCP偏移（这里与C++一致：tcp_pose = sensor_pose） + tcp_pose = list(sensor_pose) + robot_interface.getRobotConfig().setTcpOffset(tcp_pose) + + # 负载辨识参考点（关节角度单位：rad） + joint1 = [-0.261799, 0.261799, 1.309, 1.0472, 1.39626, 0.0] + joint2 = [-0.628319, 0.471239, 1.65806, -0.471239, 0.0, 0.0] + joint3 = [-0.628319, 0.366519, 1.74533, -0.10472, 1.5708, 0.0] + + # 标定 + calib_result = tcp_sensor_calibration(cli, [joint1, joint2, joint3]) + force_offset = calib_result[0] + com = calib_result[1] + mass = calib_result[2] + + print("force_offset:", force_offset) + print("com:", com) + print("mass:", mass) + + if calculate_distance(force_offset) < 1e-4: + print("标定错误，请检查传感器数据!") + raise RuntimeError("TCP force sensor calibration failed") + + time.sleep(1.0) + + print("go to start_joint") + start_joint = [ + 0.0 / 180.0 * math.pi, + 16.41 / 180.0 * math.pi, + 76.36 / 180.0 * math.pi, + 7.87 / 180.0 * math.pi, + 90.21 / 180.0 * math.pi, + 0.0 / 180.0 * math.pi, + ] + robot_interface.getMotionControl().moveJoint( + start_joint, + 10.0 * (math.pi / 180.0), + 5.0 * (math.pi / 180.0), + 0, 0 + ) + wait_arrival(robot_interface) + time.sleep(1.0) + + # 根据标定结果设置负载 + 力传感器偏移 + robot_interface.getRobotConfig().setPayload( + mass, com, + [0.0], [0.0] + ) + robot_interface.getRobotConfig().setTcpForceOffset(force_offset) + + # 力控动力学模型（导纳） + admittance_m = [10.0, 10.0, 10.0, 2.0, 2.0, 2.0] + admittance_d = [200.0, 200.0, 200.0, 20.0, 20.0, 20.0] + admittance_k = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + robot_interface.getForceControl().setDynamicModel(admittance_m, admittance_d, admittance_k) + + # 目标力控参数 + compliance = [True, True, True, True, True, True] + target_wrench = [0.0] * 6 + speed_limits = [2.0] * 6 + + # TaskFrameType::NONE + task_frame = pyaubo_sdk.TaskFrameType.NONE + + robot_interface.getForceControl().setTargetForce( + [0.0] * 6, compliance, target_wrench, speed_limits, task_frame + ) + + print("Press 's'/'q' to enable/disable force control mode.") + while True: + key = input("Please input your choose: ").strip() + if not key: + continue + key = key[0] + + if key == "s": + if robot_interface.getForceControl().isFcEnabled(): + print("The robot has already been force control mode. Can't enable.") + else: + fc_enable(cli) + print("Enter force control mode") + + elif key == "q": + if not robot_interface.getForceControl().isFcEnabled(): + print("The robot has already quit force control mode. Can't disable.") + else: + fc_disable(cli) + print("Quit force control mode") + + else: + print("Please input 's' or 'q'.") + +if __name__ == '__main__': + robot_rpc_client.setRequestTimeout(1000) + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接到 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + # 使能和退出力控 + example_force_control(robot_rpc_client) + # 读取力传感器数据并保存到force.csv文件中 + # tcp_sensor_test(robot_rpc_client, "force.csv") \ No newline at end of file diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_freedrive.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_freedrive.py new file mode 100644 index 00000000..4a6ad59e --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_freedrive.py @@ -0,0 +1,39 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +拖动示教 + +步骤: +第一步: 连接RPC服务器、登录 +第二步: 进入拖动示教模式，经过 25s 后，退出模式 +""" +import pyaubo_sdk +import time + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + + +def exampleFreeDrive(cli): + robot_name = cli.getRobotNames()[0] + cli.getRuntimeMachine().start() + # 接口调用: 发起机器人自由驱动请求 + cli.getRobotInterface(robot_name).getRobotManage().freedrive(True) + time.sleep(25) + # 接口调用: 结束机器人自由驱动请求 + cli.getRobotInterface(robot_name).getRobotManage().freedrive(False) + pass + + +if __name__ == '__main__': + robot_rpc_client.setRequestTimeout(1000) + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接到 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + exampleFreeDrive(robot_rpc_client) # 进入拖动示教模式，经过 25s 后，退出模式 diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_io.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_io.py new file mode 100644 index 00000000..63ab4407 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_io.py @@ -0,0 +1,172 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +获取机械臂配置信息 + +步骤: +第一步: 连接到 RPC 服务 +第二步: 机械臂登录 +第三步: 标准数字IO: + 1.获取标准数字输入和输出数量 + 2.设置和获取输入触发动作 + 3.设置和获取输出状态选择 + 4.获取标准数字输入和输出值 +第四步: 标准模拟IO: + 1.获取标准模拟输入和输出数量 + 2.设置和获取标准模拟输入范围 + 3.获取标准模拟输入 + 4.设置和获取标准模拟输出范围 + 5.设置和获取标准模拟输出状态选择 + 6.设置和获取标准模拟输出 +第五步: 工具端数字IO + 1.获取工具端数字输入和输出数量 + 2.设置和获取工具端数字输入触发动作 + 3.设置和获取工具端数字输出状态选择 +第六步: 工具端模拟IO + 1.获取工具端模拟输入和输出数量 + 2.获取工具端模拟输入范围 + 3.获取工具端模拟输入 +""" + +import pyaubo_sdk + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + + +def exampleStandardDigitalIO(robot_name): + # 接口调用： 获取标准数字输入数量 + input_num = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getStandardDigitalInputNum() + print("标准数字输入数量：", input_num) + # 接口调用： 获取标准数字输出数量 + output_num = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getStandardDigitalOutputNum() + print("标准数字输出数量：", output_num) + + # 接口调用： 设置所有的输入触发动作为 Default + robot_rpc_client.getRobotInterface(robot_name).getIoControl().setDigitalInputActionDefault() + # 接口调用： 获取输入触发动作 + input_action = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getStandardDigitalInputAction(0x00000001) + print("获取输入触发动作为：", input_action) + # 接口调用： 获取输入触发动作 + input_action = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getStandardDigitalInputAction(0x00000001) + print("获取输入触发动作为：", input_action) + + # 接口调用： 设置所有的输出状态选择为 NONE + robot_rpc_client.getRobotInterface(robot_name).getIoControl().setDigitalOutputRunstateDefault() + # 接口调用： 获取输出状态选择 + output_runstate = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getStandardDigitalOutputRunstate(0x00000001) + print("获取输出状态选择为：", output_runstate) + + # 接口调用： 获取标准数字输出状态选择 + output_runstate = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getStandardDigitalOutputRunstate(0x00000001) + print("获取输出状态选择为：", output_runstate) + + # 打印所有的标准数字输入值 + input_value = [] + for i in range(input_num): + value = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getStandardDigitalInput(i) + input_value.append(value) + print("输入值:", input_value) + + # 打印所有的标准数字输出值 + output_value = [] + for i in range(output_num): + value = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getStandardDigitalOutput(i) + output_value.append(value) + print("输出值:", output_value) + + +def exampleStandardAnalogIO(robot_name): + # 接口调用： 获取标准模拟输入数量 + input_num = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getStandardAnalogInputNum() + print("标准模拟输入数量：", input_num) + # 接口调用： 获取标准模拟输出数量 + output_num = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getStandardAnalogOutputNum() + print("标准模拟输出数量：", output_num) + + # 接口调用： 设置标准模拟输入范围 + input_domain = 15 + robot_rpc_client.getRobotInterface(robot_name).getIoControl().setStandardAnalogInputDomain(0, input_domain) + # 接口调用： 获取标准模拟输入范围 + input_domain = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getStandardAnalogInputDomain(0) + print("标准模拟输入范围：", input_domain) + + # 接口调用： 设置标准模拟输出范围 + output_domain = 15 + robot_rpc_client.getRobotInterface(robot_name).getIoControl().setStandardAnalogOutputDomain(0, output_domain) + # 接口调用： 获取标准模拟输出范围 + output_domain = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getStandardAnalogOutputDomain(0) + print("标准模拟输出范围：", output_domain) + + # 接口调用： 获取标准模拟输出状态选择 + output_runstate = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getStandardAnalogOutputRunstate(3) + print("输出状态选择：", output_runstate) + + +def exampleToolDigitalIO(robot_name): + # 接口调用： 获取工具端数字输入数量 + input_num = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getToolDigitalInputNum() + print("工具端数字输入数量：", input_num) + # 接口调用： 获取工具端数字输出数量 + output_num = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getToolDigitalOutputNum() + print("工具端数字输出数量：", output_num) + + # 接口调用： 设置指定的工具端IO为输入 + robot_rpc_client.getRobotInterface(robot_name).getIoControl().setToolIoInput(1, True) + # 接口调用： 判断指定的工具端IO是否为输入 + isInput = robot_rpc_client.getRobotInterface(robot_name).getIoControl().isToolIoInput(1) + print("指定的工具端IO是否为输入：", isInput) + # 接口调用： 获取工具端数字输入 + input = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getToolDigitalInput(1) + print("工具端数字输入：", input) + + # 接口调用： 设置所有的工具端数字输入触发动作为 Default + input_action = pyaubo_sdk.StandardInputAction.Default + robot_rpc_client.getRobotInterface(robot_name).getIoControl().setToolDigitalInputAction(0, input_action) + # 接口调用： 获取工具端数字输入触发动作 + input_action = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getToolDigitalInputAction(0) + print("输入触发动作：", input_action) + + # 接口调用： 获取工具端数字输出状态选择 + output_runstate = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getToolDigitalOutputRunstate(3) + print("输出状态选择：", output_runstate) + + # 接口调用： 设置工具端数字输出 + output = True + robot_rpc_client.getRobotInterface(robot_name).getIoControl().setToolDigitalOutput(3, output) + # 接口调用： 获取工具端数字输出 + output = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getToolDigitalOutput(3) + print("工具端数字输出：", output) + + +def exampleToolAnalogIO(robot_name): + # 接口调用： 获取标准模拟输入数量 + input_num = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getToolAnalogInputNum() + print("标准模拟输入数量：", input_num) + # 接口调用： 获取标准模拟输出数量 + output_num = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getToolAnalogOutputNum() + print("标准模拟输出数量：", output_num) + + # 接口调用： 获取工具端模拟输入范围 + input_domain = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getToolAnalogInputDomain(1) + print("工具端模拟输入范围：", input_domain) + # 接口调用： 获取工具端模拟输入 + input_value = robot_rpc_client.getRobotInterface(robot_name).getIoControl().getToolAnalogInput(1) + print("工具端模拟输入：", input_value) + + +if __name__ == '__main__': + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + exampleStandardDigitalIO(robot_name) # 获取标准数字IO + exampleStandardAnalogIO(robot_name) # 获取标准模拟IO + exampleToolDigitalIO(robot_name) # 获取工具端数字IO + exampleToolAnalogIO(robot_name) # 获取工具端模拟IO diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_math.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_math.py new file mode 100644 index 00000000..34c92a2d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_math.py @@ -0,0 +1,88 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +机械臂欧拉角与四元数转换 + +步骤: +第一步: 连接到 RPC 服务 +第二步: 机械臂登录 +第三步: 欧拉角转四元数 +第四步: 四元数转欧拉角 +""" +import time + +import pyaubo_sdk + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + + +# 欧拉角转四元数 +def exampleRpyToQuat(): + print("欧拉角转四元数") + # 欧拉角 + rpy = [0.611, 0.785, 0.960] + # 接口调用: 欧拉角转四元数 + quat = robot_rpc_client.getMath().rpyToQuaternion(rpy) + print("四元数:", quat) + + +# 四元数转欧拉角 +def exampleQuatToRpy(): + print("四元数转欧拉角") + # 四元数 + quat = [0.834721517970497, 0.07804256900772265, 0.4518931575790371, 0.3048637712043723] + # 接口调用: 四元数转欧拉角 + rpy = robot_rpc_client.getMath().quaternionToRpy(quat) + print("欧拉角:", rpy) + pass + + +# 已知法兰中心在Base下的位姿，求得TCP在Base下的位姿 +def example_flange_to_tcp(): + # 接口调用: 获取机器人的名字 + robot_name = robot_rpc_client.getRobotNames()[0] + robot_interface = robot_rpc_client.getRobotInterface(robot_name) + # 接口调用: 设置TCP偏移 + tcp_offset = [0.01, 0.02, 0.03, 0.1, 0.2, 0.0] + robot_interface.getRobotConfig().setTcpOffset(tcp_offset) + time.sleep(0.1) + # 接口调用: 获取法兰中心在Base下的当前位置姿态 + actual_flange_pose_on_base = robot_interface.getRobotState().getToolPose() + print(f"法兰中心在Base下的当前位置姿态:{actual_flange_pose_on_base}") + # 接口调用: 根据法兰中心在Base下的位置姿态，计算获得TCP在Base下的位置姿态 + actual_tcp_pose_on_base = robot_rpc_client.getMath().poseTrans(actual_flange_pose_on_base, tcp_offset) + print(f"TCP在Base下的位置姿态:{actual_tcp_pose_on_base}") + + +# 已知TCP在Base下的位姿，求得法兰中心在Base下的位姿 +def example_tcp_to_flange(): + # 接口调用: 获取机器人的名字 + robot_name = robot_rpc_client.getRobotNames()[0] + robot_interface = robot_rpc_client.getRobotInterface(robot_name) + # 接口调用: 设置TCP偏移 + tcp_offset = [0.01, 0.02, 0.03, 0.1, 0.2, 0.0] + robot_interface.getRobotConfig().setTcpOffset(tcp_offset) + time.sleep(0.1) + # 接口调用: 获取TCP在Base下的当前位置姿态 + actual_tcp_pose_on_base = robot_interface.getRobotState().getTcpPose() + print(f"TCP在Base下的当前位置姿态:{actual_tcp_pose_on_base}") + # 接口调用: 根据TCP在Base下的位置姿态，计算获得法兰中心在Base下的位置姿态 + actual_flange_pose_on_base = robot_rpc_client.getMath().poseTrans(actual_tcp_pose_on_base, robot_rpc_client.getMath().poseInverse(tcp_offset)) + print(f"法兰中心在Base下的位置姿态:{actual_flange_pose_on_base}") + + +if __name__ == '__main__': + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + exampleRpyToQuat() # 欧拉角转四元数 + exampleQuatToRpy() # 四元数转欧拉角 + example_flange_to_tcp() # 已知法兰中心在Base下的位姿，求得TCP在Base下的位姿 + example_tcp_to_flange() # 已知TCP在Base下的位姿，求得法兰中心在Base下的位姿 diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_motion_control.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_motion_control.py new file mode 100644 index 00000000..5f7f4aff --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_motion_control.py @@ -0,0 +1,141 @@ +import threading +import time +import math +from pyaubo_sdk import RpcClient, RuntimeState + +# 机器人IP 地址 +LOCAL_IP = "127.0.0.1" + + +def wait_for_queue_space(motion_function): + """ + 等待运动队列有空位。调用指定的运动函数，直到返回值不为2（返回值为2表示队列已满）。 + :param motion_function: 要执行的运动函数 + """ + result = motion_function() + while result == 2: # 如果返回值为2，表示队列已满 + time.sleep(0.05) + result = motion_function() + return result + + +def execute_motion_sequence(motions): + """ + 下发运动指令，直到设置终止标志事件。 + :param motions: 运动指令的列表，每个指令是一个函数 + """ + for motion in motions: + if stop_event.is_set(): + # print("stop") + return # 如果设置终止标志事件，停止下发运动指令 + wait_for_queue_space(motion) + + +def robot_motion_control(cli): + """ + 控制机器人执行运动 + :param cli: RpcClient 实例，用于与机器人通信 + """ + # 路点，用关节角表示，单位: 弧度 + joint_angle1 = [ + 0.0 * (math.pi / 180), -15.0 * (math.pi / 180), 100.0 * (math.pi / 180), + 25.0 * (math.pi / 180), 90.0 * (math.pi / 180), 0.0 * (math.pi / 180) + ] + + joint_angle2 = [ + 35.92 * (math.pi / 180), -11.28 * (math.pi / 180), 59.96 * (math.pi / 180), + -18.76 * (math.pi / 180), 90.0 * (math.pi / 180), 35.92 * (math.pi / 180) + ] + + joint_angle3 = [ + 41.04 * (math.pi / 180), -7.65 * (math.pi / 180), 98.80 * (math.pi / 180), + 16.44 * (math.pi / 180), 90.0 * (math.pi / 180), 11.64 * (math.pi / 180) + ] + + joint_angle4 = [ + 41.04 * (math.pi / 180), -27.03 * (math.pi / 180), 115.35 * (math.pi / 180), + 52.37 * (math.pi / 180), 90.0 * (math.pi / 180), 11.64 * (math.pi / 180) + ] + + # 接口调用: 获取机器人的名字 + robot_name = rpc_cli.getRobotNames()[0] + robot_interface = rpc_cli.getRobotInterface(robot_name) + + # 接口调用: 开启规划器 + rpc_cli.getRuntimeMachine().start() + + time.sleep(1) + + # 接口调用： 设置运动速度比例 + robot_interface.getMotionControl().setSpeedFraction(1) + + # 运动函数的列表 + motions = [ + lambda: robot_interface.getMotionControl().moveJoint(joint_angle1, 80 * (math.pi / 180), + 60 * (math.pi / 180), 0.0, 0), + lambda: robot_interface.getMotionControl().moveJoint(joint_angle2, 80 * (math.pi / 180), + 60 * (math.pi / 180), 0.0, 0), + lambda: robot_interface.getMotionControl().moveJoint(joint_angle3, 80 * (math.pi / 180), + 60 * (math.pi / 180), 0.0, 0), + lambda: robot_interface.getMotionControl().moveJoint(joint_angle4, 80 * (math.pi / 180), + 60 * (math.pi / 180), 0.0, 0) + ] + + # 循环执行运动指令，直到停止规划器且设置终止标志事件 + while rpc_cli.getRuntimeMachine().getStatus() != RuntimeState.Stopped and not stop_event.is_set(): + execute_motion_sequence(motions) + + +def control_operations(cli): + while not stop_event.is_set(): + input_cmd = input("请输入命令(p/r/s): p表示暂停运动，r表示恢复运动，s表示停止运动\n") + + if input_cmd == "p": + # 接口调用: 暂停运行时 + cli.getRuntimeMachine().pause() + print("暂停运动") + elif input_cmd == "r": + # 接口调用: 恢复运行时 + cli.getRuntimeMachine().resume() + print("恢复运动") + elif input_cmd == "s": + # 接口调用: 停止运行时 + cli.getRuntimeMachine().abort() + robot_name = cli.getRobotNames()[0] + robot_interface = cli.getRobotInterface(robot_name) + # 接口调用: 停止运动 + robot_interface.getMotionControl().stopJoint(30) + # 设置终止标志事件 + stop_event.set() + print("停止运动") + else: + print("无效命令，请重新输入") + + +if __name__ == "__main__": + rpc_cli = RpcClient() + # 接口调用: 设置 RPC 超时 + rpc_cli.setRequestTimeout(1000) + # 接口调用: 连接 RPC 服务 + rpc_cli.connect(LOCAL_IP, 30004) + # 接口调用: 登录 RPC 服务 + rpc_cli.login("aubo", "123456") + + # 创建终止标志事件 + stop_event = threading.Event() + + # 创建并启动运动控制线程和控制操作线程 + motion_thread = threading.Thread(target=robot_motion_control, args=(rpc_cli, )) + control_thread = threading.Thread(target=control_operations, args=(rpc_cli, )) + + motion_thread.start() + control_thread.start() + + # 等待运动线程结束 + motion_thread.join() + control_thread.join() + + # 接口调用: 退出 RPC 登录 + rpc_cli.logout() + # 接口调用: 断开 RPC 连接 + rpc_cli.disconnect() diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_movec.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_movec.py new file mode 100644 index 00000000..769719e3 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_movec.py @@ -0,0 +1,72 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +机械臂圆弧运动 + +步骤: +第一步: 连接到 RPC 服务 +第二步: 机械臂登录 +第三步: 圆弧运动 +""" + +import time +import math +import pyaubo_sdk + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + +waypoint1 = [] # 圆弧轨迹的起始路点（位姿） +waypoint2 = [] # 圆弧轨迹的中间路点（位姿） +waypoint3 = [] # 圆弧轨迹的终止路点（位姿） + +# 获取圆弧轨迹的路点 +# 依据 (x-0.12294)^2 + (y-0.54855)^2 + (z-0.26319)^2 = 0.2^2 来计算 +def get_circle_waypoint(): + global waypoint1 + global waypoint2 + global waypoint3 + + z1 = 0.26319 + y1 = 0.7 + x1 = math.sqrt(pow(0.2, 2) - pow(y1 - 0.54855, 2) - pow(z1 - 0.26319, 2)) + waypoint1 = [x1, y1, z1, 3.14, 0.00, 3.14] + + z2 = 0.26319 + y2 = 0.55 + x2 = math.sqrt(pow(0.2, 2) - pow(y2 - 0.54855, 2) - pow(z2 - 0.26319, 2)) + waypoint2 = [x2, y2, z2, 3.14, 0.00, 3.14] + + z3 = 0.26319 + y3 = 0.35 + x3 = math.sqrt(pow(0.2, 2) - pow(y3 - 0.54855, 2) - pow(z3 - 0.26319, 2)) + waypoint3 = [x3, y3, z3, 3.14, 0.00, 3.14] + +# 圆弧运动 +def example_movec(robot_name): + get_circle_waypoint() + robot_rpc_client.getRobotInterface(robot_name).getMotionControl()\ + .moveLine(waypoint1, 180 * (M_PI / 180), 1000000 * (M_PI / 180), 0, 0) # 接口调用: 直线运动 + time.sleep(1) + + ret = robot_rpc_client.getRobotInterface(robot_name).getMotionControl()\ + .moveCircle(waypoint2, waypoint3, 180 * (M_PI / 180), 1000000 * (M_PI / 180), 0, 0) # 接口调用: 圆弧运动 + + if ret == 0: + print("圆弧运动成功!") + else: + print("圆弧运动失败！错误码:%d", ret) + + +if __name__ == '__main__': + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + example_movec(robot_name) # 圆弧运动 diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_movej.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_movej.py new file mode 100644 index 00000000..2fc3e525 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_movej.py @@ -0,0 +1,110 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +功能：机械臂关节运动 + +步骤: +第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 +第二步: 设置运动速度比率、以关节运动的方式依次经过3个路点 +第三步: RPC 退出登录、断开连接 +""" + +import time +import math +import pyaubo_sdk + +robot_ip = "127.0.0.1" # 机械臂 IP 地址 +robot_port = 30004 # 端口号 + + +# 阻塞 +def wait_arrival(robot_interface): + max_retry_count = 5 + cnt = 0 + + # 接口调用: 获取当前的运动指令 ID + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂开始运动 + while exec_id == -1: + if cnt > max_retry_count: + return -1 + time.sleep(0.05) + cnt += 1 + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂运动完成 + while robot_interface.getMotionControl().getExecId() != -1: + time.sleep(0.05) + + return 0 + + +# 以关节运动的方式依次经过3个路点 +def example_movej(rpc_client): + # 关节角，单位: 弧度 + q1 = [0.0 * (math.pi / 180), -15.0 * (math.pi / 180), 100.0 * (math.pi / 180), + 25.0 * (math.pi / 180), 90.0 * (math.pi / 180), 0.0 * (math.pi / 180) + ] + q2 = [35.92 * (math.pi / 180), -11.28 * (math.pi / 180), 59.96 * (math.pi / 180), + -18.76 * (math.pi / 180), 90.0 * (math.pi / 180), 35.92 * (math.pi / 180) + ] + q3 = [41.04 * (math.pi / 180), -7.65 * (math.pi / 180), 98.80 * (math.pi / 180), + 16.44 * (math.pi / 180), 90.0 * (math.pi / 180), 11.64 * (math.pi / 180) + ] + + # 接口调用：获取机器人的名字 + robot_name = rpc_client.getRobotNames()[0] + + robot_interface = rpc_client.getRobotInterface(robot_name) + + # 接口调用: 设置机械臂的速度比率 + robot_interface.getMotionControl().setSpeedFraction(0.75) + + # 关节运动到路点 q1 + robot_interface.getMotionControl() \ + .moveJoint(q1, 80 * (math.pi / 180), 60 * (math.pi / 180), 0, 0) + + # 阻塞 + ret = wait_arrival(robot_interface) + if ret == 0: + print("关节运动到路点1成功") + else: + print("关节运动到路点1失败") + + # 关节运动到路点 q2 + robot_interface.getMotionControl() \ + .moveJoint(q2, 80 * (math.pi / 180), 60 * (math.pi / 180), 0, 0) + + # 阻塞 + ret = wait_arrival(robot_interface) + if ret == 0: + print("关节运动到路点2成功") + else: + print("关节运动到路点2失败") + + # 关节运动到路点 q3 + robot_interface.getMotionControl() \ + .moveJoint(q3, 80 * (math.pi / 180), 60 * (math.pi / 180), 0, 0) + + # 阻塞 + ret = wait_arrival(robot_interface) + if ret == 0: + print("关节运动到路点3成功") + else: + print("关节运动到路点3失败") + + +if __name__ == '__main__': + robot_rpc_client = pyaubo_sdk.RpcClient() + robot_rpc_client.setRequestTimeout(1000) # 接口调用: 设置 RPC 超时 + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接 RPC 服务 + if robot_rpc_client.hasConnected(): + print("RPC客户端连接成功!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 登录 + if robot_rpc_client.hasLogined(): + print("RPC客户端登录成功!") + example_movej(robot_rpc_client) # 以关节运动的方式依次经过3个路点 + robot_rpc_client.logout() # 退出登录 + robot_rpc_client.disconnect() # 断开连接 diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_movel.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_movel.py new file mode 100644 index 00000000..7ed2fc38 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_movel.py @@ -0,0 +1,123 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +机械臂直线运动 + +步骤: +第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 +第二步: 先关节运动起始位置，然后以直线运动的方式经过3个路点 +第三步: RPC 退出登录、断开连接 +""" +import time +import math +import pyaubo_sdk + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +robot_rpc_client = pyaubo_sdk.RpcClient() + + +# 阻塞 +def wait_arrival(robot_interface): + max_retry_count = 5 + cnt = 0 + + # 接口调用: 获取当前的运动指令 ID + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂开始运动 + while exec_id == -1: + if cnt > max_retry_count: + return -1 + time.sleep(0.05) + cnt += 1 + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂运动完成 + while robot_interface.getMotionControl().getExecId() != -1: + time.sleep(0.05) + + return 0 + + +# 先关节运动起始位置，然后循环依次以直线运动的方式经过3个路点 +def example_movel(rpc_client): + # 路点，用关节角来表示，单位: 弧度 + q = [0.0 * (math.pi / 180), -15.0 * (math.pi / 180), 100.0 * (math.pi / 180), 25.0 * (math.pi / 180), + 90.0 * (math.pi / 180), 0.0 * (math.pi / 180)] + # 路点，用位姿来表示，形式[x,y,z,rx,ry,rz], 位置单位：米, 姿态单位：弧度 + pose1 = [0.551, -0.124, 0.419, -3.134, 0.004, 1.567] + pose2 = [0.552, 0.235, 0.419, -3.138, 0.007, 1.567] + pose3 = [0.551, -0.124, 0.261, -3.134, 0.0042, 1.569] + + # 接口调用：获取机器人的名字 + robot_name = rpc_client.getRobotNames()[0] + + robot_interface = rpc_client.getRobotInterface(robot_name) + + # 接口调用: 设置机械臂的速度比率 + robot_interface.getMotionControl().setSpeedFraction(0.75) + + # 接口调用: 设置工具中心点（TCP相对于法兰盘中心的偏移） + tcp_offset = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + robot_interface.getRobotConfig().setTcpOffset(tcp_offset) + + # 关节运动到初始位置 + robot_interface.getMotionControl() \ + .moveJoint(q, 80 * (math.pi / 180), 60 * (math.pi / 180), 0, 0) + + # 阻塞 + ret = wait_arrival(robot_interface) + if ret == 0: + print("关节运动到初始位置成功") + else: + print("关节运动到初始位置失败") + + # 以直线运动的方式依次走3个路点 + # 直线运动 + robot_interface.getMotionControl() \ + .moveLine(pose1, 1.2, 0.25, 0, 0) + + # 阻塞 + ret = wait_arrival(robot_interface) + if ret == 0: + print("直线运动到路点1成功") + else: + print("直线运动到路点1失败") + + # 直线运动 + robot_interface.getMotionControl() \ + .moveLine(pose2, 1.2, 0.25, 0, 0) + + # 阻塞 + ret = wait_arrival(robot_interface) + if ret == 0: + print("直线运动到路点2成功") + else: + print("直线运动到路点2失败") + + # 直线运动 + robot_interface.getMotionControl() \ + .moveLine(pose3, 1.2, 0.25, 0, 0) + + # 阻塞 + ret = wait_arrival(robot_interface) + if ret == 0: + print("直线运动到路点3成功") + else: + print("直线运动到路点3失败") + + +if __name__ == '__main__': + robot_rpc_client = pyaubo_sdk.RpcClient() + robot_rpc_client.setRequestTimeout(1000) # 接口调用: 设置 RPC 超时 + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接 RPC 服务 + if robot_rpc_client.hasConnected(): + print("RPC客户端连接成功!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 登录 + example_movel(robot_rpc_client) # 先关节运动起始位置，然后以直线运动的方式经过3个路点 + robot_rpc_client.logout() # 退出登录 + robot_rpc_client.disconnect() # 断开连接 + else: + print("RPC客户端连接失败!") diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_movel_singularity.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_movel_singularity.py new file mode 100644 index 00000000..fc98aaa7 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_movel_singularity.py @@ -0,0 +1,107 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +机械臂直线运动到奇异位置，RTDE订阅的示教器弹窗错误信息输出到控制台中 + +步骤: +第一步: 连接和登录RPC服务 +第二步: 连接和登录RTDE服务 +第三步: 设置RTDE订阅话题 +第四步: 订阅话题，获取示教器弹窗的日志等级、错误码、错误信息 +第五步: 直线运动到一个奇异点 +""" +import os +import time +import sys +import pyaubo_sdk + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +rpc_port = 30004 # RPC端口号 +rtde_port = 30010 # RTDE 端口号 +M_PI = 3.14159265358979323846 + + +# 阻塞 +def waitArrival(impl): + cnt = 0 + while impl.getMotionControl().getExecId() == -1: + cnt += 1 + if cnt > 5: + print("Motion fail!") + return -1 + time.sleep(0.05) + print("getExecId: ", impl.getMotionControl().getExecId()) + id = impl.getMotionControl().getExecId() + while True: + id1 = impl.getMotionControl().getExecId() + if id != id1: + break + time.sleep(0.05) + + +# 直线运动到一个奇异点 +def movel_singularity(): + robot_name = robot_rpc_client.getRobotNames()[0] + # 关节角，单位: 弧度 + waypoint_1_q = [-2.40194, 0.103747, 1.7804, 0.108636, 1.57129, -2.6379] + # 奇异位置，形式[x,y,z,rx,ry,rz] + waypoint_2_p = [1000, 1000, 1000, 3.05165, 0.0324355, 1.80417] + + # 先关节运动到路点 waypoint_1，然后再直线运动到奇异点 waypoint_2 + print("Moving to waypoint_1...") + robot_rpc_client.getRobotInterface(robot_name).getMotionControl() \ + .moveJoint(waypoint_1_q, 180 * (M_PI / 180), 1000000 * (M_PI / 180), 0, 0) + waitArrival(robot_rpc_client.getRobotInterface(robot_name)) + print("Moving to waypoint_2...") + ret = robot_rpc_client.getRobotInterface(robot_name).getMotionControl() \ + .moveLine(waypoint_2_p, 250 * (M_PI / 180), 1000 * (M_PI / 180), 0, 0) + waitArrival(robot_rpc_client.getRobotInterface(robot_name)) + + +# 在控制台中打印日志等级、错误码等信息 +def printlog(level, source, code, content): + level_names = ["Critical", "Error", "Warning", "Info", "Debug", "BackTrace"] + sys.stderr.write(f"[{level_names[level.value]}] {source} - {code} {content}\n") + + +# 订阅回调函数，获取日志等级、错误码、错误信息 +def subscribe_callback(parser): + msgs = parser.popRobotMsgVector() + for msg in msgs: + # 获取错误码相对应的错误信息 + error_content = pyaubo_sdk.errorCode2Str(msg.code) + for arg in msg.args: + pos = error_content.find("{}") + if pos != -1: + error_content = error_content[:pos] + arg + error_content[pos + 2:] + else: + break + printlog(msg.level, msg.source, msg.code, error_content) + + +if __name__ == '__main__': + # 连接和登录RPC服务 + robot_rpc_client = pyaubo_sdk.RpcClient() + robot_rpc_client.connect(robot_ip, rpc_port) + robot_rpc_client.login("aubo", "123456") + + # 连接和登录RTDE服务 + robot_rtde_client = pyaubo_sdk.RtdeClient() + robot_rtde_client.connect(robot_ip, rtde_port) + robot_rtde_client.login("aubo", "123456") + + # 设置RTDE订阅话题 + topic = robot_rtde_client.setTopic(False, ["R1_message"], 200, 0) + if topic < 0: + print("Set topic fail!") + os.exit() + + # 订阅话题，获取示教器弹窗的日志等级、错误码、错误信息 + robot_rtde_client.subscribe(topic, subscribe_callback) + + # 直线运动到一个奇异点 + movel_singularity() + + while True: + time.sleep(1) diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_multi_thread.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_multi_thread.py new file mode 100644 index 00000000..152c0b8f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_multi_thread.py @@ -0,0 +1,72 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +压力测试 +readTest(): 10线程不断地获取TCP偏移 +connectTest(): 10线程不断地连接和断开 +""" + +import pyaubo_sdk +import time +import threading + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + + +def readThread(): + while True: + try: + robot_rpc_client.setRequestTimeout(5) + robot_name = robot_rpc_client.getRobotNames()[0] + impl = robot_rpc_client.getRobotInterface(robot_name) + impl.getRobotConfig().getTcpOffset() + print(".", end=' ',flush=True) + except pyaubo_sdk.AuboException as e: + print(threading.get_ident(), ":", e) + time.sleep(0.005) + + +def readTest(): + robot_rpc_client.connect(robot_ip, robot_port) + robot_rpc_client.login("aubo", "123456") + threads = [] + for i in range(10): + threads.append(threading.Thread(target=readThread)) + for thread in threads: + thread.start() + thread.join() + + +def connectThread(): + while True: + try: + robot_rpc_client.setRequestTimeout(10) + robot_rpc_client.connect(robot_ip, robot_port) + robot_rpc_client.login("aubo", "123456") + time.sleep(0.007) + robot_rpc_client.logout() + robot_rpc_client.disconnect() + time.sleep(0.007) + except pyaubo_sdk.AuboException as e: + print(threading.get_ident(), ":", e) + + +def connectTest(): + threads = [] + for i in range(10): + threads.append(threading.Thread(target=connectThread)) + for thread in threads: + thread.start() + thread.join() + + +if __name__ == '__main__': + # 10线程不断地获取TCP偏移 + readTest() + # 10线程不断地连接和断开 + # connectTest() + diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_nonblock_move1.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_nonblock_move1.py new file mode 100644 index 00000000..c5b359af --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_nonblock_move1.py @@ -0,0 +1,107 @@ +import sys +import pyaubo_sdk +import time +import math +import threading + +robot_ip = "127.0.0.1" # 机器人IP地址 +rpc_port = 30004 # RPC端口号 +rtde_port = 30010 # RTDE端口号 + +rtde_mtx_ = threading.Lock() # 互斥锁 + +line_number_ = -1 # 行号 + + +def callback(parser): + global line_number_ + rtde_mtx_.acquire() + line_number_ = parser.popInt32() + rtde_mtx_.release() + + +if __name__ == '__main__': + rpc_client = pyaubo_sdk.RpcClient() # RPC客户端 + rpc_client.setRequestTimeout(1000) # 接口调用: 设置 RPC 超时 + rpc_client.connect(robot_ip, rpc_port) # 接口调用: 连接 RPC 服务 + rpc_client.login("aubo", "123456") # 接口调用: 登录 + + rtde_client = pyaubo_sdk.RtdeClient() # RTDE客户端 + rtde_client.connect(robot_ip, rtde_port) # 接口调用: 连接 RTDE 服务 + rtde_client.login("aubo", "123456") # 接口调用: 登录 + + # 设置话题 + chanel = rtde_client.setTopic(False, ["line_number"], 50, 1) + if chanel == -1: + print(f"setTopic失败！setTopic返回值为{chanel}") + sys.exit(1) + + # 订阅话题 + rtde_client.subscribe(chanel, callback) + + # 轨迹列表 + traj_q_list = [ + [angle * (math.pi / 180) for angle in angles] + for angles in [ + [0.0, -15.0, 100.0, 25.0, 90.0, 0.0], + [35.92, -11.28, 59.96, -18.76, 90.0, 35.92], + [41.04, -7.65, 98.80, 16.44, 90.0, 11.64] + ] + ] + + # 重复添加轨迹的最后一组路点 + traj_q_list.append(traj_q_list[-1]) + + # 接口调用: 获取机器人的名字 + robot_name = rpc_client.getRobotNames()[0] + robot_interface = rpc_client.getRobotInterface(robot_name) + rm = rpc_client.getRuntimeMachine() + mc = robot_interface.getMotionControl() + + # 接口调用：设置运动速度比例 + mc.setSpeedFraction(1) + + # 接口调用: 开启运行时 + rm.start() + # 增加延时，等待新建线程完成后， + # 再调用getPlanContext， + # 确保获取的当前线程号非-1 + time.sleep(0.05) + + # 获取当前的线程号 + tid = rm.getPlanContext(-1)[0] + # print(f"{tid}") + + for index, q in enumerate(traj_q_list): + if index == len(traj_q_list) - 1: + line_num = -1 + comment = f"运动结束" + else: + line_num = index + comment = f"路点{index}" + # 设置运行时上下文 + rm.setPlanContext(tid, line_num, comment) + # 关节运动 + while 2 == mc.moveJoint(q, 80 / 180 * math.pi, 60 / 180 * math.pi, 0, 0): + time.sleep(0.005) + + # 获取下发的最后一个运动指令的目标运行时上下文 + final_plan_context = rm.getAdvancePlanContext(-1) + + # RTDE订阅 line_number 更新数据有延时， + # line_number_ 初始默认值为-1， + # 故这里增加延时 + while line_number_ == -1: + time.sleep(0.005) + + while True: + # 轨迹中的倒数第二组和最后一组路点相同 + # 若当前行号等于 moveJoint 发送最后一组路点前 setPlanContext 设定的行号， + # 则表示机械臂已执行完所有轨迹路点 + if line_number_ == final_plan_context[1]: + print(f"{final_plan_context[2]}") + # 停止运行时 + rm.abort() + break + print(f"当前向路点{line_number_}运动") + time.sleep(0.005) diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_nonblock_move2.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_nonblock_move2.py new file mode 100644 index 00000000..98f2d0db --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_nonblock_move2.py @@ -0,0 +1,63 @@ +import pyaubo_sdk +import time +import math + +robot_ip = "127.0.0.1" # 机器人IP地址 +rpc_port = 30004 # RPC端口号 + +if __name__ == '__main__': + rpc_client = pyaubo_sdk.RpcClient() # RPC客户端 + rpc_client.setRequestTimeout(1000) # 接口调用: 设置 RPC 超时 + rpc_client.connect(robot_ip, rpc_port) # 接口调用: 连接 RPC 服务 + rpc_client.login("aubo", "123456") # 接口调用: 登录 + + # 轨迹列表 + traj_q_list = [ + [angle * (math.pi / 180) for angle in angles] + for angles in [ + [0.0, -15.0, 100.0, 25.0, 90.0, 0.0], + [35.92, -11.28, 59.96, -18.76, 90.0, 35.92], + [41.04, -7.65, 98.80, 16.44, 90.0, 11.64] + ] + ] + + # 重复添加轨迹的最后一组路点 + traj_q_list.append(traj_q_list[-1]) + + # 接口调用: 获取机器人的名字 + robot_name = rpc_client.getRobotNames()[0] + robot_interface = rpc_client.getRobotInterface(robot_name) + rm = rpc_client.getRuntimeMachine() + mc = robot_interface.getMotionControl() + + # 接口调用： 设置运动速度比例 + mc.setSpeedFraction(1) + + # 接口调用: 开启运行时 + rm.start() + + # 增加延时，等待新建线程完成后， + # 再调用moveJoint， + # 防止moveJoint被discard + time.sleep(0.05) + + for q in traj_q_list: + # 关节运动 + while 2 == mc.moveJoint(q, 80 / 180 * math.pi, 60 / 180 * math.pi, 0, 0): + time.sleep(0.005) + + # 获取下发的最后一个运动指令的目标运动指针 + final_ptr = rm.getAdvancePtr(-1) + print(f"目标运动指针：{final_ptr}") + + while True: + # 轨迹中的倒数第二组和最后一组路点相同 + # 若当前运动指针等于 moveJoint 下发的最后一个运动指令的目标运动指针时， + # 则表示机械臂执行完所有的轨迹路点 + if rm.getMainPtr(-1) == final_ptr: + print(f"运动结束") + # 停止运行时 + rm.abort() + break + print(f"当前运动指针:{rm.getMainPtr(-1)}") + time.sleep(0.005) diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_offline_track.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_offline_track.py new file mode 100644 index 00000000..34d0aaf4 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_offline_track.py @@ -0,0 +1,149 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +PathBuffer 运动 +注: 离线轨迹文件里的轨迹是相对于用户坐标系的轨迹 + +步骤: +第一步: 连接到 RPC 服务、机械臂登录、设置RPC请求超时时间 +第二步: 读取.csv轨迹文件并加载轨迹点 +第三步: 将轨迹文件中的轨迹位姿转换成相对于基坐标系的位姿， + 逆解求出关节角， + 添加到 “rec” 缓存中 +第四步: 关节运动到第一个点， + 执行缓存的路径 +""" +import pyaubo_sdk +import time + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + + +# 阻塞 +def waitArrival(impl): + cnt = 0 + while impl.getMotionControl().getExecId() == -1: + cnt += 1 + if cnt > 5: + print("Motion fail!") + return -1 + time.sleep(0.05) + print("getExecId: ", impl.getMotionControl().getExecId()) + id = impl.getMotionControl().getExecId() + while True: + id1 = impl.getMotionControl().getExecId() + if id != id1: + break + time.sleep(0.05) + + +# 等待 MovePathBuffer 完成 +def waitMovePathBufferFinished(impl): + while impl.getMotionControl().getExecId() == -1: + time.sleep(0.05) + while True: + ids = impl.getMotionControl().getExecId() + if ids == -1: + break + time.sleep(0.05) + + +if __name__ == '__main__': + robot_rpc_client.setRequestTimeout(1000) # 接口调用: 设置 RPC 请求超时时间 + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接到 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + robot = robot_rpc_client.getRobotInterface(robot_name) + + # 读取轨迹文件并加载轨迹点 + file = open('../c++/trajs/CoffeCappuccino-heart-R_filtered.csv') + traj = [] + for line in file: + str_list = line.split(",") + float_list = [] + for strs in str_list: + float_list.append(float(strs)) + traj.append(float_list) + + traj_sz = len(traj) + if traj_sz == 0: + print("没有轨迹点") + else: + print("加载的轨迹点数量为: ", traj_sz) + + tcp_offset = [-0.093, 0.0007249, 0.152, 90.66 / 180.0 * M_PI, -0.7635 / 180.0 * M_PI, -91.49 / 180.0 * M_PI] + + coord_q0 = [-1.627214, -0.360182, 1.783065, -1.063912, -1.642473, -1.510366] + coord_q1 = [-0.806772, -0.344142, 1.806783, -1.079834, -0.824188, -1.444983] + coord_q2 = [-0.702519, -0.105247, 2.113576, -1.022056, -0.720357, -1.430912] + + robot.getRobotConfig().setTcpOffset(tcp_offset) # 接口调用: 设置 TCP 偏移值 + time.sleep(1) + + coord_p0 = robot.getRobotAlgorithm().forwardKinematics(coord_q0)[0] + coord_p1 = robot.getRobotAlgorithm().forwardKinematics(coord_q1)[0] + coord_p2 = robot.getRobotAlgorithm().forwardKinematics(coord_q2)[0] + + coord_p = [coord_p0, coord_p1, coord_p2] + # 求用户坐标系相对于基坐标系的位姿 + coord = robot_rpc_client.getMath().calibrateCoordinate(coord_p, 0)[0] + + print("TCP 偏移值: ", tcp_offset) + print("用户坐标系: ", coord) + + current_q = robot.getRobotState().getJointPositions() + traj_q = [] + for p in traj: + # 已知相对于用户坐标系的轨迹和用户坐标系相对于基坐标系的位姿， + # 求轨迹相对于基坐标系的位姿 + rp = robot_rpc_client.getMath().poseTrans(coord, p) + # 逆解求关节角 + q = robot.getRobotAlgorithm().inverseKinematics(current_q, rp)[0] + current_q = q + traj_q.append(q) + print("q: ", q) + + # 关节运动到第一个点 + print("goto p1") + mc = robot.getMotionControl() + mc.moveJoint(traj_q[0], M_PI, M_PI, 0., 0.) + waitArrival(robot) + + print("pathBufferAlloc") + # mc.pathBufferFree("rec") # 接口调用: 释放路径缓存 + mc.pathBufferAlloc("rec", 3, traj_sz) # 接口调用: 新建一个路径点缓存 + + # 将 traj_q 中的路点添加到 “rec” 缓存中 + # 以每10个路点为一个列表来添加 + # 当未添加的路点数量小于或者等于10时，则作为最后一组列表来添加 + offset = 10 + it = 0 + while True: + print("pathBufferAppend ", offset) + mc.pathBufferAppend("rec", traj_q[it:it + 10:1]) # 接口调用: 向路径缓存添加路点 + it += 10 + if offset + 10 >= traj_sz: + print("pathBufferAppend ", traj_sz) + mc.pathBufferAppend("rec", traj_q[it:traj_sz:1]) + break + offset += 10 + + interval = 0 + print("pathBufferEval ", mc.pathBufferEval("rec", [1, 1, 1, 1, 1, 1], [1, 1, 1, 1, 1, 1], + interval)) # 接口调用: 计算、优化等耗时操作，传入的参数相同时不会重新计算 + while not mc.pathBufferValid("rec"): + print("pathBufferValid: ", mc.pathBufferValid("rec")) # 接口调用: 指定名字的buffer是否有效 + time.sleep(0.005) + mc.movePathBuffer("rec") # 接口调用: 执行缓存的路径 + waitMovePathBufferFinished(robot_rpc_client.getRobotInterface(robot_name)) + print("end movePathBuffer") + robot_rpc_client.disconnect() # 接口调用: 断开RPC连接 diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_record.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_record.py new file mode 100644 index 00000000..15d492e5 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_record.py @@ -0,0 +1,122 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +PathBuffer 运动 + +步骤: +第一步: 连接到 RPC 服务、机械臂登录、设置RPC请求超时时间 +第二步: 读取.offt轨迹文件并加载轨迹点 +第三步: 关节运动到轨迹文件中的第一个路点 +第四步: 释放路径缓存 +第五步: 新建一个路径点缓存 “rec” +第六步: 将轨迹文件中的路点添加到 “rec” 缓存中 +第七步: 计算、优化等耗时操作，传入的参数相同时不会重新计算 +第八步: 判断"rec"这个buffer是否有效， + 有效则执行下一步；反之，则一直阻塞 +第九步: 执行缓存的路径 +第十步: 断开RPC连接 +""" +import pyaubo_sdk +import time + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + + +# 阻塞 +def waitArrival(impl): + cnt = 0 + while impl.getMotionControl().getExecId() == -1: + cnt += 1 + if cnt > 5: + print("Motion fail!") + return -1 + time.sleep(0.05) + print("getExecId: ", impl.getMotionControl().getExecId()) + id = impl.getMotionControl().getExecId() + while True: + id1 = impl.getMotionControl().getExecId() + if id != id1: + break + time.sleep(0.05) + + +# 等待 MovePathBuffer 完成 +def waitMovePathBufferFinished(impl): + while impl.getMotionControl().getExecId() == -1: + time.sleep(0.05) + while True: + ids = impl.getMotionControl().getExecId() + if ids == -1: + break + time.sleep(0.05) + + +if __name__ == '__main__': + robot_rpc_client.setRequestTimeout(1000) # 接口调用: 设置 RPC 请求超时时间 + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接到 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + robot = robot_rpc_client.getRobotInterface(robot_name) + + # 读取轨迹文件并加载轨迹点 + file = open('../c++/trajs/record6.offt') + traj = [] + for line in file: + str_list = line.split(",") + float_list = [] + for strs in str_list: + float_list.append(float(strs)) + traj.append(float_list) + + traj_sz = len(traj) + if traj_sz == 0: + print("没有轨迹点") + else: + print("加载的轨迹点数量为: ", traj_sz) + + # 关节运动到第一个点 + print("goto p1") + mc = robot.getMotionControl() + mc.moveJoint(traj[0], M_PI, M_PI, 0., 0.) + waitArrival(robot) + + print("pathBufferAlloc") + mc.pathBufferFree("rec") # 接口调用: 释放路径缓存 + mc.pathBufferAlloc("rec", 2, traj_sz) # 接口调用: 新建一个路径点缓存 + + # 将 traj_q 中的路点添加到 “rec” 缓存中 + # 以每10个路点为一个列表来添加 + # 当未添加的路点数量小于或者等于10时，则作为最后一组列表来添加 + offset = 10 + it = 0 + while True: + print("pathBufferAppend ", offset) + mc.pathBufferAppend("rec", traj[it:it + 10:1]) # 接口调用: 向路径缓存添加路点 + it += 10 + if offset + 10 >= traj_sz: + print("pathBufferAppend ", traj_sz) + mc.pathBufferAppend("rec", traj[it:traj_sz:1]) + break + offset += 10 + + interval = 0.005 + print("pathBufferEval ", mc.pathBufferEval("rec", [], [], + interval)) # 接口调用: 计算、优化等耗时操作，传入的参数相同时不会重新计算 + while not mc.pathBufferValid("rec"): + print("pathBufferValid: ", mc.pathBufferValid("rec")) # 接口调用: 指定名字的buffer是否有效 + time.sleep(0.005) + mc.movePathBuffer("rec") # 接口调用: 执行缓存的路径 + waitMovePathBufferFinished(robot_rpc_client.getRobotInterface(robot_name)) + print("end movePathBuffer") + robot_rpc_client.disconnect() # 接口调用: 断开RPC连接 + + diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_rtde.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_rtde.py new file mode 100644 index 00000000..989cc481 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_rtde.py @@ -0,0 +1,66 @@ +import threading +import pyaubo_sdk + +robot_ip = "127.0.0.1" +robot_port = 30010 +M_PI = 3.14159265358979323846 + +robot_rtde_client = pyaubo_sdk.RtdeClient() +mutex = threading.Lock() + +def subscribe_callback1(parser): + mutex.acquire() + actual_q_ = parser.popVectorDouble() + print('@actual_q_: {}'.format(actual_q_)) + actual_current_ = parser.popVectorDouble() + print('@actual_current_: {}'.format(actual_current_)) + robot_mode_ = parser.popRobotModeType() + print('@robot_mode_: {}'.format(robot_mode_)) + safety_mode_ = parser.popSafetyModeType() + print('@safety_mode_: {}'.format(safety_mode_)) + runtime_state_ = parser.popRuntimeState() + print('@runtime_state_: {}'.format(runtime_state_)) + line_ = parser.popInt32() + print('@line_: {}'.format(line_)) + actual_TCP_pose_ = parser.popVectorDouble() + print('@actual_TCP_pose_: {}'.format(actual_TCP_pose_)) + mutex.release() + +def subscribe_callback2(parser): + mutex.acquire() + joint_temperatures_ = parser.popVectorDouble() + print('@joint_temperatures_: {}'.format(joint_temperatures_)) + joint_mode_ = parser.popVectorJointStateType() + print('@joint_mode_: {}'.format(joint_mode_)) + actual_main_voltage_ = parser.popDouble() + print('@actual_main_voltage_: {}'.format(actual_main_voltage_)) + actual_robot_voltage_ = parser.popDouble() + print('@actual_robot_voltage_: {}'.format(actual_robot_voltage_)) + mutex.release() + +def example_subscribe(): + names_list1 = ["R1_actual_q", "R1_actual_current", "R1_robot_mode", + "R1_safety_mode", + "runtime_state", "line_number", "R1_actual_TCP_pose"] + topic1 = robot_rtde_client.setTopic(False, names_list1, 50, 0) + robot_rtde_client.subscribe(topic1, subscribe_callback1) + + names_list2 = ["R1_joint_temperatures", "R1_joint_mode", + "R1_actual_main_voltage", "R1_actual_robot_voltage"] + topic2 = robot_rtde_client.setTopic(False, names_list2, 1, 1) + robot_rtde_client.subscribe(topic2, subscribe_callback2) + + isstop = input("Input 'stop' to end ") + if isstop == 'stop': + robot_rtde_client.removeTopic(False, topic1) + robot_rtde_client.removeTopic(False, topic2) + +if __name__ == '__main__': + robot_rtde_client.connect(robot_ip, robot_port) + if robot_rtde_client.hasConnected(): + print("Robot rtde_client connected successfully!") + robot_rtde_client.login("aubo", "123456") + if robot_rtde_client.hasLogined(): + print("Robot rtde_client logined successfully!") + # write our examples here + example_subscribe() diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_script.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_script.py new file mode 100644 index 00000000..b6e1e154 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_script.py @@ -0,0 +1,42 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +运行脚本 + +步骤: +第一步: 连接到 RPC 服务、机械臂登录 +第二步: 连接到 SCRIPT 服务、机械臂登录 +第三步: 运行脚本 +第四步: 当规划期停止运行时，停止脚本运行 +""" +import time + +import pyaubo_sdk + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() +robot_script_client = pyaubo_sdk.ScriptClient() + + +def exampleScript(): + robot_script_client.sendFile("../aubo_script/example_movej.lua") + pass + + +if __name__ == '__main__': + robot_rpc_client.connect(robot_ip, 30004) # 接口调用: 连接 RPC 服务 + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + robot_script_client.connect(robot_ip,30002) # 接口调用： 连接 SCRIPT + robot_script_client.login("aubo", "123456") # 接口调用： 机械臂登录 + + exampleScript() # 运行脚本 + + while True: + time.sleep(1) + runtime_state = robot_rpc_client.getRuntimeMachine().getStatus() + if runtime_state != pyaubo_sdk.RuntimeState.Running: # 当规划期停止运行时，停止脚本运行 + print("规划器的状态：", runtime_state) + break + print("规划器状态：", runtime_state) \ No newline at end of file diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_script2.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_script2.py new file mode 100644 index 00000000..69c14e03 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_script2.py @@ -0,0 +1,58 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +运行脚本 + +步骤: +第一步: 连接到 RPC 服务、机械臂登录 +第二步: 连接到 SCRIPT 服务、机械臂登录 +第三步: 输入脚本文件名字 +第四步: 打开并读取脚本文件 +第五步: 发送脚本内容 +第六步: 当规划期停止运行时，停止脚本运行 +""" +import time + +import pyaubo_sdk +import os +import sys + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() +robot_script_client = pyaubo_sdk.ScriptClient() + + +if __name__ == '__main__': + robot_rpc_client.connect(robot_ip, 30004) # 接口调用: 连接 RPC 服务 + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + robot_script_client.connect(robot_ip, 30002) # 接口调用： 连接 SCRIPT + robot_script_client.login("aubo", "123456") # 接口调用： 机械臂登录 + + # 输入脚本文件名字 + filename = input("请输入文件名: ") + if not os.path.exists(filename): + print("文件不存在！") + sys.exit(1) + + # 打开并读取脚本文件 + file = open(filename) + str_all = "" + for line in file: + str_all += line + str_all += "\r\n\r\n" + print("脚本内容: \n", str_all) + file.close() + + # 发送脚本内容 + robot_script_client.sendString(str_all) + + # 当规划期停止运行时，停止脚本运行 + while True: + time.sleep(1) + runtime_state = robot_rpc_client.getRuntimeMachine().getStatus() + if runtime_state != pyaubo_sdk.RuntimeState.Running: + print("规划器的状态：", runtime_state) + break + print("规划器状态：", runtime_state) diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_serial.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_serial.py new file mode 100644 index 00000000..0f484c37 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_serial.py @@ -0,0 +1,206 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +serial类 串口读写示例 + +步骤: +第一步: 连接到 RPC 服务 +第二步: 打开串口 +第三步: 向串口发送字符串 +第四步: 向串口发送字符串数组 +第五步: 向串口发送带有换行符的字符串 +第六步: 从串口读取字符串 +第七步: 向串口发送字节 +第八步: 从串口监控单字节 +第九步: 向串口发送整数 +第十步: 从串口监控指定数量字节列表 +第十一步: 关闭串口 +第十二步: 断开 RPC 连接 +""" + +import time +import pyaubo_sdk + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +robot_rpc_client = pyaubo_sdk.RpcClient() +serial_port = robot_rpc_client.getSerial() +rc = robot_rpc_client.getRegisterControl() +serial_dev = "/dev/ttyS0" +baud_rate = 115200 +stop_bits = 1.0 +parity = 0 +serial_alias = "serial_0" +timeout = 5.0 +response = -1 + + +def exampleOpenSerial() -> bool: + if ( + serial_port.serialOpen( + serial_dev, + baud_rate, + stop_bits, + parity, + serial_alias, + ) + != 0 + ): + print("[ERROR] 串口打开失败") + return False + print("[SUCC] 串口打开成功") + return True + + +def exampleCloseSerial() -> bool: + if serial_port.serialClose(serial_alias) != 0: + print("[ERROR] 串口关闭失败") + return False + print("[SUCC] 串口关闭成功") + return True + + +def exampleSerialSendString(data: str) -> bool: + if serial_port.serialSendString(data, serial_alias) != 0: + print("[ERROR] 串口发送字符串失败") + return False + time.sleep(0.001) + print("[SUCC] 串口发送字符串成功") + return True + + +def exampleSerialSendAllString(data: list[str]) -> bool: + is_check = False + if serial_port.serialSendAllString(is_check, data, serial_alias) != 0: + print("[ERROR] 串口发送字符串数组失败") + return False + time.sleep(0.001) + print("[SUCC] 串口发送字符串数组成功") + return True + + +def exampleSerialSendLine(data: str) -> bool: + if serial_port.serialSendLine(data, serial_alias) != 0: + print("[ERROR] 串口发送带有换行符的字符串失败") + return False + time.sleep(0.001) + print("[SUCC] 串口发送带有换行符的字符串成功") + return True + + +def exampleSerialSendByte(data: bytes) -> bool: + if serial_port.serialSendByte(data, serial_alias) != 0: + print("[ERROR] 串口发送字节失败") + return False + time.sleep(0.001) + print("[SUCC] 串口发送字节成功") + return True + + +def exampleSerialSendInt(data: int) -> bool: + if serial_port.serialSendInt(data, serial_alias) != 0: + print("[ERROR] 串口发送整数失败") + return False + time.sleep(0.001) + print("[SUCC] 串口发送整数成功") + return True + + +def exampleSerialReadString() -> str: + start_time = time.time() + prefix = "<" + suffix = ">" + interpret_escape = False + value_name = "read_str" + default_value = "" + rc.setString(value_name, default_value) # 初始化寄存器 + while time.time() - start_time < timeout: + response = serial_port.serialReadString( + value_name, + serial_alias, + prefix, + suffix, + interpret_escape, + ) + if response == 0: + value = rc.getString( + value_name, + default_value, + ) + if value != default_value: + print(f"[SUCC] 串口读取字符串成功: {value}") + return value + time.sleep(0.01) + if response != 0: + print(f"[ERROR] 串口读取字符串超时 返回码{response}") + return response + + +def exampleSerialReadByte() -> bytes: + start_time = time.time() + value_name = "read_byte" + default_value = 0 + rc.setInt32(value_name, default_value) # 初始化寄存器 + while time.time() - start_time < timeout: + response = serial_port.serialReadByte( + value_name, + serial_alias, + ) + if response == 0: + value = rc.getInt32( + value_name, + default_value, + ) + value = chr(value) + print(f"[INFO] 字节监控数据: {value}") + time.sleep(0.01) + if response != 0: + print(f"[ERROR] 串口读取字节超时 返回码{response}") + return response + + +def exampleSerialReadByteList(num_bytes: int) -> list[int]: + start_time = time.time() + value_name = "read_byte_list" + default_value = ["0"] * num_bytes + rc.setVecChar(value_name, default_value) # 初始化寄存器 + while time.time() - start_time < timeout: + response = serial_port.serialReadByteList( + num_bytes, + value_name, + serial_alias, + ) + if response == 0: + value = rc.getVecChar( + value_name, + default_value, + ) + print(f"[INFO] 字节列表监控数据: {value}") + time.sleep(0.01) + if response != 0: + print(f"[ERROR] 串口读取字节列表超时 返回码{response}") + return response + + +if __name__ == "__main__": + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + exampleOpenSerial() + exampleSerialSendString("HELLO ROBOT") + exampleSerialSendAllString( + ["H", "E", "L", "L", "O", " ", "R", "O", "B", "O", "T"], + ) + exampleSerialSendLine("HELLO ROBOT") + exampleSerialReadString() # 接受头尾各为"<",">"的字符串例如"<9000>"。头尾字符可自行修改 + exampleSerialSendByte("a") + exampleSerialReadByte() + exampleSerialSendInt(9000) + exampleSerialReadByteList(6) + exampleCloseSerial() + robot_rpc_client.logout() # 退出登录 + robot_rpc_client.disconnect() # 断开连接 diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_servo_cartesian.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_servo_cartesian.py new file mode 100644 index 00000000..2a4c5ca9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_servo_cartesian.py @@ -0,0 +1,136 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +servoCartesian 运动 + +步骤: +第一步: 连接到 RPC 服务、机械臂登录、设置RPC请求超时时间 +第二步: 读取 .txt 轨迹文件 +第三步: 关节运动到轨迹中的第一个点 +第四步: 开启 servo 模式 +第五步: 做 servoCartesian 运动 +第六步: 关闭 servo 模式 +第七步: 断开 RPC 连接 +""" +import pyaubo_sdk +import time + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + + +# 阻塞 +def wait_arrival(robot_interface): + max_retry_count = 5 + cnt = 0 + + # 接口调用: 获取当前的运动指令 ID + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂开始运动 + while exec_id == -1: + if cnt > max_retry_count: + return -1 + time.sleep(0.05) + cnt += 1 + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂运动完成 + while robot_interface.getMotionControl().getExecId() != -1: + time.sleep(0.05) + + return 0 + + +def servo_cartesian(): + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + robot_interface = robot_rpc_client.getRobotInterface(robot_name) + + # 读取轨迹文件并加载轨迹点 + # 注意: cartesian-heart-L.txt是适用于S3系列的笛卡尔轨迹文件， + # 且该文件中姿态单位是角度 + file = open('../c++/trajs/cartesian-heart-L.txt') + traj = [] + for line in file: + str_list = line.split(",") + float_list = [] + for strs in str_list: + float_list.append(float(strs)) + # 将轨迹文件中姿态的单位由角度转换成弧度 + for i in range(3, 6): + float_list[i] = float_list[i] / 180 * M_PI + traj.append(float_list) + + traj_sz = len(traj) + if traj_sz == 0: + print("没有轨迹点") + return 0 + else: + print("加载的轨迹点数量为: ", traj_sz) + + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + + # 接口调用：获取当前位置的关节角，单位：rad + current_q = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointPositions() + # 接口调用: 逆解 + res = robot_rpc_client.getRobotInterface(robot_name).getRobotAlgorithm().inverseKinematics(current_q, traj[0]) + if res[1] != 0: + print("轨迹文件中的第一个路点逆解失败，返回值：", res[1]) + return -1 + + # q0 = [elem * 180 / 3.14 for elem in res[0]] + # print("逆解得到的轨迹文件中的第一个路点关节角(单位为角度):", q0) + + # 关节运动到轨迹文件中的第一个点 + # 当前位置要与轨迹中的第一个点一致，否则容易引起较大超调 + mc = robot_interface.getMotionControl() + mc.moveJoint(res[0], 80/180*M_PI, 60/180*M_PI, 0., 0.) + ret = wait_arrival(robot_interface) + if ret == 0: + print("关节运动到路点1成功") + else: + print("关节运动到路点1失败") + return -1 + + # 开启 servo 模式 + robot_interface.getMotionControl().setServoMode(True) + i = 0 + while not mc.isServoModeEnabled(): + i = i + 1 + if i > 5: + print("开启Servo模式失败！当前的Servo模式是： ", mc.isServoModeEnabled()) + return -1 + time.sleep(0.005) + + traj.remove(traj[0]) + for p in traj: + # 笛卡尔空间伺服运动 + mc.servoCartesian(p, 0.0, 0.0, 0.1, 0.0, 0.0) + time.sleep(0.05) + + # 关闭 servo 模式 + mc.setServoMode(False) + i = 0 + while mc.isServoModeEnabled(): + i = i + 1 + if i > 5: + print("关闭Servo模式失败！当前的Servo模式是： ", mc.isServoModeEnabled()) + return -1 + time.sleep(0.005) + print("servoCartesian运动结束") + return 0 + + +if __name__ == '__main__': + robot_rpc_client.setRequestTimeout(1000) # 接口调用: 设置 RPC 请求超时时间 + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接到 RPC 服务 + if robot_rpc_client.hasConnected(): + print("RPC连接成功！") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + servo_cartesian() # 笛卡尔空间Servo运动示例 + robot_rpc_client.disconnect() # 接口调用: 断开RPC连接 + else: + print("RPC连接失败！") diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_servoj2.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_servoj2.py new file mode 100644 index 00000000..a989cbd9 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_servoj2.py @@ -0,0 +1,340 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +servoj 运动 + +示例说明: +1. exampleServoj1: 采用旧接口 setServoMode 开启 servo 模式, 跟踪一个轨迹,目标点下发时间间隔5ms,截断式 +2. exampleServoj2: 采用新接口 mode 1 开启 servo 模式, 跟踪一个轨迹,目标点下发时间间隔5ms,截断式 +3. exampleServoj3: 采用新接口 mode 2 开启 servo 模式, 跟踪一个轨迹,目标点下发时间间隔5ms +4. exampleServoj4: 采用新接口 mode 5 开启 servo 模式, 跟踪一个轨迹,目标点下发时间间隔5ms, 路点必达式 +""" +import pyaubo_sdk +import time +from typing import Any + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + + +# 阻塞 +def wait_arrival(robot_interface): + max_retry_count = 5 + cnt = 0 + + # 接口调用: 获取当前的运动指令 ID + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂开始运动 + while exec_id == -1: + if cnt > max_retry_count: + return -1 + time.sleep(0.05) + cnt += 1 + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂运动完成 + while robot_interface.getMotionControl().getExecId() != -1: + time.sleep(0.05) + + return 0 + +def waitServoJointComplete(cli: Any, timeout_ms=10000) -> int: + # 接口调用：获取机器人的名字 + robot_name = cli.getRobotNames()[0] + robot_interface = cli.getRobotInterface(robot_name) + # 记录开始时间 + start_time = time.perf_counter() + + # 第一步：等待运动剩余时间为0（循环检查getMotionLeftTime(0)） + while robot_interface.getMotionControl().getMotionLeftTime(0) != 0: + # 计算已耗时（毫秒） + current_time = time.perf_counter() + elapsed_ms = (current_time - start_time) * 1000 + # 检查是否超时 + if elapsed_ms >= timeout_ms: + print(f"Warning: WaitServoJointComplete timeout after {elapsed_ms:.0f} ms") + return 1 + # 每5ms检查一次 + time.sleep(0.005) + # 第二步：等待机械臂进入稳定状态（isSteady()为True） + while not robot_interface.getRobotState().isSteady(): + time.sleep(0.005) + + return 0 + +def switch_servoj_mode(cli: Any, mode: int) -> int: + # 接口调用：获取机器人的名字 + robot_name = cli.getRobotNames()[0] + robot_interface = cli.getRobotInterface(robot_name) + mc = robot_interface.getMotionControl() + mc.setServoModeSelect(mode) + i = 0 + while mc.getServoModeSelect() != mode: + i = i + 1 + if i > 20: + print("Servo Mode is ", mc.getServoModeSelect()) + return -1 + time.sleep(0.007) + return 0 + + +# 测试1:(旧接口 setServoMode) +# 采用servoj跟踪一个轨迹,目标点下发时间间隔5ms,截断式,每次更新路点后不保证经过上个路点 +def exampleServoj1(cli: Any): + robot_name = cli.getRobotNames()[0] # 接口调用: 获取机器人的名字 + robot = cli.getRobotInterface(robot_name) + + # 读取轨迹文件并加载轨迹点 + file = open('../trajs/record6.offt') + traj = [] + for line in file: + str_list = line.split(",") + float_list = [] + for strs in str_list: + float_list.append(float(strs)) + traj.append(float_list) + + traj_sz = len(traj) + if traj_sz == 0: + print("没有轨迹点") + else: + print("加载的轨迹点数量为: ", traj_sz) + + # 关节运动到第一个点 + # 当前位置要与轨迹中的第一个点一致，否则容易引起较大超调 + print("goto p1") + # robot_rpc_client.getRuntimeMachine().start() + mc = robot.getMotionControl() + mc.moveJoint(traj[0], M_PI, M_PI, 0., 0.) + wait_arrival(robot) + + # 开启 servo 模式 + robot.getMotionControl().setServoMode(True) + i = 0 + while not mc.isServoModeEnabled(): + i = i + 1 + if i > 5: + print("Servo Mode is ", mc.isServoModeEnabled()) + return -1 + time.sleep(0.005) + + traj.remove(traj[0]) + t = 0.02 + for q in traj: + ret = mc.servoJoint(q, 0.1, 0.2, t, 0.1, 200) + while ret == 2: + # print("queue full: ", ret) + time.sleep(0.005) + ret = mc.servoJoint(q, 0.1, 0.2, t, 0.1, 200) + if ret != 0: + print("servoj error: ", ret) + return -1 + + # 等待 servo 运动完成 + if (waitServoJointComplete(cli)== 0): + print("Servoj motion complete") + + # 关闭 servo 模式 + mc.setServoMode(False) + print("Servoj end") + return 0 + +# 测试2:(新接口 mode 1 等价 setServoMode) +# 采用servoj跟踪一个轨迹,目标点下发时间间隔5ms,截断式,每次更新路点后不保证经过上个路点 +def exampleServoj2(cli: Any): + robot_name = cli.getRobotNames()[0] # 接口调用: 获取机器人的名字 + robot = cli.getRobotInterface(robot_name) + mc = robot.getMotionControl() + + # 设置速度比例 + mc.setSpeedFraction(1) + + # 读取轨迹文件并加载轨迹点 + file = open('../trajs/record6.offt') + traj = [] + for line in file: + str_list = line.split(",") + float_list = [] + for strs in str_list: + float_list.append(float(strs)) + traj.append(float_list) + + traj_sz = len(traj) + if traj_sz == 0: + print("没有轨迹点") + else: + print("加载的轨迹点数量为: ", traj_sz) + + # 关节运动到第一个点 + # 当前位置要与轨迹中的第一个点一致，否则容易引起较大超调 + print("goto p1") + mc.moveJoint(traj[0], M_PI, M_PI, 0., 0.) + wait_arrival(robot) + + + # 开启 servo 模式 + switch_servoj_mode(cli, 1) + + t = 0.02 + traj.remove(traj[0]) + for q in traj: + ret = mc.servoJoint(q, 0.1, 0.2, t, 0.1, 200) + while ret == 2: + # print("queue full: ", ret) + # time.sleep(0.005) + ret = mc.servoJoint(q, 0.1, 0.2, t, 0.1, 200) + if ret != 0: + print("servoj error: ", ret) + return -1 + + # 5ms 下发节拍 + # time.sleep(0.005) + + # 等待 servo 运动完成 + if (waitServoJointComplete(cli)== 0): + print("Servoj motion complete") + + # 关闭 servo 模式 + switch_servoj_mode(cli, 0) + + print("Servoj end") + return 0 + +# 测试3: 采用servoj mode 2 跟踪一个轨迹,目标点下发时间间隔5ms +def exampleServoj3(cli: Any): + robot_name = cli.getRobotNames()[0] # 接口调用: 获取机器人的名字 + robot = cli.getRobotInterface(robot_name) + mc = robot.getMotionControl() + + # 设置速度比例 + mc.setSpeedFraction(1) + + # 读取轨迹文件并加载轨迹点 + file = open('../trajs/record6.offt') + traj = [] + for line in file: + str_list = line.split(",") + float_list = [] + for strs in str_list: + float_list.append(float(strs)) + traj.append(float_list) + + traj_sz = len(traj) + if traj_sz == 0: + print("没有轨迹点") + else: + print("加载的轨迹点数量为: ", traj_sz) + + # 关节运动到第一个点 + # 当前位置要与轨迹中的第一个点一致，否则容易引起较大超调 + print("goto p1") + mc.moveJoint(traj[0], M_PI, M_PI, 0., 0.) + wait_arrival(robot) + + + # 开启 servo 模式 + switch_servoj_mode(cli, 2) + + t = 0.1 + traj.remove(traj[0]) + for q in traj: + ret = mc.servoJoint(q, 0.1, 0.2, t, 0.1, 200) + while ret == 2: + # print("queue full: ", ret) + # time.sleep(0.005) + ret = mc.servoJoint(q, 0.1, 0.2, t, 0.1, 200) + if ret != 0: + print("servoj error: ", ret) + return -1 + + # 5ms 下发节拍 + time.sleep(0.005) + + # 等待 servo 运动完成 + if (waitServoJointComplete(cli)== 0): + print("Servoj motion complete") + + # 关闭 servo 模式 + switch_servoj_mode(cli, 0) + + print("Servoj end") + return 0 + +# 测试4: 采用servoj跟踪一个轨迹,目标点下发时间间隔5ms, 路点必达式 +def exampleServoj4(cli: Any): + robot_name = cli.getRobotNames()[0] # 接口调用: 获取机器人的名字 + robot = cli.getRobotInterface(robot_name) + mc = robot.getMotionControl() + + # 设置速度比例 + mc.setSpeedFraction(1) + + # 读取轨迹文件并加载轨迹点 + file = open('../trajs/record6.offt') + traj = [] + for line in file: + str_list = line.split(",") + float_list = [] + for strs in str_list: + float_list.append(float(strs)) + traj.append(float_list) + + traj_sz = len(traj) + if traj_sz == 0: + print("没有轨迹点") + else: + print("加载的轨迹点数量为: ", traj_sz) + + # 关节运动到第一个点 + # 当前位置要与轨迹中的第一个点一致，否则容易引起较大超调 + print("goto p1") + mc.moveJoint(traj[0], M_PI, M_PI, 0., 0.) + wait_arrival(robot) + + + # 开启 servo 模式 + switch_servoj_mode(cli, 5) + + t = 0.01 + traj.remove(traj[0]) + for q in traj: + ret = mc.servoJoint(q, 0.1, 0.2, t, 0.1, 200) + while ret == 2: + # print("queue full: ", ret) + # time.sleep(0.005) + ret = mc.servoJoint(q, 0.1, 0.2, t, 0.1, 200) + if ret != 0: + print("servoj error: ", ret) + return -1 + + # 5ms 下发节拍 + # time.sleep(0.005) + + # 等待 servo 运动完成 + if (waitServoJointComplete(cli)== 0): + print("Servoj motion complete") + + # 关闭 servo 模式 + switch_servoj_mode(cli, 0) + + print("Servoj end") + return 0 + +if __name__ == '__main__': + robot_rpc_client.setRequestTimeout(1000) # 接口调用: 设置 RPC 请求超时时间 + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接到 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + exampleServoj1(robot_rpc_client) + # exampleServoj2(robot_rpc_client) + # exampleServoj3(robot_rpc_client) + # exampleServoj4(robot_rpc_client) + robot_rpc_client.disconnect() # 接口调用: 断开RPC连接 + diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_servoj3.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_servoj3.py new file mode 100644 index 00000000..a625eaf5 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_servoj3.py @@ -0,0 +1,324 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +功能：机械臂 servoJ 叠加力控示例 + +步骤: +第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 +第二步: servoJ 叠加力控示例 +第三步: RPC 退出登录、断开连接 +""" + +import time +import math +import pyaubo_sdk +import csv +from typing import List, Sequence, Tuple, Any, Optional + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +tcp_offset = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +mass = 0.0 +com = [0.0, 0.0, 0.0] +t = 0.05 +robot_rpc_client = pyaubo_sdk.RpcClient() +EMBEDDED: bool = True # 是否使用机械臂内置力传感器 +SENSOR_VENDOR: str = "kw_ftsensor" # 外置力传感器厂商名称 + + +# 阻塞 +def wait_arrival(robot_interface): + max_retry_count = 5 + cnt = 0 + + # 接口调用: 获取当前的运动指令 ID + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂开始运动 + while exec_id == -1: + if cnt > max_retry_count: + return -1 + time.sleep(0.05) + cnt += 1 + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂运动完成 + while robot_interface.getMotionControl().getExecId() != -1: + time.sleep(0.05) + + return 0 + +def calculate_distance(p1: Sequence[float], p2: Optional[Sequence[float]] = None) -> float: + """ + 计算两点之间的欧氏距离，默认第二点为原点 + """ + if p2 is None: + p2 = (0.0,) * 6 + if len(p1) != 6 or len(p2) != 6: + return 0.0 + return math.sqrt(sum((p1[i] - p2[i]) ** 2 for i in range(3))) + +def waitServoJointComplete(cli: Any, timeout_ms=10000) -> int: + # 接口调用：获取机器人的名字 + robot_name = cli.getRobotNames()[0] + robot_interface = cli.getRobotInterface(robot_name) + # 记录开始时间 + start_time = time.perf_counter() + + # 第一步：等待运动剩余时间为0（循环检查getMotionLeftTime(0)） + while robot_interface.getMotionControl().getMotionLeftTime(0) != 0: + # 计算已耗时（毫秒） + current_time = time.perf_counter() + elapsed_ms = (current_time - start_time) * 1000 + # 检查是否超时 + if elapsed_ms >= timeout_ms: + print(f"Warning: WaitServoJointComplete timeout after {elapsed_ms:.0f} ms") + return 1 + # 每5ms检查一次 + time.sleep(0.005) + # 第二步：等待机械臂进入稳定状态（isSteady()为True） + while not robot_interface.getRobotState().isSteady(): + time.sleep(0.005) + + return 0 + +def switch_servoj_mode(cli: Any, mode: int) -> int: + # 接口调用：获取机器人的名字 + robot_name = cli.getRobotNames()[0] + robot_interface = cli.getRobotInterface(robot_name) + mc = robot_interface.getMotionControl() + mc.setServoModeSelect(mode) + i = 0 + while mc.getServoModeSelect() != mode: + i = i + 1 + if i > 20: + print("Servo Mode is ", mc.getServoModeSelect()) + return -1 + time.sleep(0.007) + return 0 + +def fc_enable(cli: Any)->int: + # 接口调用：获取机器人的名字 + robot_name = cli.getRobotNames()[0] + robot = cli.getRobotInterface(robot_name) + # 开启力控 + ret = robot.getForceControl().fcEnable() + if ret != 0: + print("力控开启失败, 错误码: ", ret) + return -1 + +def fc_disable(cli: Any)->int: + # 接口调用：获取机器人的名字 + robot_name = cli.getRobotNames()[0] + robot = cli.getRobotInterface(robot_name) + # 关闭力控 + ret = robot.getForceControl().fcDisable() + if ret != 0: + print("力控关闭失败, 错误码: ", ret) + return -1 + +def tcp_sensor_test(cli: Any, csv_path: str = "force.csv"): + # 接口调用：获取机器人的名字 + robot_name = cli.getRobotNames()[0] + + # 选择力传感器类型 + if EMBEDDED: + sensor_pose = [0, 0, 0, 0, 0, 0] + cli.getRobotInterface(robot_name) \ + .getRobotConfig() \ + .selectTcpForceSensor("embedded") + else: + sensor_pose = [0, 0, 0.047, 0, 0, 0] + cli.getRobotInterface(robot_name) \ + .getRobotConfig() \ + .selectTcpForceSensor(SENSOR_VENDOR) + + # 写入 CSV + with open(csv_path, "a", newline="") as f: + writer = csv.writer(f) + + # 表头 + writer.writerow(["Fx", "Fy", "Fz", "Tx", "Ty", "Tz"]) + f.flush() + + while True: + sensor_data = cli.getRobotInterface(robot_name) \ + .getRobotState() \ + .getTcpForceSensors() + + print("--------------------------------------") + for i, v in enumerate(sensor_data): + print(f"获取TCP力传感器读数: {i + 1}: {v}") + print("--------------------------------------") + + writer.writerow(list(sensor_data)) + f.flush() + + time.sleep(0.005) + +# --------- 力传感器标定 ---------- +def tcp_sensor_calibration(cli: Any, joints: List[List[float]]) -> Tuple[List[float], List[float], float]: + robot_name = cli.getRobotNames()[0] + robot_interface = cli.getRobotInterface(robot_name) + + print("goto p0") + robot_interface.getMotionControl().moveJoint( + joints[0], + 10.0 * (math.pi / 180.0), + 5.0 * (math.pi / 180.0), + 0, 0 + ) + wait_arrival(robot_interface) + time.sleep(1.0) + + q1 = robot_interface.getRobotState().getJointPositions() + tcp_force1 = robot_interface.getRobotState().getTcpForceSensors() + + print("goto p1") + robot_interface.getMotionControl().moveJoint( + joints[1], + 20.0 * (math.pi / 180.0), + 10.0 * (math.pi / 180.0), + 0, 0 + ) + wait_arrival(robot_interface) + time.sleep(1.0) + + q2 = robot_interface.getRobotState().getJointPositions() + tcp_force2 = robot_interface.getRobotState().getTcpForceSensors() + + print("goto p2") + robot_interface.getMotionControl().moveJoint( + joints[2], + 20.0 * (math.pi / 180.0), + 10.0 * (math.pi / 180.0), + 0, 0 + ) + wait_arrival(robot_interface) + time.sleep(1.0) + + q3 = robot_interface.getRobotState().getJointPositions() + tcp_force3 = robot_interface.getRobotState().getTcpForceSensors() + + pose1 = robot_interface.getRobotAlgorithm().forwardKinematics(q1) + pose2 = robot_interface.getRobotAlgorithm().forwardKinematics(q2) + pose3 = robot_interface.getRobotAlgorithm().forwardKinematics(q3) + + calib_forces = [list(tcp_force1), list(tcp_force2), list(tcp_force3)] + calib_poses = [list(pose1[0]), list(pose2[0]), list(pose3[0])] + + # 三点标定接口 + result = robot_interface.getRobotAlgorithm().calibrateTcpForceSensor(calib_forces, calib_poses) + + return result + +def exampleServoj1(cli: Any): + robot_name = cli.getRobotNames()[0] # 接口调用: 获取机器人的名字 + robot = cli.getRobotInterface(robot_name) + + + # 选择力传感器类型 + if EMBEDDED: + sensor_pose = [0, 0, 0, 0, 0, 0] + robot.getRobotConfig().selectTcpForceSensor("embedded") + else: + sensor_pose = [0, 0, 0.047, 0, 0, 0] + robot.getRobotConfig().selectTcpForceSensor(SENSOR_VENDOR) + + # 设置传感器安装位姿 + robot.getRobotConfig().setTcpForceSensorPose(sensor_pose) + + # 设置工具坐标系偏移 + robot.getRobotConfig().setTcpOffset(tcp_offset) + + # 设置负载 + robot.getRobotConfig().setPayload(mass, com, [0.], [0.]) + + # 读取并设置力传感器偏移 + force_offset = robot.getRobotState().getTcpForceSensors() + robot.getRobotConfig().setTcpForceOffset(force_offset) + + # 导纳模型 + admittance_m = [25.0, 25.0, 25.0, 2.0, 2.0, 2.0] + admittance_d = [300.0, 300.0, 300.0, 12.0, 12.0, 12.0] + admittance_k = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + robot.getForceControl().setDynamicModel(admittance_m, admittance_d, admittance_k) + + # 力控目标 + compliance = [False, False, True, False, False, False] + target_wrench = [0.0, 0.0, 5.0, 0.0, 0.0, 0.0] + speed_limits = [2.0] * 6 + feature = [0, 0, 0, 0, 0, 0] + task_frame = pyaubo_sdk.TaskFrameType.TOOL_FORCE + robot.getForceControl().setTargetForce(feature, compliance, target_wrench, speed_limits, task_frame) + + # 读取轨迹文件并加载轨迹点 + file = open('../trajs/record6.offt') + traj = [] + for line in file: + str_list = line.split(",") + float_list = [] + for strs in str_list: + float_list.append(float(strs)) + traj.append(float_list) + + traj_sz = len(traj) + if traj_sz == 0: + print("没有轨迹点") + else: + print("加载的轨迹点数量为: ", traj_sz) + + # 关节运动到第一个点 + # 当前位置要与轨迹中的第一个点一致，否则容易引起较大超调 + print("goto p1") + mc = robot.getMotionControl() + mc.moveJoint(traj[0], M_PI, M_PI, 0., 0.) + wait_arrival(robot) + + # 开启力控 + fc_enable(cli) + + # 开启 servo 模式 + switch_servoj_mode(cli, 7) + + traj.remove(traj[0]) + for q in traj: + ret = mc.servoJoint(q, 0.1, 0.2, t, 0.1, 200) + while ret == 2: + # print("queue full: ", ret) + # time.sleep(0.005) + ret = mc.servoJoint(q, 0.1, 0.2, t, 0.1, 200) + if ret != 0: + print("servoj error: ", ret) + robot.getForceControl().fcDisable() + return -1 + + # 5ms 下发节拍 + # time.sleep(0.005) + + # 等待 servo 运动完成 + if (waitServoJointComplete(cli)== 0): + print("Servoj motion complete") + + # 关闭 servo 模式 + switch_servoj_mode(cli, 0) + # 关闭力控 + fc_disable(cli) + + print("Servoj end") + return 0 + +if __name__ == '__main__': + robot_rpc_client = pyaubo_sdk.RpcClient() + robot_rpc_client.setRequestTimeout(1000) # 接口调用: 设置 RPC 超时 + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接 RPC 服务 + if robot_rpc_client.hasConnected(): + print("RPC客户端连接成功!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 登录 + if robot_rpc_client.hasLogined(): + print("RPC客户端登录成功!") + exampleServoj1(robot_rpc_client) # ServoJ示例 + robot_rpc_client.logout() # 退出登录 + robot_rpc_client.disconnect() # 断开连接 diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_set_log_handler.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_set_log_handler.py new file mode 100644 index 00000000..452dc242 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_set_log_handler.py @@ -0,0 +1,44 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +自定义日志的格式 + +步骤: +第一步: 自定义日志的格式 +注意: 需要在连接服务器之前，调用 setLogHandler 函数。 +否则，自定义的日志格式是不会生效的。 +第二步: 连接到 RPC 服务 +第三步: 机械臂登录 +""" + +import pyaubo_sdk + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + + +# 打印日志内容 +def print_log(level: int, filename: str, line: int, message: str): + print("level:", level) + print("filename:", filename) + print("line:", line) + print("message:", message) + + +# 自定义日志格式 +def example_read_log(): + # 接口调用: 重写日志系统的格式 + robot_rpc_client.setLogHandler(print_log) + + +if __name__ == '__main__': + example_read_log() # 自定义日志的格式 + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_stable_ik.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_stable_ik.py new file mode 100644 index 00000000..8d7fec6c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_stable_ik.py @@ -0,0 +1,324 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +功能：解决 TCP 位姿的欧拉角接近极限位置时，直接逆解后 moveJoint + 容易选择到另一组等价姿态逆解而导致关节翻转的问题。 + + 示例包含运动对照逻辑： + 1. unsafe 路径: 对同一个目标 TCP 位姿，给 inverseKinematics + 一个错误分支上的 qnear，使普通逆解选到翻转分支并执行 moveJoint； + 2. safe 路径: 使用 inverseKinematics2(reference_q, target_pose) + 按 reference_q 的构型计算逆解，并选择同构型内关节变化最小的 + 一组，最后使用 moveJoint 运动。 + +步骤: +第一步: 设置 RPC 超时、连接 RPC 服务、机械臂登录 +第二步: 获取当前关节角和当前 TCP 位姿 +第三步: 对目标 TCP 位姿使用错误 qnear 调普通 inverseKinematics， + 先故意选择翻转解运动 +第四步: 回到起点后，再使用 inverseKinematics2 计算稳定逆解并运动 +第五步: RPC 退出登录、断开连接 +""" + +import math +import time + +import pyaubo_sdk + + +robot_ip = "127.0.0.1" # 机械臂 IP 地址 +robot_port = 30004 # 端口号 +DEMO_MOVE_SPEED = 20 * (math.pi / 180) +DEMO_MOVE_ACCELERATION = 20 * (math.pi / 180) +RUN_UNSAFE_DEMO = False +MIN_FLIP_DISTANCE_DEG = 60.0 +MAX_JOINT_ABS_DEG = 350.0 + + +def wait_done(robot_interface): + max_retry_count = 5 + cnt = 0 + + # 接口调用: 获取当前的运动指令 ID + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂开始运动 + while exec_id == -1: + if cnt > max_retry_count: + return -1 + time.sleep(0.05) + cnt += 1 + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂运动完成 + while robot_interface.getMotionControl().getExecId() != -1: + time.sleep(0.05) + + return 0 + + +def joint_gap(q1, q2): + return sum((a - b) * (a - b) for a, b in zip(q1, q2)) + + +def joint_gap_deg(q1, q2): + return math.sqrt(joint_gap(q1, q2)) * 180 / math.pi + + +def within_demo_limit(q): + return all(abs(v * 180 / math.pi) <= MAX_JOINT_ABS_DEG for v in q) + + +def show_vec(name, values): + print(name + ": [" + ", ".join("{:.6f}".format(v) for v in values) + "]") + + +def show_joint(name, q): + print(name + ": [" + ", ".join("{:.2f}".format(v * 180 / math.pi) + for v in q) + "] deg") + + +def all_ik(robot_algorithm, target_pose): + ik_result = robot_algorithm.inverseKinematicsAll(target_pose) + ik_solutions = ik_result[0] + ik_ret = ik_result[1] + + if ik_ret != 0 or len(ik_solutions) == 0: + print("inverseKinematicsAll 失败，返回值:", ik_ret) + return [] + + return ik_solutions + + +def config_of(robot_algorithm, q): + config_result = robot_algorithm.getRobotConfiguration(q) + config = config_result[0] + config_ret = config_result[1] + + if config_ret != 0: + return None + + return config + + +def show_all_ik(robot_algorithm, target_pose, reference_q): + ik_solutions = all_ik(robot_algorithm, target_pose) + print("\ninverseKinematicsAll 全部逆解，共 {} 组".format( + len(ik_solutions))) + for index, q in enumerate(ik_solutions): + config = config_of(robot_algorithm, q) + config_text = config if config is not None else "获取失败" + print(" 解 {}，构型: {}，关节变化 {:.3f} deg".format( + index + 1, config_text, joint_gap_deg(q, reference_q))) + show_joint(" 关节角", q) + + +def movej(robot_interface, q, title): + print(title) + ret = robot_interface.getMotionControl().moveJoint( + q, DEMO_MOVE_ACCELERATION, DEMO_MOVE_SPEED, 0, 0) + if ret != 0: + print("moveJoint 下发失败，返回值:", ret) + return False + + ret = wait_done(robot_interface) + if ret != 0: + print(title, "失败") + return False + + print(title, "成功") + return True + + +def bad_seed(robot_algorithm, target_pose, reference_q, reference_config): + """ + 为 unsafe 对照构造一个错误分支上的 qnear。 + + 为了稳定展示翻转，优先选择与起点不同构型、角度不超出演示限制、 + 且关节变化足够明显的逆解；如果有多组候选，则选择变化最小的一组， + 避免挑到本来就不可执行的极端解。这里只用 inverseKinematicsAll + 找到错误 qnear，真正用于 unsafe 运动的目标关节角仍由普通 + inverseKinematics(qnear, pose) 产生。 + """ + ik_solutions = all_ik(robot_algorithm, target_pose) + if len(ik_solutions) == 0: + return None + + different_config_solutions = [] + valid_solutions = [] + for q in ik_solutions: + config = config_of(robot_algorithm, q) + if config is None: + continue + + if not within_demo_limit(q): + continue + + valid_solutions.append(q) + if config != reference_config: + different_config_solutions.append(q) + + if len(valid_solutions) == 0: + return None + + candidates = different_config_solutions or valid_solutions + candidates = [(q, joint_gap_deg(q, reference_q)) for q in candidates] + candidates = [item for item in candidates + if item[1] >= MIN_FLIP_DISTANCE_DEG] + if len(candidates) == 0: + print("未找到角度合法且足够明显的错误 qnear") + return None + + bad_qnear, _ = min(candidates, key=lambda item: item[1]) + return bad_qnear + + +def unsafe_ik(robot_algorithm, target_pose, reference_q, reference_config): + bad_qnear = bad_seed(robot_algorithm, target_pose, reference_q, + reference_config) + if bad_qnear is None: + return None + + ik_result = robot_algorithm.inverseKinematics(bad_qnear, target_pose) + unsafe_q = ik_result[0] + ik_ret = ik_result[1] + + if ik_ret != 0: + print("unsafe inverseKinematics 失败，返回值:", ik_ret) + return None + + if not within_demo_limit(unsafe_q): + print("unsafe 目标关节角超出演示限制，跳过该翻转解") + return None + + unsafe_distance = joint_gap_deg(unsafe_q, reference_q) + if unsafe_distance < MIN_FLIP_DISTANCE_DEG: + print("普通 inverseKinematics 未选到明显翻转解，关节距离仅 {:.3f} deg".format( + unsafe_distance)) + return None + + return unsafe_q + + +def stable_ik(robot_algorithm, target_pose, reference_q): + """ + 面向 moveJoint 的防翻转逆解选解策略。 + + 欧拉角在极限位置附近可能出现多种等价姿态表示。如果只用单个 + inverseKinematics 或随便取 inverseKinematicsAll 的某个解，机械臂 + 可能切到另一组构型，表现为 moveJoint 过程中某些关节突然大幅翻转。 + + 选解步骤: + 1. 将 reference_q 作为参考关节角传入 inverseKinematics2； + 2. inverseKinematics2 按 reference_q 的构型计算逆解； + 3. inverseKinematics2 在同构型逆解中选择相对 reference_q + 关节变化最小的一组。 + """ + ik_result = robot_algorithm.inverseKinematics2(reference_q, target_pose) + q = ik_result[0] + ik_ret = ik_result[1] + if ik_ret != 0: + print("inverseKinematics2 失败，返回值:", ik_ret) + return None + + if len(q) != len(reference_q): + print("inverseKinematics2 返回关节数量异常: {}，期望: {}".format( + len(q), len(reference_q))) + return None + + print("stable_ik 选解结果") + print(" inverseKinematics2 已按参考构型选择同构型最近解") + print(" 关节变化 {:.3f} deg".format(joint_gap_deg(q, reference_q))) + return q + + +def demo(rpc_client): + # 接口调用: 获取机器人的名字 + robot_name = rpc_client.getRobotNames()[0] + robot_interface = rpc_client.getRobotInterface(robot_name) + robot_algorithm = robot_interface.getRobotAlgorithm() + motion_control = robot_interface.getMotionControl() + + # 接口调用: 设置机械臂的速度比率 + motion_control.setSpeedFraction(0.3) + + # 获取当前关节角，并以当前构型作为后续选解约束。 + reference_q = robot_interface.getRobotState().getJointPositions() + current_tcp_pose = robot_interface.getRobotState().getTcpPose() + show_joint("当前关节角", reference_q) + reference_config_result = robot_algorithm.getRobotConfiguration(reference_q) + reference_config = reference_config_result[0] + reference_config_ret = reference_config_result[1] + if reference_config_ret != 0: + print("获取参考点构型失败，返回值:", reference_config_ret) + return + print("参考点构型:", reference_config) + + # 目标 TCP 位姿，单位: m, rad + # 这里从当前 TCP 位姿做较明显的位置偏移。两段演示使用完全相同的目标 TCP， + # 只改变选解策略，从而对比“翻转”和“防翻转”的运动差异。 + target_tcp_pose = current_tcp_pose[:] + target_tcp_pose[0] += 0.060 + target_tcp_pose[1] += 0.040 + target_tcp_pose[2] += 0.030 + show_vec("目标 TCP 位姿", target_tcp_pose) + # 调试全部逆解时取消下一行注释。 + # show_all_ik(robot_algorithm, target_tcp_pose, reference_q) + + if RUN_UNSAFE_DEMO: + current_config_result = robot_algorithm.getRobotConfiguration( + reference_q) + current_config = current_config_result[0] + current_config_ret = current_config_result[1] + + if current_config_ret != 0: + print("获取当前构型失败，返回值:", current_config_ret) + return + + print("当前机械臂构型:", current_config) + + print("\n1. unsafe 运动对照: 错误 qnear + 普通 inverseKinematics") + flip_q = unsafe_ik(robot_algorithm, target_tcp_pose, reference_q, + current_config) + if flip_q is None: + print("未执行 unsafe 运动对照") + return + + show_joint("unsafe 目标关节角", flip_q) + if not movej(robot_interface, flip_q, "unsafe moveJoint 翻转运动"): + return + + print("\n回到演示起点") + if not movej(robot_interface, reference_q, "moveJoint 回到起点"): + return + + print("\nsafe 运动示例: inverseKinematics2 同构型最近解，防止翻转") + safe_q = stable_ik(robot_algorithm, target_tcp_pose, reference_q) + if safe_q is None: + print("未执行 safe 运动示例") + return + + show_joint("safe 目标关节角", safe_q) + target_config_result = robot_algorithm.getRobotConfiguration(safe_q) + target_config = target_config_result[0] + target_config_ret = target_config_result[1] + if target_config_ret != 0: + print("获取目标点构型失败，返回值:", target_config_ret) + return + print("目标点构型:", target_config) + movej(robot_interface, safe_q, "safe moveJoint 防翻转运动") + + +if __name__ == '__main__': + robot_rpc_client = pyaubo_sdk.RpcClient() + robot_rpc_client.setRequestTimeout(1000) # 接口调用: 设置 RPC 超时 + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接 RPC 服务 + if robot_rpc_client.hasConnected(): + print("RPC客户端连接成功!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 登录 + if robot_rpc_client.hasLogined(): + print("RPC客户端登录成功!") + demo(robot_rpc_client) + robot_rpc_client.logout() # 退出登录 + robot_rpc_client.disconnect() # 断开连接 diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_startup.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_startup.py new file mode 100644 index 00000000..3ca63361 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_startup.py @@ -0,0 +1,55 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +机械臂上电与断电 + +步骤: +第一步: 连接到 RPC 服务 +第二步: 机械臂登录 +第三步: 机械臂上电 +第四步: 机械臂断电 +""" + +import pyaubo_sdk +import time + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + +# 机械臂上电 +def exampleStartup(): + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + if 0 == robot_rpc_client.getRobotInterface( + robot_name).getRobotManage().poweron(): # 接口调用: 发起机器人上电请求 + print("The robot is requesting power-on!") + if 0 == robot_rpc_client.getRobotInterface( + robot_name).getRobotManage().startup(): # 接口调用: 发起机器人启动请求 + print("The robot is requesting startup!") + # 循环直至机械臂松刹车成功 + while 1: + robot_mode = robot_rpc_client.getRobotInterface(robot_name) \ + .getRobotState().getRobotModeType() # 接口调用: 获取机器人的模式类型 + print("Robot current mode: %s" % (robot_mode.name)) + if robot_mode == pyaubo_sdk.RobotModeType.Running: + break + time.sleep(1) + +# 机械臂断电 +def examplePoweroff(): + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + if 0 == robot_rpc_client.getRobotInterface( + robot_name).getRobotManage().poweroff(): # 接口调用: 机械臂断电 + print("The robot is requesting power-off!") + +if __name__ == '__main__': + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接到 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + exampleStartup() # 机械臂上电 + examplePoweroff() # 机械臂断电 diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_state.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_state.py new file mode 100644 index 00000000..2fcf04d5 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_state.py @@ -0,0 +1,186 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +获取机械臂状态信息 + +步骤: +第一步: 连接到 RPC 服务 +第二步: 机械臂登录 +第三步: 获取机械臂状态信息 +""" + +import pyaubo_sdk + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + + +# 获取机械臂状态信息 +def exampleState(robot_name): + # 接口调用: 获取机器人的模式状态 + robot_mode_type = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getRobotModeType() + print("机器人的模式状态:", robot_mode_type) + # 接口调用: 获取安全模式 + safety_mode_type = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getSafetyModeType() + print("安全模式:", safety_mode_type) + # 接口调用: 机器人是否已经停止下来 + is_steady = robot_rpc_client.getRobotInterface(robot_name).getRobotState().isSteady() + print("机器人是否已经停止下来:", is_steady) + # 接口调用: 机器人是否已经在安全限制之内 + is_within_safety_limits = robot_rpc_client.getRobotInterface(robot_name).getRobotState().isWithinSafetyLimits() + print("机器人是否已经在安全限制之内:", is_within_safety_limits) + # 接口调用: 获取TCP的位姿 + tcp_pose = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getTcpPose() + print("TCP的位姿:", tcp_pose) + # 接口调用: 获取当前目标位姿 + target_tcp_pose = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getTargetTcpPose() + print("当前目标位姿:", target_tcp_pose) + # 接口调用: 获取工具端的位姿（不带TCP偏移） + tool_pose = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getToolPose() + print("工具端的位姿（不带TCP偏移）:", tool_pose) + # 接口调用: 获取TCP速度 + tcp_speed = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getTcpSpeed() + print("TCP速度:", tcp_speed) + # 接口调用: 获取TCP的力 / 力矩 + tcp_force = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getTcpForce() + print("TCP的力 / 力矩:", tcp_force) + # 接口调用: 获取肘部的位置 + elbow_postion = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getElbowPosistion() + print("肘部的位置:", elbow_postion) + # 接口调用: 获取肘部速度 + elbow_velocity = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getElbowVelocity() + print("肘部速度:", elbow_velocity) + # 接口调用: 获取基座力 / 力矩 + base_force = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getBaseForce() + print("基座力 / 力矩:", base_force) + # 接口调用: 获取TCP目标位姿 + tcp_target_pose = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getTcpTargetPose() + print("TCP目标位姿:", tcp_target_pose) + # 接口调用: 获取TCP目标速度 + tcp_target_speed = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getTcpTargetSpeed() + print("TCP目标速度:", tcp_target_speed) + # 接口调用: 获取TCP目标力 / 力矩 + tcp_target_force = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getTcpTargetForce() + print("TCP目标力 / 力矩:", tcp_target_force) + # 接口调用: 获取机械臂关节标志 + joint_state = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointState() + print("机械臂关节标志:", joint_state) + # 接口调用: 获取关节的伺服状态 + joint_servo_mode = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointServoMode() + print("关节的伺服状态:", joint_servo_mode) + # 接口调用: 获取机械臂关节角度 + joint_positions = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointPositions() + print("机械臂关节角度:", joint_positions) + # 接口调用: 获取机械臂关节速度 + joint_speeds = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointSpeeds() + print("机械臂关节速度:", joint_speeds) + # 接口调用: 获取机械臂关节加速度 + joint_acc = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointAccelerations() + print("机械臂关节加速度:", joint_acc) + # 接口调用: 获取机械臂关节力矩 + joint_torque_sensors = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointTorqueSensors() + print("机械臂关节力矩:", joint_torque_sensors) + # 接口调用: 获取底座力传感器读数 + base_force_sensors = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getBaseForceSensor() + print("底座力传感器读数:", base_force_sensors) + # 接口调用: 获取TCP力传感器读数 + tcp_force_sensors = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getTcpForceSensors() + print("TCP力传感器读数:", tcp_force_sensors) + # 接口调用: 获取机械臂关节电流 + joint_currents = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointCurrents() + print("机械臂关节电流:", joint_currents) + # 接口调用: 获取机械臂关节电压 + joint_voltages = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointVoltages() + print("机械臂关节电压:", joint_voltages) + # 接口调用: 获取机械臂关节温度 + joint_temperatures = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointTemperatures() + print("械臂关节温度:", joint_temperatures) + # 接口调用: 获取关节 UniqueId + joint_unique_ids = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointUniqueIds() + print("关节 UniqueId:", joint_unique_ids) + # 接口调用: 获取关节固件版本 + joint_firmware_versions = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointFirmwareVersions() + print("关节固件版本:", joint_firmware_versions) + # 接口调用: 获取关节硬件版本 + joint_hardward_versions = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointHardwareVersions() + print("关节硬件版本:", joint_hardward_versions) + # 接口调用: 获取主板 UniqueId + master_board_unique_id = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getMasterBoardUniqueId() + print("主板 UniqueId:", master_board_unique_id) + # 接口调用: 获取MasterBoard固件版本 + master_board_firmware_version = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getMasterBoardFirmwareVersion() + print("MasterBoard固件版本:", master_board_firmware_version) + # 接口调用: 获取MasterBoard硬件版本 + master_board_hardware_version = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getMasterBoardHardwareVersion() + print("MasterBoard硬件版本:", master_board_hardware_version) + # 接口调用: 获取从板 UniqueId + slave_board_unique_id = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getSlaveBoardUniqueId() + print("从板 UniqueId:", slave_board_unique_id) + # 接口调用: 获取SlaveBoard固件版本 + slave_board_firmware_version = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getSlaveBoardFirmwareVersion() + print("SlaveBoard固件版本:", slave_board_firmware_version) + # 接口调用: 获取SlaveBoard硬件版本 + slave_board_hardware_version = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getSlaveBoardHardwareVersion() + print("SlaveBoard硬件版本:", slave_board_hardware_version) + # 接口调用: 获取工具端全球唯一ID + tool_unique_id = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getToolUniqueId() + print("工具端全球唯一ID:", tool_unique_id) + # 接口调用: 获取工具端固件版本 + tool_firmware_version = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getToolFirmwareVersion() + print("工具端固件版本:", tool_firmware_version) + # 接口调用: 获取工具端硬件版本 + tool_hardware_version = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getToolHardwareVersion() + print("工具端硬件版本:", tool_hardware_version) + # 接口调用: 获取底座全球唯一ID + pedestal_unique_id = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getPedestalUniqueId() + print("底座全球唯一ID:", pedestal_unique_id) + # 接口调用: 获取底座固件版本 + pedestal_firmware_version = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getPedestalFirmwareVersion() + print("底座固件版本:", pedestal_firmware_version) + # 接口调用: 获取底座硬件版本 + pedestal_hardware_version = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getPedestalHardwareVersion() + print("底座硬件版本:", pedestal_hardware_version) + # 接口调用: 获取机械臂关节目标位置角度 + joint_target_positions = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointTargetPositions() + print("械臂关节目标位置角度:", joint_target_positions) + # 接口调用: 获取机械臂关节目标速度 + joint_target_speeds = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointTargetSpeeds() + print("机械臂关节目标速度:", joint_target_speeds) + # 接口调用: 获取机械臂关节目标加速度 + joint_target_acc = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointTargetAccelerations() + print("机械臂关节目标加速度:", joint_target_acc) + # 接口调用: 获取机械臂关节目标力矩 + joint_target_torques = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointTargetTorques() + print("机械臂关节目标力矩:", joint_target_torques) + # 接口调用: 获取机械臂关节目标电流 + joint_target_currents = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getJointTargetCurrents() + print("机械臂关节目标电流:", joint_target_currents) + # 接口调用: 获取控制柜温度 + control_box_temperature = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getControlBoxTemperature() + print("控制柜温度:", control_box_temperature) + # 接口调用: 获取母线电压 + main_voltage = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getMainVoltage() + print("母线电压:", main_voltage) + # 接口调用: 获取母线电流 + main_current = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getMainCurrent() + print("母线电流:", main_current) + # 接口调用: 获取机器人电压 + robot_voltage = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getRobotVoltage() + print("机器人电压:", robot_voltage) + # 接口调用: 获取机器人电流 + robot_current = robot_rpc_client.getRobotInterface(robot_name).getRobotState().getRobotCurrent() + print("机器人电流:", robot_current) + + +if __name__ == '__main__': + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + exampleState(robot_name) # 获取机械臂状态信息 diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_timer.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_timer.py new file mode 100644 index 00000000..a1703f7f --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_timer.py @@ -0,0 +1,71 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +测试定时器功能: 开始、结束、重置、删除 + +步骤: +第一步: 连接RPC服务、机械臂登录 +第二步: 例1 + 1. 定时器 timer1 开始计时，经过 7.5 s，定时器 timer1 结束，获取时长约 7.5s + 2. 重复上面步骤，获取时长约 15.0 s + 3. 重置定时器 timer1，获取时长约 0.0 s，删除定时器 timer1 +第三步: 例2 + 1. 定时器 timer1 开始计时，经过 7.5 s，获取时长约 7.5s，重置定时器 timer1 + 2. 定时器 timer1 开始计时，经过 7.5 s，获取时长约 7.5s，重置并删除定时器 timer1 +""" + +import time +import pyaubo_sdk + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + +if __name__ == '__main__': + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + impl = robot_rpc_client.getRobotInterface(robot_name) + + print("例1---------------") + # 定时器 timer1 开始计时，经过 7.5 s，定时器 timer1 结束，获取时长约 7.5s + robot_rpc_client.getRuntimeMachine().timerStart("timer1") + time.sleep(7.5) + robot_rpc_client.getRuntimeMachine().timerStop("timer1") + timer1 = robot_rpc_client.getRuntimeMachine().getTimer("timer1") + print("时长 = ", timer1) + + # 定时器 timer1 开始计时，经过 7.5 s，定时器 timer1 结束，获取时长约 15.0s + robot_rpc_client.getRuntimeMachine().timerStart("timer1") + time.sleep(7.5) + robot_rpc_client.getRuntimeMachine().timerStop("timer1") + timer1 = robot_rpc_client.getRuntimeMachine().getTimer("timer1") + print("时长 = ", timer1) + + # 重置定时器 timer1，获取时长约 0.0 s，删除定时器 timer1 + robot_rpc_client.getRuntimeMachine().timerReset("timer1") + timer1 = robot_rpc_client.getRuntimeMachine().getTimer("timer1") + print("时长 = ", timer1) + robot_rpc_client.getRuntimeMachine().timerDelete("timer1") + + print("例2---------------") + # 定时器 timer1 开始计时，经过 7.5 s，获取时长约 7.5s，重置定时器 timer1 + robot_rpc_client.getRuntimeMachine().timerStart("timer1") + time.sleep(7.5) + timer1 = robot_rpc_client.getRuntimeMachine().getTimer("timer1") + print("时长 = ", timer1) + robot_rpc_client.getRuntimeMachine().timerReset("timer1") + + # 定时器 timer1 开始计时，经过 7.5 s，获取时长约 7.5s，重置并删除定时器 timer1 + robot_rpc_client.getRuntimeMachine().timerStart("timer1") + time.sleep(7.5) + timer1 = robot_rpc_client.getRuntimeMachine().getTimer("timer1") + print("时长 = ", timer1) + robot_rpc_client.getRuntimeMachine().timerReset("timer1") + robot_rpc_client.getRuntimeMachine().timerDelete("timer1") diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_track_joint.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_track_joint.py new file mode 100644 index 00000000..11dfbf8d --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_track_joint.py @@ -0,0 +1,107 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +trackJoint 运动 + +步骤: +第一步: 连接到 RPC 服务、机械臂登录、设置 RPC 请求超时时间 +第二步: 读取 .offt 轨迹文件 +第三步: 关节运动到轨迹中的第一个点 +第五步: 做 trackJoint 运动 +第六步: 停止 trackJoint 运动 +第七步: 断开 RPC 连接 +""" +import pyaubo_sdk +import time + +robot_ip = "127.0.0.1" # 服务器 IP 地址 +robot_port = 30004 # 端口号 +M_PI = 3.14159265358979323846 +robot_rpc_client = pyaubo_sdk.RpcClient() + +# 阻塞 +def wait_arrival(robot_interface): + max_retry_count = 5 + cnt = 0 + + # 接口调用: 获取当前的运动指令 ID + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂开始运动 + while exec_id == -1: + if cnt > max_retry_count: + return -1 + time.sleep(0.05) + cnt += 1 + exec_id = robot_interface.getMotionControl().getExecId() + + # 等待机械臂运动完成 + while robot_interface.getMotionControl().getExecId() != -1: + time.sleep(0.05) + + return 0 + +def trackJ(): + robot_name = robot_rpc_client.getRobotNames()[0] # 接口调用: 获取机器人的名字 + robot = robot_rpc_client.getRobotInterface(robot_name) + + # 读取轨迹文件并加载轨迹点 + file = open('../c++/trajs/record6.offt') + traj = [] + for line in file: + str_list = line.split(",") + float_list = [] + for strs in str_list: + float_list.append(float(strs)) + traj.append(float_list) + + traj_sz = len(traj) + if traj_sz == 0: + print("没有轨迹点") + else: + print("加载的轨迹点数量为: ", traj_sz) + + # 关节运动到第一个点 + # 当前位置要与轨迹中的第一个点一致，否则容易引起较大超调 + print("goto p1") + mc = robot.getMotionControl() + mc.setSpeedFraction(0.8) + mc.moveJoint(traj[0], M_PI, M_PI, 0., 0.) + wait_arrival(robot) + + # 做 trackJoint 运动 + traj.remove(traj[0]) + for q in traj: + traj_queue_size = mc.getTrajectoryQueueSize() + print("traj_queue_size: ", traj_queue_size) + while traj_queue_size > 8: + traj_queue_size = mc.getTrajectoryQueueSize() + time.sleep(0.001) + mc.trackJoint(q, 0.02, 0.5, 1) + + # 停止 trackJoint 运行 + mc.stopJoint(1) + + # 等待运动结束 + is_steady = robot.getRobotState().isSteady() + while is_steady is False: + is_steady = robot.getRobotState().isSteady() + time.sleep(0.005) + + print("trackJoint end") + return 0 + + +if __name__ == '__main__': + robot_rpc_client.setRequestTimeout(1000) # 接口调用: 设置 RPC 请求超时时间 + robot_rpc_client.connect(robot_ip, robot_port) # 接口调用: 连接到 RPC 服务 + if robot_rpc_client.hasConnected(): + print("Robot rcp_client connected successfully!") + robot_rpc_client.login("aubo", "123456") # 接口调用: 机械臂登录 + if robot_rpc_client.hasLogined(): + print("Robot rcp_client logined successfully!") + trackJ() + robot_rpc_client.disconnect() # 接口调用: 断开RPC连接 + + diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_traj_valid.py b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_traj_valid.py new file mode 100644 index 00000000..5871e645 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/python/example_traj_valid.py @@ -0,0 +1,197 @@ +#! /usr/bin/env python +# coding=utf-8 + +""" +validatePath1 碰撞体示例 + +本示例演示五种路径校验场景： +1. 不添加任何碰撞体，运动到环境碰撞目标点，预期通过。 +2. 仅添加环境碰撞平面，运动到环境碰撞目标点，预期碰撞失败。 +3. 仅添加环境碰撞平面，运动到工具碰撞目标点，预期通过。 +4. 添加环境碰撞平面和末端碰撞体，运动到工具碰撞目标点，预期碰撞失败。 +5. 仅添加末端碰撞体，不添加环境碰撞平面，运动到工具碰撞目标点，预期通过。 +""" + +import pyaubo_sdk + + +LOCAL_IP = "127.0.0.1" +RPC_PORT = 30004 + + +def print_validate_path_result(case_name, ret, expect_success): + print( + "{} validatePath1 返回值: {}, 预期: {}, 实际: {}".format( + case_name, + ret, + "通过" if expect_success else "碰撞失败", + "通过" if ret == 0 else "失败", + ) + ) + + +def example_trajectory_valid3( + rpc_cli, start, target_env_collision, target_tool_collision +): + robot_name = rpc_cli.getRobotNames()[0] + robot_interface = rpc_cli.getRobotInterface(robot_name) + algorithm = robot_interface.getRobotAlgorithm() + + # 接口调用: 设置 TCP 偏移 + robot_interface.getRobotConfig().setTcpOffset([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) + + # 清理可能残留的同名碰撞体，避免重复添加影响示例结果。 + algorithm.removeCollisionObject("tool_box_demo") + algorithm.removeCollisionObject("collision_plane_demo") + + pose_path_type = 1 + blend_radius = 0.0 + step = 0.05 + + print("开始 validatePath1 碰撞体示例") + print("返回值说明: 0 表示通过，非 0 表示失败；-22 通常表示路径碰撞") + + def add_collision_plane(): + return algorithm.addCollisionBox( + "collision_plane_demo", + "world", + [[0.12, 0.12, 0.10]], + [[start[0], start[1], -0.05, 0.0, 0.0, 0.0]], + ) + + def add_tool_box(): + return algorithm.addCollisionBox( + "tool_box_demo", + "end_effector", + [[0.08, 0.08, 0.08]], + [[0.0, 0.0, 0.04, 0.0, 0.0, 0.0]], + ) + + # case0: 不添加任何碰撞体，向下运动到环境碰撞目标点，作为基线。 + case0_ret = algorithm.validatePath1( + pose_path_type, + start, + blend_radius, + target_env_collision, + blend_radius, + step, + True, + ) + print_validate_path_result("[case0 无碰撞体]", case0_ret, True) + + # 添加一个较小的环境碰撞平面，并放到起点正下方附近， + # 避免尺寸过大时仍然与底座区域重叠。 + ret = add_collision_plane() + if ret != 0: + print("添加环境碰撞平面失败, ret = {}".format(ret)) + return False + + # case1: 仅添加环境碰撞平面，向下运动到环境碰撞目标点，预期碰撞失败。 + case1_ret = algorithm.validatePath1( + pose_path_type, + start, + blend_radius, + target_env_collision, + blend_radius, + step, + True, + ) + print_validate_path_result("[case1 仅环境碰撞平面]", case1_ret, False) + + # case2: 仅添加环境碰撞平面，向下运动到工具碰撞目标点，预期仍可通过。 + case2_ret = algorithm.validatePath1( + pose_path_type, + start, + blend_radius, + target_tool_collision, + blend_radius, + step, + True, + ) + print_validate_path_result("[case2 仅环境碰撞平面]", case2_ret, True) + + # 在末端挂一个立方体，用于演示工具与环境的碰撞检测。 + ret = add_tool_box() + if ret != 0: + print("添加末端立方体失败, ret = {}".format(ret)) + algorithm.removeCollisionObject("collision_plane_demo") + return False + + # case3: 添加环境碰撞平面和末端碰撞体，运动到同一个工具碰撞目标点， + # 预期末端碰撞体先碰到环境碰撞平面。 + case3_ret = algorithm.validatePath1( + pose_path_type, + start, + blend_radius, + target_tool_collision, + blend_radius, + step, + True, + ) + print_validate_path_result( + "[case3 环境碰撞平面+末端碰撞体]", case3_ret, False + ) + + algorithm.removeCollisionObject("collision_plane_demo") + + # case4: 移除环境碰撞平面，仅保留末端碰撞体，运动到工具碰撞目标点， + # 预期仍可通过。 + case4_ret = algorithm.validatePath1( + pose_path_type, + start, + blend_radius, + target_tool_collision, + blend_radius, + step, + True, + ) + print_validate_path_result("[case4 仅末端碰撞体]", case4_ret, True) + + algorithm.removeCollisionObject("tool_box_demo") + + return ( + case0_ret == 0 + and case1_ret != 0 + and case2_ret == 0 + and case3_ret != 0 + and case4_ret == 0 + ) + + +if __name__ == "__main__": + rpc_cli = pyaubo_sdk.RpcClient() + rpc_cli.setRequestTimeout(1000) + rpc_cli.connect(LOCAL_IP, RPC_PORT) + rpc_cli.login("aubo", "123456") + + # 使用示教器读到的位姿作为起点，分别演示五种碰撞校验场景。 + # env_collision_drop: 下压量超过 start_z，末端 TCP 本体会碰到环境碰撞平面。 + # tool_collision_drop: 下压量小于 start_z，仅添加末端碰撞体时才会碰撞。 + pose_start = [1.27114, -0.24923, 0.80691, -3.135, 0.004, 1.569] + start_z = pose_start[2] + env_collision_drop = start_z + 0.02 + tool_collision_drop = start_z - 0.06 + + pose_env_collision = [ + 1.27114, + -0.24923, + start_z - env_collision_drop, + -3.135, + 0.004, + 1.569, + ] + pose_tool_collision = [ + 1.27114, + -0.24923, + start_z - tool_collision_drop, + -3.135, + 0.004, + 1.569, + ] + + example_trajectory_valid3( + rpc_cli, pose_start, pose_env_collision, pose_tool_collision + ) + + rpc_cli.logout() + rpc_cli.disconnect() diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/trajs/CoffeCappuccino-heart-L_filtered.csv b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/trajs/CoffeCappuccino-heart-L_filtered.csv new file mode 100644 index 00000000..e51dd0be --- /dev/null +++ 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a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/trajs/aubo-joint-test-1014.armplay b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/trajs/aubo-joint-test-1014.armplay new file mode 100644 index 00000000..7fccc661 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/trajs/aubo-joint-test-1014.armplay @@ -0,0 +1,1788 @@ +{ + "name": "aubo-joint", + "datatime": "14-Oct-2022 12:14:45", + "interval": 0.01, + "count": 30, + "jointlist": [ + [-1.605173117,0.1266203211,-1.279481536,-0.3327965194,1.567146547,0.05064079806], + [-1.60492939,0.1270498035,-1.28012166,-0.3352109175,1.566966315,0.04873132378], + [-1.604201275,0.1283328496,-1.282033982,-0.3424237492,1.566427886,0.0447502944], + [-1.602997928,0.1304533245,-1.285194452,-0.354344309,1.565538032,0.03870387664], + [-1.601334481,0.1333845618,-1.289563327,-0.370822689,1.564307942,0.0306022621], + [-1.599231854,0.1370896997,-1.295085665,-0.3916516639,1.562753086,0.02045953919], + 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0.7071067811817772, + 4.492070556689572e-22, + -2.5973482372220976e-06] + +pre_pick (MoveJ) [-1.8627 , -0.10107, 2.261 , 0.79128, 1.5708 , 1.2789 ] +[-0.3750238044135327, + -0.632993498407091, + 0.2570035142564412, + -0.7071041838329175, + 0.7071093785211757, + -3.1159927952576184e-06, + -1.9159282994245156e-06] + +pick (MoveL) [-1.8627 , -0.30156, 2.3346 , 1.0653 , 1.5708 , 1.2789 ] +[-0.3750122764505574, + -0.6329551341626609, + 0.10698113768592163, + -0.7071041834326522, + 0.707109378211815, + 1.3463841342087092e-05, + 2.890791149394013e-05] + +sleep 0.5 + +post_pick (MoveL) [-1.8627 , -0.10107, 2.261 , 0.79128, 1.5708 , 1.2789 ] +[-0.3750238044135327, + -0.632993498407091, + 0.2570035142564412, + -0.7071041838329175, + 0.7071093785211757, + -3.1159927952576184e-06, + -1.9159282994245156e-06] + +home_1 (MoveJ) [0. , 0. , 1.5708, 0. , 1.5708, 0. ] +[0.8469991981336117, + -0.17699919813932602, + 0.7731968887982229, + 0.7071067811865476, + 0.7071067811817772, + 4.492070556689572e-22, + -2.5973482372220976e-06] + +pre_place (MoveJ) [ 1.9387 , -1.1889 , 1.0615 , 0.67956, 1.5708 , 0.36794] +[-0.34994085696218247, + 1.3999970597809315, + -0.1830518785290028, + 1.8163437548168025e-05, + 0.9999999995949396, + -2.103581176014661e-05, + 6.14043511926292e-06] + +slide (MoveL) [ 1.9387 , -1.4386 , 0.91743, 0.78524, 1.5708 , 0.36794] +[-0.3499487338735211, + 1.4000174952235875, + -0.4329875947323341, + 1.816339163735817e-05, + 0.9999999998283555, + 2.2911089324063443e-06, + -2.8514929787952656e-06] + +place (MoveL) [ 1.9579 , -1.5774 , 0.66479, 0.67139, 1.5708 , 0.38711] +[-0.3999849300759872, + 1.4500031683845338, + -0.48299917543484816, + 3.16340082115326e-06, + 0.9999999999916233, + -2.394040902090525e-06, + -1.0073658839671063e-06] + +sleep 0.5 + +slide_back (MoveL) [ 1.9387 , -1.4386 , 0.91743, 0.78524, 1.5708 , 0.36794] +[-0.3499487338735211, + 1.4000174952235875, + -0.4329875947323341, + 1.816339163735817e-05, + 0.9999999998283555, + 2.2911089324063443e-06, + -2.8514929787952656e-06] + +post_place (MoveL) [ 1.9387 , -1.1889 , 1.0615 , 0.67956, 1.5708 , 0.36794] +[-0.34994085696218247, + 1.3999970597809315, + -0.1830518785290028, + 1.8163437548168025e-05, + 0.9999999995949396, + -2.103581176014661e-05, + 6.14043511926292e-06] + +home_2 (MoveJ) [0. , 0. , 1.5708, 0. , 1.5708, 0. ] +[0.8469991981336117, + -0.17699919813932602, + 0.7731968887982229, + 0.7071067811865476, + 0.7071067811817772, + 4.492070556689572e-22, + -2.5973482372220976e-06] diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/trajs/physiotherapy.txt b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/trajs/physiotherapy.txt new file mode 100644 index 00000000..1d896ebc --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/example/trajs/physiotherapy.txt @@ -0,0 +1,4688 @@ +-0.379045,0.284374,-1.94566,-1.20584,-1.097,-0.339933 +-0.378326,0.287087,-1.94286,-1.21367,-1.09516,-0.346221 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index 00000000..2e2c5576 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/AUBO_SDK_LICENSE.en.md @@ -0,0 +1,219 @@ +# AUBO Robot SDK License Agreement + +Version 1.0 + +Copyright © AUBO (BEIJING) ROBOTICS TECHNOLOGY CO., LTD. + +All Rights Reserved. + +## 1. Definitions + +"SDK" means the software development kit provided by AUBO (BEIJING) ROBOTICS TECHNOLOGY CO., LTD. (the "Licensor"), including but not limited to: + +- Binary libraries; +- Header files; +- Documentation; +- Example programs; +- Utility tools; +- Related development resources. + +"Examples" means source code samples, demonstration programs, reference implementations, and example applications included with the SDK. + +------ + +## 2. Grant of License + +Subject to the terms and conditions of this Agreement, the Licensor grants any individual or legal entity authorized to download, install, or use the SDK (the "Licensee") a non-exclusive, non-transferable, worldwide, royalty-free license to: + +- Use the SDK for development, testing, evaluation, and deployment; +- Integrate the SDK into commercial or non-commercial software; +- Develop applications using the SDK; +- Compile, deploy, distribute, and sell software products developed using the SDK; +- Run such applications on systems owned by the Licensee or its customers. + +------ + +## 3. Intellectual Property Rights + +The SDK and all intellectual property rights therein remain the exclusive property of the Licensor. + +This Agreement does not transfer any intellectual property rights, patent rights, trademark rights, copyrights, or any other rights to the Licensee. + +------ + +## 4. SDK Core Components + +The core components of the SDK are provided in binary form only. + +The Licensor is under no obligation to provide source code for any SDK libraries, runtime components, middleware, or other internal implementations. + +------ + +## 5. Example Source Code + +The SDK may include Examples. + +The Licensee may: + +- Use the Examples; +- Modify the Examples; +- Compile the Examples; +- Distribute the Examples; +- Incorporate all or part of the Examples into its own projects. + +The Examples are provided for reference purposes only. + +Ownership of the SDK itself and its core components remains exclusively with the Licensor. + +------ + +## 6. Restrictions + +The Licensee shall not: + +- Reverse engineer, disassemble, decompile, decrypt, or otherwise attempt to obtain the source code of the SDK; +- Modify the SDK's binary libraries, runtime components, or internal implementations; +- Circumvent, disable, or remove any protection mechanisms contained in the SDK; +- Sell, sublicense, lease, rent, or distribute the SDK as a standalone product; +- Remove, obscure, or alter any copyright notices, trademark notices, or proprietary notices contained in the SDK; +- Misrepresent the SDK as its own product or otherwise mislead any third party regarding ownership of the SDK. + +------ + +## 7. Redistribution + +Software products developed by the Licensee using the SDK may be freely distributed and sold. + +The SDK may only be redistributed as an integrated component of the Licensee's application and solely for the purpose of enabling such application to function. + +Without prior written authorization from the Licensor, the Licensee shall not use the SDK to develop any library, framework, API, or middleware that is substantially similar in functionality to the SDK, nor market or sell any product by treating the SDK as its core value or primary selling point. Standalone distribution of the SDK is prohibited. + +The Licensee acknowledges that, when distributing any derivative work developed based on the SDK, it must prominently include the principal contents of this Agreement and implement technical measures, such as a license pop-up or agreement confirmation page, to ensure that the end user agrees to be bound by all terms of this Agreement before using such derivative work. + +"End User" means the ultimate user of an application developed by the Licensee based on the SDK (a "Derivative Work"), including without limitation any individual or entity that operates, configures, or maintains such Derivative Work. + +The Licensee shall bear full responsibility to the Licensor for any violation of this Agreement by its End Users. + +------ + +## 8. Open Source Compliance Statement + +The SDK may include open source components, and the Licensor will identify their names and applicable licenses in the accompanying documentation. + +The Licensor warrants that its own use of such open source components complies with the applicable licenses. If any such license conflicts with this Agreement, the applicable open source license shall prevail. + +Any obligations triggered by the Licensee's development, distribution, or integration activities under an open source license, including without limitation the obligation to provide source code or disclose the Licensee's own code, shall be borne solely by the Licensee. + +The Licensee acknowledges that certain open source licenses may have copyleft effects and may require the SDK or derivative works thereof to be made open source. The Licensee shall independently assess and bear such risks. + +If the Licensor suffers any claim, lawsuit, or loss as a result of the Licensee's breach of the foregoing obligations or improper combination with other open source code, the Licensee shall fully indemnify the Licensor. + +------ + +## 9. Privacy + +The SDK does not proactively collect any personal information. + +If any future version needs to collect personal information, the Licensor will publish a separate privacy policy and obtain authorization as required by law. + +If an application developed by the Licensee using the SDK involves the collection or processing of personal information, the Licensee shall prepare and publish its own privacy policy, obtain user consent as required by law, and comply with applicable laws and regulations, including the Personal Information Protection Law. + +Any claims, penalties, or losses arising from the Licensee's or its application's violation of personal information protection requirements shall be borne by the Licensee, and the Licensee shall compensate the Licensor for all resulting losses. + +------ + +## 10. Scope of Use + +The SDK is intended solely for accessing, configuring, monitoring, and controlling AUBO robotic products. + +Without prior written authorization from the Licensor, the SDK shall not be used to control third-party robots, robot controllers, motion controllers, or other automation devices. + +------ + +## 11. Updates and Compatibility + +The Licensor reserves the right to modify, update, replace, suspend, or discontinue all or any part of the SDK at any time without prior notice. + +For major version changes that may affect the operation of existing software products, the Licensor will endeavor to provide notice at least thirty (30) days in advance through its official website or other appropriate means. + +The Licensor does not guarantee compatibility between different versions of the SDK. + +------ + +## 12. Safety Responsibilities + +Industrial robots are potentially hazardous automated machines. + +The Licensee is solely responsible for: + +- Performing risk assessments; +- Implementing appropriate safety measures; +- Validating system behavior; +- Ensuring compliance with applicable laws, regulations, and industry standards; +- Ensuring that robotic systems meet applicable safety requirements. + +The Licensee assumes all risks arising from system integration, software development, parameter configuration, and equipment operation. + +------ + +## 13. Disclaimer of Warranty + +THE SDK IS PROVIDED "AS IS". + +THE LICENSOR MAKES NO WARRANTIES OF ANY KIND, WHETHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO: + +- MERCHANTABILITY; +- FITNESS FOR A PARTICULAR PURPOSE; +- NON-INFRINGEMENT; +- ERROR-FREE OPERATION; +- CONTINUOUS AVAILABILITY. + +------ + +## 14. Limitation of Liability + +TO THE EXTENT NOT PROHIBITED BY LAW, THE LICENSOR SHALL NOT BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, PUNITIVE, OR CONSEQUENTIAL DAMAGES ARISING FROM THE USE OF OR INABILITY TO USE THE SDK. + +HOWEVER, THIS DISCLAIMER SHALL NOT APPLY TO PERSONAL INJURY, DEATH, OR PROPERTY DAMAGE CAUSED BY THE LICENSOR'S WILLFUL MISCONDUCT OR GROSS NEGLIGENCE. + +THE LICENSEE ACKNOWLEDGES THAT IT SHALL SOLELY BEAR THE SAFETY AND COMPLIANCE RISKS ARISING FROM ITS INTEGRATION OR USE OF THE SDK FOR ROBOT CONTROL. + +SUCH DAMAGES AND RISKS INCLUDE, WITHOUT LIMITATION: + +- PERSONAL INJURY; +- PROPERTY DAMAGE; +- ROBOT DAMAGE; +- EQUIPMENT DAMAGE; +- TOOLING DAMAGE; +- PRODUCT DAMAGE; +- PRODUCTION DOWNTIME; +- LOSS OF PROFITS; +- DATA LOSS; +- BUSINESS INTERRUPTION. + +THE FOREGOING LIMITATIONS SHALL APPLY REGARDLESS OF THE LEGAL THEORY UNDER WHICH LIABILITY IS ASSERTED, INCLUDING CONTRACT, TORT, PRODUCT LIABILITY, OR OTHERWISE. + +------ + +## 15. Termination + +This Agreement shall automatically terminate if the Licensee violates any provision of this Agreement. + +Upon termination, the Licensee shall immediately cease all use and distribution of the SDK. + +------ + +## 16. Governing Law + +This Agreement shall be governed by and construed in accordance with the laws of the People's Republic of China. + +Any dispute arising out of or in connection with this Agreement shall first be resolved through friendly consultation between the parties. If such consultation fails, either party may bring suit before a people's court with jurisdiction at the domicile of the Licensor. + +------ + +## 17. Contact Information + +AUBO (BEIJING) ROBOTICS TECHNOLOGY CO., LTD. + +Technical Support Email: +[developer@aubo-robotics.cn](mailto:developer@aubo-robotics.cn) diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/AUBO_SDK_LICENSE.zh-CN.md b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/AUBO_SDK_LICENSE.zh-CN.md new file mode 100644 index 00000000..457c1483 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/AUBO_SDK_LICENSE.zh-CN.md @@ -0,0 +1,219 @@ +# AUBO 机器人 SDK 使用许可协议 + +版本：1.0 + +版权所有 © 遨博（北京）智能科技股份有限公司 + +保留所有权利。 + +## 第一条 定义 + +“SDK”是指由遨博（北京）智能科技股份有限公司（以下简称“许可方”）提供的软件开发工具包，包括但不限于： + +- 二进制库文件； +- 头文件； +- 文档资料； +- 示例程序； +- 工具程序； +- 相关开发资源。 + +“示例代码”是指 SDK 中提供的示例源代码、演示程序、参考实现和示例应用程序。 + +------ + +## 第二条 许可授权 + +在遵守本协议条款的前提下，许可方向授权下载、安装或使用 SDK 的个人或法律实体（以下简称“被许可方”）授予一项非独占、不可转让、全球范围、免费的使用许可，用于： + +- 使用 SDK 进行开发、测试、评估和部署； +- 将 SDK 集成到商业或非商业软件中； +- 基于 SDK 开发应用程序； +- 编译、部署、发布和销售基于 SDK 开发的软件产品； +- 在被许可方或其客户拥有的设备上运行相关应用程序。 + +------ + +## 第三条 知识产权 + +SDK 及其全部知识产权归许可方所有。 + +本协议不向被许可方转让任何知识产权、专利权、商标权、著作权或其他权利。 + +------ + +## 第四条 SDK 核心组件 + +SDK 核心组件仅以二进制形式提供。 + +许可方无义务向被许可方提供 SDK 库文件、运行时组件、中间件或其他内部实现的源代码。 + +------ + +## 第五条 示例代码 + +SDK 中可能包含示例代码。 + +被许可方可以： + +- 使用示例代码； +- 修改示例代码； +- 编译示例代码； +- 分发示例代码； +- 将全部或部分示例代码集成到自身项目中。 + +示例代码仅作为参考资料提供。 + +SDK 本身及其核心组件的知识产权仍归许可方所有。 + +------ + +## 第六条 使用限制 + +被许可方不得： + +- 对 SDK 进行反向工程、反汇编、反编译、解密或以其他方式尝试获取 SDK 源代码； +- 修改 SDK 的二进制库、运行时组件或内部实现； +- 破解、绕过或移除 SDK 中的保护机制； +- 将 SDK 作为独立产品进行销售、转授权、出租、租赁或分发； +- 删除、隐藏或修改 SDK 中的版权声明、商标声明或其他权利声明； +- 将 SDK 冒充为自身产品或以其他方式误导第三方。 + +------ + +## 第七条 再分发 + +被许可方开发的软件产品可以自由发布和销售。 + +SDK 仅可作为被许可方应用程序的组成部分进行分发，并且仅用于支持该应用程序运行。 + +未经许可方书面授权，被许可方不得使用 SDK 开发任何与 SDK 功能实质性相似的库、框架、API 或中间件，也不得将 SDK 作为其产品的核心价值或主要卖点进行销售，禁止单独分发 SDK。 + +被许可方确认，在分发其基于 SDK 开发的任何衍生作品时，必须以明显方式包含本协议的主要内容，并采取技术措施（如许可弹窗、协议确认页面等）确保最终用户在使用衍生作品前同意受本协议全部条款的约束。 + +“最终用户”指被许可方基于 SDK 开发的应用程序（“衍生作品”）的最终使用方，包括但不限于操作、配置或维护该衍生作品的个人或实体。 + +被许可方应对其最终用户违反本协议的行为向许可方承担全部责任。 + +------ + +## 第八条 开源软件合规声明 + +SDK 可能包含开源组件，许可方将在附带的文档中列明其名称及适用许可证。 + +许可方保证自身对开源组件的使用符合相应许可证。若许可证与本协议冲突，以许可证为准。 + +被许可方因开发、分发或集成行为而触发的任何开源许可证义务（包括但不限于提供源代码、开放自身代码），由被许可方独立承担。 + +被许可方知悉，部分开源许可证具有“传染性”，可能导致 SDK 或其衍生作品被迫开源。该风险由被许可方自行评估与承担。 + +若因被许可方违反上述义务或不当结合其他开源代码，导致许可方遭受任何索赔、诉讼或损失，被许可方应予以全额赔偿。 + +------ + +## 第九条 隐私条款 + +本 SDK 不主动收集任何个人信息。 + +如后续版本需要收集，许可方将另行发布独立隐私政策并依法获得授权。 + +被许可方基于 SDK 开发的应用程序如涉及收集、处理个人信息，应自行制定并发布隐私政策，依法取得用户同意，遵守《个人信息保护法》等相关法律法规。 + +因被许可方或其应用程序违反个人信息保护规定引发的一切索赔、处罚或损失，由被许可方承担，并赔偿许可方因此遭受的全部损失。 + +------ + +## 第十条 使用范围 + +SDK 仅用于访问、配置、监控和控制 AUBO 机器人产品。 + +未经许可方书面授权，不得将 SDK 用于控制第三方机器人、机器人控制器、运动控制器或其他自动化设备。 + +------ + +## 第十一条 升级与兼容性 + +许可方有权随时修改、升级、替换、中止或终止 SDK 的全部或部分内容，而无需提前通知。 + +对于可能影响现有软件产品运行的重大版本变更，许可方将尽量提前三十（30）日在官方网站或适当方式进行公告。 + +许可方不保证不同版本 SDK 之间的兼容性。 + +------ + +## 第十二条 安全责任 + +工业机器人属于具有潜在危险性的自动化设备。 + +被许可方应自行承担以下责任： + +- 开展风险评估； +- 实施安全防护措施； +- 验证系统运行行为； +- 确保系统符合适用法律法规及行业标准； +- 确保机器人系统满足相关安全规范要求。 + +被许可方应自行承担因系统集成、软件开发、参数配置或设备使用所产生的风险。 + +------ + +## 第十三条 免责声明 + +SDK 按“现状（AS IS）”提供。 + +许可方不提供任何形式的明示或默示担保，包括但不限于： + +- 适销性保证； +- 特定用途适用性保证； +- 不侵权保证； +- 无错误运行保证； +- 连续可用性保证。 + +------ + +## 第十四条 责任限制 + +在法律不禁止的范围内，对于因使用或无法使用 SDK 所产生的任何直接、间接、附带、特殊、惩罚性或后果性损失，许可方均不承担责任。 + +但是，本免责声明不适用于因许可方的故意或重大过失所导致的人身伤亡或财产损失。 + +被许可方承认，其应独自承担因其集成或使用 SDK 进行机器人控制而产生的安全与合规风险。 + +包括但不限于： + +- 人身伤害； +- 财产损失； +- 机器人损坏； +- 设备损坏； +- 工装损坏； +- 产品损坏； +- 停线损失； +- 利润损失； +- 数据丢失； +- 业务中断损失。 + +无论基于合同、侵权、产品责任或其他法律理论，上述责任限制均适用。 + +------ + +## 第十五条 协议终止 + +若被许可方违反本协议任何条款，本协议自动终止。 + +协议终止后，被许可方应立即停止使用和分发 SDK。 + +------ + +## 第十六条 适用法律 + +本协议受中华人民共和国法律管辖并依据其解释。 + +因本协议引起的任何争议，双方应友好协商解决。协商不成的，任何一方有权向许可方住所地有管辖权的人民法院提起诉讼。 + +------ + +## 第十七条 联系方式 + +遨博（北京）智能科技股份有限公司 + +技术支持邮箱： +[developer@aubo-robotics.cn](mailto:developer@aubo-robotics.cn) diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/LICENSE b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/LICENSE new file mode 100644 index 00000000..9afeade1 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/LICENSE @@ -0,0 +1,8 @@ +AUBO SDK is distributed under a proprietary license. + +Primary license texts: +- English: licenses/AUBO_SDK_LICENSE.en.md +- Simplified Chinese: licenses/AUBO_SDK_LICENSE.zh-CN.md + +Third-party dependency license notices: +- licenses/third_party/ diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/third_party/asio/LICENSE.txt b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/third_party/asio/LICENSE.txt new file mode 100644 index 00000000..1dad8e93 --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/third_party/asio/LICENSE.txt @@ -0,0 +1,23 @@ +Boost Software License - 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2019 Robert Bosch GmbH + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. \ No newline at end of file diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/third_party/json-rpc-cxx/LICENSE.txt b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/third_party/json-rpc-cxx/LICENSE.txt new file mode 100644 index 00000000..25c3f42c --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/third_party/json-rpc-cxx/LICENSE.txt @@ -0,0 +1,18 @@ +Copyright (C) 2021 Peter Spiess-Knafl + +Permission is hereby granted, free of charge, to any person obtaining a copy of +this software and associated documentation files (the "Software"), to deal in the +Software without restriction, including without limitation the rights to +use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +the Software, and to permit persons to whom the Software is furnished to do so, +subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, +INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR +PURPOSE AND NONINFRINGEMENT. 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IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/third_party/pybind11/LICENSE.txt b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/third_party/pybind11/LICENSE.txt new file mode 100644 index 00000000..46b7deda --- /dev/null +++ b/dependency/x86/third_party/aubo_sdk/v0.27.1/share/licenses/third_party/pybind11/LICENSE.txt @@ -0,0 +1,29 @@ +Copyright (c) 2016 Wenzel Jakob , All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +Please also refer to the file .github/CONTRIBUTING.md, which clarifies licensing of +external contributions to this project including patches, pull requests, etc. diff --git a/request.txt b/request.txt index 8642cc9a..de63d1ad 100644 --- a/request.txt +++ b/request.txt @@ -34,5 +34,6 @@ third_party/visp/3.7.0 third_party/mainif/0.0.5 third_party/matplotplusplus/1.2.0 third_party/huayan_robot/v1.0 +third_party/aubo_sdk/v0.27.1