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fix aubo arm connection error

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This commit is contained in:
xtkuang 2026-07-03 08:55:30 +08:00
parent d04b1920d1
commit 5015077cb5
3 changed files with 54 additions and 10 deletions
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2
cmvr-es/config/devices/arm/aubo_arm.pb.txt
View File

@ -5,7 +5,7 @@ arm {
vendor {
brand: VENDOR_ROBOT_ARM_BRAND_AUBO_ARM
ip: "192.168.192.18"
port: 30000
port: 30004
dof: 6
joint_names: "joint_1"
joint_names: "joint_2"

2
cmvr-es/config/manager/device_manager.pb.txt
View File

@ -42,7 +42,7 @@ device_manager {
id: "aubo_arm"
type: DEVICE_TYPE_ROBOT_ARM
config_file: "devices/arm/aubo_arm.pb.txt"
enable: false
enable: true
}
devices {

60
cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp
View File

@ -527,13 +527,53 @@ Result AuboArm::connect(const std::string& ip, const int port)
#if defined(CMVR_HAS_AUBO_SDK)
try {
sdk_ = std::make_unique<SdkState>();
sdk_->rpc_client = std::make_shared<arcs::aubo_sdk::RpcClient>();
sdk_->rpc_client->setRequestTimeout(1000);
sdk_->rpc_client->connect(ip, port > 0 ? port : 30004);
sdk_->rpc_client->login(username_, password_);
const int resolved_port = port > 0 ? port : 30004;
auto sdk_state = std::make_unique<SdkState>();
sdk_state->rpc_client = std::shared_ptr<arcs::aubo_sdk::RpcClient>(
::createRpcClient(),
[](arcs::aubo_sdk::RpcClient* client) {
if (client) {
::destroyRpcClient(client);
}
});
if (!sdk_state->rpc_client) {
return Result::failure(ArmErrorCode::ConnectionFailed,
"[AuboArm] connect failed: create RPC client failed");
}
sdk_state->rpc_client->setRequestTimeout(1000);
int ret = sdk_state->rpc_client->connect(ip, resolved_port);
if (ret != 0) {
return Result::failure(ArmErrorCode::ConnectionFailed,
"[AuboArm] connect failed: rpc connect ret=" +
std::to_string(ret) + ", ip=" + ip +
", port=" + std::to_string(resolved_port));
}
ret = sdk_state->rpc_client->login(username_, password_);
if (ret != 0) {
if (sdk_state->rpc_client->hasConnected()) {
sdk_state->rpc_client->disconnect();
}
return Result::failure(ArmErrorCode::ConnectionFailed,
"[AuboArm] connect failed: login ret=" + std::to_string(ret));
}
const auto robot_names = sdk_state->rpc_client->getRobotNames();
if (robot_names.empty()) {
if (sdk_state->rpc_client->hasLogined()) {
sdk_state->rpc_client->logout();
}
if (sdk_state->rpc_client->hasConnected()) {
sdk_state->rpc_client->disconnect();
}
return Result::failure(ArmErrorCode::ConnectionFailed,
"[AuboArm] connect failed: robot name list is empty");
}
ip_ = ip;
port_ = port > 0 ? port : 30004;
port_ = resolved_port;
sdk_ = std::move(sdk_state);
connected_.store(true);
return Result::success();
} catch (const std::exception& e) {
@ -554,8 +594,12 @@ Result AuboArm::disconnect()
#if defined(CMVR_HAS_AUBO_SDK)
try {
if (sdk_ && sdk_->rpc_client) {
sdk_->rpc_client->logout();
sdk_->rpc_client->disconnect();
if (sdk_->rpc_client->hasLogined()) {
sdk_->rpc_client->logout();
}
if (sdk_->rpc_client->hasConnected()) {
sdk_->rpc_client->disconnect();
}
}
} catch (const std::exception& e) {
CMVR_LOG(ERROR) << "[AuboArm] disconnect failed: " << e.what();