From 5015077cb56b9ed0ecfaf4583eceaf49b9147554 Mon Sep 17 00:00:00 2001
From: xtkuang <87661715@qq.com>
Date: Fri, 3 Jul 2026 08:55:30 +0800
Subject: [PATCH] fix aubo arm connection error

---
 cmvr-es/config/devices/arm/aubo_arm.pb.txt   |  2 +-
 cmvr-es/config/manager/device_manager.pb.txt |  2 +-
 cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp    | 60 +++++++++++++++++---
 3 files changed, 54 insertions(+), 10 deletions(-)

diff --git a/cmvr-es/config/devices/arm/aubo_arm.pb.txt b/cmvr-es/config/devices/arm/aubo_arm.pb.txt
index 0f357de6..551f31df 100644
--- a/cmvr-es/config/devices/arm/aubo_arm.pb.txt
+++ b/cmvr-es/config/devices/arm/aubo_arm.pb.txt
@@ -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"
diff --git a/cmvr-es/config/manager/device_manager.pb.txt b/cmvr-es/config/manager/device_manager.pb.txt
index bcf234b8..fc3a4e1e 100644
--- a/cmvr-es/config/manager/device_manager.pb.txt
+++ b/cmvr-es/config/manager/device_manager.pb.txt
@@ -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 {
diff --git a/cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp b/cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp
index c0e73039..19669f23 100644
--- a/cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp
+++ b/cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp
@@ -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();