/** @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 通用寄存器 \~english General Registers */ class ARCS_ABI_EXPORT RegisterControl { public: RegisterControl(); virtual ~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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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 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 * * \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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \chinese * 具名变量是否存在 * * @param key 变量名 * @return * * @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 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); /** * \chinese * 获取具名变量的类型 * * @param key * @return * * @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 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); /** * \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 * \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 * \endchinese */ bool variableUpdated(const std::string &key, uint64_t since); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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); /** * \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); /** * \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); /** * \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 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 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); /** * \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 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 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); /** * \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(); /** * \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) -> nil * * @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) -> nil * * @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); /** * \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(); /** * \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(); /** * \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(); /** * \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(); /** * \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 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 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); /** * \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 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 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); /** * \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); /** * \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 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 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); /** * \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 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 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); /** * \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 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 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); /** * \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); /** * \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); /** * \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); /** * \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); /** * \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); /** * \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