1462 lines
43 KiB
C++
1462 lines
43 KiB
C++
/** @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 <vector>
|
||
#include <thread>
|
||
|
||
#include <aubo/global_config.h>
|
||
#include <aubo/type_def.h>
|
||
|
||
namespace arcs {
|
||
namespace common_interface {
|
||
|
||
class ARCS_ABI_EXPORT RobotManage
|
||
{
|
||
public:
|
||
RobotManage();
|
||
virtual ~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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->poweron();
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
int poweron();
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->startup();
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
int startup();
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->releaseRobotBrake();
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
int releaseRobotBrake();
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->lockRobotBrake();
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
int lockRobotBrake();
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->poweroff();
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
int poweroff();
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->backdrive(true);
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
int backdrive(bool enable);
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->freedrive(true);
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
int freedrive(bool enable);
|
||
|
||
/**
|
||
* \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<int> &freeAxes,
|
||
const std::vector<double> &feature);
|
||
|
||
/**
|
||
* \chinese
|
||
* 退出拖动示教
|
||
*
|
||
* @note 暂未实现
|
||
*
|
||
* @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 Not implemented yet
|
||
*
|
||
* @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();
|
||
|
||
/**
|
||
* \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();
|
||
|
||
/**
|
||
* \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();
|
||
|
||
/**
|
||
* \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 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 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();
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setSim(true);
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
int setSim(bool enable);
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setOperationalMode(OperationalModeType::Automatic);
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
int setOperationalMode(OperationalModeType mode);
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* OperationalModeType mode =
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->getOperationalMode();
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
OperationalModeType getOperationalMode();
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* RobotControlModeType mode =
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->getRobotControlMode();
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
RobotControlModeType getRobotControlMode();
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* bool isEnabled =
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isFreedriveEnabled();
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
bool isFreedriveEnabled();
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* bool isEnabled =
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isBackdriveEnabled();
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
bool isBackdriveEnabled();
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* bool isEnabled =
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isSimulationEnabled();
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
bool isSimulationEnabled();
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setUnlockProtectiveStop();
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
int setUnlockProtectiveStop();
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->restartInterfaceBoard();
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
int restartInterfaceBoard();
|
||
|
||
/**
|
||
* \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
|
||
* \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
|
||
* \endenglish
|
||
*/
|
||
int startRecord(const std::string &file_name);
|
||
|
||
/**
|
||
* \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 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 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();
|
||
|
||
/**
|
||
* \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);
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setLinkModeEnable(true);
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
int setLinkModeEnable(bool enable);
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* auto robot_name = rpc_cli->getRobotNames().front();
|
||
* bool isEnabled =
|
||
* rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isLinkModeEnabled();
|
||
* @endcode
|
||
* \endenglish
|
||
*/
|
||
bool isLinkModeEnabled();
|
||
|
||
/**
|
||
* \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 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<RpcClient>();
|
||
* 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 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<RpcClient>();
|
||
* 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<RobotManage>;
|
||
} // namespace common_interface
|
||
} // namespace arcs
|
||
|
||
#endif // AUBO_SDK_ROBOT_CONTROL_INTERFACE_H
|