1493 lines
39 KiB
C++
1493 lines
39 KiB
C++
/** @file runtime_machine.h
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* @brief Script interpreter runtime interface,
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* allows pausing the script interpreter and setting/removing breakpoints.
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*/
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#ifndef AUBO_SDK_RUNTIME_MACHINE_INTERFACE_H
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#define AUBO_SDK_RUNTIME_MACHINE_INTERFACE_H
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#include <memory>
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#include <aubo/global_config.h>
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#include <aubo/type_def.h>
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namespace arcs {
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namespace common_interface {
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/**
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* The RuntimeMachine class
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*/
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class ARCS_ABI_EXPORT RuntimeMachine
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{
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public:
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RuntimeMachine();
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virtual ~RuntimeMachine();
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/**
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* \chinese
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* 返回 task_id
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"RuntimeMachine.newTask","params":[false],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":26}
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* \endchinese
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* \english
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* Returns the task_id
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*
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* @par JSON-RPC Request Example
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* {"jsonrpc":"2.0","method":"RuntimeMachine.newTask","params":[false],"id":1}
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*
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* @par JSON-RPC Response Example
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* {"id":1,"jsonrpc":"2.0","result":26}
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* \endenglish
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*/
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int newTask(bool daemon = false);
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/**
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* \chinese
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* 删除 task，会终止正在执行的运动
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"RuntimeMachine.deleteTask","params":[26],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":0}
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*
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* \endchinese
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* \english
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* Delete a task, which will terminate any ongoing motion.
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*
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* @par JSON-RPC Request Example
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* {"jsonrpc":"2.0","method":"RuntimeMachine.deleteTask","params":[26],"id":1}
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*
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* @par JSON-RPC Response Example
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* {"id":1,"jsonrpc":"2.0","result":0}
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*
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* \endenglish
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*/
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int deleteTask(int tid);
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/**
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* \chinese
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* 等待 task 自然结束
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*
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* @param tid
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* @return
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"RuntimeMachine.detachTask","params":[26],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":0}
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*
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* \endchinese
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* \english
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* Wait for the task to finish naturally
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*
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* @param tid
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* @return
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*
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* @par JSON-RPC Request Example
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* {"jsonrpc":"2.0","method":"RuntimeMachine.detachTask","params":[26],"id":1}
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*
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* @par JSON-RPC Response Example
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* {"id":1,"jsonrpc":"2.0","result":0}
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*
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* \endenglish
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*/
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int detachTask(int tid);
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/**
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* \chinese
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* 判断任务是否存活
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*
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* @param tid
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* @return
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"RuntimeMachine.isTaskAlive","params":[26],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":true}
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*
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* \endchinese
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* \english
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* Check if the task is alive
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*
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* @param tid
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* @return
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*
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* @par JSON-RPC Request Example
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* {"jsonrpc":"2.0","method":"RuntimeMachine.isTaskAlive","params":[26],"id":1}
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*
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* @par JSON-RPC Response Example
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* {"id":1,"jsonrpc":"2.0","result":true}
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*
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* \endenglish
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*/
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bool isTaskAlive(int tid);
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/**
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* \chinese
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* 获取任务中缓存的指令的数量
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*
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* @param tid
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* @return
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* \endchinese
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* \english
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* Get the number of cached instructions in the task
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*
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* @param tid
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* @return
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* \endenglish
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*/
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int getTaskQueueSize(int tid);
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/**
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* \chinese
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* 切换当前线程，切换之后接下来的指令将被插入切换后的线程中
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*
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* @param tid
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* @return
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"RuntimeMachine.switchTask","params":[26],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":0}
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*
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* \endchinese
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* \english
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* Switch the current thread. After switching, subsequent instructions will
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* be inserted into the switched thread.
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*
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* @param tid
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* @return
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*
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* @par JSON-RPC Request Example
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* {"jsonrpc":"2.0","method":"RuntimeMachine.switchTask","params":[26],"id":1}
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*
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* @par JSON-RPC Response Example
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* {"id":1,"jsonrpc":"2.0","result":0}
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*
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* \endenglish
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*/
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int switchTask(int tid);
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/**
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* \chinese
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* 标记记下来的指令的行号和注释
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*
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* @param lineno
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* @param comment
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* @return
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"RuntimeMachine.setLabel","params":[5,"moveJoint"],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":0}
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*
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* \endchinese
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* \english
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* Mark the line number and comment of the recorded instruction
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*
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* @param lineno
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* @param comment
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* @return
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*
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* @par JSON-RPC Request Example
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* {"jsonrpc":"2.0","method":"RuntimeMachine.setLabel","params":[5,"moveJoint"],"id":1}
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*
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* @par JSON-RPC Response Example
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* {"id":1,"jsonrpc":"2.0","result":0}
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*
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* \endenglish
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*/
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int setLabel(int lineno, const std::string &comment);
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/**
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* \chinese
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* 向aubo_control日志中添加注释
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* 使用 setLabel 替换
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*
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* @param tid 指令的线程ID
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* @param lineno 行号
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* @param comment 注释
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* @return
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*
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* @par Python函数原型
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* setPlanContext(self: pyaubo_sdk.RuntimeMachine, arg0: int, arg1: int,
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* arg2: str) -> int
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*
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* @par Lua函数原型
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* setPlanContext(tid: number, lineno: number, comment: string) -> number
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"RuntimeMachine.setPlanContext","params":[26,3,"moveJoint"],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":0}
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*
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* \endchinese
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||
* \english
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* Add a comment to the aubo_control log
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* Use setLabel instead
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*
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* @param tid Thread ID of the instruction
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* @param lineno Line number
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* @param comment Comment
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* @return
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*
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* @par Python function prototype
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* setPlanContext(self: pyaubo_sdk.RuntimeMachine, arg0: int, arg1: int,
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* arg2: str) -> int
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*
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* @par Lua function prototype
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* setPlanContext(tid: number, lineno: number, comment: string) -> number
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*
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* @par JSON-RPC Request Example
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* {"jsonrpc":"2.0","method":"RuntimeMachine.setPlanContext","params":[26,3,"moveJoint"],"id":1}
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*
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* @par JSON-RPC Response Example
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* {"id":1,"jsonrpc":"2.0","result":0}
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*
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* \endenglish
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||
*/
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ARCS_DEPRECATED int setPlanContext(int tid, int lineno,
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const std::string &comment);
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/**
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* \chinese
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* 空操作
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*
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* @return
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*
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* @par JSON-RPC请求示例
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||
* {"jsonrpc":"2.0","method":"RuntimeMachine.nop","params":[],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":0}
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*
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||
* \endchinese
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||
* \english
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||
* No operation
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||
*
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||
* @return
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||
*
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||
* @par JSON-RPC Request Example
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* {"jsonrpc":"2.0","method":"RuntimeMachine.nop","params":[],"id":1}
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*
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* @par JSON-RPC Response Example
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||
* {"id":1,"jsonrpc":"2.0","result":0}
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||
*
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||
* \endenglish
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||
*/
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int nop();
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/**
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||
* \chinese
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||
* 获取耗时的接口(INST)执行状态, 如 setPersistentParameters
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*
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* @return 指令名字, 执行状态
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* 执行状态: EXECUTING/FINISHED
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*
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* @par Python函数原型
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* getExecutionStatus(self: pyaubo_sdk.RuntimeMachine) -> Tuple[str, str,
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* int]
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*
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* @par Lua函数原型
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||
* getExecutionStatus() -> string, string, number
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*
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* @par JSON-RPC请求示例
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||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getExecutionStatus","params":[],"id":1}
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||
*
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* @par JSON-RPC响应示例
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||
* {"id":1,"jsonrpc":"2.0","result":["confirmSafetyParameters","FINISHED"]}
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*
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* \endchinese
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||
* \english
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||
* Get the execution status of time-consuming interfaces (INST), such as
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* setPersistentParameters
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||
*
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||
* @return Instruction name, execution status
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||
* Execution status: EXECUTING/FINISHED
|
||
*
|
||
* @par Python function prototype
|
||
* getExecutionStatus(self: pyaubo_sdk.RuntimeMachine) -> Tuple[str, str,
|
||
* int]
|
||
*
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||
* @par Lua function prototype
|
||
* getExecutionStatus() -> string, string, number
|
||
*
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||
* @par JSON-RPC Request Example
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||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getExecutionStatus","params":[],"id":1}
|
||
*
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||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":["confirmSafetyParameters","FINISHED"]}
|
||
*
|
||
* \endenglish
|
||
*/
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||
std::tuple<std::string, std::string> getExecutionStatus();
|
||
std::tuple<std::string, std::string, int> getExecutionStatus1();
|
||
|
||
/**
|
||
* \chinese
|
||
* 跳转到指定行号
|
||
*
|
||
* @param lineno
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* gotoLine(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* gotoLine(lineno: number) -> number
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||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.gotoLine","params":[10],"id":1}
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||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Jump to the specified line number
|
||
*
|
||
* @param lineno
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* gotoLine(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* gotoLine(lineno: number) -> number
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.gotoLine","params":[10],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int gotoLine(int lineno);
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取当前运行上下文
|
||
*
|
||
* @param tid 任务编号
|
||
* 如果指定(不是-1)，返回对应任务的运行上下文；如果不指定(是-1)，返回正在运行的线程的运行上下文
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* getPlanContext(self: pyaubo_sdk.RuntimeMachine) -> Tuple[int, int, str]
|
||
*
|
||
* @par Lua函数原型
|
||
* getPlanContext() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getPlanContext","params":[-1],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[-1,0,""]}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Get the current runtime context
|
||
*
|
||
* @param tid Task ID
|
||
* If specified (not -1), returns the runtime context of the corresponding
|
||
* task; if not specified (is -1), returns the runtime context of the
|
||
* currently running thread
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* getPlanContext(self: pyaubo_sdk.RuntimeMachine) -> Tuple[int, int, str]
|
||
*
|
||
* @par Lua function prototype
|
||
* getPlanContext() -> number
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getPlanContext","params":[-1],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":[-1,0,""]}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
std::tuple<int, int, std::string> getPlanContext(int tid = -1);
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取提前运行规划器的上下文信息
|
||
*
|
||
* @param tid 任务编号
|
||
* 如果指定(不是-1)，返回对应任务运行规划器的上下文信息；如果不指定(是-1)，返回正在运行的线程运行规划器的上下文信息
|
||
*
|
||
* @return
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getAdvancePlanContext","params":[-1],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[-1,-1,""]}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Get the context information of the advance planner
|
||
*
|
||
* @param tid Task ID
|
||
* If specified (not -1), returns the context information of the advance
|
||
* planner for the corresponding task; if not specified (is -1), returns the
|
||
* context information of the advance planner for the currently running
|
||
* thread
|
||
*
|
||
* @return
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getAdvancePlanContext","params":[-1],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":[-1,-1,""]}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
std::tuple<int, int, std::string> getAdvancePlanContext(int tid = -1);
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取AdvanceRun的程序指针
|
||
*
|
||
* @return
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getAdvancePtr","params":[-1],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":-1}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Get the program pointer of AdvanceRun
|
||
*
|
||
* @return
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getAdvancePtr","params":[-1],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":-1}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int getAdvancePtr(int tid = -1);
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取机器人运动的程序指针
|
||
*
|
||
* @param tid 任务编号
|
||
* 如果指定(不是-1)，返回对应任务的程序指针；如果不指定(是-1)，返回正在运行线程的程序指针
|
||
*
|
||
* @return
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getMainPtr","params":[-1],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":-1}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Get the program pointer of robot motion
|
||
*
|
||
* @param tid Task ID
|
||
* If specified (not -1), returns the program pointer of the corresponding
|
||
* task; if not specified (is -1), returns the program pointer of the
|
||
* currently running thread
|
||
*
|
||
* @return
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getMainPtr","params":[-1],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":-1}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int getMainPtr(int tid = -1);
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取最近解释过的指令指针
|
||
*
|
||
* @param tid
|
||
* @return
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getInterpPtr","params":[26],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":-1}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Get the pointer of the most recently interpreted instruction
|
||
*
|
||
* @param tid
|
||
* @return
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getInterpPtr","params":[26],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":-1}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int getInterpPtr(int tid);
|
||
|
||
/**
|
||
* \chinese
|
||
* 加载本地工程文件
|
||
* Lua 脚本，只需要给出文件名字，不需要后缀，需要从 ${ARCS_WS}/program
|
||
* 目录中查找
|
||
*
|
||
* @param program
|
||
* @return
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.loadProgram","params":["demo"],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Load a local project file.
|
||
* For Lua scripts, only the file name is required (no extension), and it
|
||
* will be searched in the ${ARCS_WS}/program directory.
|
||
*
|
||
* @param program
|
||
* @return
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.loadProgram","params":["demo"],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int loadProgram(const std::string &program);
|
||
|
||
/**
|
||
* \chinese
|
||
* 预加载工程文件
|
||
*
|
||
* @param index 0~99 工程索引号
|
||
* @param program 工程名字
|
||
* @return
|
||
* \endchinese
|
||
* \english
|
||
* Preload project file
|
||
*
|
||
* @param index Project index number (0~99)
|
||
* @param program Project name
|
||
* @return
|
||
* \endenglish
|
||
*/
|
||
int preloadProgram(int index, const std::string &program);
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取预加载工程文件名字，如果没有加载或者超出索引范围则返回空字符串
|
||
*
|
||
* @param index 0~99 工程索引号
|
||
* @return 工程文件名字
|
||
* \endchinese
|
||
* \english
|
||
* Get the name of the preloaded project file. Returns an empty string if
|
||
* not loaded or index is out of range.
|
||
*
|
||
* @param index Project index number (0~99)
|
||
* @return Project file name
|
||
* \endenglish
|
||
*/
|
||
std::string getPreloadProgram(int index);
|
||
|
||
/**
|
||
* \chinese
|
||
* 清除所有已预加载的工程文件
|
||
* 调用此方法将释放所有通过 preloadProgram
|
||
* 预加载的工程索引及其关联的工程名称
|
||
*
|
||
* @return 成功返回0；
|
||
* \endchinese
|
||
* \english
|
||
* Clear all preloaded project files.
|
||
* Calling this method will release all project indices and their associated
|
||
* program names that were previously preloaded via preloadProgram.
|
||
*
|
||
* @return Returns 0 on success;
|
||
* \endenglish
|
||
*/
|
||
int clearPreloadPrograms();
|
||
|
||
/**
|
||
* \chinese
|
||
* 运行已经加载的工程文件
|
||
*
|
||
* @return
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.runProgram","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Run the already loaded project file
|
||
*
|
||
* @return
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.runProgram","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int runProgram();
|
||
|
||
/**
|
||
* \chinese
|
||
* 开始运行时
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* start(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* start() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.start","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Start the runtime
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* start(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* start() -> number
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.start","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int start();
|
||
|
||
/**
|
||
* \chinese
|
||
* 停止运行时即脚本运行，无法停止运行时状态为 Stopped 时的机器人运动
|
||
*
|
||
* 如果考虑停止机器人所有运动，可以调用 RuntimeMachine::abort 接口
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* stop(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* stop() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.stop","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Stop the runtime, i.e., stop script execution. Cannot stop robot motion
|
||
* when the runtime state is Stopped.
|
||
*
|
||
* If you want to stop all robot motion, use the RuntimeMachine::abort
|
||
* interface.
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* stop(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* stop() -> number
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.stop","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int stop();
|
||
|
||
/**
|
||
* \chinese
|
||
* 终止机器人运行.
|
||
*
|
||
* 如果只是考虑停止运行时，可以调用 RuntimeMachine::stop 接口
|
||
*
|
||
* 如果脚本运行时处于 Running 状态，则终止运行时；如果运行时处于 Stopped
|
||
* 且机器人正在移动，则停止机器人移动；如果此时力控开启了，则机器人停止力控
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* abort(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* abort() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.abort","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Abort robot operation.
|
||
*
|
||
* If you only want to stop the runtime, you can call the
|
||
* RuntimeMachine::stop interface.
|
||
*
|
||
* If the script runtime is in the Running state, aborts the runtime; if the
|
||
* runtime is Stopped and the robot is moving, stops the robot motion; if
|
||
* force control is enabled, stops force control.
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* abort(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* abort() -> number
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.abort","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int abort();
|
||
|
||
/**
|
||
* \chinese
|
||
* 暂停解释器
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* pause(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* pause() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.pause","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Pause the interpreter
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* pause(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* pause() -> number
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.pause","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int pause();
|
||
|
||
/**
|
||
* \chinese
|
||
* 单步运行
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* step(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* step() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.step","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Execute a single step
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* step(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* step() -> number
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.step","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int step();
|
||
|
||
/**
|
||
* \chinese
|
||
* 恢复解释器
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* resume(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* resume() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.resume","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Resume the interpreter
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* resume(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* resume() -> number
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.resume","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int resume();
|
||
|
||
/**
|
||
* \chinese
|
||
* 恢复解释器(不检查当前点和暂停点距离)
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* arbitraryResume(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* arbitraryResume() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.arbitraryResume","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Resume the interpreter
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* arbitraryResume(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* arbitraryResume() -> number
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.arbitraryResume","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int arbitraryResume();
|
||
|
||
/**
|
||
* \chinese
|
||
* 恢复解释器之前等待恢复前之前的序列完成
|
||
*
|
||
* @param wait
|
||
* @return
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.setResumeWait","params":[true],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Wait for the previous sequence to complete before resuming the
|
||
* interpreter
|
||
*
|
||
* @param wait
|
||
* @return
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.setResumeWait","params":[true],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int setResumeWait(bool wait);
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取规划器的状态
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* getStatus(self: pyaubo_sdk.RuntimeMachine) ->
|
||
* arcs::common_interface::RuntimeState
|
||
*
|
||
* @par Lua函数原型
|
||
* getStatus() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getStatus","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":"Running"}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Get the status of the planner
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* getStatus(self: pyaubo_sdk.RuntimeMachine) ->
|
||
* arcs::common_interface::RuntimeState
|
||
*
|
||
* @par Lua function prototype
|
||
* getStatus() -> number
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getStatus","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":"Running"}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
ARCS_DEPRECATED RuntimeState getStatus();
|
||
RuntimeState getRuntimeState();
|
||
|
||
/**
|
||
* \chinese
|
||
* 设置断点
|
||
*
|
||
* @param lineno
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* setBreakPoint(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* setBreakPoint(lineno: number) -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.setBreakPoint","params":[15],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Set a breakpoint
|
||
*
|
||
* @param lineno
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* setBreakPoint(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* setBreakPoint(lineno: number) -> number
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.setBreakPoint","params":[15],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int setBreakPoint(int lineno);
|
||
|
||
/**
|
||
* \chinese
|
||
* 移除断点
|
||
*
|
||
* @param lineno
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* removeBreakPoint(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* removeBreakPoint(lineno: number) -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.removeBreakPoint","params":[15],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Remove a breakpoint
|
||
*
|
||
* @param lineno
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* removeBreakPoint(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* removeBreakPoint(lineno: number) -> number
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.removeBreakPoint","params":[15],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int removeBreakPoint(int lineno);
|
||
|
||
/**
|
||
* \chinese
|
||
* 清除所有断点
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* clearBreakPoints(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* clearBreakPoints() -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.clearBreakPoints","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Clear all breakpoints
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* clearBreakPoints(self: pyaubo_sdk.RuntimeMachine) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* clearBreakPoints() -> number
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.clearBreakPoints","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int clearBreakPoints();
|
||
|
||
/**
|
||
* \chinese
|
||
* 定时器开始
|
||
*
|
||
* @param name
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* timerStart(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* timerStart(name: string) -> nil
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.timerStart","params":["timer"],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Start the timer
|
||
*
|
||
* @param name
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* timerStart(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* timerStart(name: string) -> nil
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.timerStart","params":["timer"],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int timerStart(const std::string &name);
|
||
|
||
/**
|
||
* \chinese
|
||
* 定时器结束
|
||
*
|
||
* @param name
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* timerStop(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* timerStop(name: string) -> nil
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.timerStop","params":["timer"],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Stop the timer
|
||
*
|
||
* @param name
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* timerStop(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* timerStop(name: string) -> nil
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.timerStop","params":["timer"],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int timerStop(const std::string &name);
|
||
|
||
/**
|
||
* \chinese
|
||
* 定时器重置
|
||
*
|
||
* @param name
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* timerReset(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* timerReset(name: string) -> nil
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.timerReset","params":["timer"],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Reset the timer
|
||
*
|
||
* @param name
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* timerReset(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* timerReset(name: string) -> nil
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.timerReset","params":["timer"],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int timerReset(const std::string &name);
|
||
|
||
/**
|
||
* \chinese
|
||
* 定时器删除
|
||
*
|
||
* @param name
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* timerDelete(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* timerDelete(name: string) -> nil
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.timerDelete","params":["timer"],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Delete the timer
|
||
*
|
||
* @param name
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* timerDelete(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* timerDelete(name: string) -> nil
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.timerDelete","params":["timer"],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int timerDelete(const std::string &name);
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取定时器数值
|
||
*
|
||
* @param name
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* getTimer(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> float
|
||
*
|
||
* @par Lua函数原型
|
||
* getTimer(name: string) -> number
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getTimer","params":["timer"],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":25.409769612}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Get the timer value
|
||
*
|
||
* @param name
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* getTimer(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> float
|
||
*
|
||
* @par Lua function prototype
|
||
* getTimer(name: string) -> number
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getTimer","params":["timer"],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":25.409769612}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
double getTimer(const std::string &name);
|
||
|
||
/**
|
||
* \chinese
|
||
* 开始配置触发
|
||
*
|
||
* @param distance
|
||
* @param delay
|
||
* @return
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.triggBegin","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Start configuring trigger
|
||
*
|
||
* @param distance
|
||
* @param delay
|
||
* @return
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.triggBegin","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int triggBegin(double distance, double delay);
|
||
|
||
/**
|
||
* \chinese
|
||
* 终止配置触发
|
||
*
|
||
* @return
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.triggEnd","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* End configuring trigger
|
||
*
|
||
* @return
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.triggEnd","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
int triggEnd();
|
||
|
||
/**
|
||
* \chinese
|
||
* 返回自动分配的中断号
|
||
*
|
||
* @param distance
|
||
* @param delay
|
||
* @param intnum
|
||
* @return
|
||
* \endchinese
|
||
* \english
|
||
* Returns the automatically assigned interrupt number
|
||
*
|
||
* @param distance
|
||
* @param delay
|
||
* @param intnum
|
||
* @return
|
||
* \endenglish
|
||
*/
|
||
int triggInterrupt(double distance, double delay);
|
||
|
||
/**
|
||
* \chinese
|
||
* 获取所有的中断号列表
|
||
*
|
||
* @return
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getTriggInterrupts","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":[]}
|
||
*
|
||
* \endchinese
|
||
* \english
|
||
* Get the list of all interrupt numbers
|
||
*
|
||
* @return
|
||
*
|
||
* @par JSON-RPC Request Example
|
||
* {"jsonrpc":"2.0","method":"RuntimeMachine.getTriggInterrupts","params":[],"id":1}
|
||
*
|
||
* @par JSON-RPC Response Example
|
||
* {"id":1,"jsonrpc":"2.0","result":[]}
|
||
*
|
||
* \endenglish
|
||
*/
|
||
std::vector<int> getTriggInterrupts();
|
||
|
||
protected:
|
||
void *d_;
|
||
};
|
||
|
||
using RuntimeMachinePtr = std::shared_ptr<RuntimeMachine>;
|
||
|
||
} // namespace common_interface
|
||
} // namespace arcs
|
||
#endif // AUBO_SDK_RUNTIME_MACHINE_H
|