358 lines
9.1 KiB
C++
358 lines
9.1 KiB
C++
/** @file aubo_api.h
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* @brief \~chinese 机器人及外部轴等控制API接口，如获取机器人列表、获取系统信息等等
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* @brief \~english API for controlling the robot and external axis
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*/
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#ifndef AUBO_SDK_AUBO_API_INTERFACE_H
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#define AUBO_SDK_AUBO_API_INTERFACE_H
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#include <aubo/system_info.h>
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#include <aubo/runtime_machine.h>
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#include <aubo/register_control.h>
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#include <aubo/robot_interface.h>
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#include <aubo/global_config.h>
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#include <aubo/math.h>
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#include <aubo/socket.h>
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#include <aubo/serial.h>
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#include <aubo/axis_interface.h>
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namespace arcs {
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namespace common_interface {
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class ARCS_ABI_EXPORT AuboApi
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{
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public:
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AuboApi();
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virtual ~AuboApi();
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/**
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* \chinese
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* 获取纯数学相关接口
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*
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* @return MathPtr对象的指针
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*
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* @par Python函数原型
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* getMath(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.Math
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* MathPtr ptr = rpc_cli->getMath();
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* @endcode
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* \endchinese
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*
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*\english
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* Get pure mathematic related API
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*
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* @return Shared pointer to a Math object
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*
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* @par Python function prototype
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* getMath(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.Math
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* MathPtr ptr = rpc_cli->getMath();
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* @endcode
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*\endenglish
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*/
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MathPtr getMath();
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/**
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* \chinese
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* 获取系统信息
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*
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* @return SystemInfoPtr对象的指针
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*
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* @par Python函数原型
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* getSystemInfo(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.SystemInfo
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* SystemInfoPtr ptr = rpc_cli->getSystemInfo();
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* @endcode
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* \endchinese
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*
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* \english
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* Get system info
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*
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* @return Shared pointer to SystemInfo object
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*
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* @par Python function prototype
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* getSystemInfo(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.SystemInfo
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* SystemInfoPtr ptr = rpc_cli->getSystemInfo();
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* @endcode
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* \endenglish
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*/
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SystemInfoPtr getSystemInfo();
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/**
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* \chinese
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* 获取运行时接口
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*
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* @return RuntimeMachinePtr对象的指针
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*
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* @par Python函数原型
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* getRuntimeMachine(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.RuntimeMachine
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* RuntimeMachinePtr ptr = rpc_cli->getRuntimeMachine();
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* @endcode
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* \endchinese
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*
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* \english
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* Get runtime api
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*
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* @return Shared pointer to RuntimeMachine object
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* Python function prototype
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* getRuntimeMachine(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.RuntimeMachine
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* RuntimeMachinePtr ptr = rpc_cli->getRuntimeMachine();
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* @endcode
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* \endenglish
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*/
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RuntimeMachinePtr getRuntimeMachine();
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/**
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* \chinese
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* 对外寄存器接口
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*
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* @return RegisterControlPtr对象的指针
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*
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* @par Python函数原型
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* getRegisterControl(self: pyaubo_sdk.AuboApi) ->
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* pyaubo_sdk.RegisterControl
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* RegisterControlPtr ptr = rpc_cli->getRegisterControl();
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* @endcode
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* \endchinese
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*
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* \english
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* External registers api
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*
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* @return Shared pointer to RegisterControl object
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*
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* @par Python function prototype
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* getRegisterControl(self: pyaubo_sdk.AuboApi) ->
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* pyaubo_sdk.RegisterControl
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* RegisterControlPtr ptr = rpc_cli->getRegisterControl();
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* @endcode
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* \endenglish
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*/
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RegisterControlPtr getRegisterControl();
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/**
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* \chinese
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* 获取机器人列表
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*
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* @return 机器人列表
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*
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* @par Python函数原型
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* getRobotNames(self: pyaubo_sdk.AuboApi) -> List[str]
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* @endcode
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"getRobotNames","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":["rob1"]}
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* \endchinese
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*
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* \english
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* Get robot list
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*
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* @return robot list
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*
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* @par Python function prototype
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* getRobotNames(self: pyaubo_sdk.AuboApi) -> List[str]
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* @endcode
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"getRobotNames","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":["rob1"]}
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* \endenglish
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*/
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std::vector<std::string> getRobotNames();
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/**
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* \chinese
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* 根据名字获取 RobotInterfacePtr 接口
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*
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* @param name 机器人名字
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* @return RobotInterfacePtr对象的指针
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*
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* @par Python函数原型
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* getRobotInterface(self: pyaubo_sdk.AuboApi, arg0: str) ->
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* pyaubo_sdk.RobotInterface
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* RobotInterfacePtr ptr = rpc_cli->getRobotInterface(robot_name);
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* @endcode
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* \endchinese
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*
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* \english
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* Get RobotInterfacePtr based on name
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*
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* @param name Robot name
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* @return Shared pointer to a RobotInterface object
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*
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* @par Python function prototype
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* getRobotInterface(self: pyaubo_sdk.AuboApi, arg0: str) ->
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* pyaubo_sdk.RobotInterface
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* auto robot_name = rpc_cli->getRobotNames().front();
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* RobotInterfacePtr ptr = rpc_cli->getRobotInterface(robot_name);
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* @endcode
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* \endenglish
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*/
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RobotInterfacePtr getRobotInterface(const std::string &name);
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/**
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* \~chinese 获取外部轴列表 \~english Get external axis list
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*
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* @return
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*/
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std::vector<std::string> getAxisNames();
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/**
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* \chinese
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* 获取外部轴接口
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*
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* @param name
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* @return
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* \endchinese
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*
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* \english
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* Get external axis interface
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*
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* @param name
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* @return
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* \endenglish
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*/
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AxisInterfacePtr getAxisInterface(const std::string &name);
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/// 获取独立 IO 模块接口
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/**
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* \chinese
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* 获取 socket
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* @return SocketPtr对象的指针
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*
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* @par Python函数原型
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* getSocket(self: pyaubo_sdk.AuboApi) -> arcs::common_interface::Socket
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* @endcode
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* SocketPtr ptr = rpc_cli->getSocket();
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* @endcode
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* \endchinese
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*
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* \english
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* Get socket
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* @return Shared pointer to a socket object
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*
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* @par Python function prototype
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* getSocket(self: pyaubo_sdk.AuboApi) -> arcs::common_interface::Socket
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* @endcode
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* SocketPtr ptr = rpc_cli->getSocket();
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* @endcode
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* \endenglish
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*/
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SocketPtr getSocket();
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/**
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* \chinese
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* @return SerialPtr对象的指针
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*
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* @par Python函数原型
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* getSerial(self: pyaubo_sdk.AuboApi) -> arcs::common_interface::Serial
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*
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* @par C++示例
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* SerialPtr ptr = rpc_cli->getSerial();
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* @endcode
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* \endchinese
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*
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* \english
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* @return Shared pointer to Serial object
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*
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* @par Python function prototype
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* getSerial(self: pyaubo_sdk.AuboApi) -> arcs::common_interface::Serial
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*
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* @par C++ example
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* @code
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* auto rpc_cli = std::make_shared<RpcClient>();
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* SerialPtr ptr = rpc_cli->getSerial();
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* @endcode
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* \endenglish
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*/
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SerialPtr getSerial();
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/**
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* \~chinese 获取同步运动接口 \~english Get syncronous move interface
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*
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* \~chinese @return SyncMovePtr对象的指针
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* \~english @return Shared pointer to SyncMove object
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*/
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SyncMovePtr getSyncMove(const std::string &name);
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/**
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* \~chinese 获取告警信息接口
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* \~english Get alert interface
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*
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* \~chinese @return TracePtr对象的指针
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* \~english @return Shared pointer of trace object
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*/
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TracePtr getTrace(const std::string &name);
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protected:
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void *d_{ nullptr };
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};
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using AuboApiPtr = std::shared_ptr<AuboApi>;
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} // namespace common_interface
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} // namespace arcs
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#endif // AUBO_SDK_AUBO_API_H
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