628 lines
20 KiB
C++
628 lines
20 KiB
C++
/** @file socket.h
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* @brief socket通信
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*/
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#ifndef AUBO_SDK_SOCKET_INTERFACE_H
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#define AUBO_SDK_SOCKET_INTERFACE_H
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#include <vector>
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#include <memory>
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#include <aubo/type_def.h>
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#include <aubo/global_config.h>
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namespace arcs {
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namespace common_interface {
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class ARCS_ABI_EXPORT Socket
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{
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public:
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Socket();
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virtual ~Socket();
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/**
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* \english
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* Open TCP/IP ethernet communication socket
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*
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* Instruction
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*
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* @param address
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* @param port
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* @param socket_name
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* @return
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*
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* @par Python function prototype
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* socketOpen(self: pyaubo_sdk.Socket, arg0: str, arg1: int, arg2: str) -> int
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*
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* @par Lua function prototype
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* socketOpen(address: string, port: number, socket_name: string) -> nil
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"Socket.socketOpen","params":["172.16.26.248",8000,"socket_0"],"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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* \endenglish
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* \chinese
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* 打开TCP/IP以太网通信socket
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*
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* 指令
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*
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* @param address 地址
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* @param port 端口
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* @param socket_name 套接字名称
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* @return 返回值
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*
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* @par Python函数原型
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* socketOpen(self: pyaubo_sdk.Socket, arg0: str, arg1: int, arg2: str) -> int
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*
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* @par Lua函数原型
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* socketOpen(address: string, port: number, socket_name: string) -> nil
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"Socket.socketOpen","params":["172.16.26.248",8000,"socket_0"],"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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* \endchinese
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*/
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int socketOpen(const std::string &address, int port,
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const std::string &socket_name = "socket_0");
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/**
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* \english
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* Closes TCP/IP socket communication
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* Closes down the socket connection to the server.
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*
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* Instruction
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*
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* @param socket_name
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* @return
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*
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* @par Python function prototype
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* socketClose(self: pyaubo_sdk.Socket, arg0: str) -> int
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*
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* @par Lua function prototype
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* socketClose(socket_name: string) -> nil
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"Socket.socketClose","params":["socket_0"],"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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* \endenglish
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* \chinese
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* 关闭TCP/IP socket 通信
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* 关闭与服务器的 socket 连接。
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*
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* 指令
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*
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* @param socket_name 套接字名称
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* @return 返回值
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*
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* @par Python函数原型
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* socketClose(self: pyaubo_sdk.Socket, arg0: str) -> int
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*
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* @par Lua函数原型
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* socketClose(socket_name: string) -> nil
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"Socket.socketClose","params":["socket_0"],"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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* \endchinese
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*/
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int socketClose(const std::string &socket_name = "socket_0");
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/**
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* \english
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* Reads a number of ascii formatted floats from the socket. A maximum
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* of 30 values can be read in one command.
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* A list of numbers read (list of floats, length=number+1)
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*
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* Result will be stored in a register named reg_key. Use getFloatVec
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* to retrieve data
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*
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* @param number
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* @param variable
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* @param socket_name
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* @return
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*
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* @par Python function prototype
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* socketReadAsciiFloat(self: pyaubo_sdk.Socket, arg0: int, arg1: str, arg2:
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* str) -> int
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*
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* @par Lua function prototype
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* socketReadAsciiFloat(number: number, variable: string, socket_name:
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* string) -> number
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* \endenglish
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* \chinese
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* 从socket读取指定数量的ASCII格式浮点数。一次最多可读取30个值。
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* 读取到的数字列表（浮点数列表，长度=number+1）
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*
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* 结果将存储在名为reg_key的寄存器中。使用getFloatVec获取数据
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*
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* @param number 数量
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* @param variable 变量名
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* @param socket_name 套接字名称
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* @return 返回值
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*
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* @par Python函数原型
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* socketReadAsciiFloat(self: pyaubo_sdk.Socket, arg0: int, arg1: str, arg2:
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* str) -> int
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*
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* @par Lua函数原型
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* socketReadAsciiFloat(number: number, variable: string, socket_name:
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* string) -> number
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* \endchinese
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*/
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int socketReadAsciiFloat(int number, const std::string &variable,
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const std::string &socket_name = "socket_0");
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/**
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* \english
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* Reads a number of 32 bit integers from the socket. Bytes are in
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* network byte order. A maximum of 30 values can be read in one
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* command.
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* A list of numbers read (list of ints, length=number+1)
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*
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* Instruction
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*
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* std::vector<int>
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*
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* @param number
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* @param variable
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* @param socket_name
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* @return
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*
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* @par Python function prototype
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* socketReadBinaryInteger(self: pyaubo_sdk.Socket, arg0: int, arg1: str,
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* arg2: str) -> int
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*
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* @par Lua function prototype
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* socketReadBinaryInteger(number: number, variable: string, socket_name:
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* string) -> number
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* \endenglish
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* \chinese
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* 从socket读取指定数量的32位整数。字节为网络字节序。一次最多可读取30个值。
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* 读取到的数字列表（整数列表，长度=number+1）
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*
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* 指令
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*
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* std::vector<int>
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*
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* @param number 数量
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* @param variable 变量名
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* @param socket_name 套接字名称
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* @return 返回值
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*
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* @par Python函数原型
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* socketReadBinaryInteger(self: pyaubo_sdk.Socket, arg0: int, arg1: str,
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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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* socketReadBinaryInteger(number: number, variable: string, socket_name:
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* string) -> number
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* \endchinese
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*/
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int socketReadBinaryInteger(int number, const std::string &variable,
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const std::string &socket_name = "socket_0");
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/**
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* \english
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* Reads a number of bytes from the socket. Bytes are in network byte
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* order. A maximum of 30 values can be read in one command.
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* A list of numbers read (list of ints, length=number+1)
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*
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* Instruction
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*
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* std::vector<char>
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*
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* @param number
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* @param variable
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* @param socket_name
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* @return
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*
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* @par Python function prototype
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* socketReadByteList(self: pyaubo_sdk.Socket, arg0: int, arg1: str, arg2:
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* str) -> int
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*
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* @par Lua function prototype
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* socketReadByteList(number: number, variable: string, socket_name: string)
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* -> number
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* \endenglish
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* \chinese
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* 从socket读取指定数量的字节。字节为网络字节序。一次最多可读取30个值。
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* 读取到的数字列表（整数列表，长度=number+1）
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*
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* 指令
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*
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* std::vector<char>
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*
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* @param number 数量
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* @param variable 变量名
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* @param socket_name 套接字名称
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* @return 返回值
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*
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* @par Python函数原型
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* socketReadByteList(self: pyaubo_sdk.Socket, arg0: int, arg1: str, arg2:
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* str) -> int
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*
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* @par Lua函数原型
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* socketReadByteList(number: number, variable: string, socket_name: string)
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* -> number
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* \endchinese
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*/
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int socketReadByteList(int number, const std::string &variable,
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const std::string &socket_name = "socket_0");
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/**
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* \english
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* Reads all data from the socket and returns the data as a string.
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* Bytes are in network byte order.
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*
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* The optional parameters "prefix" and "suffix", can be used to express
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* what is extracted from the socket. The "prefix" specifies the start
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* of the substring (message) extracted from the socket. The data up to
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* the end of the "prefix" will be ignored and removed from the socket.
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* The "suffix" specifies the end of the substring (message) extracted
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* from the socket. Any remaining data on the socket, after the "suffix",
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* will be preserved. E.g. if the socket server sends a string
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* "noise>hello<", the controller can receive the "hello" by calling this
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* script function with the prefix=">" and suffix="<". By using the
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* "prefix" and "suffix" it is also possible send multiple string to the
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* controller at once, because the suffix defines where the message ends.
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* E.g. sending ">hello<>world<"
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*
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* Instruction
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*
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* std::string
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*
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* @param variable
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* @param socket_name
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* @param prefix
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* @param suffix
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* @param interpret_escape
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* @return
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*
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* @par Python function prototype
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* socketReadString(self: pyaubo_sdk.Socket, arg0: str, arg1: str, arg2:
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* str, arg3: str, arg4: bool) -> int
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*
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* @par Lua function prototype
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* socketReadString(variable: string, socket_name: string, prefix: string,
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* suffix: string, interpret_escape: boolean) -> number
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"Socket.socketReadString","params":["camera","socket_0","","",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":0}
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* \endenglish
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* \chinese
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* 从socket读取所有数据并将其作为字符串返回。
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* 字节为网络字节序。
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*
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* 可选参数"prefix"和"suffix"可用于指定从socket中提取的内容。
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* "prefix"指定提取子字符串（消息）的起始位置。直到"prefix"结尾的数据将被忽略并从socket中移除。
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* "suffix"指定提取子字符串（消息）的结束位置。"suffix"之后的任何剩余数据将保留在socket中。
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* 例如，如果socket服务器发送字符串"noise>hello<"，控制器可以通过调用此脚本函数并设置prefix=">"和suffix="<"来接收"hello"。
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* 通过使用"prefix"和"suffix"，还可以一次向控制器发送多条字符串，因为"suffix"定义了消息的结束位置。例如发送">hello<>world<"
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*
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* 指令
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*
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* std::string
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*
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* @param variable 变量名
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* @param socket_name 套接字名称
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* @param prefix 前缀
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* @param suffix 后缀
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* @param interpret_escape 是否解释转义字符
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* @return 返回值
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*
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* @par Python函数原型
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* socketReadString(self: pyaubo_sdk.Socket, arg0: str, arg1: str, arg2:
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* str, arg3: str, arg4: bool) -> int
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*
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* @par Lua函数原型
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* socketReadString(variable: string, socket_name: string, prefix: string,
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* suffix: string, interpret_escape: boolean) -> number
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"Socket.socketReadString","params":["camera","socket_0","","",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":0}
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* \endchinese
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*/
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int socketReadString(const std::string &variable,
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const std::string &socket_name = "socket_0",
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const std::string &prefix = "",
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const std::string &suffix = "",
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bool interpret_escape = false);
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/**
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* \english
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* Reads all data from the socket and returns the data as a vector of chars.
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*
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* Instruction
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* std::vector<char>
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*
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* @param variable
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* @param socket_name
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* @return
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*
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* @par Python function prototype
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* socketReadAllString(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int
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*
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* @par Lua function prototype
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* socketReadAllString(variable: string, socket_name: string) -> number
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"Socket.socketReadAllString","params":["camera","socket_0"],"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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* \endenglish
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* \chinese
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* 从socket读取所有数据并将其作为char向量返回。
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*
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* 指令
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* std::vector<char>
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*
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* @param variable 变量名
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* @param socket_name 套接字名称
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* @return 返回值
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*
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* @par Python函数原型
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* socketReadAllString(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int
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*
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* @par Lua函数原型
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* socketReadAllString(variable: string, socket_name: 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":"Socket.socketReadAllString","params":["camera","socket_0"],"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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* \endchinese
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*/
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int socketReadAllString(const std::string &variable,
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const std::string &socket_name = "socket_0");
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/**
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* \english
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* Sends a byte to the server
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* Sends the byte <value> through the socket. Expects no response. Can
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* be used to send special ASCII characters; 10 is newline, 2 is start of
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* text, 3 is end of text.
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*
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* Instruction
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*
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* @param value
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* @param socket_name
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* @return
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*
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* @par Python function prototype
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* socketSendByte(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int
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*
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* @par Lua function prototype
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* socketSendByte(value: string, socket_name: string) -> nil
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*
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* \endenglish
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* \chinese
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* 发送一个字节到服务器
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* 通过socket发送字节<value>，不期望响应。可用于发送特殊ASCII字符；10为换行符，2为文本开始，3为文本结束。
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*
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* 指令
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*
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* @param value 字节值
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* @param socket_name 套接字名称
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* @return 返回值
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*
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* @par Python函数原型
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* socketSendByte(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int
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*
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* @par Lua函数原型
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* socketSendByte(value: string, socket_name: string) -> nil
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*
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* \endchinese
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*/
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int socketSendByte(char value, const std::string &socket_name = "socket_0");
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/**
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* \english
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* Sends an int (int32_t) to the server
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* Sends the int <value> through the socket. Send in network byte order.
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* Expects no response
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*
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* Instruction
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*
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* @param value
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* @param socket_name
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* @return
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*
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* @par Python function prototype
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* socketSendInt(self: pyaubo_sdk.Socket, arg0: int, arg1: str) -> int
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*
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* @par Lua function prototype
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* socketSendInt(value: number, socket_name: string) -> nil
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*
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* \endenglish
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* \chinese
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* 发送一个int（int32_t）到服务器
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* 通过socket发送int <value>，以网络字节序发送。不期望响应。
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*
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* 指令
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*
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* @param value 整数值
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* @param socket_name 套接字名称
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* @return 返回值
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*
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* @par Python函数原型
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* socketSendInt(self: pyaubo_sdk.Socket, arg0: int, arg1: str) -> int
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*
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* @par Lua函数原型
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* socketSendInt(value: number, socket_name: string) -> nil
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*
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* \endchinese
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*/
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int socketSendInt(int value, const std::string &socket_name = "socket_0");
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/**
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* \english
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* Sends a string with a newline character to the server
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* Sends the string <str> through the socket in ASCII coding. Expects no
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* response.
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*
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* Instruction
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*
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* @param str
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* @param socket_name
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* @return
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*
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* @par Python function prototype
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* socketSendLine(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* socketSendLine(str: string, socket_name: string) -> nil
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"Socket.socketSendLine","params":["abcd","socket_0"],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
* \endenglish
|
||
* \chinese
|
||
* 发送带有换行符的字符串到服务器.
|
||
* 通过socket以ASCII编码发送字符串<str>，不期望响应。
|
||
*
|
||
* 指令
|
||
*
|
||
* @param str 字符串
|
||
* @param socket_name 套接字名称
|
||
* @return 返回值
|
||
*
|
||
* @par Python函数原型
|
||
* socketSendLine(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* socketSendLine(str: string, socket_name: string) -> nil
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"Socket.socketSendLine","params":["abcd","socket_0"],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
* \endchinese
|
||
*/
|
||
int socketSendLine(const std::string &str,
|
||
const std::string &socket_name = "socket_0");
|
||
|
||
/**
|
||
* \english
|
||
* Sends a string to the server
|
||
* Sends the string <str> through the socket in ASCII coding. Expects no
|
||
* response.
|
||
*
|
||
* Instruction
|
||
*
|
||
* @param str
|
||
* @param socket_name
|
||
* @return
|
||
*
|
||
* @par Python function prototype
|
||
* socketSendString(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* socketSendString(str: string, socket_name: string) -> nil
|
||
*
|
||
* @par JSON-RPC request example
|
||
* {"jsonrpc":"2.0","method":"Socket.socketSendString","params":["abcd","socket_0"],"id":1}
|
||
*
|
||
* @par JSON-RPC response example
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
* \endenglish
|
||
* \chinese
|
||
* 发送字符串到服务器
|
||
* 通过socket以ASCII编码发送字符串<str>，不期望响应。
|
||
*
|
||
* 指令
|
||
*
|
||
* @param str 字符串
|
||
* @param socket_name 套接字名称
|
||
* @return 返回值
|
||
*
|
||
* @par Python函数原型
|
||
* socketSendString(self: pyaubo_sdk.Socket, arg0: str, arg1: str) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* socketSendString(str: string, socket_name: string) -> nil
|
||
*
|
||
* @par JSON-RPC请求示例
|
||
* {"jsonrpc":"2.0","method":"Socket.socketSendString","params":["abcd","socket_0"],"id":1}
|
||
*
|
||
* @par JSON-RPC响应示例
|
||
* {"id":1,"jsonrpc":"2.0","result":0}
|
||
* \endchinese
|
||
*/
|
||
int socketSendString(const std::string &str,
|
||
const std::string &socket_name = "socket_0");
|
||
|
||
/**
|
||
* \english
|
||
* Sends all data in the given vector of chars to the server.
|
||
*
|
||
* @param is_check Whether to check the sending status
|
||
* @param str The data to send as a vector of chars
|
||
* @param socket_name The name of the socket
|
||
* @return Status code
|
||
*
|
||
* @par Python function prototype
|
||
* socketSendAllString(self: pyaubo_sdk.Socket, arg0: bool, arg1: List[str], arg2: str) -> int
|
||
*
|
||
* @par Lua function prototype
|
||
* socketSendAllString(is_check: boolean, str: table, socket_name: string) -> nil
|
||
* \endenglish
|
||
* \chinese
|
||
* 发送给定char向量中的所有数据到服务器。
|
||
*
|
||
* @param is_check 是否检查发送状态
|
||
* @param str 要发送的数据，char向量
|
||
* @param socket_name 套接字名称
|
||
* @return 状态码
|
||
*
|
||
* @par Python函数原型
|
||
* socketSendAllString(self: pyaubo_sdk.Socket, arg0: bool, arg1: List[str], arg2: str) -> int
|
||
*
|
||
* @par Lua函数原型
|
||
* socketSendAllString(is_check: boolean, str: table, socket_name: string) -> nil
|
||
* \endchinese
|
||
*/
|
||
int socketSendAllString(bool is_check, const std::vector<char> &str,
|
||
const std::string &socket_name = "socket_0");
|
||
|
||
/**
|
||
* \~chinese 检测 socket 连接是否成功 \~english Check if the socket is connected
|
||
* @brief socketHasConnected
|
||
* @param socket_name
|
||
*
|
||
* @return
|
||
*
|
||
* @par Python函数原型
|
||
* socketHasConnected(self: pyaubo_sdk.Socket, arg0: str) -> bool
|
||
*
|
||
* @par Lua函数原型
|
||
* socketHasConnected(socket_name: string) -> boolean
|
||
*/
|
||
bool socketHasConnected(const std::string &socket_name = "socket_0");
|
||
|
||
protected:
|
||
void *d_;
|
||
};
|
||
using SocketPtr = std::shared_ptr<Socket>;
|
||
|
||
} // namespace common_interface
|
||
} // namespace arcs
|
||
#endif
|