RPC客户端 More...

#include <rpc.h>

Inheritance diagram for agvc_interface::RpcClient:

Collaboration diagram for agvc_interface::RpcClient:

Public Types
enum	Event { Connected , Disconnected }

Public Member Functions
	RpcClient (int mode=0)
	RpcClient.
	~RpcClient ()
void	setLogHandler (std::function< void(int, const char *, int, const std::string &)> handler)
	设置日志处理器
int	connect (const std::string &ip="", int port=0)
	连接到RPC服务
int	disconnect ()
	断开RPC连接
bool	hasConnected () const
	判断是否连接RPC
int	login (const std::string &usrname, const std::string &passwd)
	登录
int	logout ()
	登出
bool	hasLogined ()
	判断是否登录
int	setRequestTimeout (int timeout=10)
	设置RPC请求超时时间
int	setEventHandler (std::function< void(int)> cb)
	设置事件处理
int	setExceptionFree (bool enable)
	是否关闭异常抛出
int	errorCode () const
	返回错误代码
Public Member Functions inherited from agvc_interface::AgvcInterface
	AgvcInterface ()
virtual	~AgvcInterface ()
int	setSystemClock (const std::string &stamp)
	Sets the AGV system time.
AgvDetails	getAgvDetails ()
	Queries current AGV information.
RunningInfo	getRunningInfo ()
	Queries current AGV running information.
Pose2d	getAgvCurrentPose ()
	Queries the current AGV pose.
std::vector< Point2d >	getLaserPointCloud ()
	Queries the current laser point cloud data.
AsyncInterfaceResultStatus	getAsyncInterfaceResultStatus ()
	Queries the running status of asynchronous APIs; this does not represent each API's own execution result.
std::vector< StationMark >	getAllStations ()
	Queries all station information on the current map.
std::vector< StationMark >	getAllStationsOfTargetMap (const Header &map_header)
	Queries all station information on the specified map.
int	addStation (const StationMark &station)
	Adds or modifies one station.
int	addStations (const std::vector< StationMark > &stations)
	Adds or modifies multiple stations.
int	addCPStationUseChargingBoard (const Header &station_header, const double &dis_station_board=1.5)
	Adds a charging station by automatically recognizing the charging board pose.
int	deleteStation (const Header &station_header)
	Deletes the specified station and its related paths.
int	deleteStations (const std::vector< Header > &stations_header)
	Deletes multiple stations and their related paths.
std::vector< PathStation >	getAllPaths ()
	Queries all path information on the current map.
std::vector< PathStation >	getAllPathsOfTargetMap (const Header &map_header)
	Queries all path information on the specified map.
PathStation	getCurrentPath ()
	Queries the path currently being tracked by the AGV.
int	generatePath (const PathStation &path_station)
	Generates or modifies one path.
int	generatePaths (const std::vector< PathStation > &paths_station)
	Generates or modifies multiple paths.
int	deletePath (const Header &path_header)
	Deletes one path.
int	deletePaths (const std::vector< Header > &paths_header)
	Deletes multiple paths.
std::vector< Header >	getMapList ()
	Gets the headers of all maps on the AGV.
Header	getCurrentMapHeader ()
	Queries the header of the current AGV map.
OccupancyGridMap	getGridMapFromAgv (const Header &map_header)
	Gets the specified occupancy grid map information.
Base64PngMap	getBase64PngMapFromAgv (const Header &map_header)
	Gets Base64-encoded PNG map information.
Base64PngMap	previewPngMapFromAgv (const Header &map_header, const int &image_width_px=0, const int &image_height_px=0)
	Gets a preview image with optional width and height.
int	sendGridMapToAgv (const OccupancyGridMap &map)
	Sends occupancy grid map information to the AGV.
int	sendBase64PngMapToAgv (const Base64PngMap &map)
	Sends a Base64-encoded PNG map to the AGV.
int	saveMap (const Header &map_header)
	Saves the map after mapping is complete.
int	switchMap (const Header &map_header)
	Switches to the specified map.
int	deleteMap (const Header &map_header)
	Deletes one specified map.
int	deleteMaps (const std::vector< Header > &map_headers)
	Deletes multiple specified maps.
std::vector< MapVirtualArea >	getAllMapVirtualArea ()
	Queries virtual areas on the current map.
std::vector< MapVirtualArea >	getAllMapVirtualAreaOfTargetMap (const Header &map_header)
	Queries virtual areas on the target map.
int	addMapVirtualArea (const MapVirtualArea &map_virtual_area)
	Adds or modifies one virtual area.
int	addMapVirtualAreas (const std::vector< MapVirtualArea > &map_virtual_areas)
	Adds or modifies multiple virtual areas.
int	deleteMapVirtualArea (const Header &virtual_area_header)
	Deletes the specified virtual area.
int	deleteMapVirtualAreas (const std::vector< Header > &virtual_areas_header)
	Deletes multiple specified virtual areas.
MapAllInfo	getGridMapAllInfo (const Header &map_header)
	Gets occupancy grid map data, paths, stations, and virtual areas for the specified map.
MapAllInfo	getPngMapAllInfo (const Header &map_header)
	Gets Base64 map data, paths, stations, and virtual areas for the specified map.
int	setGridMapAllInfo (const MapAllInfo &map_all_info, const Header &command_header={ "99999", "99999", 1, "99999" })
	Sets occupancy grid map, path, station, and virtual area information.
int	setPngMapAllInfo (const MapAllInfo &map_all_info, const Header &command_header={ "99999", "99999", 1, "99999" })
	Sets Base64 map, path, station, and virtual area information.
int	deleteMapAllInfo (const Header &map_header)
	Deletes all information of the specified map, including map data, stations, paths, and virtual areas.
std::vector< std::string >	getWifiList ()
	Gets the currently scanned WiFi list.
int	connectWifi (const std::string &ssid, const std::string &password)
	Connects to the specified WiFi and automatically switches to WiFi mode.
int	enableHotspot (const std::string &password)
	Enables hotspot mode and automatically switches to hotspot mode.
std::vector< IpAddressInfo >	getIpAddressList ()
	Gets all local IP addresses.
int	changeRunningMode (const RunningMode &running_mode, const Header &command_header={ "99999", "99999", 1, "99999" })
	Switches the AGV running mode.
int	setControlSpeed (const Speed &speed)
	Controls AGV motion.
int	setNavGoal (const NavGoalType &target)
	Sends a navigation goal to the AGV.
NavInfo	getNavInfo ()
	Gets current navigation information.
int	pauseAgvSpeed ()
	Pauses AGV speed.
int	resumeAgvSpeed ()
	Resumes AGV speed after a pause.
int	cancelNavigation ()
	Cancels the navigation task.
int	relocation (const Pose2d &init_pose, const Header &command_header={ "99999", "99999", 1, "99999" })
	Relocates the AGV.
std::string	getAgvControllerParametersFile ()
	Gets the AGV controller parameter file.
int	setAgvControllerParametersFile (const std::string &agv_parameters)
	Sets the AGV controller parameter file.
int	refreshAgvControllerParametersFile ()
	Refreshes parameters on AGV nodes after the AGV controller parameter file is modified.
int	resetAgvControllerParametersFile ()
	Restores the AGV controller parameter file to factory defaults.
int	checkPowerAndAutoCharge (const Header &check_power_header={ "99999", "99999", 99999, "99999" }, const std::string &nav_board_charge_station_id="99999")
	Checks the current battery level and automatically docks for charging when the battery is low.
int	setLeaveBoardTargetStation (const Header &leave_board_target_station_header)
	Sets the target station for automatic undocking.
Header	getLeaveBoardTargetStation ()
	Gets the target station for automatic undocking.
int	forcedAgvToChargingBoard (const Header &forced_charge_header={ "99999", "99999", 99999, "99999" }, const std::string &nav_board_charge_station_id="99999")
	Forces the AGV to dock for charging.
int	forcedAgvLeaveChargingBoard (const Header &forced_leave_header={ "99999", "99999", 99999, "99999" }, const std::string &leave_board_target_station_id="99999")
	Forces the AGV to leave the charging board.
int	sendAutoChargingCommand (const AutoChargingCommand &auto_charging_command)
	Sends an automatic charging command.
std::string	getAgvLogMessage ()
	Gets AGV runtime log messages.
int	updateSoftware (const std::string &upgrade_pack_path)
	Upgrades AGV software.
std::vector< std::string >	getSoftwareVersionList ()
	Gets the AGV software version list.
int	switchSoftwareVersion (const std::string &software_version)
	Switches the AGV software version.
int	uninstallSoftware (const std::string &software_version)
	Uninstalls an AGV software version.
int	updateFirmware (const FirmwareUpdateParam &update_firmware)
	Updates AGV firmware.
FirmwareUpdateProcessInfo	getUpdateFirmwareProcess ()
	Gets firmware update process information.
int	startCollectCalibrationData (const CalibrationType &type, const Header &command_header={ "99999", "99999", 1, "99999" })
	Starts collecting calibration data.
int	cancelCollectCalibrationData (const CalibrationType &type, const Header &command_header={ "99999", "99999", 1, "99999" })
	Cancels calibration data collection.
int	startCalibration (const CalibrationType &type, const Header &command_header={ "99999", "99999", 1, "99999" })
	Starts calibration.
CalibrationProcessInfo	getCalibrationProcessInfo (const CalibrationType &type)
	Gets calibration information.
int	restartAgv ()
	Restarts the AGV.
int	setAgvName (const std::string &agv_name)
	Sets the AGV name.
int	setPriority (const std::string &name, const std::string &ip="")
	Sets control priority.
int	releasePriority ()
	Releases control priority.
int	scriptPaused ()
	Pauses the script.
int	scriptResume ()
	Resumes the script.
int	scriptStop ()
	Stops the script.
ScriptRuntimeState	getScriptStatus ()
	Gets the script runtime state.
int	setScriptStatus (ScriptRuntimeState status)
	Sets the script runtime state.
std::string	errorCodeDecoder (const int &error_code)
	Queries an error code.
std::vector< Header >	getCurrentErrorCodes ()
	Gets current error codes.
int	soundLightPrompt ()
	Locates the AGV by automatically playing audio and flashing special lights.
bool	isObstacleAhead (const double &detect_distance=1.0)
	Checks whether there is an obstacle in the AGV travel direction.
StationMark	getNearestStation (const double &detect_distance=1.0)
	Gets the nearest station within the specified detection distance.
int	autoAlignRailway (const Header &command_header={ "99999", "99999", 1, "99999" })
	Automatically aligns with the rail and boards the rail.

Detailed Description

RPC客户端

Definition at line 17 of file rpc.h.

Member Enumeration Documentation

◆ Event

enum agvc_interface::RpcClient::Event

Enumerator
Connected
Disconnected

Definition at line 20 of file rpc.h.

Constructor & Destructor Documentation

◆ RpcClient()

agvc_interface::RpcClient::RpcClient ( int mode = 0 )

RpcClient.

Parameters

mode	0-TCP 1-UDS

◆ ~RpcClient()

agvc_interface::RpcClient::~RpcClient ( )

Member Function Documentation

◆ connect()

int agvc_interface::RpcClient::connect	(	const std::string &	ip = "",
		int	port = 0 )

连接到RPC服务

Parameters

ip	IP地址
port	端口号，RPC的端口号是30104
ip和port为空时，采用unix	domain sockets通讯方式

Return values

0	RPC连接成功
-8	RPC连接失败，RPC连接被拒绝
-15	RPC连接失败，SDK版本与Server版本不兼容

◆ disconnect()

int agvc_interface::RpcClient::disconnect ( )

断开RPC连接

Return values

0	成功
-1	失败

◆ errorCode()

int agvc_interface::RpcClient::errorCode ( ) const

返回错误代码

Returns

◆ hasConnected()

bool agvc_interface::RpcClient::hasConnected ( ) const

判断是否连接RPC

Return values

true	已连接RPC
false	未连接RPC

◆ hasLogined()

bool agvc_interface::RpcClient::hasLogined ( )

判断是否登录

Return values

true	已登录
false	未登录

◆ login()

int agvc_interface::RpcClient::login	(	const std::string &	usrname,
		const std::string &	passwd )

登录

Parameters

usrname	用户名
passwd	密码

Returns: 0

◆ logout()

int agvc_interface::RpcClient::logout ( )

登出

Returns: 0

◆ setEventHandler()

int agvc_interface::RpcClient::setEventHandler ( std::function< void(int)> cb )

设置事件处理

Parameters

cb

Returns

◆ setExceptionFree()

int agvc_interface::RpcClient::setExceptionFree ( bool enable )

是否关闭异常抛出

Parameters

enable

Returns

◆ setLogHandler()

void agvc_interface::RpcClient::setLogHandler ( std::function< void(int, const char *, int, const std::string &)> handler )

设置日志处理器

此函数可设置自定义的日志处理函数来处理日志消息。
Agvc SDK 有一套默认的日志系统，按照默认的格式输出到默认的文件。如果用户不希望采用默认的格式或者不希望输出到默认的文件，那就可以通过这个接口重新自定义格式，或者输出路径。这个函数可以将用户自定义的日志系统与 Agvc SDK 默认的日志系统合并。

Note: setLogHandler函数要放在即将触发的日志之前，否则会按照默认的形式输出日志。

Parameters

handler 日志处理函数
此日志处理函数的下定义如下:
void handler(int level, const char* filename, int line, const std::string& message)
level 表示日志等级
0: LOGLEVEL_FATAL 严重的错误
1: LOGLEVEL_ERROR 错误
2: LOGLEVEL_WARNING 警告
3: LOGLEVEL_INFO 通知
4: LOGLEVEL_DEBUG 调试
5: LOGLEVEL_BACKTRACE 跟踪
filename 表示文件名
line 表示代码行号
message 表示日志信息

Returns: 无

◆ setRequestTimeout()

int agvc_interface::RpcClient::setRequestTimeout ( int timeout = 10 )

设置RPC请求超时时间

Parameters

timeout 请求超时时间，单位 ms

Returns: 0

The documentation for this class was generated from the following file:

include/agvc_interface/rpc.h

	AGVC SDK 0.8.0

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ Event

Constructor & Destructor Documentation

◆ RpcClient()

◆ ~RpcClient()

Member Function Documentation

◆ connect()

◆ disconnect()

◆ errorCode()

◆ hasConnected()

◆ hasLogined()

◆ login()

◆ logout()

◆ setEventHandler()

◆ setExceptionFree()

◆ setLogHandler()

◆ setRequestTimeout()