#include <robot_manage.h>

Public 成员函数
	RobotManage ()

virtual	~RobotManage ()

int	poweron ()
	发起机器人上电请求更多...

int	startup ()
	发起机器人启动请求更多...

int	poweroff ()
	发起机器人断电请求更多...

int	backdrive (bool enable)
	发起机器人反向驱动请求更多...

int	freedrive (bool enable)
	发起机器人自由驱动请求接口在软件版本 0.31.x 后已废弃，使用 handguideMode 接口替换 handguideMode({1,1,1,1,1}, {0,0,0,0,0,0}) 更多...

int	handguideMode (const std::vector< int > &freeAxes, const std::vector< double > &feature)
	高阶拖动示教更多...

int	exitHandguideMode ()
	退出拖动示教更多...

int	getHandguideStatus ()
	获取拖动示教器的状态（是否处于奇异空间）更多...

int	getHandguideTrigger ()
	获取拖动示教器触发源更多...

bool	isHandguideEnabled ()
	获取拖动示教使能状态更多...

int	setSim (bool enable)
	发起机器人进入/退出仿真模式请求更多...

int	setOperationalMode (OperationalModeType mode)
	设置机器人操作模式更多...

OperationalModeType	getOperationalMode ()
	获取机器人操作模式更多...

RobotControlModeType	getRobotControlMode ()
	获取控制模式更多...

bool	isFreedriveEnabled ()
	是否使能了拖动示教模式更多...

bool	isBackdriveEnabled ()
	是否使能了反向驱动模式更多...

bool	isSimulationEnabled ()
	是否使能了仿真模式更多...

int	setUnlockProtectiveStop ()
	清除防护停机，包括碰撞停机更多...

int	restartInterfaceBoard ()
	重置安全接口板，一般在机器人断电之后需要重置时调用，比如机器人急停、故障等之后更多...

int	startRecord (const std::string &file_name)
	开始实时轨迹的记录更多...

int	stopRecord ()
	停止实时记录更多...

int	pauseRecord (bool pause)
	暂停实时记录更多...

int	setLinkModeEnable (bool enable)
	发起机器人进入/退出联动模式请求, 只有操作模式为自动或者无时，才能使能联动模式更多...

bool	isLinkModeEnabled ()
	是否使能了联动模式，联动模式下用户可以通过外部IO控制机器人（用户可以对IO的功能进行配置）更多...

Protected 属性
void *	d_

详细描述

在文件 robot_manage.h 第 16 行定义.

构造及析构函数说明

arcs::common_interface::RobotManage::RobotManage ( )

virtual arcs::common_interface::RobotManage::~RobotManage ( )

virtual

成员函数说明

int arcs::common_interface::RobotManage::backdrive ( bool enable )

发起机器人反向驱动请求

参数

enable

返回: 成功返回0; 失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: backdrive(self: pyaubo_sdk.RobotManage, arg0: bool) -> int

Lua函数原型: backdrive(enable: boolean) -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.backdrive","params":[false],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->backdrive(true);

int arcs::common_interface::RobotManage::exitHandguideMode ( )

退出拖动示教

注解: 暂未实现

返回: 成功返回0; 失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

int arcs::common_interface::RobotManage::freedrive ( bool enable )

发起机器人自由驱动请求接口在软件版本 0.31.x 后已废弃，使用 handguideMode 接口替换 handguideMode({1,1,1,1,1}, {0,0,0,0,0,0})

参数

enable

返回: 成功返回0; 失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: freedrive(self: pyaubo_sdk.RobotManage, arg0: bool) -> int

Lua函数原型: freedrive(enable: boolean) -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.freedrive","params":[true],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->freedrive(true);

int arcs::common_interface::RobotManage::getHandguideStatus ( )

获取拖动示教器的状态（是否处于奇异空间）

注解: 暂未实现

返回: • 0 - 正常操作. • 1 - 接近奇异空间. • 2 - 极其接近奇异点，将产生较大的拖动阻尼.

异常

arcs::common_interface::AuboException

int arcs::common_interface::RobotManage::getHandguideTrigger ( )

获取拖动示教器触发源

注解: 暂未实现

返回

异常

arcs::common_interface::AuboException

OperationalModeType arcs::common_interface::RobotManage::getOperationalMode ( )

获取机器人操作模式

返回: 机器人操作模式

异常

arcs::common_interface::AuboException

Python函数原型: getOperationalMode(self: pyaubo_sdk.RobotManage) -> arcs::common_interface::OperationalModeType

Lua函数原型: getOperationalMode() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.getOperationalMode","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":"Manual"}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
OperationalModeType mode =
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->getOperationalMode();

RobotControlModeType arcs::common_interface::RobotManage::getRobotControlMode ( )

获取控制模式

返回: 控制模式

异常

arcs::common_interface::AuboException

Python函数原型: getRobotControlMode(self: pyaubo_sdk.RobotManage) -> arcs::common_interface::RobotControlModeType

Lua函数原型: getRobotControlMode() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.getRobotControlMode","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":"Position"}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
RobotControlModeType mode =
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->getRobotControlMode();

int arcs::common_interface::RobotManage::handguideMode	(	const std::vector< int > &	freeAxes,
		const std::vector< double > &	feature
	)

高阶拖动示教

参数

freeAxes	可以拖动的轴 0-不能拖动 1-可以拖动
feature	如果维度为0，代表基于 TCP 坐标系拖动

返回: 成功返回0; 失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

bool arcs::common_interface::RobotManage::isBackdriveEnabled ( )

是否使能了反向驱动模式

返回: 使能返回true; 反之返回false

异常

arcs::common_interface::AuboException

Python函数原型: isBackdriveEnabled(self: pyaubo_sdk.RobotManage) -> bool

Lua函数原型: isBackdriveEnabled() -> boolean

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.isBackdriveEnabled","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":false}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
bool isEnabled =
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isBackdriveEnabled();

bool arcs::common_interface::RobotManage::isFreedriveEnabled ( )

是否使能了拖动示教模式

返回: 使能返回true; 反之返回false

异常

arcs::common_interface::AuboException

Python函数原型: isFreedriveEnabled(self: pyaubo_sdk.RobotManage) -> bool

Lua函数原型: isFreedriveEnabled() -> boolean

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.isFreedriveEnabled","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":false}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
bool isEnabled =
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isFreedriveEnabled();

bool arcs::common_interface::RobotManage::isHandguideEnabled ( )

获取拖动示教使能状态

返回: 使能返回true; 失能返回false

异常

arcs::common_interface::AuboException

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.isHandguideEnabled","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":false}

bool arcs::common_interface::RobotManage::isLinkModeEnabled ( )

是否使能了联动模式，联动模式下用户可以通过外部IO控制机器人（用户可以对IO的功能进行配置）

返回: 使能返回true; 反之返回false

异常

arcs::common_interface::AuboException

Python函数原型: isLinkModeEnabled(self: pyaubo_sdk.RobotManage) -> bool

Lua函数原型: isLinkModeEnabled() -> boolean

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.isLinkModeEnabled","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":false}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
bool isEnabled =
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isLinkModeEnabled();

bool arcs::common_interface::RobotManage::isSimulationEnabled ( )

是否使能了仿真模式

返回: 使能返回true; 反之返回false

异常

arcs::common_interface::AuboException

Python函数原型: isSimulationEnabled(self: pyaubo_sdk.RobotManage) -> bool

Lua函数原型: isSimulationEnabled() -> boolean

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.isSimulationEnabled","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":true}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
bool isEnabled =
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isSimulationEnabled();

int arcs::common_interface::RobotManage::pauseRecord ( bool pause )

暂停实时记录

参数

pause

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.pauseRecord","params":[true],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RobotManage::poweroff ( )

发起机器人断电请求

返回: 成功返回0; 失败返回错误码 AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: poweroff(self: pyaubo_sdk.RobotManage) -> int

Lua函数原型: poweroff() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.poweroff","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->poweroff();

int arcs::common_interface::RobotManage::poweron ( )

发起机器人上电请求

返回: 成功返回0; 失败返回错误码 AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: poweron(self: pyaubo_sdk.RobotManage) -> int

Lua函数原型: poweron() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.poweron","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->poweron();

int arcs::common_interface::RobotManage::restartInterfaceBoard ( )

重置安全接口板，一般在机器人断电之后需要重置时调用，比如机器人急停、故障等之后

返回: 成功返回0; 失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: restartInterfaceBoard(self: pyaubo_sdk.RobotManage) -> int

Lua函数原型: restartInterfaceBoard() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.restartInterfaceBoard","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->restartInterfaceBoard();

int arcs::common_interface::RobotManage::setLinkModeEnable ( bool enable )

发起机器人进入/退出联动模式请求, 只有操作模式为自动或者无时，才能使能联动模式

参数

enable

返回: 成功返回0; 失败返回错误码 AUBO_BUSY AUBO_REQUEST_IGNORE -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setLinkModeEnable(self: pyaubo_sdk.RobotManage, arg0: bool) -> int

Lua函数原型: setLinkModeEnable(enable: boolean) -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.setLinkModeEnable","params":[true],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setLinkModeEnable(true);

int arcs::common_interface::RobotManage::setOperationalMode ( OperationalModeType mode )

设置机器人操作模式

参数

mode 操作模式

返回: 成功返回0; 失败返回错误码 -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setOperationalMode(self: pyaubo_sdk.RobotManage, arg0: arcs::common_interface::OperationalModeType) -> int

Lua函数原型: setOperationalMode(mode: number) -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.setOperationalMode","params":["Manual"],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setOperationalMode(OperationalModeType::Automatic);

int arcs::common_interface::RobotManage::setSim ( bool enable )

发起机器人进入/退出仿真模式请求

参数

enable

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setSim(self: pyaubo_sdk.RobotManage, arg0: bool) -> int

Lua函数原型: setSim(enable: boolean) -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.setSim","params":[true],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setSim(true);

int arcs::common_interface::RobotManage::setUnlockProtectiveStop ( )

清除防护停机，包括碰撞停机

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: setUnlockProtectiveStop(self: pyaubo_sdk.RobotManage) -> int

Lua函数原型: setUnlockProtectiveStop() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.setUnlockProtectiveStop","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setUnlockProtectiveStop();

int arcs::common_interface::RobotManage::startRecord ( const std::string & file_name )

开始实时轨迹的记录

参数

file_name

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

int arcs::common_interface::RobotManage::startup ( )

发起机器人启动请求

返回: 成功返回0; 失败返回错误码 AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

Python函数原型: startup(self: pyaubo_sdk.RobotManage) -> int

Lua函数原型: startup() -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.startup","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

C++示例: auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->startup();

int arcs::common_interface::RobotManage::stopRecord ( )

停止实时记录

返回: 成功返回0；失败返回错误码 AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

异常

arcs::common_interface::AuboException

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotManage.stopRecord","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

类成员变量说明

void* arcs::common_interface::RobotManage::d_

protected

在文件 robot_manage.h 第 658 行定义.

该类的文档由以下文件生成:

include/aubo/robot/robot_manage.h

Public 成员函数

Protected 属性

详细描述

构造及析构函数说明

成员函数说明

类成员变量说明