The RuntimeMachine class 更多...

#include <runtime_machine.h>

Public 成员函数
	RuntimeMachine ()

virtual	~RuntimeMachine ()

int	newTask (bool daemon=false)
	返回 task_id

int	deleteTask (int tid)
	删除 task，会终止正在执行的运动

int	detachTask (int tid)
	等待 task 自然结束

bool	isTaskAlive (int tid)
	判断任务是否存活

int	getTaskQueueSize (int tid)
	获取任务中缓存的指令的数量

int	switchTask (int tid)
	切换当前线程，切换之后接下来的指令将被插入切换后的线程中

int	setLabel (int lineno, const std::string &comment)
	标记记下来的指令的行号和注释

ARCS_DEPRECATED int	setPlanContext (int tid, int lineno, const std::string &comment)
	向aubo_control日志中添加注释使用 setLabel 替换

int	nop ()
	空操作

std::tuple< std::string, std::string >	getExecutionStatus ()
	获取耗时的接口(INST)执行状态, 如 setPersistentParameters

std::tuple< std::string, std::string, int >	getExecutionStatus1 ()

int	gotoLine (int lineno)
	跳转到指定行号

std::tuple< int, int, std::string >	getPlanContext (int tid=-1)
	获取当前运行上下文

std::tuple< int, int, std::string >	getAdvancePlanContext (int tid=-1)
	获取提前运行规划器的上下文信息

int	getAdvancePtr (int tid=-1)
	获取AdvanceRun的程序指针

int	getMainPtr (int tid=-1)
	获取机器人运动的程序指针

int	getInterpPtr (int tid)
	获取最近解释过的指令指针

int	loadProgram (const std::string &program)
	加载本地工程文件 Lua 脚本，只需要给出文件名字，不需要后缀，需要从 ${ARCS_WS}/program 目录中查找

int	preloadProgram (int index, const std::string &program)
	预加载工程文件

std::string	getPreloadProgram (int index)
	获取预加载工程文件名字，如果没有加载或者超出索引范围则返回空字符串

int	runProgram ()
	运行已经加载的工程文件

int	start ()
	开始运行时

int	stop ()
	停止运行时即脚本运行，无法停止运行时状态为 Stopped 时的机器人运动

int	abort ()
	终止机器人运行.

int	pause ()
	暂停解释器

int	step ()
	单步运行

int	resume ()
	恢复解释器

int	arbitraryResume ()
	恢复解释器(不检查当前点和暂停点距离)

int	setResumeWait (bool wait)
	恢复解释器之前等待恢复前之前的序列完成

ARCS_DEPRECATED RuntimeState	getStatus ()
	获取规划器的状态

RuntimeState	getRuntimeState ()

int	setBreakPoint (int lineno)
	设置断点

int	removeBreakPoint (int lineno)
	移除断点

int	clearBreakPoints ()
	清除所有断点

int	timerStart (const std::string &name)
	定时器开始

int	timerStop (const std::string &name)
	定时器结束

int	timerReset (const std::string &name)
	定时器重置

int	timerDelete (const std::string &name)
	定时器删除

double	getTimer (const std::string &name)
	获取定时器数值

int	triggBegin (double distance, double delay)
	开始配置触发

int	triggEnd ()
	终止配置触发

int	triggInterrupt (double distance, double delay)
	返回自动分配的中断号

std::vector< int >	getTriggInterrupts ()
	获取所有的中断号列表

Protected 属性
void *	d_

详细描述

The RuntimeMachine class

在文件 runtime_machine.h 第 18 行定义.

构造及析构函数说明

◆ RuntimeMachine()

arcs::common_interface::RuntimeMachine::RuntimeMachine ( )

◆ ~RuntimeMachine()

virtual arcs::common_interface::RuntimeMachine::~RuntimeMachine ( )

virtual

成员函数说明

◆ abort()

int arcs::common_interface::RuntimeMachine::abort ( )

终止机器人运行.

如果只是考虑停止运行时，可以调用 RuntimeMachine::stop 接口

如果脚本运行时处于 Running 状态，则终止运行时；如果运行时处于 Stopped 且机器人正在移动，则停止机器人移动；如果此时力控开启了，则机器人停止力控

返回

Python函数原型: abort(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: abort() -> number

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

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

◆ arbitraryResume()

int arcs::common_interface::RuntimeMachine::arbitraryResume ( )

恢复解释器(不检查当前点和暂停点距离)

返回

Python函数原型: arbitraryResume(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: arbitraryResume() -> number

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

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

◆ clearBreakPoints()

int arcs::common_interface::RuntimeMachine::clearBreakPoints ( )

清除所有断点

返回

Python函数原型: clearBreakPoints(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: clearBreakPoints() -> number

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

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

◆ deleteTask()

int arcs::common_interface::RuntimeMachine::deleteTask ( int tid )

删除 task，会终止正在执行的运动

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.deleteTask","params":[26],"id":1}

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

◆ detachTask()

int arcs::common_interface::RuntimeMachine::detachTask ( int tid )

等待 task 自然结束

参数

tid

返回

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.detachTask","params":[26],"id":1}

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

◆ getAdvancePlanContext()

std::tuple< int, int, std::string > arcs::common_interface::RuntimeMachine::getAdvancePlanContext ( int tid = -1 )

获取提前运行规划器的上下文信息

参数

tid	任务编号如果指定(不是-1)，返回对应任务运行规划器的上下文信息；如果不指定(是-1)，返回正在运行的线程运行规划器的上下文信息

返回

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

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

◆ getAdvancePtr()

int arcs::common_interface::RuntimeMachine::getAdvancePtr ( int tid = -1 )

获取AdvanceRun的程序指针

返回

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

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

◆ getExecutionStatus()

std::tuple< std::string, std::string > arcs::common_interface::RuntimeMachine::getExecutionStatus ( )

获取耗时的接口(INST)执行状态, 如 setPersistentParameters

返回: 指令名字, 执行状态执行状态: EXECUTING/FINISHED

Python函数原型: getExecutionStatus(self: pyaubo_sdk.RuntimeMachine) -> Tuple[str, str, int]

Lua函数原型: getExecutionStatus() -> string, string, number

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":["confirmSafetyParameters","FINISHED"]}

◆ getExecutionStatus1()

std::tuple< std::string, std::string, int > arcs::common_interface::RuntimeMachine::getExecutionStatus1 ( )

◆ getInterpPtr()

int arcs::common_interface::RuntimeMachine::getInterpPtr ( int tid )

获取最近解释过的指令指针

参数

tid

返回

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.getInterpPtr","params":[26],"id":1}

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

◆ getMainPtr()

int arcs::common_interface::RuntimeMachine::getMainPtr ( int tid = -1 )

获取机器人运动的程序指针

参数

tid	任务编号如果指定(不是-1)，返回对应任务的程序指针；如果不指定(是-1)，返回正在运行线程的程序指针

返回

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

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

◆ getPlanContext()

std::tuple< int, int, std::string > arcs::common_interface::RuntimeMachine::getPlanContext ( int tid = -1 )

获取当前运行上下文

参数

tid	任务编号如果指定(不是-1)，返回对应任务的运行上下文；如果不指定(是-1)，返回正在运行的线程的运行上下文

返回

Python函数原型: getPlanContext(self: pyaubo_sdk.RuntimeMachine) -> Tuple[int, int, str]

Lua函数原型: getPlanContext() -> number

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

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

◆ getPreloadProgram()

std::string arcs::common_interface::RuntimeMachine::getPreloadProgram ( int index )

获取预加载工程文件名字，如果没有加载或者超出索引范围则返回空字符串

参数

index 0~99 工程索引号

返回: 工程文件名字

◆ getRuntimeState()

RuntimeState arcs::common_interface::RuntimeMachine::getRuntimeState ( )

◆ getStatus()

ARCS_DEPRECATED RuntimeState arcs::common_interface::RuntimeMachine::getStatus ( )

获取规划器的状态

返回

Python函数原型: getStatus(self: pyaubo_sdk.RuntimeMachine) -> arcs::common_interface::RuntimeState

Lua函数原型: getStatus() -> number

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

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

◆ getTaskQueueSize()

int arcs::common_interface::RuntimeMachine::getTaskQueueSize ( int tid )

获取任务中缓存的指令的数量

参数

tid

返回

◆ getTimer()

double arcs::common_interface::RuntimeMachine::getTimer ( const std::string & name )

获取定时器数值

参数

name

返回

Python函数原型: getTimer(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> float

Lua函数原型: getTimer(name: string) -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.getTimer","params":["timer"],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":25.409769612}

◆ getTriggInterrupts()

std::vector< int > arcs::common_interface::RuntimeMachine::getTriggInterrupts ( )

获取所有的中断号列表

返回

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

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

◆ gotoLine()

int arcs::common_interface::RuntimeMachine::gotoLine ( int lineno )

跳转到指定行号

参数

lineno

返回

Python函数原型: gotoLine(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int

Lua函数原型: gotoLine(lineno: number) -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.gotoLine","params":[10],"id":1}

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

◆ isTaskAlive()

bool arcs::common_interface::RuntimeMachine::isTaskAlive ( int tid )

判断任务是否存活

参数

tid

返回

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.isTaskAlive","params":[26],"id":1}

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

◆ loadProgram()

int arcs::common_interface::RuntimeMachine::loadProgram ( const std::string & program )

加载本地工程文件 Lua 脚本，只需要给出文件名字，不需要后缀，需要从 ${ARCS_WS}/program 目录中查找

参数

program

返回

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.loadProgram","params":["demo"],"id":1}

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

◆ newTask()

int arcs::common_interface::RuntimeMachine::newTask ( bool daemon = false )

返回 task_id

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":26}

◆ nop()

int arcs::common_interface::RuntimeMachine::nop ( )

空操作

返回

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

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

◆ pause()

int arcs::common_interface::RuntimeMachine::pause ( )

暂停解释器

返回

Python函数原型: pause(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: pause() -> number

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

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

◆ preloadProgram()

int arcs::common_interface::RuntimeMachine::preloadProgram	(	int	index,
		const std::string &	program
	)

预加载工程文件

参数

index	0~99 工程索引号
program	工程名字

返回

◆ removeBreakPoint()

int arcs::common_interface::RuntimeMachine::removeBreakPoint ( int lineno )

移除断点

参数

lineno

返回

Python函数原型: removeBreakPoint(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int

Lua函数原型: removeBreakPoint(lineno: number) -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.removeBreakPoint","params":[15],"id":1}

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

◆ resume()

int arcs::common_interface::RuntimeMachine::resume ( )

恢复解释器

返回

Python函数原型: resume(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: resume() -> number

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

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

◆ runProgram()

int arcs::common_interface::RuntimeMachine::runProgram ( )

运行已经加载的工程文件

返回

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

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

◆ setBreakPoint()

int arcs::common_interface::RuntimeMachine::setBreakPoint ( int lineno )

设置断点

参数

lineno

返回

Python函数原型: setBreakPoint(self: pyaubo_sdk.RuntimeMachine, arg0: int) -> int

Lua函数原型: setBreakPoint(lineno: number) -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.setBreakPoint","params":[15],"id":1}

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

◆ setLabel()

int arcs::common_interface::RuntimeMachine::setLabel	(	int	lineno,
		const std::string &	comment
	)

标记记下来的指令的行号和注释

参数

lineno
comment

返回

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.setLabel","params":[5,"moveJoint"],"id":1}

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

◆ setPlanContext()

ARCS_DEPRECATED int arcs::common_interface::RuntimeMachine::setPlanContext	(	int	tid,
		int	lineno,
		const std::string &	comment
	)

向aubo_control日志中添加注释使用 setLabel 替换

参数

tid	指令的线程ID
lineno	行号
comment	注释

返回

Python函数原型: setPlanContext(self: pyaubo_sdk.RuntimeMachine, arg0: int, arg1: int, arg2: str) -> int

Lua函数原型: setPlanContext(tid: number, lineno: number, comment: string) -> number

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.setPlanContext","params":[26,3,"moveJoint"],"id":1}

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

◆ setResumeWait()

int arcs::common_interface::RuntimeMachine::setResumeWait ( bool wait )

恢复解释器之前等待恢复前之前的序列完成

参数

wait

返回

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

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

◆ start()

int arcs::common_interface::RuntimeMachine::start ( )

开始运行时

返回

Python函数原型: start(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: start() -> number

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

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

◆ step()

int arcs::common_interface::RuntimeMachine::step ( )

单步运行

返回

Python函数原型: step(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: step() -> number

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

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

◆ stop()

int arcs::common_interface::RuntimeMachine::stop ( )

停止运行时即脚本运行，无法停止运行时状态为 Stopped 时的机器人运动

如果考虑停止机器人所有运动，可以调用 RuntimeMachine::abort 接口

返回

Python函数原型: stop(self: pyaubo_sdk.RuntimeMachine) -> int

Lua函数原型: stop() -> number

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

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

◆ switchTask()

int arcs::common_interface::RuntimeMachine::switchTask ( int tid )

切换当前线程，切换之后接下来的指令将被插入切换后的线程中

参数

tid

返回

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.switchTask","params":[26],"id":1}

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

◆ timerDelete()

int arcs::common_interface::RuntimeMachine::timerDelete ( const std::string & name )

定时器删除

参数

name

返回

Python函数原型: timerDelete(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int

Lua函数原型: timerDelete(name: string) -> nil

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.timerDelete","params":["timer"],"id":1}

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

◆ timerReset()

int arcs::common_interface::RuntimeMachine::timerReset ( const std::string & name )

定时器重置

参数

name

返回

Python函数原型: timerReset(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int

Lua函数原型: timerReset(name: string) -> nil

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.timerReset","params":["timer"],"id":1}

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

◆ timerStart()

int arcs::common_interface::RuntimeMachine::timerStart ( const std::string & name )

定时器开始

参数

name

返回

Python函数原型: timerStart(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int

Lua函数原型: timerStart(name: string) -> nil

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.timerStart","params":["timer"],"id":1}

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

◆ timerStop()

int arcs::common_interface::RuntimeMachine::timerStop ( const std::string & name )

定时器结束

参数

name

返回

Python函数原型: timerStop(self: pyaubo_sdk.RuntimeMachine, arg0: str) -> int

Lua函数原型: timerStop(name: string) -> nil

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"RuntimeMachine.timerStop","params":["timer"],"id":1}

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

◆ triggBegin()

int arcs::common_interface::RuntimeMachine::triggBegin	(	double	distance,
		double	delay
	)

开始配置触发

参数

distance
delay

返回

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

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

◆ triggEnd()

int arcs::common_interface::RuntimeMachine::triggEnd ( )

终止配置触发

返回

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

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

◆ triggInterrupt()

int arcs::common_interface::RuntimeMachine::triggInterrupt	(	double	distance,
		double	delay
	)

返回自动分配的中断号

参数

distance
delay
intnum

返回

类成员变量说明

◆ d_

void* arcs::common_interface::RuntimeMachine::d_

protected

在文件 runtime_machine.h 第 1467 行定义.

该类的文档由以下文件生成:

include/aubo/runtime_machine.h

Public 成员函数

Protected 属性

详细描述

构造及析构函数说明

◆ RuntimeMachine()

◆ ~RuntimeMachine()

成员函数说明

◆ abort()

◆ arbitraryResume()

◆ clearBreakPoints()

◆ deleteTask()

◆ detachTask()

◆ getAdvancePlanContext()

◆ getAdvancePtr()

◆ getExecutionStatus()

◆ getExecutionStatus1()

◆ getInterpPtr()

◆ getMainPtr()

◆ getPlanContext()

◆ getPreloadProgram()

◆ getRuntimeState()

◆ getStatus()

◆ getTaskQueueSize()

◆ getTimer()

◆ getTriggInterrupts()

◆ gotoLine()

◆ isTaskAlive()

◆ loadProgram()

◆ newTask()

◆ nop()

◆ pause()

◆ preloadProgram()

◆ removeBreakPoint()

◆ resume()

◆ runProgram()

◆ setBreakPoint()

◆ setLabel()

◆ setPlanContext()

◆ setResumeWait()

◆ start()

◆ step()

◆ stop()

◆ switchTask()

◆ timerDelete()

◆ timerReset()

◆ timerStart()

◆ timerStop()

◆ triggBegin()

◆ triggEnd()

◆ triggInterrupt()

类成员变量说明

◆ d_