arcs::common_interface::RuntimeMachine类 参考

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 更多...
int	deleteTask (int tid)
	删除 task，会终止正在执行的运动 更多...
int	detachTask (int tid)
	等待 task 自然结束 更多...
bool	isTaskAlive (int tid)
	判断任务是否存活 更多...
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 更多...
int	setLabel (int lineno, const std::string &comment)
	标记记下来的指令的行号和注释 更多...
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 更多...
int	nop ()
	空操作 更多...
std::tuple< std::string, std::string >	getExecutionStatus ()
	获取耗时的接口(INST)执行状态, 如 setPersistentParameters 更多...
std::tuple< std::string, std::string, int >	getExecutionStatus1 ()
int	gotoLine (int lineno)
	跳转到指定行号 更多...
std::tuple< int, int, std::string >	getPlanContext (int tid=-1)
	获取当前运行上下文 更多...
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 更多...
int	getAdvancePtr (int tid=-1)
	获取AdvanceRun的程序指针 更多...
int	getMainPtr (int tid=-1)
	获取机器人运动的程序指针 更多...
int	getInterpPtr (int tid)
	获取最近解释过的指令指针 更多...
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 更多...
int	runProgram ()
	运行已经加载的工程文件 更多...
int	start ()
	开始运行时 更多...
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 更多...
int	abort ()
	终止机器人运行. 更多...
int	pause ()
	暂停解释器 更多...
int	step ()
	单步运行 更多...
int	resume ()
	恢复解释器 更多...
int	setResumeWait (bool wait)
	恢复解释器之前等待恢复前之前的序列完成 更多...
ARCS_DEPRECATED RuntimeState	getStatus ()
	获取规划器的状态 更多...
RuntimeState	getRuntimeState ()
int	setBreakPoint (int lineno)
	设置断点 更多...
int	removeBreakPoint (int lineno)
	移除断点 更多...
int	clearBreakPoints ()
	清除所有断点 更多...
int	timerStart (const std::string &name)
	定时器开始 更多...
int	timerStop (const std::string &name)
	定时器结束 更多...
int	timerReset (const std::string &name)
	定时器重置 更多...
int	timerDelete (const std::string &name)
	定时器删除 更多...
double	getTimer (const std::string &name)
	获取定时器数值 更多...
int	triggBegin (double distance, double delay)
	开始配置触发 更多...
int	triggEnd ()
	终止配置触发 更多...
int	triggInterrupt (double distance, double delay)
	返回自动分配的中断号 更多...
std::vector< int >	getTriggInterrupts ()
	获取所有的中断号列表 更多...

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

arcs::common_interface::RuntimeMachine::RuntimeMachine

(

)

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

virtual

成员函数说明

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}

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}

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}

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}

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,""]}

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}

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"]}

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

(

)

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}

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}

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,""]}

RuntimeState arcs::common_interface::RuntimeMachine::getRuntimeState

(

)

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"}

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}

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":[]}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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}

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

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

protected

在文件 runtime_machine.h 第 696 行定义.

---

该类的文档由以下文件生成:

• include/aubo/runtime_machine.h