#include <aubo_api.h>

Public Member Functions
	AuboApi ()

virtual	~AuboApi ()

MathPtr	getMath ()
	Get pure mathematic related API

SystemInfoPtr	getSystemInfo ()
	Get system info

RuntimeMachinePtr	getRuntimeMachine ()
	Get runtime api

RegisterControlPtr	getRegisterControl ()
	External registers api

std::vector< std::string >	getRobotNames ()
	Get robot list

RobotInterfacePtr	getRobotInterface (const std::string &name)
	Get RobotInterfacePtr based on name

std::vector< std::string >	getAxisNames ()
	Get external axis list.

AxisInterfacePtr	getAxisInterface (const std::string &name)
	Get external axis interface

SocketPtr	getSocket ()
	Get independent IO module interface.

SerialPtr	getSerial ()

SyncMovePtr	getSyncMove (const std::string &name)
	Get syncronous move interface.

TracePtr	getTrace (const std::string &name)
	Get alert interface.

Protected Attributes
void *	d_ { nullptr }

Detailed Description

Definition at line 21 of file aubo_api.h.

Constructor & Destructor Documentation

◆ AuboApi()

arcs::common_interface::AuboApi::AuboApi ( )

◆ ~AuboApi()

virtual arcs::common_interface::AuboApi::~AuboApi ( )

virtual

Member Function Documentation

◆ getAxisInterface()

AxisInterfacePtr arcs::common_interface::AuboApi::getAxisInterface ( const std::string & name )

Get external axis interface

Parameters

name

Returns

◆ getAxisNames()

std::vector< std::string > arcs::common_interface::AuboApi::getAxisNames ( )

Get external axis list.

Returns

◆ getMath()

MathPtr arcs::common_interface::AuboApi::getMath ( )

Get pure mathematic related API

Returns: Shared pointer to a Math object

Python function prototype: getMath(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.Math

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

MathPtr ptr = rpc_cli->getMath();

arcs::common_interface::MathPtr
std::shared_ptr< Math > MathPtr
Definition math.h:1046

◆ getRegisterControl()

RegisterControlPtr arcs::common_interface::AuboApi::getRegisterControl ( )

External registers api

Returns: Shared pointer to RegisterControl object

Python function prototype: getRegisterControl(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.RegisterControl

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

RegisterControlPtr ptr = rpc_cli->getRegisterControl();

arcs::common_interface::RegisterControlPtr
std::shared_ptr< RegisterControl > RegisterControlPtr
Definition register_control.h:3023

◆ getRobotInterface()

RobotInterfacePtr arcs::common_interface::AuboApi::getRobotInterface ( const std::string & name )

Get RobotInterfacePtr based on name

Parameters

name	Robot name

Returns: Shared pointer to a RobotInterface object

Python function prototype: getRobotInterface(self: pyaubo_sdk.AuboApi, arg0: str) -> pyaubo_sdk.RobotInterface

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

RobotInterfacePtr ptr = rpc_cli->getRobotInterface(robot_name);

arcs::common_interface::RobotInterfacePtr
std::shared_ptr< RobotInterface > RobotInterfacePtr
Definition robot_interface.h:368

◆ getRobotNames()

std::vector< std::string > arcs::common_interface::AuboApi::getRobotNames ( )

Get robot list

Returns: robot list

Python function prototype: getRobotNames(self: pyaubo_sdk.AuboApi) -> List[str]

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

auto robot_name = rpc_cli->getRobotNames().front();

JSON-RPC request example: {"jsonrpc":"2.0","method":"getRobotNames","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":["rob1"]}

◆ getRuntimeMachine()

RuntimeMachinePtr arcs::common_interface::AuboApi::getRuntimeMachine ( )

Get runtime api

Returns: Shared pointer to RuntimeMachine object Python function prototype getRuntimeMachine(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.RuntimeMachine

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

RuntimeMachinePtr ptr = rpc_cli->getRuntimeMachine();

arcs::common_interface::RuntimeMachinePtr
std::shared_ptr< RuntimeMachine > RuntimeMachinePtr
Definition runtime_machine.h:1488

◆ getSerial()

SerialPtr arcs::common_interface::AuboApi::getSerial ( )

Returns: Shared pointer to Serial object

Python function prototype: getSerial(self: pyaubo_sdk.AuboApi) -> arcs::common_interface::Serial

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

SerialPtr ptr = rpc_cli->getSerial();

arcs::common_interface::SerialPtr
std::shared_ptr< Serial > SerialPtr
Definition serial.h:392

◆ getSocket()

SocketPtr arcs::common_interface::AuboApi::getSocket ( )

Get independent IO module interface.

Get socket

Returns: Shared pointer to a socket object

Python function prototype: getSocket(self: pyaubo_sdk.AuboApi) -> arcs::common_interface::Socket

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

SocketPtr ptr = rpc_cli->getSocket();

arcs::common_interface::SocketPtr
std::shared_ptr< Socket > SocketPtr
Definition socket.h:623

◆ getSyncMove()

SyncMovePtr arcs::common_interface::AuboApi::getSyncMove ( const std::string & name )

Get syncronous move interface.

Returns: Shared pointer to SyncMove object

◆ getSystemInfo()

SystemInfoPtr arcs::common_interface::AuboApi::getSystemInfo ( )

Get system info

Returns: Shared pointer to SystemInfo object

Python function prototype: getSystemInfo(self: pyaubo_sdk.AuboApi) -> pyaubo_sdk.SystemInfo

C++ example: auto rpc_cli = std::make_shared<RpcClient>();

SystemInfoPtr ptr = rpc_cli->getSystemInfo();

arcs::common_interface::SystemInfoPtr
std::shared_ptr< SystemInfo > SystemInfoPtr
Definition system_info.h:338

◆ getTrace()

TracePtr arcs::common_interface::AuboApi::getTrace ( const std::string & name )

Get alert interface.

Returns: Shared pointer of trace object

Member Data Documentation

◆ d_

void* arcs::common_interface::AuboApi::d_ { nullptr }

protected

Definition at line 350 of file aubo_api.h.

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

include/aubo/aubo_api.h

Public Member Functions

Protected Attributes