General Registers. More...

#include <register_control.h>

Public Member Functions
	RegisterControl ()

virtual	~RegisterControl ()

bool	getBoolInput (uint32_t address)
	Reads the boolean from one of the input registers, which can also be accessed by a Field bus.

int	setBoolInput (uint32_t address, bool value)

int	getInt32Input (uint32_t address)
	Reads the integer from one of the input registers, which can also be accessed by a FieldBus.

int	setInt32Input (uint32_t address, int value)

float	getFloatInput (uint32_t address)
	Reads the float from one of the input registers, which can also be accessed by a Field bus.

int	setFloatInput (uint32_t address, float value)

double	getDoubleInput (uint32_t address)
	Reads the double value from one of the input registers, which can also be accessed by a FieldBus.

int	setDoubleInput (uint32_t address, double value)

bool	getBoolOutput (uint32_t address)
	Reads the boolean from one of the output registers, which can also be accessed by a Field bus.

int	setBoolOutput (uint32_t address, bool value)

int	getInt32Output (uint32_t address)
	Reads the integer from one of the output registers, which can also be accessed by a FieldBus.

int	setInt32Output (uint32_t address, int value)

float	getFloatOutput (uint32_t address)
	Reads the float from one of the output registers, which can also be accessed by a FieldBus.

int	setFloatOutput (uint32_t address, float value)

double	getDoubleOutput (uint32_t address)
	Reads the double value from one of the output registers.

int	setDoubleOutput (uint32_t address, double value)

int16_t	getInt16Register (uint32_t address)
	Used for Modbus Slave

int	setInt16Register (uint32_t address, int16_t value)

bool	hasNamedVariable (const std::string &key)
	Whether the named variable exists

std::string	getNamedVariableType (const std::string &key)
	Get the type of a named variable

bool	variableUpdated (const std::string &key, uint64_t since)
	Whether the named variable has been updated

bool	getBool (const std::string &key, bool default_value)
	Get variable value

int	setBool (const std::string &key, bool value)
	Set or update the variable value

std::vector< char >	getVecChar (const std::string &key, const std::vector< char > &default_value)
	Get variable value

int	setVecChar (const std::string &key, const std::vector< char > &value)
	Set or update the variable value

int	getInt32 (const std::string &key, int default_value)
	Get variable value

int	setInt32 (const std::string &key, int value)
	Set or update the variable value

std::vector< int32_t >	getVecInt32 (const std::string &key, const std::vector< int32_t > &default_value)
	Get variable value

int	setVecInt32 (const std::string &key, const std::vector< int32_t > &value)
	Set or update the variable value

float	getFloat (const std::string &key, float default_value)
	Get variable value

int	setFloat (const std::string &key, float value)
	Set or update the variable value

std::vector< float >	getVecFloat (const std::string &key, const std::vector< float > &default_value)
	Get variable value

int	setVecFloat (const std::string &key, const std::vector< float > &value)
	Set or update the variable value

double	getDouble (const std::string &key, double default_value)
	Get variable value

int	setDouble (const std::string &key, double value)
	Set or update the variable value

std::vector< double >	getVecDouble (const std::string &key, const std::vector< double > &default_value)
	Get variable value

int	setVecDouble (const std::string &key, const std::vector< double > &value)
	Set or update the variable value

std::string	getString (const std::string &key, const std::string &default_value)
	Get variable value

int	setString (const std::string &key, const std::string &value)
	Set or update the variable value

int	clearNamedVariable (const std::string &key)
	Clear variable

int	setWatchDog (const std::string &key, double timeout, int action)
	Set the watchdog

int	getWatchDogAction (const std::string &key)
	Get the watchdog action

int	getWatchDogTimeout (const std::string &key)
	Get the watchdog timeout value

int	modbusAddSignal (const std::string &device_info, int slave_number, int signal_address, int signal_type, const std::string &signal_name, bool sequential_mode)
	Adds a new modbus signal for the controller to supervise.

int	modbusDeleteSignal (const std::string &signal_name)
	Deletes the signal identified by the supplied signal name.

int	modbusDeleteAllSignals ()
	Delete all modbus signals

int	modbusGetSignalStatus (const std::string &signal_name)
	Reads the current value of a specific signal.

std::vector< std::string >	modbusGetSignalNames ()
	Get the collection of all signal names

std::vector< int >	modbusGetSignalTypes ()
	Get the collection of all signal types

std::vector< int >	modbusGetSignalValues ()
	Get the collection of all signal values

std::vector< int >	modbusGetSignalErrors ()
	Get the error status of all signal requests (0: no error, others: error) as a collection

int	modbusSendCustomCommand (const std::string &device_info, int slave_number, int function_code, const std::vector< uint8_t > &data)
	Sends a command specified by the user to the modbus unit located on the specified IP address.

int	modbusSetDigitalInputAction (const std::string &robot_name, const std::string &signal_name, StandardInputAction action)
	Sets the selected digital input signal to either a "default" or "freedrive" action.

int	modbusSetOutputRunstate (const std::string &robot_name, const std::string &signal_name, StandardOutputRunState runstate)
	Set Modbus signal output action

int	modbusSetOutputSignal (const std::string &signal_name, uint16_t value)
	Sets the output register signal identified by the given name to the given value.

int	modbusSetOutputSignalWithTimeout (const std::string &signal_name, uint16_t value, double timeout)
	Sets the output register signal identified by the given name to the given, with timeout value.

int	modbusSetOutputSignalPulse (const std::string &signal_name, uint16_t value, double duration)
	Set modbus signal output pulse (only supports coil output type)

int	modbusSetSignalUpdateFrequency (const std::string &signal_name, int update_frequency)
	Sets the frequency with which the robot will send requests to the Modbus controller to either read or write the signal value.

int	modbusGetSignalIndex (const std::string &signal_name)
	Get the index of the specified modbus signal, starting from 0.

int	modbusGetSignalError (const std::string &signal_name)
	Get the error status of the specified modbus signal

int	getModbusDeviceStatus (const std::string &device_name)
	Get the connection status of the specified modbus device

int	addModbusEncoder (int encoder_id, int range_id, const std::string &signal_name)
	Use a modbus register signal as an encoder

int	addInt32RegEncoder (int encoder_id, int range_id, const std::string &key)
	Add a virtual encoder for an Int32 register

int	deleteVirtualEncoder (int encoder_id)
	Delete virtual encoder

Protected Attributes
void *	d_

Detailed Description

General Registers.

Definition at line 63 of file register_control.h.

Constructor & Destructor Documentation

◆ RegisterControl()

arcs::common_interface::RegisterControl::RegisterControl ( )

◆ ~RegisterControl()

virtual arcs::common_interface::RegisterControl::~RegisterControl ( )

virtual

Member Function Documentation

◆ addInt32RegEncoder()

int arcs::common_interface::RegisterControl::addInt32RegEncoder	(	int	encoder_id,
		int	range_id,
		const std::string &	key
	)

Add a virtual encoder for an Int32 register

Parameters

encoder_id	Encoder ID
range_id	Range ID
key	Variable name

Returns

◆ addModbusEncoder()

int arcs::common_interface::RegisterControl::addModbusEncoder	(	int	encoder_id,
		int	range_id,
		const std::string &	signal_name
	)

Use a modbus register signal as an encoder

Parameters

encoder_id	Must not be 0
signal_name	Name of the modbus signal, must be of register type

Returns

◆ clearNamedVariable()

int arcs::common_interface::RegisterControl::clearNamedVariable ( const std::string & key )

Clear variable

Parameters

key

Returns

Python interface prototype: clearNamedVariable(self: pyaubo_sdk.RegisterControl, arg0: str) -> int

Lua interface prototype: clearNamedVariable(key: string) -> nil

Lua example: clearNamedVariable("custom")

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.clearNamedVariable","params":["custom"],"id":1}

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

◆ deleteVirtualEncoder()

int arcs::common_interface::RegisterControl::deleteVirtualEncoder ( int encoder_id )

Delete virtual encoder

Parameters

encoder_id

Returns

◆ getBool()

bool arcs::common_interface::RegisterControl::getBool	(	const std::string &	key,
		bool	default_value
	)

Get variable value

Parameters

key
default_value

Returns

Python interface prototype: getBool(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: bool) -> bool

Lua interface prototype: getBool(key: string, default_value: boolean) -> boolean

Lua example: Bool_var = getBool("custom",false)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getBool","params":["custom",false],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":true}

◆ getBoolInput()

bool arcs::common_interface::RegisterControl::getBoolInput ( uint32_t address )

Reads the boolean from one of the input registers, which can also be accessed by a Field bus.

Note, uses its own memory space.

Parameters

address Address of the register (0:127)

Returns: Boolean value held by the register (true, false)

Note: The lower range of the boolean input registers [0:63] is reserved for FieldBus/PLC interface usage. The upper range [64:127] cannot be accessed by FieldBus/PLC interfaces, since it is reserved for external RTDE clients.

Python interface prototype: getBoolInput(self: pyaubo_sdk.RegisterControl, arg0: int) -> bool

Lua interface prototype: getBoolInput(address: number) -> boolean

Lua example: BoolInput_0 = getBoolInput(0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getBoolInput","params":[0],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":false}

◆ getBoolOutput()

bool arcs::common_interface::RegisterControl::getBoolOutput ( uint32_t address )

Reads the boolean from one of the output registers, which can also be accessed by a Field bus.

Note, uses its own memory space.

Parameters

address Address of the register (0:127)

Returns: The boolean value held by the register (true, false)

Note: The lower range of the boolean output registers [0:63] is reserved for FieldBus/PLC interface usage. The upper range [64:127] cannot be accessed by FieldBus/PLC interfaces, since it is reserved for external RTDE clients.

Python interface prototype: getBoolOutput(self: pyaubo_sdk.RegisterControl, arg0: int) -> bool

Lua interface prototype: getBoolOutput(address: number) -> boolean

Lua example: BoolOutput_0 = getBoolOutput(0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getBoolOutput","params":[0],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":false}

◆ getDouble()

double arcs::common_interface::RegisterControl::getDouble	(	const std::string &	key,
		double	default_value
	)

Get variable value

Parameters

key
default_value

Returns

Python interface prototype: getDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> float

Lua interface prototype: getDouble(key: string, default_value: number) -> number

Lua example: var_Double = getDouble("custom",0.0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getDouble","params":["custom",0.0],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0.0}

◆ getDoubleInput()

double arcs::common_interface::RegisterControl::getDoubleInput ( uint32_t address )

Reads the double value from one of the input registers, which can also be accessed by a FieldBus.

Note, uses its own memory space.

Parameters

address Address of the register (0:47)

Returns: The double value held by the register

Python interface prototype: getDoubleInput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float

Lua interface prototype: getDoubleInput(address: number) -> number

Lua example: DoubleInput_0 = getDoubleInput(0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getDoubleInput","params":[0],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0.0}

◆ getDoubleOutput()

double arcs::common_interface::RegisterControl::getDoubleOutput ( uint32_t address )

Reads the double value from one of the output registers.

Parameters

address Address of the register

Returns: The double value held by the register

Python interface prototype: getDoubleOutput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float

Lua interface prototype: getDoubleOutput(address: number) -> number

Lua example: DoubleOutput_0 = getDoubleOutput(0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getDoubleOutput","params":[0],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0.0}

◆ getFloat()

float arcs::common_interface::RegisterControl::getFloat	(	const std::string &	key,
		float	default_value
	)

Get variable value

Parameters

key
default_value

Returns

Python interface prototype: getFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> float

Lua interface prototype: getFloat(key: string, default_value: number) -> number

Lua example: var_Float = getFloat("custom",0.0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getFloat","params":["custom",0.0],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":4.400000095367432}

◆ getFloatInput()

float arcs::common_interface::RegisterControl::getFloatInput ( uint32_t address )

Reads the float from one of the input registers, which can also be accessed by a Field bus.

Note, uses it’s own memory space.

Parameters

address Address of the register (0:47)

Returns: The value held by the register (float)

Note: The lower range of the float input registers [0:23] is reserved for FieldBus/PLC interface usage. The upper range [24:47] cannot be accessed by FieldBus/PLC interfaces, since it is reserved for external RTDE clients.

Python interface prototype: getFloatInput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float

Lua interface prototype: getFloatInput(address: number) -> number

Lua example: FloatInput_0_0 = getFloatInput(0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getFloatInput","params":[0],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0.0}

◆ getFloatOutput()

float arcs::common_interface::RegisterControl::getFloatOutput ( uint32_t address )

Reads the float from one of the output registers, which can also be accessed by a FieldBus.

Note, uses its own memory space.

Parameters

address Address of the register (0:47)

Returns: The value held by the register (float)

Note: The lower range of the float output registers [0:23] is reserved for FieldBus/PLC interface usage. The upper range [24:47] cannot be accessed by FieldBus/PLC interfaces, since it is reserved for external RTDE clients.

Python interface prototype: getFloatOutput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float

Lua interface prototype: getFloatOutput(address: number) -> number

Lua example: FloatOutput_0 = getFloatOutput(0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getFloatOutput","params":[0],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":3.3}

◆ getInt16Register()

int16_t arcs::common_interface::RegisterControl::getInt16Register ( uint32_t address )

Used for Modbus Slave

Parameters

address

Returns

Python interface prototype: getInt16Register(self: pyaubo_sdk.RegisterControl, arg0: int) -> int

Lua interface prototype: getInt16Register(address: number) -> number

Lua example: Int16Register_0 = getInt16Register(0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getInt16Register","params":[0],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ getInt32()

int arcs::common_interface::RegisterControl::getInt32	(	const std::string &	key,
		int	default_value
	)

Get variable value

Parameters

key
default_value

Returns

Python interface prototype: getInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) -> int

Lua interface prototype: getInt32(key: string, default_value: number) -> number

Lua example: Int32 = getInt32("custom",0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getInt32","params":["custom",0],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":6}

◆ getInt32Input()

int arcs::common_interface::RegisterControl::getInt32Input ( uint32_t address )

Reads the integer from one of the input registers, which can also be accessed by a FieldBus.

Note, uses it’s own memory space.

Parameters

address Address of the register (0:47)

Returns: The value held by the register [-2,147,483,648 : 2,147,483,647]

Note: The lower range of the integer input registers [0:23] is reserved for FieldBus/PLC interface usage. The upper range [24:47] cannot be accessed by FieldBus/PLC interfaces, since it is reserved for external RTDE clients.

Python interface prototype: getInt32Input(self: pyaubo_sdk.RegisterControl, arg0: int) -> int

Lua interface prototype: getInt32Input(address: number) -> number

Lua example: Int32Input_0 = getInt32Input(0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getInt32Input","params":[0],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ getInt32Output()

int arcs::common_interface::RegisterControl::getInt32Output ( uint32_t address )

Reads the integer from one of the output registers, which can also be accessed by a FieldBus.

Note, uses its own memory space.

Parameters

address Address of the register (0:47)

Returns: The int value held by the register [-2,147,483,648 : 2,147,483,647]

Note: The lower range of the integer output registers [0:23] is reserved for FieldBus/PLC interface usage. The upper range [24:47] cannot be accessed by FieldBus/PLC interfaces, since it is reserved for external RTDE clients.

Python interface prototype: getInt32Output(self: pyaubo_sdk.RegisterControl, arg0: int) -> int

Lua interface prototype: getInt32Output(address: number) -> number

Lua example: Int32Output_0 = getInt32Output(0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getInt32Output","params":[0],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ getModbusDeviceStatus()

int arcs::common_interface::RegisterControl::getModbusDeviceStatus ( const std::string & device_name )

Get the connection status of the specified modbus device

Parameters

device_name Device name in TCP format: "ip:port", e.g. "127.0.0.1:502"
Device name in RTU format: "serial_port", e.g. "/dev/ttyUSB0"

Returns: 0: Device is connected -1: Device does not exist -2: Device is disconnected

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getModbusDeviceStatus","params":["172.16.26.248:502"],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ getNamedVariableType()

std::string arcs::common_interface::RegisterControl::getNamedVariableType ( const std::string & key )

Get the type of a named variable

Parameters

key

Returns

Lua interface prototype: getNamedVariableType(key: string) -> string

Lua example: NamedVariableType = getNamedVariableType("custom")

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getNamedVariableType","params":["custom"],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"NONE"}

◆ getString()

std::string arcs::common_interface::RegisterControl::getString	(	const std::string &	key,
		const std::string &	default_value
	)

Get variable value

Parameters

key
default_value

Returns

Python interface prototype: getString(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: str) -> str

Lua interface prototype: getString(key: string, default_value: string) -> string

Lua example: var_String = getString("custom","")

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getString","params":["custom",""],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"test"}

◆ getVecChar()

std::vector< char > arcs::common_interface::RegisterControl::getVecChar	(	const std::string &	key,
		const std::vector< char > &	default_value
	)

Get variable value

Parameters

key
default_value

Returns

Python interface prototype: getVecChar(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[str]) -> List[str]

Lua interface prototype: getVecChar(key: string, default_value: table) -> table

Lua example: VecChar = getVecChar("custom",{})

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getVecChar","params":["custom",[]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0,1,0]}

◆ getVecDouble()

std::vector< double > arcs::common_interface::RegisterControl::getVecDouble	(	const std::string &	key,
		const std::vector< double > &	default_value
	)

Get variable value

Parameters

key
default_value

Returns

Python interface prototype: getVecDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[float]) -> List[float]

Lua interface prototype: getVecDouble(key: string, default_value: table) -> table

Lua example: VecDouble = getVecDouble("custom",{})

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getVecDouble","params":["custom",[]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.1,0.2,0.3]}

◆ getVecFloat()

std::vector< float > arcs::common_interface::RegisterControl::getVecFloat	(	const std::string &	key,
		const std::vector< float > &	default_value
	)

Get variable value

Parameters

key
default_value

Returns

Python interface prototype: getVecFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[float]) -> List[float]

Lua interface prototype: getVecFloat(key: string, default_value: table) -> table

Lua example: VecFloat = getVecFloat("custom",{})

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getVecFloat","params":["custom",[]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.10000000149011612,3.299999952316284]}

◆ getVecInt32()

std::vector< int32_t > arcs::common_interface::RegisterControl::getVecInt32	(	const std::string &	key,
		const std::vector< int32_t > &	default_value
	)

Get variable value

Parameters

key
default_value

Returns

Python interface prototype: getVecInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[int]) -> List[int]

Lua interface prototype: getVecInt32(key: string, default_value: table) -> table

Lua example: VecInt32 = getVecInt32("custom",{})

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.getVecInt32","params":["custom",[]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[1,2,3,4]}

◆ getWatchDogAction()

int arcs::common_interface::RegisterControl::getWatchDogAction ( const std::string & key )

Get the watchdog action

Parameters

key

Returns

◆ getWatchDogTimeout()

int arcs::common_interface::RegisterControl::getWatchDogTimeout ( const std::string & key )

Get the watchdog timeout value

Parameters

key

Returns

◆ hasNamedVariable()

bool arcs::common_interface::RegisterControl::hasNamedVariable ( const std::string & key )

Whether the named variable exists

Parameters

key	Variable name

Returns

Lua interface prototype: hasNamedVariable(key: string) -> boolean

Lua example: NamedVariable = hasNamedVariable("custom")

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.hasNamedVariable","params":["custom"],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":false}

◆ modbusAddSignal()

int arcs::common_interface::RegisterControl::modbusAddSignal	(	const std::string &	device_info,
		int	slave_number,
		int	signal_address,
		int	signal_type,
		const std::string &	signal_name,
		bool	sequential_mode
	)

Adds a new modbus signal for the controller to supervise.

Expects no response.

Parameters

device_info is rtu format. eg,"serial_port,baud,parity,data_bit,stop_bit" (1)The serial_port argument specifies the name of the serial port eg. On Linux ,"/dev/ttyS0" or "/dev/ttyUSB0". On Windows, "\.\COM10". (2)The baud argument specifies the baud rate of the communication, eg. 9600, 19200, 57600, 115200, etc. (3)parity:N for none,E for even,O for odd. (4)data_bit:The data_bits argument specifies the number of bits of data, the allowed values are 5, 6, 7 and 8. (5)stop_bit:The stop_bits argument specifies the bits of stop, the allowed values are 1 and 2.

device_info is tcp format.eg,"ip address,port" (1)The ip address parameter specifies the ip address of the server (2)The port parameter specifies the port number that the server is listening on.

Parameters

slave_number	An integer normally not used and set to 255, but is a free choice between 0 and 255.
signal_address	An integer specifying the address of the either the coil or the register that this new signal should reflect. Consult the configuration of the modbus unit for this information.
signal_type	An integer specifying the type of signal to add. 0 = digital input, 1 = digital output, 2 = register input and 3 = register output.
signal_name	A string uniquely identifying the signal. If a string is supplied which is equal to an already added signal, the new signal will replace the old one. The length of the string cannot exceed 20 characters.
sequential_mode	Setting to True forces the modbus client to wait for a response before sending the next request. This mode is required by some fieldbus units (Optional).

Returns

Python interface prototype: modbusAddSignal(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int, arg2: int, arg3: int, arg4: str, arg5: bool) -> int

Lua interface prototype: modbusAddSignal(device_info: string, slave_number: number, signal_address: number, signal_type: number, signal_name: string, sequential_mode: boolean) -> nil

Lua example: modbusAddSignal("/dev/ttyRobotTool,115200,N,8,1", 1, signal_address: number, 264, "Modbus_0", false)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.modbusAddSignal","params":["/dev/ttyRobotTool,115200,N,8,1",1,264,3,"Modbus_0",false],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ modbusDeleteAllSignals()

int arcs::common_interface::RegisterControl::modbusDeleteAllSignals ( )

Delete all modbus signals

Returns

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ modbusDeleteSignal()

int arcs::common_interface::RegisterControl::modbusDeleteSignal ( const std::string & signal_name )

Deletes the signal identified by the supplied signal name.

Parameters

signal_name A string equal to the name of the signal that should be deleted.

Returns

Python interface prototype: modbusDeleteSignal(self: pyaubo_sdk.RegisterControl, arg0: str) -> int

Lua interface prototype: modbusDeleteSignal(signal_name: string) -> nil

Lua example: modbusDeleteSignal("Modbus_1")

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.modbusDeleteSignal","params":["Modbus_1"],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ modbusGetSignalError()

int arcs::common_interface::RegisterControl::modbusGetSignalError ( const std::string & signal_name )

Get the error status of the specified modbus signal

Parameters

signal_name

Returns: Returns error code ModbusErrorNum

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalError","params":["Modbus_0"],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":6}

◆ modbusGetSignalErrors()

std::vector< int > arcs::common_interface::RegisterControl::modbusGetSignalErrors ( )

Get the error status of all signal requests (0: no error, others: error) as a collection

Returns: ModbusErrorNum

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[6,6,6,6]}

◆ modbusGetSignalIndex()

int arcs::common_interface::RegisterControl::modbusGetSignalIndex ( const std::string & signal_name )

Get the index of the specified modbus signal, starting from 0.

Returns -1 if it does not exist.

Parameters

signal_name

Returns

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalIndex","params":["Modbus_0"],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ modbusGetSignalNames()

std::vector< std::string > arcs::common_interface::RegisterControl::modbusGetSignalNames ( )

Get the collection of all signal names

Returns: Collection of all signal names

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":["Modbus_0"]}

◆ modbusGetSignalStatus()

int arcs::common_interface::RegisterControl::modbusGetSignalStatus ( const std::string & signal_name )

Reads the current value of a specific signal.

Parameters

signal_name A string equal to the name of the signal for which the value should be gotten.

Returns: An integer or a boolean. For digital signals: 1 or 0. For register signals: The register value expressed as an integer. If the value is -1, it means the signal does not exist.

Python interface prototype: modbusGetSignalStatus(self: pyaubo_sdk.RegisterControl, arg0: str) -> int

Lua interface prototype: modbusGetSignalStatus(signal_name: string) -> number

Lua example: var0 = modbusGetSignalStatus("Modbus_0")

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalStatus","params":["Modbus_0"],"id":1}

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

◆ modbusGetSignalTypes()

std::vector< int > arcs::common_interface::RegisterControl::modbusGetSignalTypes ( )

Get the collection of all signal types

Returns: Collection of all signal types

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[1,0,2,3]}

◆ modbusGetSignalValues()

std::vector< int > arcs::common_interface::RegisterControl::modbusGetSignalValues ( )

Get the collection of all signal values

Returns: Collection of all signal values

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[1,1,88,33]}

◆ modbusSendCustomCommand()

int arcs::common_interface::RegisterControl::modbusSendCustomCommand	(	const std::string &	device_info,
		int	slave_number,
		int	function_code,
		const std::vector< uint8_t > &	data
	)

Sends a command specified by the user to the modbus unit located on the specified IP address.

Cannot be used to request data, since the response will not be received. The user is responsible for supplying data which is meaningful to the supplied function code. The builtin function takes care of constructing the modbus frame, so the user should not be concerned with the length of the command.

Parameters

device_info is rtu format. eg,"serial_port,baud,parity,data_bit,stop_bit" (1)The serial_port argument specifies the name of the serial port eg. On Linux ,"/dev/ttyS0" or "/dev/ttyUSB0". On Windows, "\.\COM10". (2)The baud argument specifies the baud rate of the communication, eg. 9600, 19200, 57600, 115200, etc. (3)parity:N for none,E for even,O for odd. (4)data_bit:The data_bits argument specifies the number of bits of data, the allowed values are 5, 6, 7 and 8. (5)stop_bit:The stop_bits argument specifies the bits of stop, the allowed values are 1 and 2.

device_info is tcp format.eg,"ip address,port" (1)The ip address parameter specifies the ip address of the server (2)The port parameter specifies the port number that the server is listening on.

Parameters

slave_number	An integer specifying the slave number to use for the custom command.
function_code	An integer specifying the function code for the custom command.

Modbus function codes MODBUS_FC_READ_COILS 0x01 MODBUS_FC_READ_DISCRETE_INPUTS 0x02 MODBUS_FC_READ_HOLDING_REGISTERS 0x03 MODBUS_FC_READ_INPUT_REGISTERS 0x04 MODBUS_FC_WRITE_SINGLE_COIL 0x05 MODBUS_FC_WRITE_SINGLE_REGISTER 0x06 MODBUS_FC_READ_EXCEPTION_STATUS 0x07 MODBUS_FC_WRITE_MULTIPLE_COILS 0x0F MODBUS_FC_WRITE_MULTIPLE_REGISTERS 0x10 MODBUS_FC_REPORT_SLAVE_ID 0x11 MODBUS_FC_MASK_WRITE_REGISTER 0x16 MODBUS_FC_WRITE_AND_READ_REGISTERS 0x17

Parameters

data	An array of integers in which each entry must be a valid byte (0-255) value.

Returns

Python interface prototype: modbusSendCustomCommand(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int, arg2: int, arg3: List[int]) -> int

Lua interface prototype: modbusSendCustomCommand(device_info: string, slave_number: number, function_code: number, data: table) -> nil

Lua example: modbusSendCustomCommand("/dev/ttyRobotTool,115200,N,8,1", 1, 10, {1,2,0,2,4,0,0,0,0}) -> nil

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.modbusSendCustomCommand","params":["/dev/ttyRobotTool,115200,N,8,1",1,10,[1,2,0,2,4,0,0,0,0]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ modbusSetDigitalInputAction()

int arcs::common_interface::RegisterControl::modbusSetDigitalInputAction	(	const std::string &	robot_name,
		const std::string &	signal_name,
		StandardInputAction	action
	)

Sets the selected digital input signal to either a "default" or "freedrive" action.

Parameters

robot_name	A string identifying a robot name that connected robot
signal_name	A string identifying a digital input signal that was previously added.
action	The type of action. The action can either be "default" or "freedrive". (string)

Returns

Python interface prototype: modbusSetDigitalInputAction(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: str, arg2: int)

Lua interface prototype: modbusSetDigitalInputAction(robot_name: string, signal_name: string, action: number) -> nil

Lua example: modbusSetDigitalInputAction("rob1", "Modbus_0","Handguide")

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.modbusSetDigitalInputAction","params":["rob1","Modbus_0","Handguide"],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ modbusSetOutputRunstate()

int arcs::common_interface::RegisterControl::modbusSetOutputRunstate	(	const std::string &	robot_name,
		const std::string &	signal_name,
		StandardOutputRunState	runstate
	)

Set Modbus signal output action

Parameters

robot_name
signal_name
runstate

Returns

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputRunstate","params":["rob1","Modbus_0","None"],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ modbusSetOutputSignal()

int arcs::common_interface::RegisterControl::modbusSetOutputSignal	(	const std::string &	signal_name,
		uint16_t	value
	)

Sets the output register signal identified by the given name to the given value.

Parameters

signal_name	A string identifying an output register signal that in advance has been added.
value	An integer which must be a valid word (0-65535)

Returns

Python interface prototype: modbusSetOutputSignal(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) -> int

Lua interface prototype: modbusSetOutputSignal(signal_name: string, value: number) -> nil

Lua example: modbusSetOutputSignal("Modbus_0",0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputSignal","params":["Modbus_0",0],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ modbusSetOutputSignalPulse()

int arcs::common_interface::RegisterControl::modbusSetOutputSignalPulse	(	const std::string &	signal_name,
		uint16_t	value,
		double	duration
	)

Set modbus signal output pulse (only supports coil output type)

Parameters

signal_name	A string identifying an output register signal that has been added in advance.
value	An integer which must be a valid word (0-65535)
duration	Duration of the signal, in seconds

Returns

Python interface prototype: modbusSetOutputSignalPulse(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int, arg2: double) -> int

Lua interface prototype: modbusSetOutputSignalPulse(signal_name: string, value: number, duration: number) -> nil

Lua example: modbusSetOutputSignalPulse("Modbus_0",1,0.5)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputSignalPulse","params":["Modbus_0",1,0.5],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ modbusSetOutputSignalWithTimeout()

int arcs::common_interface::RegisterControl::modbusSetOutputSignalWithTimeout	(	const std::string &	signal_name,
		uint16_t	value,
		double	timeout
	)

Sets the output register signal identified by the given name to the given, with timeout value.

Parameters

signal_name	A string identifying an output register signal that in advance has been added.
value	An integer which must be a valid word (0-65535)
timeout	seconds

Returns

Python interface prototype: modbusSetOutputSignalWithTimeout(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int, arg2: timeout) -> int

Lua interface prototype: modbusSetOutputSignalWithTimeout(signal_name: string, value: number, timeout: number) -> nil

Lua example: modbusSetOutputSignalWithTimeout("Modbus_0",0,0.5)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputSignalWithTimeout","params":["Modbus_0",0,0.5],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ modbusSetSignalUpdateFrequency()

int arcs::common_interface::RegisterControl::modbusSetSignalUpdateFrequency	(	const std::string &	signal_name,
		int	update_frequency
	)

Sets the frequency with which the robot will send requests to the Modbus controller to either read or write the signal value.

Parameters

signal_name	A string identifying an output digital signal that in advance has been added.
update_frequency	An integer in the range 0-125 specifying the update frequency in Hz.

Returns

Python interface prototype: modbusSetSignalUpdateFrequency(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) -> int

Lua interface prototype: modbusSetSignalUpdateFrequency(signal_name: string, update_frequency: number) -> nil

Lua example: modbusSetSignalUpdateFrequency("Modbus_0",1)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.modbusSetSignalUpdateFrequency","params":["Modbus_0",1],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setBool()

int arcs::common_interface::RegisterControl::setBool	(	const std::string &	key,
		bool	value
	)

Set or update the variable value

Parameters

key
value

Returns: Returns 0 on success, otherwise error code

Python interface prototype: setBool(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: bool) -> int

Lua interface prototype: setBool(key: string, value: boolean) -> nil

Lua example: setBool("custom",true)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setBool","params":["custom",true],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setBoolInput()

int arcs::common_interface::RegisterControl::setBoolInput	(	uint32_t	address,
		bool	value
	)

Parameters

address	Address of the register (0:127)
value	Boolean value to set (true or false)

Returns: Returns 0 on success, or an error code

Note: Only used when implementing RTDE/Modbus Slave/PLC server

Python interface prototype: setBoolInput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: bool) -> int

Lua interface prototype: setBoolInput(address: number, value: boolean) -> nil

Lua example: setBoolInput(0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setBoolInput","params":[0,true],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setBoolOutput()

int arcs::common_interface::RegisterControl::setBoolOutput	(	uint32_t	address,
		bool	value
	)

Parameters

address	Address of the register (0:127)
value	Boolean value to set (true or false)

Returns: Returns 0 on success, or an error code

Python interface prototype: setBoolOutput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: bool) -> int

Lua interface prototype: setBoolOutput(address: number, value: boolean) -> nil

Lua example: setBoolOutput(0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setBoolOutput","params":[0,false],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setDouble()

int arcs::common_interface::RegisterControl::setDouble	(	const std::string &	key,
		double	value
	)

Set or update the variable value

Parameters

key
value

Returns

Python interface prototype: setDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> int

Lua interface prototype: setDouble(key: string, value: number) -> nil

Lua example: setDouble("custom",6.6)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setDouble","params":["custom",6.6],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setDoubleInput()

int arcs::common_interface::RegisterControl::setDoubleInput	(	uint32_t	address,
		double	value
	)

Parameters

address
value

Returns

Note: Only used when implementing RTDE/Modbus Slave/PLC server

Python interface prototype: setDoubleInput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) -> int

Lua interface prototype: setDoubleInput(address: number, value: number) -> nil

Lua example: setDoubleInput(0, 3.3)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setDoubleInput","params":[0,6.6],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setDoubleOutput()

int arcs::common_interface::RegisterControl::setDoubleOutput	(	uint32_t	address,
		double	value
	)

Parameters

address	Address of the register
value	Double value to set

Returns: Returns 0 on success, or an error code

Python interface prototype: setDoubleOutput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) -> int

Lua interface prototype: setDoubleOutput(address: number, value: number) -> nil

Lua example: setDoubleOutput(0,4.4)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setDoubleOutput","params":[0,4.4],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setFloat()

int arcs::common_interface::RegisterControl::setFloat	(	const std::string &	key,
		float	value
	)

Set or update the variable value

Parameters

key
value

Returns

Python interface prototype: setFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> int

Lua interface prototype: setFloat(key: string, value: number) -> nil

Lua example: setFloat("custom",4.4)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setFloat","params":["custom",4.4],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setFloatInput()

int arcs::common_interface::RegisterControl::setFloatInput	(	uint32_t	address,
		float	value
	)

Parameters

address	Address of the register (0:47)
value	Float value to set

Returns: Returns 0 on success, or an error code

Note: Only used when implementing RTDE/Modbus Slave/PLC server

Python interface prototype: setFloatInput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) -> int

Lua interface prototype: setFloatInput(address: number, value: number) -> nil

Lua example: setFloatInput(0, 3.3)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setFloatInput","params":[0,3.3],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setFloatOutput()

int arcs::common_interface::RegisterControl::setFloatOutput	(	uint32_t	address,
		float	value
	)

Parameters

address	Address of the register (0:47)
value	Float value to set

Returns: Returns 0 on success, or an error code

Python interface prototype: setFloatOutput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) -> int

Lua interface prototype: setFloatOutput(address: number, value: number) -> nil

Lua example: setFloatOutput(0,5.5)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setFloatOutput","params":[0,5.5],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setInt16Register()

int arcs::common_interface::RegisterControl::setInt16Register	(	uint32_t	address,
		int16_t	value
	)

Parameters

address	Register address
value	Value to set

Returns: Returns 0 on success, otherwise error code

Python interface prototype: setInt16Register(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: int) -> int

Lua interface prototype: setInt16Register(address: number, value: number) -> nil

Lua example: setInt16Register(0,4.4)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setInt16Register","params":[0,0],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setInt32()

int arcs::common_interface::RegisterControl::setInt32	(	const std::string &	key,
		int	value
	)

Set or update the variable value

Parameters

key
value

Returns

Python interface prototype: setInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) -> int

Lua interface prototype: setInt32(key: string, value: number) -> nil

Lua example: setInt32("custom",6)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setInt32","params":["custom",6],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setInt32Input()

int arcs::common_interface::RegisterControl::setInt32Input	(	uint32_t	address,
		int	value
	)

Parameters

address	Address of the register (0:47)
value	Integer value to set

Returns: Returns 0 on success, or an error code

Note: Only used when implementing RTDE/Modbus Slave/PLC server

Python interface prototype: setInt32Input(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: int) -> int

Lua interface prototype: setInt32Input(address: number, value: number) -> nil

Lua example: setInt32Input(0)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setInt32Input","params":[0,33],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setInt32Output()

int arcs::common_interface::RegisterControl::setInt32Output	(	uint32_t	address,
		int	value
	)

Parameters

address	Address of the register (0:47)
value	Integer value to set

Returns: Returns 0 on success, or an error code

Python interface prototype: setInt32Output(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: int) -> int

Lua interface prototype: setInt32Output(address: number, value: number) -> nil

Lua example: setInt32Output(0, 100)

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setInt32Output","params":[0,100],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setString()

int arcs::common_interface::RegisterControl::setString	(	const std::string &	key,
		const std::string &	value
	)

Set or update the variable value

Parameters

key
value

Returns: Returns 0 on success, otherwise error code

Python interface prototype: setString(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: str) -> int

Lua interface prototype: setString(key: string, value: string) -> nil

Lua example: setString("custom","test")

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setString","params":["custom","test"],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setVecChar()

int arcs::common_interface::RegisterControl::setVecChar	(	const std::string &	key,
		const std::vector< char > &	value
	)

Set or update the variable value

Parameters

key
value

Returns: Returns 0 on success, otherwise error code

Python interface prototype: setVecChar(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[str]) -> int

Lua interface prototype: setVecChar(key: string, value: table) -> nil

Lua example: setVecChar("custom",{0,1,0})

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setVecChar","params":["custom",[0,1,0]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setVecDouble()

int arcs::common_interface::RegisterControl::setVecDouble	(	const std::string &	key,
		const std::vector< double > &	value
	)

Set or update the variable value

Parameters

key
value

Returns

Python interface prototype: setVecDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[float]) -> int

Lua interface prototype: setVecDouble(key: string, value: table) -> nil

Lua example: setVecDouble("custom",{0.1,0.2,0.3})

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setVecDouble","params":["custom",[0.1,0.2,0.3]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setVecFloat()

int arcs::common_interface::RegisterControl::setVecFloat	(	const std::string &	key,
		const std::vector< float > &	value
	)

Set or update the variable value

Parameters

key
value

Returns

Python interface prototype: setVecFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[float]) -> int

Lua interface prototype: setVecFloat(key: string, value: table) -> nil

Lua example: setVecFloat("custom", {0.0,0.1,3.3})

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setVecFloat","params":["custom",[0.0,0.1,3.3]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setVecInt32()

int arcs::common_interface::RegisterControl::setVecInt32	(	const std::string &	key,
		const std::vector< int32_t > &	value
	)

Set or update the variable value

Parameters

key
value

Returns

Python interface prototype: setVecInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[int]) -> int

Lua interface prototype: setVecInt32(key: string, value: table) -> nil

Lua example: setVecInt32("custom",{1,2,3,4})

JSON-RPC request example: {"jsonrpc":"2.0","method":"RegisterControl.setVecInt32","params":["custom",[1,2,3,4]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setWatchDog()

int arcs::common_interface::RegisterControl::setWatchDog	(	const std::string &	key,
		double	timeout,
		int	action
	)

Set the watchdog

After the watchdog is triggered, the controller will perform the corresponding action and automatically delete the watchdog.

Parameters

key
timeout	Timeout in seconds (s), minimum timeout is 0.1s
action	NONE (0): No action PAUSE(1): Pause runtime STOP (2): Stop runtime/stop robot motion PROTECTIVE_STOP (3): Trigger protective stop

Returns

◆ variableUpdated()

bool arcs::common_interface::RegisterControl::variableUpdated	(	const std::string &	key,
		uint64_t	since
	)

Whether the named variable has been updated

Parameters

key
since

Returns

Python interface prototype: variableUpdated(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) -> bool

Lua interface prototype: variableUpdated(key: string, since: number) -> boolean

Lua example: Variable_Updated = variableUpdated("custom" , 0)

Member Data Documentation

◆ d_

void* arcs::common_interface::RegisterControl::d_

protected

Definition at line 3146 of file register_control.h.

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

include/aubo/register_control.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RegisterControl()

◆ ~RegisterControl()

Member Function Documentation

◆ addInt32RegEncoder()

◆ addModbusEncoder()

◆ clearNamedVariable()

◆ deleteVirtualEncoder()

◆ getBool()

◆ getBoolInput()

◆ getBoolOutput()

◆ getDouble()

◆ getDoubleInput()

◆ getDoubleOutput()

◆ getFloat()

◆ getFloatInput()

◆ getFloatOutput()

◆ getInt16Register()

◆ getInt32()

◆ getInt32Input()

◆ getInt32Output()

◆ getModbusDeviceStatus()

◆ getNamedVariableType()

◆ getString()

◆ getVecChar()

◆ getVecDouble()

◆ getVecFloat()

◆ getVecInt32()

◆ getWatchDogAction()

◆ getWatchDogTimeout()

◆ hasNamedVariable()

◆ modbusAddSignal()

◆ modbusDeleteAllSignals()

◆ modbusDeleteSignal()

◆ modbusGetSignalError()

◆ modbusGetSignalErrors()

◆ modbusGetSignalIndex()

◆ modbusGetSignalNames()

◆ modbusGetSignalStatus()

◆ modbusGetSignalTypes()

◆ modbusGetSignalValues()

◆ modbusSendCustomCommand()

◆ modbusSetDigitalInputAction()

◆ modbusSetOutputRunstate()

◆ modbusSetOutputSignal()

◆ modbusSetOutputSignalPulse()

◆ modbusSetOutputSignalWithTimeout()

◆ modbusSetSignalUpdateFrequency()

◆ setBool()

◆ setBoolInput()

◆ setBoolOutput()

◆ setDouble()

◆ setDoubleInput()

◆ setDoubleOutput()

◆ setFloat()

◆ setFloatInput()

◆ setFloatOutput()

◆ setInt16Register()

◆ setInt32()

◆ setInt32Input()

◆ setInt32Output()

◆ setString()

◆ setVecChar()

◆ setVecDouble()

◆ setVecFloat()

◆ setVecInt32()

◆ setWatchDog()

◆ variableUpdated()

Member Data Documentation

◆ d_