arcs::common_interface::RobotManage Class Reference

#include <robot_manage.h>

Public Member Functions
	RobotManage ()
virtual	~RobotManage ()
int	poweron ()
	Initiate robot power-on request
int	startup ()
	Initiate robot startup request
int	releaseRobotBrake ()
	Initiate robot brake release request
int	lockRobotBrake ()
	Initiate robot brake lock request
int	poweroff ()
	Initiate robot power-off request
int	backdrive (bool enable)
	Initiate robot backdrive request
int	freedrive (bool enable)
	Initiate robot freedrive request This interface is deprecated after software version 0.31.x, use handguideMode instead: handguideMode({1,1,1,1,1}, {0,0,0,0,0,0})
int	handguideMode (const std::vector< int > &freeAxes, const std::vector< double > &feature)
	Advanced hand-guiding mode
int	exitHandguideMode ()
	Exit hand-guiding mode
int	getHandguideStatus ()
	Get the status of the hand-guiding device (whether it is in a singular space)
int	getHandguideTrigger ()
	Get the trigger source of the hand-guiding device
bool	isHandguideEnabled ()
	Get the hand-guiding enable status
int	setSim (bool enable)
	Initiate robot enter/exit simulation mode request
int	setOperationalMode (OperationalModeType mode)
	Set the robot operational mode
OperationalModeType	getOperationalMode ()
	Get the robot operational mode
RobotControlModeType	getRobotControlMode ()
	Get the control mode
bool	isFreedriveEnabled ()
	Whether the freedrive mode is enabled
bool	isBackdriveEnabled ()
	Whether the backdrive mode is enabled
bool	isSimulationEnabled ()
	Whether the simulation mode is enabled
int	setUnlockProtectiveStop ()
	Clear protective stop, including collision stop
int	restartInterfaceBoard ()
	Reset the safety interface board, usually called after the robot is powered off and needs to be reset, such as after emergency stop or fault.
int	startRecord (const std::string &file_name)
	Start real-time trajectory recording
int	stopRecord ()
	Stop real-time recording
int	pauseRecord (bool pause)
	Pause real-time recording
int	setLinkModeEnable (bool enable)
	Initiate robot enter/exit link mode request.
bool	isLinkModeEnabled ()
	Whether the link mode is enabled.
int	generateDiagnoseFile (const std::string &reason)
	Manually trigger the generation of a diagnostic file

Protected Attributes
void *	d_

Detailed Description

Definition at line 16 of file robot_manage.h.

Constructor & Destructor Documentation

RobotManage()

arcs::common_interface::RobotManage::RobotManage

(

)

~RobotManage()

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

virtual

Member Function Documentation

backdrive()

int arcs::common_interface::RobotManage::backdrive

(

bool

enable

)

Initiate robot backdrive request

Parameters

enable

Returns

Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

backdrive(self: pyaubo_sdk.RobotManage, arg0: bool) -> int

Lua function prototype

backdrive(enable: boolean) -> number

Lua example

num = backdrive(false)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.backdrive","params":[false],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

C++ example

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

exitHandguideMode()

int arcs::common_interface::RobotManage::exitHandguideMode

(

)

Exit hand-guiding mode

Note

Not implemented yet

Returns

Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

freedrive()

int arcs::common_interface::RobotManage::freedrive

(

bool

enable

)

Initiate robot freedrive request This interface is deprecated after software version 0.31.x, use handguideMode instead: handguideMode({1,1,1,1,1}, {0,0,0,0,0,0})

Parameters

enable

Returns

Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

freedrive(self: pyaubo_sdk.RobotManage, arg0: bool) -> int

Lua function prototype

freedrive(enable: boolean) -> number

Lua example

num = freedrive(false)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.freedrive","params":[true],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

C++ example

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

generateDiagnoseFile()

int arcs::common_interface::RobotManage::generateDiagnoseFile

(

const std::string &

reason

)

Manually trigger the generation of a diagnostic file

Returns

Returns 0 if the command is successfully issued; error code on failure.
-AUBO_BAD_STATE: The current state of the RuntimeMachine is not Stopped, the firmware upgrade request is rejected. The value of AUBO_BAD_STATE is 1.
-AUBO_TIMEOUT: Timeout. The value of AUBO_TIMEOUT is 4.

Exceptions

arcs::common_interface::AuboException

Python function prototype

generateDiagnoseFile(self: pyaubo_sdk.RobotManage, arg0: str) -> int

Lua function prototype

generateDiagnoseFile(reason: string) -> nil

Lua example

generateDiagnoseFile("reason")

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.generateDiagnoseFile","params":["reason"],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":false}

C++ example

auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
bool isEnabled =
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->generateDiagnoseFile("reason");

getHandguideStatus()

int arcs::common_interface::RobotManage::getHandguideStatus

(

)

Get the status of the hand-guiding device (whether it is in a singular space)

Note

Not implemented yet

Returns

• 0 - Normal operation. • 1 - Approaching singular space. • 2 - Extremely close to a singularity, large hand-guiding damping will occur.

Exceptions

arcs::common_interface::AuboException

getHandguideTrigger()

int arcs::common_interface::RobotManage::getHandguideTrigger

(

)

Get the trigger source of the hand-guiding device

Note

Not implemented yet

Returns

Exceptions

arcs::common_interface::AuboException

getOperationalMode()

OperationalModeType arcs::common_interface::RobotManage::getOperationalMode

(

)

Get the robot operational mode

Returns

Robot operational mode

Exceptions

arcs::common_interface::AuboException

Python function prototype

getOperationalMode(self: pyaubo_sdk.RobotManage) -> arcs::common_interface::OperationalModeType

Lua function prototype

getOperationalMode() -> number

Lua example

num = getOperationalMode()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.getOperationalMode","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":"Manual"}

C++ example

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

getRobotControlMode()

RobotControlModeType arcs::common_interface::RobotManage::getRobotControlMode

(

)

Get the control mode

Returns

Control mode

Exceptions

arcs::common_interface::AuboException

Python function prototype

getRobotControlMode(self: pyaubo_sdk.RobotManage) -> arcs::common_interface::RobotControlModeType

Lua function prototype

getRobotControlMode() -> number

Lua example

num = getRobotControlMode()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.getRobotControlMode","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":"Position"}

C++ example

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

handguideMode()

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

Advanced hand-guiding mode

Parameters

freeAxes	Axes that can be moved: 0-cannot move, 1-can move
feature	If the dimension is 0, it means hand-guiding based on the TCP coordinate system

Returns

Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

isBackdriveEnabled()

bool arcs::common_interface::RobotManage::isBackdriveEnabled

(

)

Whether the backdrive mode is enabled

Returns

Returns true if enabled; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Python function prototype

isBackdriveEnabled(self: pyaubo_sdk.RobotManage) -> bool

Lua function prototype

isBackdriveEnabled() -> boolean

Lua example

BackdriveEnabled = isBackdriveEnabled()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.isBackdriveEnabled","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":false}

C++ example

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

isFreedriveEnabled()

bool arcs::common_interface::RobotManage::isFreedriveEnabled

(

)

Whether the freedrive mode is enabled

Returns

Returns true if enabled; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Python function prototype

isFreedriveEnabled(self: pyaubo_sdk.RobotManage) -> bool

Lua function prototype

isFreedriveEnabled() -> boolean

Lua example

FreedriveEnabled = isFreedriveEnabled()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.isFreedriveEnabled","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":false}

C++ example

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

isHandguideEnabled()

bool arcs::common_interface::RobotManage::isHandguideEnabled

(

)

Get the hand-guiding enable status

Returns

Returns true if enabled; false if disabled

Exceptions

arcs::common_interface::AuboException

Lua function prototype

isHandguideEnabled() -> boolean

Lua example

Handguide = isHandguideEnabled()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.isHandguideEnabled","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":false}

isLinkModeEnabled()

bool arcs::common_interface::RobotManage::isLinkModeEnabled

(

)

Whether the link mode is enabled.

In link mode, users can control the robot via external IO (users can configure the IO functions).

Returns

Returns true if enabled; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Python function prototype

isLinkModeEnabled(self: pyaubo_sdk.RobotManage) -> bool

Lua function prototype

isLinkModeEnabled() -> boolean

Lua example

LinkModeEnabled = isLinkModeEnabled()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.isLinkModeEnabled","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":false}

C++ example

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

isSimulationEnabled()

bool arcs::common_interface::RobotManage::isSimulationEnabled

(

)

Whether the simulation mode is enabled

Returns

Returns true if enabled; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Python function prototype

isSimulationEnabled(self: pyaubo_sdk.RobotManage) -> bool

Lua function prototype

isSimulationEnabled() -> boolean

Lua example

SimulationEnabled = isSimulationEnabled()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.isSimulationEnabled","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":true}

C++ example

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

lockRobotBrake()

int arcs::common_interface::RobotManage::lockRobotBrake

(

)

Initiate robot brake lock request

Returns

Returns 0 on success; error code on failure AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

lockRobotBrake(self: pyaubo_sdk.RobotManage) -> int

Lua function prototype

lockRobotBrake() -> number

Lua example

num = lockRobotBrake()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.lockRobotBrake","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

C++ example

auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->lockRobotBrake();

pauseRecord()

int arcs::common_interface::RobotManage::pauseRecord

(

bool

pause

)

Pause real-time recording

Parameters

pause

Returns

Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.pauseRecord","params":[true],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

poweroff()

int arcs::common_interface::RobotManage::poweroff

(

)

Initiate robot power-off request

Returns

Returns 0 on success; error code on failure AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

poweroff(self: pyaubo_sdk.RobotManage) -> int

Lua function prototype

poweroff() -> number

Lua example

num = poweroff()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.poweroff","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

C++ example

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

poweron()

int arcs::common_interface::RobotManage::poweron

(

)

Initiate robot power-on request

Returns

Returns 0 on success; error code on failure AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

poweron(self: pyaubo_sdk.RobotManage) -> int

Lua function prototype

poweron() -> number

Lua example

num = poweron()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.poweron","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

C++ example

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

releaseRobotBrake()

int arcs::common_interface::RobotManage::releaseRobotBrake

(

)

Initiate robot brake release request

Returns

Returns 0 on success; error code on failure AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

releaseRobotBrake(self: pyaubo_sdk.RobotManage) -> int

Lua function prototype

releaseRobotBrake() -> number

Lua example

num = releaseRobotBrake()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.releaseRobotBrake","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

C++ example

auto rpc_cli = std::make_shared<RpcClient>();
auto robot_name = rpc_cli->getRobotNames().front();
rpc_cli->getRobotInterface(robot_name)->getRobotManage()->releaseRobotBrake();

restartInterfaceBoard()

int arcs::common_interface::RobotManage::restartInterfaceBoard

(

)

Reset the safety interface board, usually called after the robot is powered off and needs to be reset, such as after emergency stop or fault.

Returns

Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

restartInterfaceBoard(self: pyaubo_sdk.RobotManage) -> int

Lua function prototype

restartInterfaceBoard() -> number

Lua example

num = restartInterfaceBoard()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.restartInterfaceBoard","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

C++ example

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

setLinkModeEnable()

int arcs::common_interface::RobotManage::setLinkModeEnable

(

bool

enable

)

Initiate robot enter/exit link mode request.

Link mode can only be enabled when the operation mode is Automatic or None.

Parameters

enable

Returns

Returns 0 on success; error code on failure AUBO_BUSY AUBO_REQUEST_IGNORE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

setLinkModeEnable(self: pyaubo_sdk.RobotManage, arg0: bool) -> int

Lua function prototype

setLinkModeEnable(enable: boolean) -> number

Lua example

num = setLinkModeEnable(true)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.setLinkModeEnable","params":[true],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

C++ example

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

setOperationalMode()

int arcs::common_interface::RobotManage::setOperationalMode

(

OperationalModeType

mode

)

Set the robot operational mode

Parameters

mode	Operational mode

Returns

Returns 0 on success; error code on failure -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

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

Lua function prototype

setOperationalMode(mode: number) -> number

Lua example

num = setOperationalMode("Manual")

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.setOperationalMode","params":["Manual"],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

C++ example

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

setSim()

int arcs::common_interface::RobotManage::setSim

(

bool

enable

)

Initiate robot enter/exit simulation mode request

Parameters

enable

Returns

Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

setSim(self: pyaubo_sdk.RobotManage, arg0: bool) -> int

Lua function prototype

setSim(enable: boolean) -> number

Lua example

num = setSim(true)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.setSim","params":[true],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

C++ example

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

setUnlockProtectiveStop()

int arcs::common_interface::RobotManage::setUnlockProtectiveStop

(

)

Clear protective stop, including collision stop

Returns

Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

setUnlockProtectiveStop(self: pyaubo_sdk.RobotManage) -> int

Lua function prototype

setUnlockProtectiveStop() -> number

Lua example

num = setUnlockProtectiveStop()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.setUnlockProtectiveStop","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

C++ example

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

startRecord()

int arcs::common_interface::RobotManage::startRecord

(

const std::string &

file_name

)

Start real-time trajectory recording

Parameters

file_name

Returns

Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Lua function prototype

startRecord(fiel_name: string) -> nil

Lua example

startRecord("traje.csv")

startup()

int arcs::common_interface::RobotManage::startup

(

)

Initiate robot startup request

Returns

Returns 0 on success; error code on failure AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype

startup(self: pyaubo_sdk.RobotManage) -> int

Lua function prototype

startup() -> number

Lua example

num = startup()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.startup","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

C++ example

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

stopRecord()

int arcs::common_interface::RobotManage::stopRecord

(

)

Stop real-time recording

Returns

Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Lua function prototype

stopRecord() -> nil

Lua example

stopRecord()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.RobotManage.stopRecord","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0}

Member Data Documentation

d_

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

protected

Definition at line 1607 of file robot_manage.h.

---

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

• include/aubo/robot/robot_manage.h