AuboApi (主入口)

AuboApi. More...

Functions
MathPtr	arcs::common_interface::AuboApi::getMath ()
	Math (数学工具) Get pure mathematic related API
SystemInfoPtr	arcs::common_interface::AuboApi::getSystemInfo ()
	SystemInfo (系统信息) Get system info
RuntimeMachinePtr	arcs::common_interface::AuboApi::getRuntimeMachine ()
	RuntimeMachine (运行时管理) Get runtime api
RegisterControlPtr	arcs::common_interface::AuboApi::getRegisterControl ()
	RegisterControl (寄存器操作) External registers api
std::vector< std::string >	arcs::common_interface::AuboApi::getRobotNames ()
	Get robot list
RobotInterfacePtr	arcs::common_interface::AuboApi::getRobotInterface (const std::string &name)
	RobotInterface(机器人模块) Get RobotInterfacePtr based on name
std::vector< std::string >	arcs::common_interface::AuboApi::getAxisNames ()
	Get external axis list.
AxisInterfacePtr	arcs::common_interface::AuboApi::getAxisInterface (const std::string &name)
	AxisInterface (外部轴) Get external axis interface
SocketPtr	arcs::common_interface::AuboApi::getSocket ()
	Socket (socket网络通信) Get socket
SerialPtr	arcs::common_interface::AuboApi::getSerial ()
	Serial (串口通信)
SyncMovePtr	arcs::common_interface::AuboApi::getSyncMove (const std::string &name)
	SyncMove (同步运动控制和轴组管理) Get syncronous move interface
TracePtr	arcs::common_interface::AuboApi::getTrace (const std::string &name)
	Trace (日志与弹窗) Get alert interface
GripperInterfacePtr	arcs::common_interface::AuboApi::getGripperInterface ()
	GripperInterface (夹爪) Get gripper interface

Detailed Description

AuboApi.

Function Documentation

getAxisInterface()

AxisInterfacePtr arcs::common_interface::AuboApi::getAxisInterface

(

const std::string &

name

)

AxisInterface (外部轴) Get external axis interface

Parameters

name

Returns

getAxisNames()

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

(

)

Get external axis list.

Returns

getGripperInterface()

GripperInterfacePtr arcs::common_interface::AuboApi::getGripperInterface

(

)

GripperInterface (夹爪) Get gripper interface

Returns

Shared pointer of gripper object

getMath()

MathPtr arcs::common_interface::AuboApi::getMath

(

)

Math (数学工具) 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();

getRegisterControl()

RegisterControlPtr arcs::common_interface::AuboApi::getRegisterControl

(

)

RegisterControl (寄存器操作) 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();

getRobotInterface()

RobotInterfacePtr arcs::common_interface::AuboApi::getRobotInterface

(

const std::string &

name

)

RobotInterface(机器人模块) 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);

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

(

)

RuntimeMachine (运行时管理) 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();

getSerial()

SerialPtr arcs::common_interface::AuboApi::getSerial

(

)

Serial (串口通信)

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();

getSocket()

SocketPtr arcs::common_interface::AuboApi::getSocket

(

)

Socket (socket网络通信) 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();

getSyncMove()

SyncMovePtr arcs::common_interface::AuboApi::getSyncMove

(

const std::string &

name

)

SyncMove (同步运动控制和轴组管理) Get syncronous move interface

Returns

Shared pointer to SyncMove object

getSystemInfo()

SystemInfoPtr arcs::common_interface::AuboApi::getSystemInfo

(

)

SystemInfo (系统信息) 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();

getTrace()

TracePtr arcs::common_interface::AuboApi::getTrace

(

const std::string &

name

)

Trace (日志与弹窗) Get alert interface

Returns

Shared pointer of trace object