IoControl (IO输入输出控制)

The IoControl class provides a series of interfaces for configuring and reading the robot's standard digital and analog IO, as well as setting output states. More...

Collaboration diagram for IoControl (IO输入输出控制):

Functions
int	arcs::common_interface::IoControl::getStandardDigitalInputNum ()
	Get the number of standard digital inputs.
int	arcs::common_interface::IoControl::getToolDigitalInputNum ()
	Get the number of tool digital IOs (including digital inputs and outputs).
int	arcs::common_interface::IoControl::getConfigurableDigitalInputNum ()
	Get the number of configurable digital inputs.
int	arcs::common_interface::IoControl::getStandardDigitalOutputNum ()
	Get the number of standard digital outputs.
int	arcs::common_interface::IoControl::getToolDigitalOutputNum ()
	Get the number of tool digital IOs (including digital inputs and outputs).
int	arcs::common_interface::IoControl::setToolIoInput (int index, bool input)
	Set the specified tool digital IO as input or output.
bool	arcs::common_interface::IoControl::isToolIoInput (int index)
	Determine whether the specified tool digital IO is configured as input.
int	arcs::common_interface::IoControl::getConfigurableDigitalOutputNum ()
	Get the number of configurable digital outputs.
int	arcs::common_interface::IoControl::getStandardAnalogInputNum ()
	Get the number of standard analog inputs.
int	arcs::common_interface::IoControl::getToolAnalogInputNum ()
	Get the number of tool analog inputs.
int	arcs::common_interface::IoControl::getStandardAnalogOutputNum ()
	Get the number of standard analog outputs.
int	arcs::common_interface::IoControl::getToolAnalogOutputNum ()
	Get the number of tool analog outputs.
int	arcs::common_interface::IoControl::setDigitalInputActionDefault ()
	Set all digital input actions to no trigger.
int	arcs::common_interface::IoControl::setStandardDigitalInputAction (int index, StandardInputAction action)
	Set the trigger action for standard digital input.
int	arcs::common_interface::IoControl::setToolDigitalInputAction (int index, StandardInputAction action)
	Set the trigger action for tool digital input.
int	arcs::common_interface::IoControl::setConfigurableDigitalInputAction (int index, StandardInputAction action)
	Set the trigger action for configurable digital input.
StandardInputAction	arcs::common_interface::IoControl::getStandardDigitalInputAction (int index)
	Get the trigger action for standard digital input.
StandardInputAction	arcs::common_interface::IoControl::getToolDigitalInputAction (int index)
	Get the trigger action for tool digital input.
StandardInputAction	arcs::common_interface::IoControl::getConfigurableDigitalInputAction (int index)
	Get the trigger action for configurable digital input.
int	arcs::common_interface::IoControl::setDigitalOutputRunstateDefault ()
	Set all digital output runstates to None.
int	arcs::common_interface::IoControl::setStandardDigitalOutputRunstate (int index, StandardOutputRunState runstate)
	Set the runstate for standard digital output.
int	arcs::common_interface::IoControl::setToolDigitalOutputRunstate (int index, StandardOutputRunState runstate)
	Set the runstate for tool digital output.
int	arcs::common_interface::IoControl::setConfigurableDigitalOutputRunstate (int index, StandardOutputRunState runstate)
	Set the runstate for configurable digital output.
int	arcs::common_interface::IoControl::setDigitalOutputRunstate (int io_type, int index, StandardOutputRunState runstate, const std::string &object_name, double threshold)
	Set digital output runstate with optional condition checking based on waypoint, plane or obstacle thresholds.
StandardOutputRunState	arcs::common_interface::IoControl::getStandardDigitalOutputRunstate (int index)
	Get the runstate for standard digital output.
StandardOutputRunState	arcs::common_interface::IoControl::getToolDigitalOutputRunstate (int index)
	Get the runstate for tool digital output.
StandardOutputRunState	arcs::common_interface::IoControl::getConfigurableDigitalOutputRunstate (int index)
	Get the runstate for configurable digital output.
StandardOutputRunState	arcs::common_interface::IoControl::getDigitalOutputRunstate (int io_type, int index)
	Get the current runstate of a digital output of the specified type.
int	arcs::common_interface::IoControl::addCrossConnection (const std::string &id, int operator_type, int result_type, int result_pin, const std::vector< int > &actor_types, const std::vector< int > &actor_pins, const std::vector< bool > &actor_inverts)
	Add a DIO Cross Connection logic rule.
int	arcs::common_interface::IoControl::deleteCrossConnection (const std::string &id)
	Delete a DIO Cross Connection logic rule.
int	arcs::common_interface::IoControl::clearCrossConnections ()
	Clear all DIO Cross Connection logic rules.
int	arcs::common_interface::IoControl::setStandardAnalogOutputRunstate (int index, StandardOutputRunState runstate)
	Set the runstate for standard analog output.
int	arcs::common_interface::IoControl::setToolAnalogOutputRunstate (int index, StandardOutputRunState runstate)
	Set the runstate for tool analog output.
StandardOutputRunState	arcs::common_interface::IoControl::getStandardAnalogOutputRunstate (int index)
	Get the runstate for standard analog output.
StandardOutputRunState	arcs::common_interface::IoControl::getToolAnalogOutputRunstate (int index)
	Get the runstate for tool analog output.
int	arcs::common_interface::IoControl::setDigitalOutputAfterEStopDefault ()
	Set all digital output states after emergency stop to default(no change)
int	arcs::common_interface::IoControl::setAnalogOutputAfterEStopDefault ()
	Set all analog output states after emergency stop to default(no change)
int	arcs::common_interface::IoControl::setStandardDigitalOutputAfterEStop (int index, bool value)
	Set the value of a standard digital output after emergency stop
int	arcs::common_interface::IoControl::setConfigurableDigitalOutputAfterEStop (int index, bool value)
	Set the value of a configurable digital output after emergency stop
int	arcs::common_interface::IoControl::setStandardAnalogOutputAfterEStop (int index, double value)
	Set the value of standard analog output after emergency stop
int	arcs::common_interface::IoControl::setStandardAnalogInputDomain (int index, int domain)
	Set the range of standard analog input.
int	arcs::common_interface::IoControl::setToolAnalogInputDomain (int index, int domain)
	Set the range of tool analog input.
int	arcs::common_interface::IoControl::getStandardAnalogInputDomain (int index)
	Get the domain of standard analog input.
int	arcs::common_interface::IoControl::getToolAnalogInputDomain (int index)
	Get the domain of tool analog input.
int	arcs::common_interface::IoControl::setStandardAnalogOutputDomain (int index, int domain)
	Set the range of standard analog output.
int	arcs::common_interface::IoControl::setToolAnalogOutputDomain (int index, int domain)
	Set the range of tool analog output.
int	arcs::common_interface::IoControl::getStandardAnalogOutputDomain (int index)
	Get the domain of standard analog output.
int	arcs::common_interface::IoControl::getToolAnalogOutputDomain (int index)
	Get the domain of tool analog output.
int	arcs::common_interface::IoControl::setToolVoltageOutputDomain (int domain)
	Set the tool voltage output value (unit: V)
int	arcs::common_interface::IoControl::getToolVoltageOutputDomain ()
	Get the tool voltage output value (unit: V)
int	arcs::common_interface::IoControl::setStandardDigitalOutput (int index, bool value)
	Set the value of a standard digital output.
int	arcs::common_interface::IoControl::addGroupOutput (const std::string &name, int io_type, const std::vector< int > &indexes)
	Register a grouped digital output.
int	arcs::common_interface::IoControl::deleteGroupOutput (const std::string &name)
	Delete a grouped digital output.
int	arcs::common_interface::IoControl::setGroupOutput (const std::string &name, uint32_t value)
	Set the grouped digital output value.
int	arcs::common_interface::IoControl::setStandardDigitalOutputPulse (int index, bool value, double duration)
	Set digital output pulse.
int	arcs::common_interface::IoControl::setToolDigitalOutput (int index, bool value)
	Set the value of tool digital output.
int	arcs::common_interface::IoControl::setToolDigitalOutputPulse (int index, bool value, double duration)
	Set tool digital output pulse.
int	arcs::common_interface::IoControl::setConfigurableDigitalOutput (int index, bool value)
	Set the value of configurable digital output.
int	arcs::common_interface::IoControl::setConfigurableDigitalOutputPulse (int index, bool value, double duration)
	Set configurable digital output pulse.
int	arcs::common_interface::IoControl::setStandardAnalogOutput (int index, double value)
	Set the value of standard analog output.
int	arcs::common_interface::IoControl::setToolAnalogOutput (int index, double value)
	Set the value of tool analog output.
bool	arcs::common_interface::IoControl::getStandardDigitalInput (int index)
	Get the value of a standard digital input.
uint32_t	arcs::common_interface::IoControl::getStandardDigitalInputs ()
	Get all standard digital input values.
int	arcs::common_interface::IoControl::addGroupInput (const std::string &name, int io_type, const std::vector< int > &indexes)
	Register a grouped digital input.
int	arcs::common_interface::IoControl::deleteGroupInput (const std::string &name)
	Delete a grouped digital input.
uint32_t	arcs::common_interface::IoControl::getGroupInput (const std::string &name)
	Get the grouped digital input value.
bool	arcs::common_interface::IoControl::getToolDigitalInput (int index)
	Get the value of tool digital input.
uint32_t	arcs::common_interface::IoControl::getToolDigitalInputs ()
	Get all tool digital input values.
bool	arcs::common_interface::IoControl::getConfigurableDigitalInput (int index)
	Get the value of configurable digital input.
uint32_t	arcs::common_interface::IoControl::getConfigurableDigitalInputs ()
	Get all configurable digital input values.
bool	arcs::common_interface::IoControl::getStandardDigitalOutput (int index)
	Get the value of a standard digital output.
uint32_t	arcs::common_interface::IoControl::getStandardDigitalOutputs ()
	Get all standard digital output values.
uint32_t	arcs::common_interface::IoControl::getGroupOutput (const std::string &name)
	Get the grouped digital output value.
bool	arcs::common_interface::IoControl::getToolDigitalOutput (int index)
	Get the value of tool digital output.
uint32_t	arcs::common_interface::IoControl::getToolDigitalOutputs ()
	Get all tool digital output values.
bool	arcs::common_interface::IoControl::getConfigurableDigitalOutput (int index)
	Get the value of configurable digital output.
uint32_t	arcs::common_interface::IoControl::getConfigurableDigitalOutputs ()
	Get all configurable digital output values.
double	arcs::common_interface::IoControl::getStandardAnalogInput (int index)
	Get the value of standard analog input.
double	arcs::common_interface::IoControl::getToolAnalogInput (int index)
	Get the value of tool analog input.
double	arcs::common_interface::IoControl::getStandardAnalogOutput (int index)
	Get the value of standard analog output.
double	arcs::common_interface::IoControl::getToolAnalogOutput (int index)
	Get the value of tool analog output.
int	arcs::common_interface::IoControl::getStaticLinkInputNum ()
	Get the number of static link inputs.
int	arcs::common_interface::IoControl::getStaticLinkOutputNum ()
	Get the number of static link outputs.
uint32_t	arcs::common_interface::IoControl::getStaticLinkInputs ()
	Get all static link input values.
uint32_t	arcs::common_interface::IoControl::getStaticLinkOutputs ()
	Get all static link output values.
bool	arcs::common_interface::IoControl::hasEncoderSensor ()
	Whether the robot is equipped with an encoder.
int	arcs::common_interface::IoControl::setEncDecoderType (int type, int range_id)
	Set the decoding method of the integrated encoder.
int	arcs::common_interface::IoControl::setEncTickCount (int tick)
	Set the tick count of the integrated encoder.
int	arcs::common_interface::IoControl::getEncDecoderType ()
	Get the decoder type of the encoder.
int	arcs::common_interface::IoControl::getEncTickCount ()
	Get the tick count
int	arcs::common_interface::IoControl::unwindEncDeltaTickCount (int delta_count)
	Prevent counting errors when the count exceeds the range
bool	arcs::common_interface::IoControl::getToolButtonStatus ()
	Get the status of the tool button.
uint32_t	arcs::common_interface::IoControl::getHandleIoStatus ()
	Get the status of handle buttons.
int	arcs::common_interface::IoControl::getHandleType ()
	Get the handle type.

Detailed Description

The IoControl class provides a series of interfaces for configuring and reading the robot's standard digital and analog IO, as well as setting output states.

1. Get the number of various IOs
   
2. Configure IO input/output functions
   
3. Configuration of configurable IOs
   
4. Set and read the input/output range of analog IOs

Standard digital input/output: Standard IOs on the control cabinet IO panel
Tool digital input/output: Digital IOs exposed via the tool-end connector
Configurable input/output: Can be configured as safety IO or general digital IO

Function Documentation

addCrossConnection()

int arcs::common_interface::IoControl::addCrossConnection	(	const std::string &	id,
		int	operator_type,
		int	result_type,
		int	result_pin,
		const std::vector< int > &	actor_types,
		const std::vector< int > &	actor_pins,
		const std::vector< bool > &	actor_inverts )

Add a DIO Cross Connection logic rule.

Supports digital/bool DIO signals and virtual DO signals. The rule takes effect immediately after it is added successfully. DI signals may only be read as actors and cannot be written as results. actor_inverts tells the controller whether to invert each actor's raw bool value before evaluating the rule; it does not change the hardware IO direction.

result_type and actor_types use the same numeric type set. As a result, the value denotes the output side; as an actor, it denotes the input side or a readable virtual DO:

• 0: Standard digital IO. result means standard DO, actor means standard DI.
• 1: Tool digital IO. result means tool DO, actor means tool DI.
• 2: Configurable digital IO. result means configurable DO, actor means configurable DI.
• 3: Virtual DO. It does not occupy a real DO pin and can be used as an intermediate result for cascaded rules. As a result it writes the virtual DO; as an actor it reads the virtual DO.

operator_type is interpreted by the controller implementation; the recommended mapping is 0=FWD, 1=NOT, 2=AND, 3=OR. FWD/NOT require exactly one actor, and AND/OR require 2 to 5 actors. actor_types, actor_pins, and actor_inverts must have the same length.

Limits:

• Up to 300 Cross Connection rules are allowed.
• A rule id can contain up to 32 characters and must be unique.
• Virtual DO cascade depth is limited to 20.
• Cyclic dependencies are not allowed.
• Multiple rules cannot write the same result, including real DO and virtual DO results.
• A virtual DO actor must be produced by an earlier rule; reading an undefined virtual DO should fail.
• A virtual DO pin/index only needs to be non-negative and does not occupy a real DO pin.
• A real DO written by Cross Connection should not also have a runstate configured. Later manual set/pulse calls to that DO should be rejected with a message that names the owning Cross Connection.

Parameters

id	Unique rule ID
operator_type	Logic operator type
result_type	Result signal type; must be writable output type or virtual DO
result_pin	Result signal pin/index; virtual DO uses virtual signal index
actor_types	Actor signal type list; may read DI or virtual DO
actor_pins	Actor signal pin/index list; virtual DO uses virtual signal index
actor_inverts	Actor polarity list

Returns

Returns 0 on success, non-zero error code on failure.

Exceptions

arcs::common_interface::AuboException

Python function prototype

addCrossConnection(self: pyaubo_sdk.IoControl, arg0: str, arg1: int, arg2: int, arg3: int, arg4: List[int], arg5: List[int], arg6: List[bool]) -> int

Lua function prototype

addCrossConnection(id: string, operator_type: number, result_type: number, result_pin: number, actor_types: table, actor_pins: table, actor_inverts: table) -> number

Lua example

addCrossConnection("start_permit", 2, 0, 0, {0, 0}, {3, 4}, {false, true})

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.addCrossConnection","params":["start_permit",2,0,0,[0,0],[3,4],[false,true]],"id":1}

JSON-RPC virtual DO cascade example

First generate the intermediate signal VirtualDO[0] = DI[0] AND NOT DI[1], then drive DO[0] = VirtualDO[0] OR DI[2]: {"jsonrpc":"2.0","method":"rob1.IoControl.clearCrossConnections","params":[],"id":10} {"jsonrpc":"2.0","method":"rob1.IoControl.addCrossConnection","params":["v0_di0_and_not_di1",2,3,0,[0,0],[0,1],[false,true]],"id":11} {"jsonrpc":"2.0","method":"rob1.IoControl.addCrossConnection","params":["v0_or_di2_to_do0",3,0,0,[3,0],[0,2],[false,false]],"id":12}

JSON-RPC response example

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

addGroupInput()

int arcs::common_interface::IoControl::addGroupInput	(	const std::string &	name,
		int	io_type,
		const std::vector< int > &	indexes )

Register a grouped digital input.

Registers a named digital input group. indexes[0] maps to bit0, indexes[1] maps to bit1, and so on.

Parameters

name	Group name.
io_type	IO type. 0 means Standard, 1 means Tool, and 2 means Configurable.
indexes	Index list of digital inputs in the group.

Returns

Returns 0 on success; error code on failure.

Exceptions

arcs::common_interface::AuboException

Python function prototype

addGroupInput(self: pyaubo_sdk.IoControl, arg0: str, arg1: int, arg2: List[int]) -> int

Lua function prototype

addGroupInput(name: string, io_type: number, indexes: table) -> nil

Lua example

addGroupInput("gi_state", 0, {0,1,2,3})

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.addGroupInput","params":["gi_state",0,[0,1,2,3]],"id":1}

JSON-RPC response example

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

addGroupOutput()

int arcs::common_interface::IoControl::addGroupOutput	(	const std::string &	name,
		int	io_type,
		const std::vector< int > &	indexes )

Register a grouped digital output.

Registers a named digital output group. indexes[0] maps to bit0, indexes[1] maps to bit1, and so on.

Parameters

name	Group name.
io_type	IO type. 0 means Standard, 1 means Tool, and 2 means Configurable.
indexes	Index list of digital outputs in the group.

Returns

Returns 0 on success; error code on failure.

Exceptions

arcs::common_interface::AuboException

Python function prototype

addGroupOutput(self: pyaubo_sdk.IoControl, arg0: str, arg1: int, arg2: List[int]) -> int

Lua function prototype

addGroupOutput(name: string, io_type: number, indexes: table) -> nil

Lua example

addGroupOutput("go_state", 0, {4,5,6,7})

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.addGroupOutput","params":["go_state",0,[4,5,6,7]],"id":1}

JSON-RPC response example

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

clearCrossConnections()

int arcs::common_interface::IoControl::clearCrossConnections

(

)

Clear all DIO Cross Connection logic rules.

This only clears rules. It does not clear or reset real digital output values.

Returns

Returns 0 on success, non-zero error code on failure.

Exceptions

arcs::common_interface::AuboException

Python function prototype

clearCrossConnections(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

clearCrossConnections() -> number

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.clearCrossConnections","params":[],"id":1}

JSON-RPC response example

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

deleteCrossConnection()

int arcs::common_interface::IoControl::deleteCrossConnection

(

const std::string &

id

)

Delete a DIO Cross Connection logic rule.

Parameters

id	Unique rule ID

Returns

Returns 0 on success, non-zero error code on failure.

Exceptions

arcs::common_interface::AuboException

Python function prototype

deleteCrossConnection(self: pyaubo_sdk.IoControl, arg0: str) -> int

Lua function prototype

deleteCrossConnection(id: string) -> number

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.deleteCrossConnection","params":["start_permit"],"id":1}

JSON-RPC response example

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

deleteGroupInput()

int arcs::common_interface::IoControl::deleteGroupInput

(

const std::string &

name

)

Delete a grouped digital input.

Parameters

name	Group name.

Returns

Returns 0 on success; error code on failure.

Exceptions

arcs::common_interface::AuboException

Python function prototype

deleteGroupInput(self: pyaubo_sdk.IoControl, arg0: str) -> int

Lua function prototype

deleteGroupInput(name: string) -> nil

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.deleteGroupInput","params":["gi_state"],"id":1}

JSON-RPC response example

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

deleteGroupOutput()

int arcs::common_interface::IoControl::deleteGroupOutput

(

const std::string &

name

)

Delete a grouped digital output.

Parameters

name	Group name.

Returns

Returns 0 on success; error code on failure.

Exceptions

arcs::common_interface::AuboException

Python function prototype

deleteGroupOutput(self: pyaubo_sdk.IoControl, arg0: str) -> int

Lua function prototype

deleteGroupOutput(name: string) -> nil

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.deleteGroupOutput","params":["go_state"],"id":1}

JSON-RPC response example

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

getConfigurableDigitalInput()

bool arcs::common_interface::IoControl::getConfigurableDigitalInput

(

int

index

)

Get the value of configurable digital input.

Note

Can be used to get the value of safety IO.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Returns true for high level; false for low level.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getConfigurableDigitalInput(self: pyaubo_sdk.IoControl, arg0: int) -> bool

Lua function prototype

getConfigurableDigitalInput(index: number) -> boolean

Lua example

status = getConfigurableDigitalInput(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalInput","params":[0],"id":1}

JSON-RPC response example

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

getConfigurableDigitalInputAction()

StandardInputAction arcs::common_interface::IoControl::getConfigurableDigitalInputAction

(

int

index

)

Get the trigger action for configurable digital input.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Returns the input trigger action.

Python function prototype

getConfigurableDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int) -> arcs::common_interface::StandardInputAction

Lua function prototype

getConfigurableDigitalInputAction(index: number) -> number

Lua example

num = getConfigurableDigitalInputAction(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalInputAction","params":[0],"id":1}

JSON-RPC response example

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

getConfigurableDigitalInputNum()

int arcs::common_interface::IoControl::getConfigurableDigitalInputNum

(

)

Get the number of configurable digital inputs.

Returns

Number of configurable digital inputs.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getConfigurableDigitalInputNum(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getConfigurableDigitalInputNum() -> number

Lua example

num = getConfigurableDigitalInputNum()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalInputNum","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":16}

getConfigurableDigitalInputs()

uint32_t arcs::common_interface::IoControl::getConfigurableDigitalInputs

(

)

Get all configurable digital input values.

Note

Can be used to get the value of safety IO.

Returns

All configurable digital input values.
For example, if the return value is 2863267846, its binary representation is 10101010101010100000000000000110. The lower 16 bits represent the status of all input pins, the least significant bit indicates the input status of pin 0, the second least significant bit indicates pin 1, and so on.
1 means high level, 0 means low level.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getConfigurableDigitalInputs(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getConfigurableDigitalInputs() -> number

Lua example

num = getConfigurableDigitalInputs()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalInputs","params":[],"id":1}

JSON-RPC response example

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

getConfigurableDigitalOutput()

bool arcs::common_interface::IoControl::getConfigurableDigitalOutput

(

int

index

)

Get the value of configurable digital output.

Note

Can be used to get the value of safety IO.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Returns true for high level; false for low level.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getConfigurableDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int) -> bool

Lua function prototype

getConfigurableDigitalOutput(index: number) -> boolean

Lua example

status = getConfigurableDigitalOutput(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalOutput","params":[0],"id":1}

JSON-RPC response example

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

getConfigurableDigitalOutputNum()

int arcs::common_interface::IoControl::getConfigurableDigitalOutputNum

(

)

Get the number of configurable digital outputs.

Returns

Number of configurable digital outputs.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getConfigurableDigitalOutputNum(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getConfigurableDigitalOutputNum() -> number

Lua example

num = getConfigurableDigitalOutputNum()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalOutputNum","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":16}

getConfigurableDigitalOutputRunstate()

StandardOutputRunState arcs::common_interface::IoControl::getConfigurableDigitalOutputRunstate

(

int

index

)

Get the runstate for configurable digital output.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Output runstate selection

Exceptions

arcs::common_interface::AuboException

Python function prototype

getConfigurableDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int) -> arcs::common_interface::StandardOutputRunState

Lua function prototype

getConfigurableDigitalOutputRunstate(index: number) -> number

Lua example

num = getConfigurableDigitalOutputRunstate(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalOutputRunstate","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":"None"}

getConfigurableDigitalOutputs()

uint32_t arcs::common_interface::IoControl::getConfigurableDigitalOutputs

(

)

Get all configurable digital output values.

Note

Can be used to get the value of safety IO.

Returns

All configurable digital output values.
For example, if the return value is 2863267846, its binary representation is 10101010101010100000000000000110. The lower 16 bits represent the status of all output pins, the least significant bit indicates the output status of pin 0, the second least significant bit indicates pin 1, and so on.
1 means high level, 0 means low level.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getConfigurableDigitalOutputs(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getConfigurableDigitalOutputs() -> number

Lua example

num = getConfigurableDigitalOutputs()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getConfigurableDigitalOutputs","params":[],"id":1}

JSON-RPC response example

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

getDigitalOutputRunstate()

StandardOutputRunState arcs::common_interface::IoControl::getDigitalOutputRunstate	(	int	io_type,
		int	index )

Get the current runstate of a digital output of the specified type.

Use this API to query the runstate selection (for example None, Handguiding, WaypointArrived) of different digital output types (standard, tool, configurable).

Parameters

io_type	Numeric IO type (0=standard, 1=tool, 2=configurable)
index	IO pin index starting from 0

Returns

Returns the corresponding StandardOutputRunState enum value

Exceptions

arcs::common_interface::AuboException

getEncDecoderType()

int arcs::common_interface::IoControl::getEncDecoderType

(

)

Get the decoder type of the encoder.

Returns

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

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getEncDecoderType","params":[],"id":1}

JSON-RPC response example

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

getEncTickCount()

int arcs::common_interface::IoControl::getEncTickCount

(

)

Get the tick count

Returns

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

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getEncTickCount","params":[],"id":1}

JSON-RPC response example

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

getGroupInput()

uint32_t arcs::common_interface::IoControl::getGroupInput

(

const std::string &

name

)

Get the grouped digital input value.

Looks up the named grouped digital input, reads the group's members, and combines them into an integer value.

Parameters

name	Group name.

Returns

Returns the combined grouped digital input value.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getGroupInput(self: pyaubo_sdk.IoControl, arg0: str) -> int

Lua function prototype

getGroupInput(name: string) -> number

Lua example

value = getGroupInput("gi_state")

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getGroupInput","params":["gi_state"],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":13}

getGroupOutput()

uint32_t arcs::common_interface::IoControl::getGroupOutput

(

const std::string &

name

)

Get the grouped digital output value.

Looks up the named grouped digital output, reads the group's members, and combines them into an integer value.

Parameters

name	Group name.

Returns

Returns the combined grouped digital output value.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getGroupOutput(self: pyaubo_sdk.IoControl, arg0: str) -> int

Lua function prototype

getGroupOutput(name: string) -> number

Lua example

value = getGroupOutput("go_state")

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getGroupOutput","params":["go_state"],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":13}

getHandleIoStatus()

uint32_t arcs::common_interface::IoControl::getHandleIoStatus

(

)

Get the status of handle buttons.

Note

Get the status of handle buttons.

Returns

All handle button input values.
For example, if the return value is 2863267846, its binary representation is 10101010101010100000000000000110. The lower 16 bits represent the status of all input pins, the least significant bit indicates the input status of pin 0, the second least significant bit indicates pin 1, and so on.
1 means high level, 0 means low level.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getHandleIoStatus(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getHandleIoStatus() -> number

Lua example

num = getHandleIoStatus()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getHandleIoStatus","params":[],"id":1}

JSON-RPC response example

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

getHandleType()

int arcs::common_interface::IoControl::getHandleType

(

)

Get the handle type.

Returns

type

Exceptions

arcs::common_interface::AuboException

Python function prototype

getHandleType() -> int

Lua function prototype

getHandleType() -> int

Lua example

int_num = getHandleType()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getHandleType","params":[],"id":1}

JSON-RPC response example

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

getStandardAnalogInput()

double arcs::common_interface::IoControl::getStandardAnalogInput

(

int

index

)

Get the value of standard analog input.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Standard analog input value.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStandardAnalogInput(self: pyaubo_sdk.IoControl, arg0: int) -> float

Lua function prototype

getStandardAnalogInput(index: number) -> number

Lua example

getStandardAnalogInput(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogInput","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0.0}

getStandardAnalogInputDomain()

int arcs::common_interface::IoControl::getStandardAnalogInputDomain

(

int

index

)

Get the domain of standard analog input.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Standard analog input domain

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStandardAnalogInputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int

Lua function prototype

getStandardAnalogInputDomain(index: number) -> number

Lua example

num = getStandardAnalogInputDomain(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogInputDomain","params":[0],"id":1}

JSON-RPC response example

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

getStandardAnalogInputNum()

int arcs::common_interface::IoControl::getStandardAnalogInputNum

(

)

Get the number of standard analog inputs.

Returns

Number of standard analog inputs.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStandardAnalogInputNum(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getStandardAnalogInputNum() -> number

Lua example

num = getStandardAnalogInputNum()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogInputNum","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":2}

getStandardAnalogOutput()

double arcs::common_interface::IoControl::getStandardAnalogOutput

(

int

index

)

Get the value of standard analog output.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Standard analog output value.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStandardAnalogOutput(self: pyaubo_sdk.IoControl, arg0: int) -> float

Lua function prototype

getStandardAnalogOutput(index: number) -> number

Lua example

num = getStandardAnalogOutput(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogOutput","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0.0}

getStandardAnalogOutputDomain()

int arcs::common_interface::IoControl::getStandardAnalogOutputDomain

(

int

index

)

Get the domain of standard analog output.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Standard analog output domain

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStandardAnalogOutputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int

Lua function prototype

getStandardAnalogOutputDomain(index: number) -> number

Lua example

num = getStandardAnalogOutputDomain(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogOutputDomain","params":[0],"id":1}

JSON-RPC response example

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

getStandardAnalogOutputNum()

int arcs::common_interface::IoControl::getStandardAnalogOutputNum

(

)

Get the number of standard analog outputs.

Returns

Number of standard analog outputs.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStandardAnalogOutputNum(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getStandardAnalogOutputNum() -> number

Lua example

num = getStandardAnalogOutputNum()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogOutputNum","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":2}

getStandardAnalogOutputRunstate()

StandardOutputRunState arcs::common_interface::IoControl::getStandardAnalogOutputRunstate

(

int

index

)

Get the runstate for standard analog output.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Standard analog output runstate selection

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStandardAnalogOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int) -> arcs::common_interface::StandardOutputRunState

Lua function prototype

getStandardAnalogOutputRunstate(index: number) -> number

Lua example

num = getStandardAnalogOutputRunstate(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardAnalogOutputRunstate","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":"None"}

getStandardDigitalInput()

bool arcs::common_interface::IoControl::getStandardDigitalInput

(

int

index

)

Get the value of a standard digital input.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Returns true for high level; false for low level.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStandardDigitalInput(self: pyaubo_sdk.IoControl, arg0: int) -> bool

Lua function prototype

getStandardDigitalInput(index: number) -> boolean

Lua example

status = getStandardDigitalInput(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalInput","params":[0],"id":1}

JSON-RPC response example

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

getStandardDigitalInputAction()

StandardInputAction arcs::common_interface::IoControl::getStandardDigitalInputAction

(

int

index

)

Get the trigger action for standard digital input.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Standard digital input trigger action

Python function prototype

getStandardDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int) -> arcs::common_interface::StandardInputAction

Lua function prototype

getStandardDigitalInputAction(index: number) -> number

Lua example

num = getStandardDigitalInputAction(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalInputAction","params":[0],"id":1}

JSON-RPC response example

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

getStandardDigitalInputNum()

int arcs::common_interface::IoControl::getStandardDigitalInputNum

(

)

Get the number of standard digital inputs.

Returns

Number of standard digital inputs.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStandardDigitalInputNum(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getStandardDigitalInputNum() -> number

Lua example

num = getStandardDigitalInputNum()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalInputNum","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":16}

getStandardDigitalInputs()

uint32_t arcs::common_interface::IoControl::getStandardDigitalInputs

(

)

Get all standard digital input values.

Returns

All standard digital input values.
For example, if the return value is 2863267846, its binary representation is 10101010101010100000000000000110. The lower 16 bits represent the status of all standard digital inputs, the least significant bit indicates the input status of DI00, the second least significant bit indicates DI01, and so on.
1 means high level, 0 means low level.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStandardDigitalInputs(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getStandardDigitalInputs() -> number

Lua example

num = getStandardDigitalInputs()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalInputs","params":[],"id":1}

JSON-RPC response example

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

getStandardDigitalOutput()

bool arcs::common_interface::IoControl::getStandardDigitalOutput

(

int

index

)

Get the value of a standard digital output.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Returns true for high level; false for low level.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStandardDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int) -> bool

Lua function prototype

getStandardDigitalOutput(index: number) -> boolean

Lua example

status = getStandardDigitalOutput(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalOutput","params":[0],"id":1}

JSON-RPC response example

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

getStandardDigitalOutputNum()

int arcs::common_interface::IoControl::getStandardDigitalOutputNum

(

)

Get the number of standard digital outputs.

Returns

Number of standard digital outputs.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStandardDigitalOutputNum(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getStandardDigitalOutputNum() -> number

Lua example

num = getStandardDigitalOutputNum()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalOutputNum","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":8}

getStandardDigitalOutputRunstate()

StandardOutputRunState arcs::common_interface::IoControl::getStandardDigitalOutputRunstate

(

int

index

)

Get the runstate for standard digital output.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Output runstate selection

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStandardDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int) -> arcs::common_interface::StandardOutputRunState

Lua function prototype

getStandardDigitalOutputRunstate(index: number) -> number

Lua example

num = getStandardDigitalOutputRunstate(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalOutputRunstate","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":"None"}

getStandardDigitalOutputs()

uint32_t arcs::common_interface::IoControl::getStandardDigitalOutputs

(

)

Get all standard digital output values.

Returns

All standard digital output values.
For example, if the return value is 2863267846, its binary representation is 10101010101010100000000000000110. The lower 16 bits represent the status of all standard digital outputs, the least significant bit indicates the output status of DO00, the second least significant bit indicates DO01, and so on.
1 means high level, 0 means low level.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStandardDigitalOutputs(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getStandardDigitalOutputs() -> number

Lua example

num = getStandardDigitalOutputs()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStandardDigitalOutputs","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":69}

getStaticLinkInputNum()

int arcs::common_interface::IoControl::getStaticLinkInputNum

(

)

Get the number of static link inputs.

Returns

Number of static link inputs.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStaticLinkInputNum(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getStaticLinkInputNum() -> number

Lua example

num = getStaticLinkInputNum()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStaticLinkInputNum","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":8}

getStaticLinkInputs()

uint32_t arcs::common_interface::IoControl::getStaticLinkInputs

(

)

Get all static link input values.

Returns

All static link input values.
For example, if the return value is 2863267846, its binary representation is 10101010101010100000000000000110. The lower 16 bits represent the status of all static link inputs, the least significant bit indicates the input status of pin 0, the second least significant bit indicates pin 1, and so on.
1 means high level, 0 means low level.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStaticLinkInputs(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getStaticLinkInputs() -> number

Lua example

num = getStaticLinkInputs()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStaticLinkInputs","params":[],"id":1}

JSON-RPC response example

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

getStaticLinkOutputNum()

int arcs::common_interface::IoControl::getStaticLinkOutputNum

(

)

Get the number of static link outputs.

Returns

Number of static link outputs.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStaticLinkOutputNum(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getStaticLinkOutputNum() -> number

Lua example

num = getStaticLinkOutputNum()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStaticLinkOutputNum","params":[],"id":1}

JSON-RPC response example

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

getStaticLinkOutputs()

uint32_t arcs::common_interface::IoControl::getStaticLinkOutputs

(

)

Get all static link output values.

Returns

Returns all static link output values.
For example, if the return value is 2863267846, its binary representation is 10101010101010100000000000000110. The lower 16 bits represent the status of all static link outputs, the least significant bit indicates the output status of pin 0, the second least significant bit indicates pin 1, and so on.
1 means high level, 0 means low level.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getStaticLinkOutputs(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getStaticLinkOutputs() -> number

Lua example

num = getStaticLinkOutputs()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getStaticLinkOutputs","params":[],"id":1}

JSON-RPC response example

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

getToolAnalogInput()

double arcs::common_interface::IoControl::getToolAnalogInput

(

int

index

)

Get the value of tool analog input.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Tool analog input value.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolAnalogInput(self: pyaubo_sdk.IoControl, arg0: int) -> float

Lua function prototype

getToolAnalogInput(index: number) -> number

Lua example

num = getToolAnalogInput(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogInput","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0.0}

getToolAnalogInputDomain()

int arcs::common_interface::IoControl::getToolAnalogInputDomain

(

int

index

)

Get the domain of tool analog input.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Tool analog input domain

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolAnalogInputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int

Lua function prototype

getToolAnalogInputDomain(index: number) -> number

Lua example

num = getToolAnalogInputDomain(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogInputDomain","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":10}

getToolAnalogInputNum()

int arcs::common_interface::IoControl::getToolAnalogInputNum

(

)

Get the number of tool analog inputs.

Returns

Number of tool analog inputs.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolAnalogInputNum(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getToolAnalogInputNum() -> number

Lua example

num = getToolAnalogInputNum()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogInputNum","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":2}

getToolAnalogOutput()

double arcs::common_interface::IoControl::getToolAnalogOutput

(

int

index

)

Get the value of tool analog output.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Tool analog output value.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolAnalogOutput(self: pyaubo_sdk.IoControl, arg0: int) -> float

Lua function prototype

getToolAnalogOutput(index: number) -> number

Lua example

num = getToolAnalogOutput(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogOutput","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":0.0}

getToolAnalogOutputDomain()

int arcs::common_interface::IoControl::getToolAnalogOutputDomain

(

int

index

)

Get the domain of tool analog output.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Tool analog output domain

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolAnalogOutputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int

Lua function prototype

getToolAnalogOutputDomain(index: number) -> number

Lua example

num = getToolAnalogOutputDomain(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogOutputDomain","params":[0],"id":1}

JSON-RPC response example

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

getToolAnalogOutputNum()

int arcs::common_interface::IoControl::getToolAnalogOutputNum

(

)

Get the number of tool analog outputs.

Returns

Number of tool analog outputs.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolAnalogOutputNum(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getToolAnalogOutputNum() -> number

Lua example

num = getToolAnalogOutputNum()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogOutputNum","params":[],"id":1}

JSON-RPC response example

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

getToolAnalogOutputRunstate()

StandardOutputRunState arcs::common_interface::IoControl::getToolAnalogOutputRunstate

(

int

index

)

Get the runstate for tool analog output.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Tool analog output runstate selection

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolAnalogOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int) -> arcs::common_interface::StandardOutputRunState

Lua function prototype

getToolAnalogOutputRunstate(index: number) -> number

Lua example

num = getToolAnalogOutputRunstate(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolAnalogOutputRunstate","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":"None"}

getToolButtonStatus()

bool arcs::common_interface::IoControl::getToolButtonStatus

(

)

Get the status of the tool button.

Returns

Returns true if pressed; otherwise false.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolButtonStatus() -> bool

Lua function prototype

getToolButtonStatus() -> boolean

Lua example

status = getToolButtonStatus()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolButtonStatus","params":[],"id":1}

JSON-RPC response example

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

getToolDigitalInput()

bool arcs::common_interface::IoControl::getToolDigitalInput

(

int

index

)

Get the value of tool digital input.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Returns true for high level; false for low level.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolDigitalInput(self: pyaubo_sdk.IoControl, arg0: int) -> bool

Lua function prototype

getToolDigitalInput(index: number) -> boolean

Lua example

status = getToolDigitalInput(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalInput","params":[0],"id":1}

JSON-RPC response example

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

getToolDigitalInputAction()

StandardInputAction arcs::common_interface::IoControl::getToolDigitalInputAction

(

int

index

)

Get the trigger action for tool digital input.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Tool digital input trigger action

Python function prototype

getToolDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int) -> arcs::common_interface::StandardInputAction

Lua function prototype

getToolDigitalInputAction(index: number) -> number

Lua example

getToolDigitalInputAction(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalInputAction","params":[0],"id":1}

JSON-RPC response example

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

getToolDigitalInputNum()

int arcs::common_interface::IoControl::getToolDigitalInputNum

(

)

Get the number of tool digital IOs (including digital inputs and outputs).

Returns

Number of tool digital IOs (including digital inputs and outputs).

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolDigitalInputNum(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getToolDigitalInputNum() -> number

Lua example

num = getStandardDigitalInputNum()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalInputNum","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":4}

getToolDigitalInputs()

uint32_t arcs::common_interface::IoControl::getToolDigitalInputs

(

)

Get all tool digital input values.

Returns

Returns all tool digital input values.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolDigitalInputs(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getToolDigitalInputs() -> number

Lua example

num = getToolDigitalInputs()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalInputs","params":[],"id":1}

JSON-RPC response example

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

getToolDigitalOutput()

bool arcs::common_interface::IoControl::getToolDigitalOutput

(

int

index

)

Get the value of tool digital output.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Returns true for high level; false for low level.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int) -> bool

Lua function prototype

getToolDigitalOutput(index: number) -> boolean

Lua example

status = getToolDigitalOutput(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalOutput","params":[0],"id":1}

JSON-RPC response example

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

getToolDigitalOutputNum()

int arcs::common_interface::IoControl::getToolDigitalOutputNum

(

)

Get the number of tool digital IOs (including digital inputs and outputs).

Returns

Number of tool digital IOs (including digital inputs and outputs).

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolDigitalOutputNum(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getToolDigitalOutputNum() -> number

Lua example

num = getToolDigitalOutputNum()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalOutputNum","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":4}

getToolDigitalOutputRunstate()

StandardOutputRunState arcs::common_interface::IoControl::getToolDigitalOutputRunstate

(

int

index

)

Get the runstate for tool digital output.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Output runstate selection

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int) -> arcs::common_interface::StandardOutputRunState

Lua function prototype

getToolDigitalOutputRunstate(index: number) -> number

Lua example

num = getToolDigitalOutputRunstate(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalOutputRunstate","params":[0],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":"None"}

getToolDigitalOutputs()

uint32_t arcs::common_interface::IoControl::getToolDigitalOutputs

(

)

Get all tool digital output values.

Returns

All tool digital output values.

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolDigitalOutputs(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getToolDigitalOutputs() -> number

Lua example

num = getToolDigitalOutputs()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolDigitalOutputs","params":[],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":9}

getToolVoltageOutputDomain()

int arcs::common_interface::IoControl::getToolVoltageOutputDomain

(

)

Get the tool voltage output value (unit: V)

Returns

Tool voltage output value (unit: V)

Exceptions

arcs::common_interface::AuboException

Python function prototype

getToolVoltageOutputDomain(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

getToolVoltageOutputDomain() -> number

Lua example

num = getToolVoltageOutputDomain()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.getToolVoltageOutputDomain","params":[],"id":1}

JSON-RPC response example

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

hasEncoderSensor()

bool arcs::common_interface::IoControl::hasEncoderSensor

(

)

Whether the robot is equipped with an encoder.

The integrated encoder number is 0.

Returns

Returns true if the robot is equipped with an encoder, otherwise false.

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.hasEncoderSensor","params":[],"id":1}

JSON-RPC response example

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

isToolIoInput()

bool arcs::common_interface::IoControl::isToolIoInput

(

int

index

)

Determine whether the specified tool digital IO is configured as input.

Parameters

index

Indicates the IO pin, starting from 0. For example, 0 means the first pin.

Returns

Returns true if the specified IO is input, otherwise false.

Exceptions

arcs::common_interface::AuboException

Python function prototype

isToolIoInput(self: pyaubo_sdk.IoControl, arg0: int) -> bool

Lua function prototype

isToolIoInput(index: number) -> boolean

Lua example

status = isToolIoInput(0)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.isToolIoInput","params":[0],"id":1}

JSON-RPC response example

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

setAnalogOutputAfterEStopDefault()

int arcs::common_interface::IoControl::setAnalogOutputAfterEStopDefault

(

)

Set all analog output states after emergency stop to default(no change)

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

setAnalogOutputAfterEStopDefault(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

setAnalogOutputAfterEStopDefault() -> nil

Lua example

setAnalogOutputAfterEStopDefault()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setAnalogOutputAfterEStopDefault","params":[],"id":1}

JSON-RPC response example

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

setConfigurableDigitalInputAction()

int arcs::common_interface::IoControl::setConfigurableDigitalInputAction	(	int	index,
		StandardInputAction	action )

Set the trigger action for configurable digital input.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
action	Trigger action

Returns

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

Exceptions

arcs::common_interface::AuboException

Note

This function takes effect only when the safety input action of the configurable input is set to SafetyInputAction::Unassigned.

Python function prototype

setConfigurableDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int, arg1: arcs::common_interface::StandardInputAction) -> int

Lua function prototype

setConfigurableDigitalInputAction(index: number, action: number) -> nil

Lua example

setConfigurableDigitalInputAction(0,1)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalInputAction","params":[0,"Handguide"],"id":1}

JSON-RPC response example

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

setConfigurableDigitalOutput()

int arcs::common_interface::IoControl::setConfigurableDigitalOutput	(	int	index,
		bool	value )

Set the value of configurable digital output.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
value	Output value.

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setConfigurableDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1: bool) -> int

Lua function prototype

setConfigurableDigitalOutput(index: number, value: boolean) -> nil

Lua example

setConfigurableDigitalOutput(0,true)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalOutput","params":[0,true],"id":1}

JSON-RPC response example

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

setConfigurableDigitalOutputAfterEStop()

int arcs::common_interface::IoControl::setConfigurableDigitalOutputAfterEStop	(	int	index,
		bool	value )

Set the value of a configurable digital output after emergency stop

Parameters

index	Indicates the IO pin.
value	Output value.

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setConfigurableDigitalOutputAfterEStop(self: pyaubo_sdk.IoControl, arg0: int, arg1: bool) -> int

Lua function prototype

setConfigurableDigitalOutputAfterEStop(index: number, value: boolean) -> nil

Lua example

setConfigurableDigitalOutputAfterEStop(0,true)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalOutputAfterEStop","params":[0,true],"id":1}

JSON-RPC response example

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

setConfigurableDigitalOutputPulse()

int arcs::common_interface::IoControl::setConfigurableDigitalOutputPulse	(	int	index,
		bool	value,
		double	duration )

Set configurable digital output pulse.

Parameters

index
value
duration

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setConfigurableDigitalOutputPulse(self: pyaubo_sdk.IoControl, arg0: int, arg1: bool, arg2: float) -> int

Lua function prototype

setConfigurableDigitalOutputPulse(index: number, value: boolean, duration: number) -> nil

Lua example

setConfigurableDigitalOutputPulse(0,true,2.3)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalOutputPulse","params":[0,true,0.5],"id":1}

JSON-RPC response example

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

setConfigurableDigitalOutputRunstate()

int arcs::common_interface::IoControl::setConfigurableDigitalOutputRunstate	(	int	index,
		StandardOutputRunState	runstate )

Set the runstate for configurable digital output.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
runstate	Output runstate selection

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setConfigurableDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int, arg1: arcs::common_interface::StandardOutputRunState) -> int

Lua function prototype

setConfigurableDigitalOutputRunstate(index: number, runstate: number) -> nil

Lua example

setConfigurableDigitalOutputRunstate(0,1)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setConfigurableDigitalOutputRunstate","params":[0,"None"],"id":1}

JSON-RPC response example

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

setDigitalInputActionDefault()

int arcs::common_interface::IoControl::setDigitalInputActionDefault

(

)

Set all digital input actions to no trigger.

Note

When the input action is set to no trigger, setting the digital input value to high will not trigger any robot action.

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

setDigitalInputActionDefault(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

setDigitalInputActionDefault() -> nil

Lua example

setDigitalInputActionDefault()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setDigitalInputActionDefault","params":[],"id":1}

JSON-RPC response example

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

setDigitalOutputAfterEStopDefault()

int arcs::common_interface::IoControl::setDigitalOutputAfterEStopDefault

(

)

Set all digital output states after emergency stop to default(no change)

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

setDigitalOutputAfterEStopDefault(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

setDigitalOutputAfterEStopDefault() -> nil

Lua example

setDigitalOutputAfterEStopDefault()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setDigitalOutputAfterEStopDefault","params":[],"id":1}

JSON-RPC response example

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

setDigitalOutputRunstate()

int arcs::common_interface::IoControl::setDigitalOutputRunstate	(	int	io_type,
		int	index,
		StandardOutputRunState	runstate,
		const std::string &	object_name,
		double	threshold )

Set digital output runstate with optional condition checking based on waypoint, plane or obstacle thresholds.

Use this API to control a digital output when a specified condition is met (for example, waypoint arrival or distance to a plane/obstacle). Specify an object type, name and a threshold value to enable conditional triggering. When the condition is satisfied, the given digital output will be set to the requested runstate.

Parameters

io_type	Numeric IO type (e.g. 0=standard, 1=tool, 2=configurable)
index	IO pin index starting from 0
runstate	The desired output action
object_name	Unique identifier of the condition object (optional)
threshold	Condition threshold: angle in radians for waypoints, or distance in meters for planes/obstacles (optional)

Returns

Returns 0 on success, non-zero error code on failure.

setDigitalOutputRunstateDefault()

int arcs::common_interface::IoControl::setDigitalOutputRunstateDefault

(

)

Set all digital output runstates to None.

Note

When the output runstate is set to None (StandardOutputRunState::None), users can set the digital output value.
When the output runstate is set, users cannot set the digital output value, and the controller will set it automatically.
For example, when DO0's output runstate is set to indicate hand-guiding (StandardOutputRunState::Handguiding), the robot enters hand-guiding mode and DO0 will automatically become high. When the robot exits hand-guiding, DO0 will automatically become low.

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

setDigitalOutputRunstateDefault(self: pyaubo_sdk.IoControl) -> int

Lua function prototype

setDigitalOutputRunstateDefault() -> nil

Lua example

setDigitalOutputRunstateDefault()

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setDigitalOutputRunstateDefault","params":[],"id":1}

JSON-RPC response example

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

setEncDecoderType()

int arcs::common_interface::IoControl::setEncDecoderType	(	int	type,
		int	range_id )

Set the decoding method of the integrated encoder.

Parameters

type	0 - Disable encoder 1 - AB quadrature 2 - AB quadrature + Z 3 - AB differential quadrature 4 - AB differential quadrature + Z differential
range_id	0 is a 32-bit signed encoder, range [-2147483648, 2147483647] 1 is an 8-bit unsigned encoder, range [0, 255] 2 is a 16-bit unsigned encoder, range [0, 65535] 3 is a 24-bit unsigned encoder, range [0, 16777215] 4 is a 32-bit unsigned encoder, range [0, 4294967295]

Returns

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

Exceptions

arcs::common_interface::AuboException

setEncTickCount()

int arcs::common_interface::IoControl::setEncTickCount

(

int

tick

)

Set the tick count of the integrated encoder.

Parameters

tick	Tick count

Returns

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

Exceptions

arcs::common_interface::AuboException

setGroupOutput()

int arcs::common_interface::IoControl::setGroupOutput	(	const std::string &	name,
		uint32_t	value )

Set the grouped digital output value.

Looks up the named grouped digital output and writes value to the group's members bit by bit.

Parameters

name	Group name.
value	Integer value to write to the grouped digital output.

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setGroupOutput(self: pyaubo_sdk.IoControl, arg0: str, arg1: int) -> int

Lua function prototype

setGroupOutput(name: string, value: number) -> nil

Lua example

setGroupOutput("go_state", 13)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setGroupOutput","params":["go_state",13],"id":1}

JSON-RPC response example

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

setStandardAnalogInputDomain()

int arcs::common_interface::IoControl::setStandardAnalogInputDomain	(	int	index,
		int	domain )

Set the range of standard analog input.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
domain	Input range

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setStandardAnalogInputDomain(self: pyaubo_sdk.IoControl, arg0: int, arg1: int) -> int

Lua function prototype

setStandardAnalogInputDomain(index: number, domain: number) -> nil

Lua example

setStandardAnalogInputDomain(0,1)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setStandardAnalogInputDomain","params":[0,8],"id":1}

JSON-RPC response example

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

setStandardAnalogOutput()

int arcs::common_interface::IoControl::setStandardAnalogOutput	(	int	index,
		double	value )

Set the value of standard analog output.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
value	Output value.

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setStandardAnalogOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1: float) -> int

Lua function prototype

setStandardAnalogOutput(index: number, value: number) -> nil

Lua example

setStandardAnalogOutput(0,5.4)

setStandardAnalogOutputAfterEStop()

int arcs::common_interface::IoControl::setStandardAnalogOutputAfterEStop	(	int	index,
		double	value )

Set the value of standard analog output after emergency stop

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
value	Output value.

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setStandardAnalogOutputAfterEStop(self: pyaubo_sdk.IoControl, arg0: int, arg1: float) -> int

Lua function prototype

setStandardAnalogOutputAfterEStop(index: number, value: number) -> nil

Lua example

setStandardAnalogOutputAfterEStop(0,5.4)

setStandardAnalogOutputDomain()

int arcs::common_interface::IoControl::setStandardAnalogOutputDomain	(	int	index,
		int	domain )

Set the range of standard analog output.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
domain	Output range

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setStandardAnalogOutputDomain(self: pyaubo_sdk.IoControl, arg0: int, arg1: int) -> int

Lua function prototype

setStandardAnalogOutputDomain(index: number, domain: number) -> nil

Lua example

setStandardAnalogOutputDomain(0,1)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setStandardAnalogOutputDomain","params":[0,8],"id":1}

JSON-RPC response example

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

setStandardAnalogOutputRunstate()

int arcs::common_interface::IoControl::setStandardAnalogOutputRunstate	(	int	index,
		StandardOutputRunState	runstate )

Set the runstate for standard analog output.

Note

When the output runstate is set to None (StandardOutputRunState::None), users can set the analog output value.
When the output runstate is set, users cannot set the analog output value, and the controller will set it automatically.
For example, when AO0's output runstate is set to indicate hand-guiding (StandardOutputRunState::Handguiding), the robot enters hand-guiding mode and AO0 will automatically become the maximum value. When the robot exits hand-guiding, AO0 will automatically become 0.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
runstate	Output runstate selection

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setStandardAnalogOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int, arg1: arcs::common_interface::StandardOutputRunState) -> int

Lua function prototype

setStandardAnalogOutputRunstate(index: number, runstate: number) -> nil

Lua example

setStandardAnalogOutputRunstate(0,6)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setStandardAnalogOutputRunstate","params":[0,"None"],"id":1}

JSON-RPC response example

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

setStandardDigitalInputAction()

int arcs::common_interface::IoControl::setStandardDigitalInputAction	(	int	index,
		StandardInputAction	action )

Set the trigger action for standard digital input.

Note

When the input is set to no trigger action (StandardInputAction::Default), setting the digital input value to high will not trigger any robot action.
When a trigger action is set, setting the digital input value to high will trigger the corresponding robot action.
For example, if DI0 is set to trigger Handguide (StandardInputAction::Handguide), setting DI0 to high will enable hand-guiding mode. Setting DI0 to low will exit hand-guiding mode.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
action	Trigger action

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setStandardDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int, arg1: arcs::common_interface::StandardInputAction) -> int

Lua function prototype

setStandardDigitalInputAction(index: number, action: number) -> nil

Lua example

setStandardDigitalInputAction(0,1)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalInputAction","params":[0,"Handguide"],"id":1}

JSON-RPC response example

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

setStandardDigitalOutput()

int arcs::common_interface::IoControl::setStandardDigitalOutput	(	int	index,
		bool	value )

Set the value of a standard digital output.

Parameters

index	Indicates the IO pin.
value	Output value.

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setStandardDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1: bool) -> int

Lua function prototype

setStandardDigitalOutput(index: number, value: boolean) -> nil

Lua example

setStandardDigitalOutput(0,true)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalOutput","params":[0,true],"id":1}

JSON-RPC response example

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

setStandardDigitalOutputAfterEStop()

int arcs::common_interface::IoControl::setStandardDigitalOutputAfterEStop	(	int	index,
		bool	value )

Set the value of a standard digital output after emergency stop

Parameters

index	Indicates the IO pin.
value	Output value.

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setStandardDigitalOutputAfterEStop(self: pyaubo_sdk.IoControl, arg0: int, arg1: bool) -> int

Lua function prototype

setStandardDigitalOutputAfterEStop(index: number, value: boolean) -> nil

Lua example

setStandardDigitalOutputAfterEStop(0,true)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalOutputAfterEStop","params":[0,true],"id":1}

JSON-RPC response example

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

setStandardDigitalOutputPulse()

int arcs::common_interface::IoControl::setStandardDigitalOutputPulse	(	int	index,
		bool	value,
		double	duration )

Set digital output pulse.

Parameters

index
value
duration

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setStandardDigitalOutputPulse(self: pyaubo_sdk.IoControl, arg0: int, arg1: bool, arg2: float) -> int

Lua function prototype

setStandardDigitalOutputPulse(index: number, value: boolean, duration: number) -> nil

Lua example

setStandardDigitalOutputPulse(0,true,2.5)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalOutputPulse","params":[0,true,0.5],"id":1}

JSON-RPC response example

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

setStandardDigitalOutputRunstate()

int arcs::common_interface::IoControl::setStandardDigitalOutputRunstate	(	int	index,
		StandardOutputRunState	runstate )

Set the runstate for standard digital output.

Note

When the output runstate is set to None (StandardOutputRunState::None), users can set the digital output value.
When the output runstate is set, users cannot set the digital output value, and the controller will set it automatically.
For example, when DO0's output runstate is set to indicate hand-guiding (StandardOutputRunState::Handguiding), the robot enters hand-guiding mode and DO0 will automatically become high. When the robot exits hand-guiding, DO0 will automatically become low.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
runstate	Output runstate selection

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setStandardDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int, arg1: arcs::common_interface::StandardOutputRunState) -> int

Lua function prototype

setStandardDigitalOutputRunstate(index: number, runstate: number) -> nil

Lua example

setStandardDigitalOutputRunstate(0,1)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setStandardDigitalOutputRunstate","params":[0,"PowerOn"],"id":1}

JSON-RPC response example

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

setToolAnalogInputDomain()

int arcs::common_interface::IoControl::setToolAnalogInputDomain	(	int	index,
		int	domain )

Set the range of tool analog input.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
domain	Input range

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setToolAnalogInputDomain(self: pyaubo_sdk.IoControl, arg0: int, arg1: int) -> int

Lua function prototype

setToolAnalogInputDomain(index: number, domain: number) -> nil

Lua example

setToolAnalogInputDomain(0,1)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setToolAnalogInputDomain","params":[0,8],"id":1}

JSON-RPC response example

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

setToolAnalogOutput()

int arcs::common_interface::IoControl::setToolAnalogOutput	(	int	index,
		double	value )

Set the value of tool analog output.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
value	Output value.

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setToolAnalogOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1: float) -> int

Lua function prototype

setToolAnalogOutput(index: number, value: number) -> nil

Lua example

setToolAnalogOutput(0,1.2)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setToolAnalogOutput","params":[0,0.5],"id":1}

JSON-RPC response example

{"id":1,"jsonrpc":"2.0","result":13}

setToolAnalogOutputDomain()

int arcs::common_interface::IoControl::setToolAnalogOutputDomain	(	int	index,
		int	domain )

Set the range of tool analog output.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
domain	Output range

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setToolAnalogOutputDomain(self: pyaubo_sdk.IoControl, arg0: int, arg1: int) -> int

Lua function prototype

setToolAnalogOutputDomain(index: number, domain: number) -> nil

Lua example

setToolAnalogOutputDomain(0,1)

setToolAnalogOutputRunstate()

int arcs::common_interface::IoControl::setToolAnalogOutputRunstate	(	int	index,
		StandardOutputRunState	runstate )

Set the runstate for tool analog output.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
runstate	Output runstate selection

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setToolAnalogOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int, arg1: arcs::common_interface::StandardOutputRunState) -> int

Lua function prototype

setToolAnalogOutputRunstate(index: number, runstate: number) -> nil

Lua example

setToolAnalogOutputRunstate(0,1)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setToolAnalogOutputRunstate","params":[0,"None"],"id":1}

JSON-RPC response example

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

setToolDigitalInputAction()

int arcs::common_interface::IoControl::setToolDigitalInputAction	(	int	index,
		StandardInputAction	action )

Set the trigger action for tool digital input.

Note

When the input is set to no trigger action (StandardInputAction::Default), setting the tool digital input value to high will not trigger any robot action.
When a trigger action is set, setting the tool digital input value to high will trigger the corresponding robot action.
For example, if TOOL_IO[0] is set as input and its trigger action is Handguide (StandardInputAction::Handguide), setting TOOL_IO[0] to high will enable hand-guiding mode. Setting TOOL_IO[0] to low will exit hand-guiding mode.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
action	Trigger action

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setToolDigitalInputAction(self: pyaubo_sdk.IoControl, arg0: int, arg1: arcs::common_interface::StandardInputAction) -> int

Lua function prototype

setToolDigitalInputAction(index: number, action: number) -> nil

Lua example

setToolDigitalInputAction(0,1)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setToolDigitalInputAction","params":[0,"Handguide"],"id":1}

JSON-RPC response example

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

setToolDigitalOutput()

int arcs::common_interface::IoControl::setToolDigitalOutput	(	int	index,
		bool	value )

Set the value of tool digital output.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
value	Output value.

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setToolDigitalOutput(self: pyaubo_sdk.IoControl, arg0: int, arg1: bool) -> int

Lua function prototype

setToolDigitalOutput(index: number, value: boolean) -> nil

Lua example

setToolDigitalOutput(0,true)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setToolDigitalOutput","params":[0,true],"id":1}

JSON-RPC response example

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

setToolDigitalOutputPulse()

int arcs::common_interface::IoControl::setToolDigitalOutputPulse	(	int	index,
		bool	value,
		double	duration )

Set tool digital output pulse.

Parameters

index
value
duration

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setToolDigitalOutputPulse(self: pyaubo_sdk.IoControl, arg0: int, arg1: bool, arg2: float) -> int

Lua function prototype

setToolDigitalOutputPulse(index: number, value: boolean, duration: number) -> nil

Lua example

setToolDigitalOutputPulse(0,true,2)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setToolDigitalOutputPulse","params":[0,true,0.5],"id":1}

JSON-RPC response example

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

setToolDigitalOutputRunstate()

int arcs::common_interface::IoControl::setToolDigitalOutputRunstate	(	int	index,
		StandardOutputRunState	runstate )

Set the runstate for tool digital output.

Note

When the output runstate is set to None (StandardOutputRunState::None), users can set the digital output value.
When the output runstate is set, users cannot set the digital output value, and the controller will set it automatically.
For example, when TOOL_IO[0] is set as output and its runstate is set to indicate hand-guiding (StandardOutputRunState::Handguiding), the robot enters hand-guiding mode and TOOL_IO[0] will automatically become high. When the robot exits hand-guiding, TOOL_IO[0] will automatically become low.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
runstate	Output runstate selection

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setToolDigitalOutputRunstate(self: pyaubo_sdk.IoControl, arg0: int, arg1: arcs::common_interface::StandardOutputRunState) -> int

Lua function prototype

setToolDigitalOutputRunstate(index: number, runstate: number) -> nil

Lua example

setToolDigitalOutputRunstate(0,1)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setToolDigitalOutputRunstate","params":[0,"None"],"id":1}

JSON-RPC response example

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

setToolIoInput()

int arcs::common_interface::IoControl::setToolIoInput	(	int	index,
		bool	input )

Set the specified tool digital IO as input or output.

Tool digital IOs are special and can be configured as input or output.

Parameters

index	Indicates the IO pin, starting from 0. For example, 0 means the first pin.
input	Indicates whether the specified IO is input. If input is true, set the IO as input; otherwise, set as output.

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

setToolIoInput(self: pyaubo_sdk.IoControl, arg0: int, arg1: bool) -> int

Lua function prototype

setToolIoInput(index: number, input: boolean) -> nil

Lua example

setToolIoInput(0,true)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setToolIoInput","params":[0,true],"id":1}

JSON-RPC response example

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

setToolVoltageOutputDomain()

int arcs::common_interface::IoControl::setToolVoltageOutputDomain

(

int

domain

)

Set the tool voltage output value (unit: V)

Parameters

domain

Tool voltage output value, can be 0, 12, or 24. 0 means 0V, 12 means 12V, 24 means 24V.

Returns

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

Exceptions

arcs::common_interface::AuboException

Python function prototype

setToolVoltageOutputDomain(self: pyaubo_sdk.IoControl, arg0: int) -> int

Lua function prototype

setToolVoltageOutputDomain(domain: number) -> nil

Lua example

setToolVoltageOutputDomain(24)

JSON-RPC request example

{"jsonrpc":"2.0","method":"rob1.IoControl.setToolVoltageOutputDomain","params":[24],"id":1}

JSON-RPC response example

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

unwindEncDeltaTickCount()

int arcs::common_interface::IoControl::unwindEncDeltaTickCount

(

int

delta_count

)

Prevent counting errors when the count exceeds the range

Parameters

delta_count

Returns

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

Exceptions

arcs::common_interface::AuboException