Collaboration diagram for RobotManage (机器人生命周期管理):

Functions
int	arcs::common_interface::RobotManage::poweron ()
	Initiate robot power-on request
int	arcs::common_interface::RobotManage::startup ()
	Initiate robot startup request
int	arcs::common_interface::RobotManage::releaseRobotBrake ()
	Initiate robot brake release request
int	arcs::common_interface::RobotManage::lockRobotBrake ()
	Initiate robot brake lock request
int	arcs::common_interface::RobotManage::poweroff ()
	Initiate robot power-off request
int	arcs::common_interface::RobotManage::backdrive (bool enable)
	Initiate robot backdrive request
int	arcs::common_interface::RobotManage::freedrive (bool enable)
	Initiate robot freedrive request This interface is deprecated after software version 0.31.x, use handguideMode instead: handguideMode({1,1,1,1,1}, {0,0,0,0,0,0})
int	arcs::common_interface::RobotManage::setHandguideParams (const std::vector< int > &freeAxes, const std::vector< double > &feature)
	Advanced hand-guiding mode
std::vector< int >	arcs::common_interface::RobotManage::getHandguideFreeAxes ()
	Get Axes that can be moved
std::vector< double >	arcs::common_interface::RobotManage::getHandguideFeature ()
	Get the drag reference coordinate system
int	arcs::common_interface::RobotManage::handguideMode (const std::vector< int > &freeAxes, const std::vector< double > &feature)
	Advanced hand-guiding mode
int	arcs::common_interface::RobotManage::exitHandguideMode ()
	Exit hand-guiding mode
int	arcs::common_interface::RobotManage::getHandguideStatus ()
	Get the status of the hand-guiding device (whether it is in a singular space)
int	arcs::common_interface::RobotManage::getHandguideTrigger ()
	Get the trigger source of the hand-guiding device
bool	arcs::common_interface::RobotManage::isHandguideEnabled ()
	Get the hand-guiding enable status
int	arcs::common_interface::RobotManage::setSim (bool enable)
	Initiate robot enter/exit simulation mode request
int	arcs::common_interface::RobotManage::setOperationalMode (OperationalModeType mode)
	Set the robot operational mode
OperationalModeType	arcs::common_interface::RobotManage::getOperationalMode ()
	Get the robot operational mode
RobotControlModeType	arcs::common_interface::RobotManage::getRobotControlMode ()
	Get the control mode
bool	arcs::common_interface::RobotManage::isFreedriveEnabled ()
	Whether the freedrive mode is enabled
bool	arcs::common_interface::RobotManage::isBackdriveEnabled ()
	Whether the backdrive mode is enabled
bool	arcs::common_interface::RobotManage::isSimulationEnabled ()
	Whether the simulation mode is enabled
int	arcs::common_interface::RobotManage::setUnlockProtectiveStop ()
	Clear protective stop, including collision stop
int	arcs::common_interface::RobotManage::restartInterfaceBoard ()
	Reset the safety interface board, usually called after the robot is powered off and needs to be reset, such as after emergency stop or fault.
int	arcs::common_interface::RobotManage::recordCacheFree (const std::string &name)
	Free and clear recorded data of the specified memory cache
int	arcs::common_interface::RobotManage::startRecordCache (const std::string &name)
	Start real-time trajectory recording to memory cache (no file output)
int	arcs::common_interface::RobotManage::stopRecordCache ()
	Stop current real-time trajectory recording to memory cache
int	arcs::common_interface::RobotManage::pauseRecordCache (bool pause)
	Pause or resume current real-time trajectory recording to memory cache
int	arcs::common_interface::RobotManage::getRecordCache (const std::string &name, size_t frames=0)
	Get recorded data from the specified memory cache
int	arcs::common_interface::RobotManage::startRecord (const std::string &file_name)
	Start real-time trajectory recording
int	arcs::common_interface::RobotManage::stopRecord ()
	Stop real-time recording
int	arcs::common_interface::RobotManage::pauseRecord (bool pause)
	Pause real-time recording
int	arcs::common_interface::RobotManage::setLinkModeEnable (bool enable)
	Initiate robot enter/exit link mode request.
bool	arcs::common_interface::RobotManage::isLinkModeEnabled ()
	Whether the link mode is enabled.
int	arcs::common_interface::RobotManage::generateDiagnoseFile (const std::string &reason)
	Manually trigger the generation of a diagnostic file

Detailed Description

RobotManage.

Function Documentation

◆ backdrive()

int arcs::common_interface::RobotManage::backdrive ( bool enable )

Initiate robot backdrive request

Parameters

enable

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

Exceptions

arcs::common_interface::AuboException

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

Lua function prototype: backdrive(enable: boolean) -> number

Lua example: num = backdrive(false)

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.backdrive","params":[false],"id":1}

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

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

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

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->backdrive(true);

◆ exitHandguideMode()

int arcs::common_interface::RobotManage::exitHandguideMode ( )

Exit hand-guiding mode

Note: Requires software version 0.31.x or later

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

Exceptions

arcs::common_interface::AuboException

◆ freedrive()

int arcs::common_interface::RobotManage::freedrive ( bool enable )

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

Parameters

enable

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

Exceptions

arcs::common_interface::AuboException

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

Lua function prototype: freedrive(enable: boolean) -> number

Lua example: num = freedrive(false)

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.freedrive","params":[true],"id":1}

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

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

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

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->freedrive(true);

◆ generateDiagnoseFile()

int arcs::common_interface::RobotManage::generateDiagnoseFile ( const std::string & reason )

Manually trigger the generation of a diagnostic file

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

Exceptions

arcs::common_interface::AuboException

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

Lua function prototype: generateDiagnoseFile(reason: string) -> nil

Lua example: generateDiagnoseFile("reason")

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.generateDiagnoseFile","params":["reason"],"id":1}

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

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

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

bool isEnabled =

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->generateDiagnoseFile("reason");

◆ getHandguideFeature()

std::vector< double > arcs::common_interface::RobotManage::getHandguideFeature ( )

Get the drag reference coordinate system

◆ getHandguideFreeAxes()

std::vector< int > arcs::common_interface::RobotManage::getHandguideFreeAxes ( )

Get Axes that can be moved

◆ getHandguideStatus()

int arcs::common_interface::RobotManage::getHandguideStatus ( )

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

Note: Not implemented yet

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

Exceptions

arcs::common_interface::AuboException

◆ getHandguideTrigger()

int arcs::common_interface::RobotManage::getHandguideTrigger ( )

Get the trigger source of the hand-guiding device

Note: Not implemented yet

Returns

Exceptions

arcs::common_interface::AuboException

◆ getOperationalMode()

OperationalModeType arcs::common_interface::RobotManage::getOperationalMode ( )

Get the robot operational mode

Returns: Robot operational mode

Exceptions

arcs::common_interface::AuboException

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

Lua function prototype: getOperationalMode() -> number

Lua example: num = getOperationalMode()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.getOperationalMode","params":[],"id":1}

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

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

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

OperationalModeType mode =

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->getOperationalMode();

arcs::common_interface::OperationalModeType
OperationalModeType
Operational Mode.
Definition type_def.h:580

◆ getRecordCache()

int arcs::common_interface::RobotManage::getRecordCache	(	const std::string &	name,
		size_t	frames = 0 )

Get recorded data from the specified memory cache

Parameters

name	Cache name
frames	Frame limit: frames=0: get all recorded frames (1 frame = 1 control cycle) frames>0: get up to the latest 'frames' frames

Returns: Returns the number of frames fetched (>=0) on success; negative error code on failure

Exceptions

arcs::common_interface::AuboException

Lua function prototype: getRecordCache(name: string, frames: number = 0) -> number

Lua example: n = getRecordCache("rec") – all frames, returns count n = getRecordCache("rec", 2000) – latest 2000 frames, returns count

◆ getRobotControlMode()

RobotControlModeType arcs::common_interface::RobotManage::getRobotControlMode ( )

Get the control mode

Returns: Control mode

Exceptions

arcs::common_interface::AuboException

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

Lua function prototype: getRobotControlMode() -> number

Lua example: num = getRobotControlMode()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.getRobotControlMode","params":[],"id":1}

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

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

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

RobotControlModeType mode =

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->getRobotControlMode();

arcs::common_interface::RobotControlModeType
RobotControlModeType
Robot Control Mode.
Definition type_def.h:588

◆ handguideMode()

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

Advanced hand-guiding mode

Parameters

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

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

Exceptions

arcs::common_interface::AuboException

◆ isBackdriveEnabled()

bool arcs::common_interface::RobotManage::isBackdriveEnabled ( )

Whether the backdrive mode is enabled

Returns: Returns true if enabled; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Python function prototype: isBackdriveEnabled(self: pyaubo_sdk.RobotManage) -> bool

Lua function prototype: isBackdriveEnabled() -> boolean

Lua example: BackdriveEnabled = isBackdriveEnabled()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.isBackdriveEnabled","params":[],"id":1}

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

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

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

bool isEnabled =

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isBackdriveEnabled();

◆ isFreedriveEnabled()

bool arcs::common_interface::RobotManage::isFreedriveEnabled ( )

Whether the freedrive mode is enabled

Returns: Returns true if enabled; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Python function prototype: isFreedriveEnabled(self: pyaubo_sdk.RobotManage) -> bool

Lua function prototype: isFreedriveEnabled() -> boolean

Lua example: FreedriveEnabled = isFreedriveEnabled()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.isFreedriveEnabled","params":[],"id":1}

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

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

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

bool isEnabled =

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isFreedriveEnabled();

◆ isHandguideEnabled()

bool arcs::common_interface::RobotManage::isHandguideEnabled ( )

Get the hand-guiding enable status

Returns: Returns true if enabled; false if disabled

Exceptions

arcs::common_interface::AuboException

Lua function prototype: isHandguideEnabled() -> boolean

Lua example: Handguide = isHandguideEnabled()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.isHandguideEnabled","params":[],"id":1}

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

◆ isLinkModeEnabled()

bool arcs::common_interface::RobotManage::isLinkModeEnabled ( )

Whether the link mode is enabled.

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

Returns: Returns true if enabled; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Python function prototype: isLinkModeEnabled(self: pyaubo_sdk.RobotManage) -> bool

Lua function prototype: isLinkModeEnabled() -> boolean

Lua example: LinkModeEnabled = isLinkModeEnabled()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.isLinkModeEnabled","params":[],"id":1}

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

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

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

bool isEnabled =

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isLinkModeEnabled();

◆ isSimulationEnabled()

bool arcs::common_interface::RobotManage::isSimulationEnabled ( )

Whether the simulation mode is enabled

Returns: Returns true if enabled; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Python function prototype: isSimulationEnabled(self: pyaubo_sdk.RobotManage) -> bool

Lua function prototype: isSimulationEnabled() -> boolean

Lua example: SimulationEnabled = isSimulationEnabled()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.isSimulationEnabled","params":[],"id":1}

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

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

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

bool isEnabled =

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->isSimulationEnabled();

◆ lockRobotBrake()

int arcs::common_interface::RobotManage::lockRobotBrake ( )

Initiate robot brake lock request

Returns: Returns 0 on success; error code on failure AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: lockRobotBrake(self: pyaubo_sdk.RobotManage) -> int

Lua function prototype: lockRobotBrake() -> number

Lua example: num = lockRobotBrake()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.lockRobotBrake","params":[],"id":1}

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

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

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

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->lockRobotBrake();

◆ pauseRecord()

int arcs::common_interface::RobotManage::pauseRecord ( bool pause )

Pause real-time recording

Parameters

pause

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

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.pauseRecord","params":[true],"id":1}

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

◆ pauseRecordCache()

int arcs::common_interface::RobotManage::pauseRecordCache ( bool pause )

Pause or resume current real-time trajectory recording to memory cache

Parameters

pause true to pause cache recording; false to resume cache recording

Returns: Returns 0 on success; negative error code on failure

Exceptions

arcs::common_interface::AuboException

Lua function prototype: pauseRecordCache(pause: boolean) -> nil

Lua example: pauseRecordCache(true) – pause pauseRecordCache(false) – resume

◆ poweroff()

int arcs::common_interface::RobotManage::poweroff ( )

Initiate robot power-off request

Returns: Returns 0 on success; error code on failure AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: poweroff(self: pyaubo_sdk.RobotManage) -> int

Lua function prototype: poweroff() -> number

Lua example: num = poweroff()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.poweroff","params":[],"id":1}

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

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

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

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->poweroff();

◆ poweron()

int arcs::common_interface::RobotManage::poweron ( )

Initiate robot power-on request

Returns: Returns 0 on success; error code on failure AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: poweron(self: pyaubo_sdk.RobotManage) -> int

Lua function prototype: poweron() -> number

Lua example: num = poweron()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.poweron","params":[],"id":1}

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

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

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

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->poweron();

◆ recordCacheFree()

int arcs::common_interface::RobotManage::recordCacheFree ( const std::string & name )

Free and clear recorded data of the specified memory cache

Parameters

name	Cache name

Returns: Returns 0 on success; negative error code on failure

Exceptions

arcs::common_interface::AuboException

Lua function prototype: recordCacheFree(name: string) -> nil

Lua example: recordCacheFree("rec")

◆ releaseRobotBrake()

int arcs::common_interface::RobotManage::releaseRobotBrake ( )

Initiate robot brake release request

Returns: Returns 0 on success; error code on failure AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: releaseRobotBrake(self: pyaubo_sdk.RobotManage) -> int

Lua function prototype: releaseRobotBrake() -> number

Lua example: num = releaseRobotBrake()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.releaseRobotBrake","params":[],"id":1}

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

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

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

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->releaseRobotBrake();

◆ restartInterfaceBoard()

int arcs::common_interface::RobotManage::restartInterfaceBoard ( )

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

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

Exceptions

arcs::common_interface::AuboException

Python function prototype: restartInterfaceBoard(self: pyaubo_sdk.RobotManage) -> int

Lua function prototype: restartInterfaceBoard() -> number

Lua example: num = restartInterfaceBoard()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.restartInterfaceBoard","params":[],"id":1}

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

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

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

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->restartInterfaceBoard();

◆ setHandguideParams()

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

Advanced hand-guiding mode

Parameters

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

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

Exceptions

arcs::common_interface::AuboException

◆ setLinkModeEnable()

int arcs::common_interface::RobotManage::setLinkModeEnable ( bool enable )

Initiate robot enter/exit link mode request.

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

Parameters

enable

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

Exceptions

arcs::common_interface::AuboException

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

Lua function prototype: setLinkModeEnable(enable: boolean) -> number

Lua example: num = setLinkModeEnable(true)

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.setLinkModeEnable","params":[true],"id":1}

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

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

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

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setLinkModeEnable(true);

◆ setOperationalMode()

int arcs::common_interface::RobotManage::setOperationalMode ( OperationalModeType mode )

Set the robot operational mode

Parameters

mode	Operational mode

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

Exceptions

arcs::common_interface::AuboException

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

Lua function prototype: setOperationalMode(mode: number) -> number

Lua example: num = setOperationalMode("Manual")

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.setOperationalMode","params":["Manual"],"id":1}

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

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

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

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setOperationalMode(OperationalModeType::Automatic);

◆ setSim()

int arcs::common_interface::RobotManage::setSim ( bool enable )

Initiate robot enter/exit simulation mode request

Parameters

enable

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

Exceptions

arcs::common_interface::AuboException

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

Lua function prototype: setSim(enable: boolean) -> number

Lua example: num = setSim(true)

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.setSim","params":[true],"id":1}

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

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

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

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setSim(true);

◆ setUnlockProtectiveStop()

int arcs::common_interface::RobotManage::setUnlockProtectiveStop ( )

Clear protective stop, including collision stop

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

Exceptions

arcs::common_interface::AuboException

Python function prototype: setUnlockProtectiveStop(self: pyaubo_sdk.RobotManage) -> int

Lua function prototype: setUnlockProtectiveStop() -> number

Lua example: num = setUnlockProtectiveStop()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.setUnlockProtectiveStop","params":[],"id":1}

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

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

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

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->setUnlockProtectiveStop();

◆ startRecord()

int arcs::common_interface::RobotManage::startRecord ( const std::string & file_name )

Start real-time trajectory recording

Parameters

file_name

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

Exceptions

arcs::common_interface::AuboException

Lua function prototype: startRecord(fiel_name: string) -> nil

Lua example: startRecord("traje.csv")

◆ startRecordCache()

int arcs::common_interface::RobotManage::startRecordCache ( const std::string & name )

Start real-time trajectory recording to memory cache (no file output)

Parameters

name	Cache name used to index recorded data in memory. Empty string returns invalid argument.

Returns: Returns 0 on success; negative error code on failure

Exceptions

arcs::common_interface::AuboException

Lua function prototype: startRecordCache(name: string) -> nil

Lua example: startRecordCache("rec")

◆ startup()

int arcs::common_interface::RobotManage::startup ( )

Initiate robot startup request

Returns: Returns 0 on success; error code on failure AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: startup(self: pyaubo_sdk.RobotManage) -> int

Lua function prototype: startup() -> number

Lua example: num = startup()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.startup","params":[],"id":1}

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

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

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

rpc_cli->getRobotInterface(robot_name)->getRobotManage()->startup();

◆ stopRecord()

int arcs::common_interface::RobotManage::stopRecord ( )

Stop real-time recording

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

Exceptions

arcs::common_interface::AuboException

Lua function prototype: stopRecord() -> nil

Lua example: stopRecord()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotManage.stopRecord","params":[],"id":1}

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

◆ stopRecordCache()

int arcs::common_interface::RobotManage::stopRecordCache ( )

Stop current real-time trajectory recording to memory cache

Returns: Returns 0 on success; negative error code on failure

Exceptions

arcs::common_interface::AuboException

Lua function prototype: stopRecordCache() -> nil

Lua example: stopRecordCache()

Functions

Detailed Description

Function Documentation

◆ backdrive()

◆ exitHandguideMode()

◆ freedrive()

◆ generateDiagnoseFile()

◆ getHandguideFeature()

◆ getHandguideFreeAxes()

◆ getHandguideStatus()

◆ getHandguideTrigger()

◆ getOperationalMode()

◆ getRecordCache()

◆ getRobotControlMode()

◆ handguideMode()

◆ isBackdriveEnabled()

◆ isFreedriveEnabled()

◆ isHandguideEnabled()

◆ isLinkModeEnabled()

◆ isSimulationEnabled()

◆ lockRobotBrake()

◆ pauseRecord()

◆ pauseRecordCache()

◆ poweroff()

◆ poweron()

◆ recordCacheFree()

◆ releaseRobotBrake()

◆ restartInterfaceBoard()

◆ setHandguideParams()

◆ setLinkModeEnable()

◆ setOperationalMode()

◆ setSim()

◆ setUnlockProtectiveStop()

◆ startRecord()

◆ startRecordCache()

◆ startup()

◆ stopRecord()

◆ stopRecordCache()