enum type definitions More...

#include <stddef.h>
#include <array>
#include <vector>
#include <memory>
#include <functional>
#include <iostream>
#include <string>

Include dependency graph for type_def.h:

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Classes
struct	arcs::common_interface::RobotSafetyParameterRange
struct	arcs::common_interface::WObjectData
struct	arcs::common_interface::VibrationRecalibrationParameter
struct	arcs::common_interface::CircleParameters
	Circular motion parameters definition. More...
struct	arcs::common_interface::SpiralParameters
struct	arcs::common_interface::Enveloping
struct	arcs::common_interface::TrajConfig
	Trajectory configuration for payload identification. More...
struct	arcs::common_interface::RobotMsg
struct	arcs::common_interface::GripperStatus
struct	arcs::common_interface::RtdeRecipe
	RTDE menu. More...
class	arcs::common_interface::AuboException
	Custom exception class AuboException. More...

Namespaces
namespace	arcs
namespace	arcs::common_interface

Macros
#define	CARTESIAN_DOF 6
	Cartesion degree of freedom, 6 for x,y,z,rx,ry,rz.
#define	SAFETY_PARAM_SELECT_NUM 2
	normal + reduced
#define	SAFETY_PLANES_NUM 8
	Number of safety planes.
#define	SAFETY_CUBIC_NUM 10
	Number of safety cubes.
#define	TOOL_CONFIGURATION_NUM 3
	Number of tool configurations.
#define	ENUM_AuboErrorCodes_DECLARES
	Error codes definition.
#define	ENUM_RuntimeState_DECLARES
	The RuntimeState enum.
#define	ENUM_RobotModeType_DECLARES
#define	ENUM_SafetyModeType_DECLARES
#define	ENUM_OperationalModeType_DECLARES
	Based on ISO 10218-1:2011(E) Section 5.7 Automatic: In automatic mode, the robot shall execute the task programme and the safeguarding measures shall be functioning.
#define	ENUM_RobotControlModeType_DECLARES
	Robot control mode, the final control object.
#define	ENUM_JointServoModeType_DECLARES
#define	ENUM_JointStateType_DECLARES
#define	ENUM_StandardInputAction_DECLARES
#define	ENUM_StandardOutputRunState_DECLARES
#define	ENUM_SafetyInputAction_DECLARES
#define	ENUM_SafetyOutputRunState_DECLARES
#define	ENUM_PayloadIdentifyMoveAxis_DECLARES
#define	ENUM_EnvelopingShape_DECLARES
#define	ENUM_TaskFrameType_DECLARES
#define	ENUM_TraceLevel_DECLARES
#define	ENUM_AxisModeType_DECLARES
#define	ENUM_HandleStateType_DECLARES
#define	ENUM_HandleModeType_DECLARES
#define	ENUM_SafeguedStopType_DECLARES
#define	ENUM_RobotEmergencyStopType_DECLARES
#define	ENUM_ITEM(c, n, ...)
#define	DECL_TO_STRING_FUNC(ENUM)
#define	ENUM_ITEM(c, n, ...)
#define	ENUM_ITEM(n, v, s)
#define	ENUM_ITEM(n, v, s)
#define	ENUM_ITEM(n, v, s)

Typedefs
using	arcs::common_interface::Vector3d = std::array<double, 3>
using	arcs::common_interface::Vector4d = std::array<double, 4>
using	arcs::common_interface::Vector3f = std::array<float, 3>
using	arcs::common_interface::Vector4f = std::array<float, 4>
using	arcs::common_interface::Vector6f = std::array<float, 6>
using	arcs::common_interface::ResultWithErrno = std::tuple<std::vector<double>, int>
using	arcs::common_interface::ResultWithErrno1 = std::tuple<std::vector<std::vector<double>>, int>
using	arcs::common_interface::ResultWithErrno2 = std::tuple<std::vector<std::string>, int>
using	arcs::common_interface::ResultWithErrno3 = std::tuple<int, int>
using	arcs::common_interface::Payload
using	arcs::common_interface::ForceSensorCalibResult
using	arcs::common_interface::ForceSensorCalibResultWithError
using	arcs::common_interface::DynamicsModel
using	arcs::common_interface::Box = std::vector<double>
using	arcs::common_interface::Cylinder = std::vector<double>
using	arcs::common_interface::Sphere = std::vector<double>
using	arcs::common_interface::RobotMsgVector = std::vector<RobotMsg>
using	arcs::common_interface::GripperStatusVector = std::vector<GripperStatus>

Enumerations
enum	arcs::common_interface::AuboErrorCodes : int { arcs::common_interface::ENUM_AuboErrorCodes_DECLARES }
enum class	arcs::common_interface::RuntimeState : int { arcs::common_interface::ENUM_RuntimeState_DECLARES }
enum class	arcs::common_interface::RobotModeType : int { arcs::common_interface::ENUM_RobotModeType_DECLARES }
enum class	arcs::common_interface::AxisModeType : int { arcs::common_interface::ENUM_AxisModeType_DECLARES }
enum class	arcs::common_interface::HandleStateType : int { arcs::common_interface::ENUM_HandleStateType_DECLARES }
enum class	arcs::common_interface::HandleModeType : int { arcs::common_interface::ENUM_HandleModeType_DECLARES }
enum class	arcs::common_interface::SafetyModeType : int { arcs::common_interface::ENUM_SafetyModeType_DECLARES }
	Safety Mode. More...
enum class	arcs::common_interface::OperationalModeType : int { arcs::common_interface::ENUM_OperationalModeType_DECLARES }
	Operational Mode. More...
enum class	arcs::common_interface::RobotControlModeType : int { arcs::common_interface::ENUM_RobotControlModeType_DECLARES }
	Robot Control Mode. More...
enum class	arcs::common_interface::JointServoModeType : int { arcs::common_interface::ENUM_JointServoModeType_DECLARES }
	Joint Servo Mode. More...
enum class	arcs::common_interface::JointStateType : int { arcs::common_interface::ENUM_JointStateType_DECLARES }
	Joint State. More...
enum class	arcs::common_interface::StandardOutputRunState : int { arcs::common_interface::ENUM_StandardOutputRunState_DECLARES }
	Standard Output Run State. More...
enum class	arcs::common_interface::StandardInputAction : int { arcs::common_interface::ENUM_StandardInputAction_DECLARES }
	The StandardInputAction enum. More...
enum class	arcs::common_interface::SafetyInputAction : int { arcs::common_interface::ENUM_SafetyInputAction_DECLARES }
enum class	arcs::common_interface::SafetyOutputRunState : int { arcs::common_interface::ENUM_SafetyOutputRunState_DECLARES }
enum	arcs::common_interface::TaskFrameType { arcs::common_interface::ENUM_TaskFrameType_DECLARES }
enum	arcs::common_interface::EnvelopingShape : int { arcs::common_interface::ENUM_EnvelopingShape_DECLARES }
enum	arcs::common_interface::PayloadIdentifyMoveAxis : int { arcs::common_interface::ENUM_PayloadIdentifyMoveAxis_DECLARES }
enum	arcs::common_interface::TraceLevel { arcs::common_interface::ENUM_TraceLevel_DECLARES }
enum	arcs::common_interface::SafeguedStopType : int { arcs::common_interface::ENUM_SafeguedStopType_DECLARES }
enum	arcs::common_interface::RobotEmergencyStopType : int { arcs::common_interface::ENUM_RobotEmergencyStopType_DECLARES }
enum class	arcs::common_interface::ForceControlState { arcs::common_interface::Stopped , arcs::common_interface::Starting , arcs::common_interface::Stropping , arcs::common_interface::Running }
enum class	arcs::common_interface::RefFrameType { arcs::common_interface::None , arcs::common_interface::Tool , arcs::common_interface::Path , arcs::common_interface::Base }
enum	arcs::common_interface::error_type { arcs::common_interface::parse_error = -32700 , arcs::common_interface::invalid_request = -32600 , arcs::common_interface::method_not_found = -32601 , arcs::common_interface::invalid_params = -32602 , arcs::common_interface::internal_error = -32603 , arcs::common_interface::server_error = -32500 , arcs::common_interface::invalid = -32400 }
	Error type. More...
enum	arcs::common_interface::ExceptionCode { arcs::common_interface::EC_DISCONNECTED = -1 , arcs::common_interface::EC_NOT_LOGINED = -2 , arcs::common_interface::EC_INVAL_SOCKET = -3 , arcs::common_interface::EC_REQUEST_BUSY = -4 , arcs::common_interface::EC_SEND_FAILED = -5 , arcs::common_interface::EC_RECV_TIMEOUT = -6 , arcs::common_interface::EC_RECV_ERROR = -7 , arcs::common_interface::EC_PARSE_ERROR = -8 , arcs::common_interface::EC_INVALID_REQUEST = -9 , arcs::common_interface::EC_METHOD_NOT_FOUND = -10 , arcs::common_interface::EC_INVALID_PARAMS = -11 , arcs::common_interface::EC_INTERNAL_ERROR = -12 , arcs::common_interface::EC_SERVER_ERROR = -13 , arcs::common_interface::EC_INVALID = -14 }
	Exception code. More...

Functions
std::ostream &	arcs::common_interface::operator<< (std::ostream &os, const RobotSafetyParameterRange &vd)
std::ostream &	arcs::common_interface::operator<< (std::ostream &os, WObjectData p)
std::ostream &	arcs::common_interface::operator<< (std::ostream &os, const VibrationRecalibrationParameter p)
std::ostream &	arcs::common_interface::operator<< (std::ostream &os, CircleParameters p)
std::ostream &	arcs::common_interface::operator<< (std::ostream &os, SpiralParameters p)
std::ostream &	arcs::common_interface::operator<< (std::ostream &os, Enveloping p)
std::ostream &	arcs::common_interface::operator<< (std::ostream &os, TrajConfig p)
const char *	arcs::common_interface::returnValue2Str (int retval)

Detailed Description

enum type definitions

Definition in file type_def.h.

Macro Definition Documentation

◆ CARTESIAN_DOF

#define CARTESIAN_DOF 6

Cartesion degree of freedom, 6 for x,y,z,rx,ry,rz.

Definition at line 25 of file type_def.h.

◆ DECL_TO_STRING_FUNC

#define DECL_TO_STRING_FUNC ( ENUM )

Value:

inline std::string toString(ENUM v)                       \
{                                                         \
    using T = ENUM;                                       \
    std::string name = #ENUM ".";                         \
    ENUM_##ENUM##_DECLARES                                \
                                                          \
        return #ENUM ".Unkown";                           \
}                                                         \
inline std::ostream &operator<<(std::ostream &os, ENUM v) \
{                                                         \
    os << toString(v);                                    \
    return os;                                            \
}

Definition at line 690 of file type_def.h.

◆ ENUM_AuboErrorCodes_DECLARES

#define ENUM_AuboErrorCodes_DECLARES

Error codes definition.

whole number is warning, negative number is error, 0 is no error and no warning

Definition at line 232 of file type_def.h.

◆ ENUM_AxisModeType_DECLARES

#define ENUM_AxisModeType_DECLARES

Value:

ENUM_ITEM(NoController, -1, "提供给示教器使用的, 如果aubo_control进程崩溃则会显示为NoController") \
ENUM_ITEM(Disconnected, 0, "未连接") \
ENUM_ITEM(PowerOff, 1, "断电") \
ENUM_ITEM(BrakeReleasing, 2, "刹车松开中") \
ENUM_ITEM(Idle, 3, "空闲") \
ENUM_ITEM(Running, 4, "运行中") \
ENUM_ITEM(Fault, 5, "错误状态")

Definition at line 527 of file type_def.h.

◆ ENUM_EnvelopingShape_DECLARES

#define ENUM_EnvelopingShape_DECLARES

Value:

ENUM_ITEM(Cube, 1,"立方体") \
ENUM_ITEM(Column, 2,"柱状体") \
ENUM_ITEM(Stl, 3,"以STL文件的形式描述负载碰撞集合体")

Definition at line 500 of file type_def.h.

◆ ENUM_HandleModeType_DECLARES

#define ENUM_HandleModeType_DECLARES

Value:

ENUM_ITEM(None, 0, "不支持手柄") \
ENUM_ITEM(Default, 1, "S等系列默认手柄") \
ENUM_ITEM(MultiFuncG1, 2, "G系列第一代多功能手柄") \

Definition at line 543 of file type_def.h.

◆ ENUM_HandleStateType_DECLARES

#define ENUM_HandleStateType_DECLARES

Value:

ENUM_ITEM(Disconnected, 0, "未连接") \
ENUM_ITEM(Init, 1, "初始化中") \
ENUM_ITEM(Connected, 2, "已连接") \
ENUM_ITEM(Lock, 3, "锁定") \
ENUM_ITEM(Fault, 4, "错误状态") \

Definition at line 536 of file type_def.h.

◆ ENUM_ITEM [1/5]

#define ENUM_ITEM	(	c,
		n,
		... )

Value:

if (v == T::c) {         \
    return name + #c;    \
}

Definition at line 561 of file type_def.h.

◆ ENUM_ITEM [2/5]

#define ENUM_ITEM	(	c,
		n,
		... )

Value:

c = n,

Definition at line 561 of file type_def.h.

◆ ENUM_ITEM [3/5]

#define ENUM_ITEM	(	n,
		v,
		s )

Value:

if (abs(retval) == v) \

index = n##_INDEX;

Definition at line 561 of file type_def.h.

◆ ENUM_ITEM [4/5]

#define ENUM_ITEM	(	n,
		v,
		s )

Value:

n##_INDEX,

Definition at line 561 of file type_def.h.

◆ ENUM_ITEM [5/5]

#define ENUM_ITEM	(	n,
		v,
		s )

Value:

s,

Definition at line 561 of file type_def.h.

◆ ENUM_JointServoModeType_DECLARES

#define ENUM_JointServoModeType_DECLARES

Value:

ENUM_ITEM(Unknown, -1, "未知")                         \
ENUM_ITEM(Open, 0, "开环模式 (open loop mode)")                          \
ENUM_ITEM(Current, 1, "电流伺服模式 (current servo mode)")                    \
ENUM_ITEM(Velocity, 2, "速度伺服模式 (speed servo mode)")                   \
ENUM_ITEM(Position, 3, "位置伺服模式 (position servo mode)")                   \
ENUM_ITEM(Torque, 4, "力矩伺服模式 (torque servo mode)") \

Definition at line 411 of file type_def.h.

◆ ENUM_JointStateType_DECLARES

#define ENUM_JointStateType_DECLARES

Value:

ENUM_ITEM(Poweroff, 0, "节点未连接到接口板或者已经断电 (node not conected to interface board or already powered off)")          \
ENUM_ITEM(Idle, 2,        "节点空闲 (node idle)")                         \
ENUM_ITEM(Fault, 3,       "节点错误, 节点停止伺服运动, 刹车抱死 (node error, node stopped servo move, brake engaged)") \
ENUM_ITEM(Running, 4,     "节点伺服 (node servo)")                         \
ENUM_ITEM(Bootload, 5,     "节点bootloader状态, 暂停一切通讯 (node bootloader state, pause all communication)") \

Definition at line 419 of file type_def.h.

◆ ENUM_OperationalModeType_DECLARES

#define ENUM_OperationalModeType_DECLARES

Value:

ENUM_ITEM(Disabled, 0, "禁用模式: 不使用 Operational Mode")                              \
ENUM_ITEM(Automatic, 1, "自动模式: 机器人正常工作模式, 运行速度不会被限制 (auto mode: robot normal operation, speed will not be limited)")            \
ENUM_ITEM(Manual, 2, "手动模式: 机器人编程示教模式(T1), 机器人运行速度将会被限制或者机器人程序校验模式(T2) (manual mode: robot programming teaching mode (T1), robot running speed will be limited or robot program verification mode (T2)") \

Based on ISO 10218-1:2011(E) Section 5.7 Automatic: In automatic mode, the robot shall execute the task programme and the safeguarding measures shall be functioning.

Automatic operation shall be prevented if any stop condition is detected. Switching from this mode shall result in a stop.

Definition at line 393 of file type_def.h.

◆ ENUM_PayloadIdentifyMoveAxis_DECLARES

#define ENUM_PayloadIdentifyMoveAxis_DECLARES

Value:

ENUM_ITEM(Joint_2_6, 0,"第2和6关节运动")         \
ENUM_ITEM(Joint_3_6, 1,"第3和6关节运动")         \
ENUM_ITEM(Joint_4_6, 2,"第4和6关节运动")         \
ENUM_ITEM(Joint_4_5_6, 3,"第4、5、6关节运动")    \

Definition at line 494 of file type_def.h.

◆ ENUM_RobotControlModeType_DECLARES

#define ENUM_RobotControlModeType_DECLARES

Value:

ENUM_ITEM(Unknown, 0,   "未知的控制模式 (unknown control mode)")                \
ENUM_ITEM(Position, 1,  "位置控制  movej (position control)")              \
ENUM_ITEM(Speed, 2,     "速度控制  speedj/speedl (speed control)")      \
ENUM_ITEM(Servo, 3,     "位置控制  servoj (position control)")             \
ENUM_ITEM(Freedrive, 4, "拖动示教  freedrive_mode")     \
ENUM_ITEM(Force, 5,     "末端力控  force_mode")         \
ENUM_ITEM(Torque, 6,    "关节力矩控制 (joint torque control)")                  \
ENUM_ITEM(Collision, 7,    "碰撞模式 (collision mode)") \

Robot control mode, the final control object.

Definition at line 401 of file type_def.h.

◆ ENUM_RobotEmergencyStopType_DECLARES

#define ENUM_RobotEmergencyStopType_DECLARES

Value:

ENUM_ITEM(RobotEmergencyStopNone, 0, "无紧急停止") \
ENUM_ITEM(RobotEmergencyStopControlBox, 1, "紧急停止(控制柜急停)") \
ENUM_ITEM(RobotEmergencyStopTeachPendant, 2, "紧急停止(示教器急停)") \
ENUM_ITEM(RobotEmergencyStopHandle, 3, "紧急停止(手柄急停)") \
ENUM_ITEM(RobotEmergencyStopEI, 4, "紧急停止(固定IO急停)")

Definition at line 554 of file type_def.h.

◆ ENUM_RobotModeType_DECLARES

#define ENUM_RobotModeType_DECLARES

Value:

ENUM_ITEM(NoController, -1,          "提供给示教器使用的, 如果aubo_control进程崩溃则会显示为NoController") \
ENUM_ITEM(Disconnected, 0,           "没有连接到机械臂本体(控制器与接口板断开连接或是 EtherCAT 等总线断开)")  \
ENUM_ITEM(ConfirmSafety, 1,          "正在进行安全配置, 断电状态下进行")                                  \
ENUM_ITEM(Booting, 2,                "机械臂本体正在上电初始化")                                         \
ENUM_ITEM(PowerOff, 3,               "机械臂本体处于断电状态")                                           \
ENUM_ITEM(PowerOn, 4,                "机械臂本体上电成功, 刹车暂未松开(抱死), 关节初始状态未获取")            \
ENUM_ITEM(Idle, 5,                   "机械臂上电成功, 刹车暂未松开(抱死), 电机不通电, 关节初始状态获取完成")    \
ENUM_ITEM(BrakeReleasing, 6,         "机械臂上电成功, 刹车正在松开")                                      \
ENUM_ITEM(BackDrive, 7,              "反向驱动：刹车松开, 电机不通电")                                    \
ENUM_ITEM(Running, 8,                "机械臂刹车松开, 运行模式, 控制权由硬件移交给软件")                     \
ENUM_ITEM(Maintaince, 9,             "维护模式: 包括固件升级、参数写入等")                                 \
ENUM_ITEM(Error, 10,                 "")                                                              \
ENUM_ITEM(PowerOffing, 11,           "机械臂本体处于断电过程中")

The RobotModeType enum

Hardware related

Definition at line 349 of file type_def.h.

◆ ENUM_RuntimeState_DECLARES

#define ENUM_RuntimeState_DECLARES

Value:

ENUM_ITEM(Running, 0, "正在运行中")                        \
ENUM_ITEM(Retracting, 1, "倒退")                          \
ENUM_ITEM(Pausing, 2, "暂停中")                           \
ENUM_ITEM(Paused, 3, "暂停状态")                          \
ENUM_ITEM(Stepping, 4, "单步执行中")                       \
ENUM_ITEM(Stopping, 5, "受控停止中(保持原有轨迹)")           \
ENUM_ITEM(Stopped, 6, "已停止")                           \
ENUM_ITEM(Aborting, 7, "停止(最大速度关节运动停机)")

The RuntimeState enum.

Definition at line 326 of file type_def.h.

◆ ENUM_SafeguedStopType_DECLARES

#define ENUM_SafeguedStopType_DECLARES

Value:

ENUM_ITEM(None, 0, "无安全停止") \
ENUM_ITEM(SafeguedStopIOInput, 1, "安全停止(IO输入)") \
ENUM_ITEM(SafeguedStop3PE, 2, "安全停止(三态开关)") \
ENUM_ITEM(SafeguedStopOperational, 3, "安全停止(操作模式)")

Definition at line 548 of file type_def.h.

◆ ENUM_SafetyInputAction_DECLARES

#define ENUM_SafetyInputAction_DECLARES

Value:

ENUM_ITEM(Unassigned, 0, "安全输入未分配动作")                \
ENUM_ITEM(EmergencyStop, 1, "安全输入触发急停")               \
ENUM_ITEM(SafeguardStop, 2, "安全输入触发防护停止, 边沿触发")   \
ENUM_ITEM(SafeguardReset, 3, "安全输入触发防护重置, 边沿触发")  \
ENUM_ITEM(ThreePositionSwitch, 4, "3档位使能开关")           \
ENUM_ITEM(OperationalMode, 5, "切换自动模式和手动模式")        \
ENUM_ITEM(HandGuide, 6, "拖动示教")              \
ENUM_ITEM(ReducedMode, 7, "安全参数切换1(缩减模式)，序号越低优先级越高，三路输出都无效时，选用第0组安全参数")         \
ENUM_ITEM(AutomaticModeSafeguardStop, 8, "自动模式下防护停机输入(需要配置三档位使能设备)") \
ENUM_ITEM(AutomaticModeSafeguardReset, 9, "自动模式下上升沿触发防护重置(需要配置三档位使能设备)")

Definition at line 471 of file type_def.h.

◆ ENUM_SafetyModeType_DECLARES

#define ENUM_SafetyModeType_DECLARES

Value:

ENUM_ITEM(Undefined, 0,          "安全状态待定")             \
ENUM_ITEM(Normal, 1,             "正常运行模式")             \
ENUM_ITEM(ReducedMode, 2,        "缩减运行模式")             \
ENUM_ITEM(Recovery, 3,           "启动时如果在安全限制之外, 机器人将进入recovery模式") \
ENUM_ITEM(Violation, 4,          "超出安全限制（根据安全配置, 例如速度超限等）") \
ENUM_ITEM(ProtectiveStop, 5,     "软件触发的停机（保持轨迹, 不抱闸, 不断电）") \
ENUM_ITEM(SafeguardStop, 6,      "IO触发的防护停机（不保持轨迹, 抱闸, 不断电）") \
ENUM_ITEM(SystemEmergencyStop,7, "系统急停：急停信号由外部输入(可配置输入), 不对外输出急停信号") \
ENUM_ITEM(RobotEmergencyStop, 8, "机器人急停：控制柜急停输入或者示教器急停按键触发, 对外输出急停信号") \
ENUM_ITEM(Fault, 9,              "机械臂硬件故障或者系统故障")

Definition at line 364 of file type_def.h.

◆ ENUM_SafetyOutputRunState_DECLARES

#define ENUM_SafetyOutputRunState_DECLARES

Value:

ENUM_ITEM(Unassigned, 0, "安全输出未定义")                       \
ENUM_ITEM(SystemEmergencyStop, 1, "输出高当有机器人急停输入或者急停按键被按下")         \
ENUM_ITEM(NotSystemEmergencyStop, 2, "输出低当有机器人急停输入或者急停按键被按下")      \
ENUM_ITEM(RobotMoving, 3, "输出高当有关节运动速度超过 0.1rad/s")                     \
ENUM_ITEM(RobotNotMoving, 4, "输出高当所有的关节运动速度不超过 0.1rad/s")             \
ENUM_ITEM(ReducedMode, 5, "输出高当机器人处于缩减模式")                       \
ENUM_ITEM(NotReducedMode, 6, "输出高当机器人不处于缩减模式")                   \
ENUM_ITEM(SafeHome, 7, "输出高当机器人已经处于安全Home位姿")                    \
ENUM_ITEM(RobotNotStopping, 8, "输出低当机器人正在急停或者安全停止中")

Definition at line 483 of file type_def.h.

◆ ENUM_StandardInputAction_DECLARES

#define ENUM_StandardInputAction_DECLARES

Value:

ENUM_ITEM(Default, 0,  "无触发")                              \
ENUM_ITEM(Handguide, 1, "拖动示教，高电平触发")                 \
ENUM_ITEM(GoHome, 2, "运动到工程初始位姿，高电平触发")            \
ENUM_ITEM(StartProgram, 3, "开始工程，上升沿触发")              \
ENUM_ITEM(StopProgram, 4, "停止工程，上升沿触发")               \
ENUM_ITEM(PauseProgram, 5, "暂停工程，上升沿触发")              \
ENUM_ITEM(PopupDismiss, 6, "消除弹窗，上升沿触发")              \
ENUM_ITEM(PowerOn, 7, "机器人上电/松刹车，上升沿触发")           \
ENUM_ITEM(PowerOff, 8, "机器人抱死刹车/断电，上升沿触发")         \
ENUM_ITEM(ResumeProgram, 9, "恢复工程，上升沿触发")             \
ENUM_ITEM(SlowDown1, 10, "机器人减速触发1，高电平触发")          \
ENUM_ITEM(SlowDown2, 11, "机器人减速触发2，高电平触发")          \
ENUM_ITEM(SafeStop, 12, "安全停止，高电平触发")                 \
ENUM_ITEM(RunningGuard, 13, "信号，高电平有效")                \
ENUM_ITEM(MoveToFirstPoint, 14, "运动到工程初始位姿，高电平触发") \
ENUM_ITEM(xSlowDown1, 15, "机器人减速触发1，低电平触发")         \
ENUM_ITEM(xSlowDown2, 16, "机器人减速触发2，低电平触发")         \
ENUM_ITEM(ConveyorTrack, 17, "传送带检测到物品触发，高电平触发")  \
ENUM_ITEM(xConveyorTrack, 18, "传送带检测到物品触发，低电平触发") \
ENUM_ITEM(UnlockProtectiveStop, 19, "解除保护性停止，上升沿触发") \
ENUM_ITEM(ArbitraryResumeProgram , 20, "恢复工程，不检查当前位置和暂停点之间的距离，上升沿触发")

Definition at line 426 of file type_def.h.

◆ ENUM_StandardOutputRunState_DECLARES

#define ENUM_StandardOutputRunState_DECLARES

Value:

ENUM_ITEM(None, 0,     "标准输出状态未定义")            \
ENUM_ITEM(StopLow, 1, "低电平指示工程停止")             \
ENUM_ITEM(StopHigh, 2, "高电平指示机器人停止")          \
ENUM_ITEM(RunningHigh, 3,  "指示工程正在运行")         \
ENUM_ITEM(PausedHigh, 4,  "指示工程已经暂停")          \
ENUM_ITEM(AtHome, 5, "高电平指示机器人正在拖动")         \
ENUM_ITEM(Handguiding, 6, "高电平指示机器人正在拖动")    \
ENUM_ITEM(PowerOn, 7, "高电平指示机器人已经上电")           \
ENUM_ITEM(RobotEmergencyStop, 8, "高电平指示机器人急停按下") \
ENUM_ITEM(SystemEmergencyStop, 9, "高电平指示外部输入系统急停按下") \
ENUM_ITEM(InternalEmergencyStop, 8, "高电平指示机器人急停按下") \
ENUM_ITEM(ExternalEmergencyStop, 9, "高电平指示外部输入系统急停按下") \
ENUM_ITEM(SystemError, 10, "系统错误，包括故障、超限、急停、安全停止、防护停止 ") \
ENUM_ITEM(NotSystemError, 11, "无系统错误，包括普通模式、缩减模式和恢复模式 ") \
ENUM_ITEM(RobotOperable, 12, "机器人可操作，机器人上电且松刹车了 ") \
ENUM_ITEM(OperationalMode, 13, "高电平指示自动模式，低电平指示手动模式") \
ENUM_ITEM(SafeguardStop, 14, "高电平指示处于安全停止状态") \
ENUM_ITEM(ProtectiveStop, 15, "高电平指示处于防护停止状态") \
ENUM_ITEM(ProgramAborted, 16, "高电平指示工程意外停止") \
ENUM_ITEM(WaypointArrived, 17, "高电平指示机器人到达路点")

Definition at line 449 of file type_def.h.

◆ ENUM_TaskFrameType_DECLARES

#define ENUM_TaskFrameType_DECLARES

Value:

ENUM_ITEM(NONE, 0,"")        \
ENUM_ITEM(POINT_FORCE, 1, "力控坐标系发生变换, 使得力控参考坐标系的y轴沿着机器人TCP指向力控所选特征的原点, x和z轴取决于所选特征的原始方向" \
                          "力控坐标系发生变换, 使得力控参考坐标系的y轴沿着机器人TCP指向力控所选特征的原点, x和z轴取决于所选特征的原始方向" \
                          "机器人TCP与所选特征的起点之间的距离至少为10mm" \
                          "优先选择X轴, 为所选特征的X轴在力控坐标系Y轴垂直平面上的投影, 如果所选特征的X轴与力控坐标系的Y轴平行, " \
                          "通过类似方法确定力控坐标系Z轴, Y-X或者Y-Z轴确定之后, 通过右手法则确定剩下的轴") \
ENUM_ITEM(FRAME_FORCE, 2,"力控坐标系不发生变换 SIMPLE_FORC") \
ENUM_ITEM(MOTION_FORCE, 3,"力控坐标系发生变换, 使得力控参考坐标系的x轴为机器人TCP速度在所选特征x-y平面上的投影y轴将垂直于机械臂运动, 并在所选特征的x-y平面内")\
ENUM_ITEM(TOOL_FORCE, 4,"以工具末端坐标系作为力控参考坐标系")

Definition at line 505 of file type_def.h.

◆ ENUM_TraceLevel_DECLARES

#define ENUM_TraceLevel_DECLARES

Value:

ENUM_ITEM(FATAL, 0, "") \
ENUM_ITEM(ERROR, 1, "") \
ENUM_ITEM(WARNING, 2, "") \
ENUM_ITEM(INFO, 3, "") \
ENUM_ITEM(DEBUG, 4, "")

Definition at line 520 of file type_def.h.

◆ SAFETY_CUBIC_NUM

#define SAFETY_CUBIC_NUM 10

Number of safety cubes.

Definition at line 28 of file type_def.h.

Referenced by arcs::common_interface::RobotSafetyParameterRange::RobotSafetyParameterRange().

◆ SAFETY_PARAM_SELECT_NUM

#define SAFETY_PARAM_SELECT_NUM 2

normal + reduced

Definition at line 26 of file type_def.h.

Referenced by arcs::common_interface::RobotSafetyParameterRange::RobotSafetyParameterRange().

◆ SAFETY_PLANES_NUM

#define SAFETY_PLANES_NUM 8

Number of safety planes.

Definition at line 27 of file type_def.h.

Referenced by arcs::common_interface::RobotSafetyParameterRange::RobotSafetyParameterRange().

◆ TOOL_CONFIGURATION_NUM

#define TOOL_CONFIGURATION_NUM 3

Number of tool configurations.

Definition at line 29 of file type_def.h.

Referenced by arcs::common_interface::RobotSafetyParameterRange::RobotSafetyParameterRange().

	AUBO SDK 0.26.0

Classes

Namespaces

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ CARTESIAN_DOF

◆ DECL_TO_STRING_FUNC

◆ ENUM_AuboErrorCodes_DECLARES

◆ ENUM_AxisModeType_DECLARES

◆ ENUM_EnvelopingShape_DECLARES

◆ ENUM_HandleModeType_DECLARES

◆ ENUM_HandleStateType_DECLARES

◆ ENUM_ITEM [1/5]

◆ ENUM_ITEM [2/5]

◆ ENUM_ITEM [3/5]

◆ ENUM_ITEM [4/5]

◆ ENUM_ITEM [5/5]

◆ ENUM_JointServoModeType_DECLARES

◆ ENUM_JointStateType_DECLARES

◆ ENUM_OperationalModeType_DECLARES

◆ ENUM_PayloadIdentifyMoveAxis_DECLARES

◆ ENUM_RobotControlModeType_DECLARES

◆ ENUM_RobotEmergencyStopType_DECLARES

◆ ENUM_RobotModeType_DECLARES

◆ ENUM_RuntimeState_DECLARES

◆ ENUM_SafeguedStopType_DECLARES

◆ ENUM_SafetyInputAction_DECLARES

◆ ENUM_SafetyModeType_DECLARES

◆ ENUM_SafetyOutputRunState_DECLARES

◆ ENUM_StandardInputAction_DECLARES

◆ ENUM_StandardOutputRunState_DECLARES

◆ ENUM_TaskFrameType_DECLARES

◆ ENUM_TraceLevel_DECLARES

◆ SAFETY_CUBIC_NUM

◆ SAFETY_PARAM_SELECT_NUM

◆ SAFETY_PLANES_NUM

◆ TOOL_CONFIGURATION_NUM