ARCS SDK API  0.25.0
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type_def.h
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1/** @file type_def.h
2 * @brief 数据类型的定义
3 */
4#ifndef AUBO_SDK_TYPE_DEF_H
5#define AUBO_SDK_TYPE_DEF_H
6
7#include <stddef.h>
8#include <array>
9#include <vector>
10#include <memory>
11#include <functional>
12#include <iostream>
13#include <string>
14
15#ifdef _MSC_VER
16#pragma execution_character_set("utf-8")
17#endif
18
19namespace arcs {
20namespace common_interface {
21
22/// Cartesion degree of freedom, 6 for x,y,z,rx,ry,rz
23#define CARTESIAN_DOF 6
24#define SAFETY_PARAM_SELECT_NUM 2 /// normal + reduced
25#define SAFETY_PLANES_NUM 8 /// 安全平面的数量
26#define SAFETY_CUBIC_NUM 10 /// 安全立方体的数量
27#define TOOL_CONFIGURATION_NUM 3 /// 工具配置数量
28
29using Vector3d = std::array<double, 3>;
30using Vector4d = std::array<double, 4>;
31using Vector3f = std::array<float, 3>;
32using Vector4f = std::array<float, 4>;
33using Vector6f = std::array<float, 6>;
34
36{
38 {
39 for (int i = 0; i < SAFETY_PARAM_SELECT_NUM; i++) {
40 params[i].power = 0.;
41 params[i].momentum = 0.;
42 params[i].stop_time = 0.;
43 params[i].stop_distance = 0.;
44 params[i].reduced_entry_time = 0.;
45 params[i].reduced_entry_distance = 0.;
46 params[i].tcp_speed = 0.;
47 params[i].elbow_speed = 0.;
48 params[i].tcp_force = 0.;
49 params[i].elbow_force = 0.;
50 std::fill(params[i].qmin.begin(), params[i].qmin.end(), 0.);
51 std::fill(params[i].qmax.begin(), params[i].qmax.end(), 0.);
52 std::fill(params[i].qdmax.begin(), params[i].qdmax.end(), 0.);
53 std::fill(params[i].joint_torque.begin(),
54 params[i].joint_torque.end(), 0.);
55 params[i].tool_orientation.fill(0.);
56 params[i].tool_deviation = 0.;
57 for (int j = 0; j < SAFETY_PLANES_NUM; j++) {
58 params[i].planes[j].fill(0.);
59 params[i].restrict_elbow[j] = 0;
60 }
61 }
62 for (int i = 0; i < SAFETY_PLANES_NUM; i++) {
63 trigger_planes[i].plane.fill(0.);
64 trigger_planes[i].restrict_elbow = 0;
65 }
66 for (int i = 0; i < SAFETY_CUBIC_NUM; i++) {
67 cubic[i].orig.fill(0.);
68 cubic[i].size.fill(0.);
69 cubic[i].restrict_elbow = 0;
70 }
71 for (int i = 0; i < TOOL_CONFIGURATION_NUM; i++) {
72 tools[i].fill(0.);
73 }
74
76 tool_azimuth = 0.;
77 std::fill(safety_home.begin(), safety_home.end(), 0.);
78
88
98
101 }
102
103 uint32_t crc32{ 0 };
104
105 /// 最多可以保存2套参数, 默认使用第 0 套参数
106 struct
107 {
108 float power; ///< sum of joint torques times joint angular speeds
109 float momentum; ///< 机器人动量限制
110 float stop_time; ///< 停机时间 ms
111 float stop_distance; ///< 停机距离 m
112 float reduced_entry_time; ///< 进入缩减模式的最大时间
113 float
114 reduced_entry_distance; ///< 进入缩减模式的最大距离(可由安全平面触发)
119 std::vector<float> qmin;
120 std::vector<float> qmax;
121 std::vector<float> qdmax;
122 std::vector<float> joint_torque;
125 Vector4f planes[SAFETY_PLANES_NUM]; /// x,y,z,displacement
128
129 /// 8个触发平面
130 struct
131 {
132 Vector4f plane; /// x,y,z,displacement
133 int restrict_elbow;
135
136 struct
137 {
138 Vector6f orig; ///< 立方块的原点 (x,y,z,rx,ry,rz)
139 Vector3f size; ///< 立方块的尺寸 (x,y,z)
140 int restrict_elbow;
141 } cubic[SAFETY_CUBIC_NUM]; ///< 10个安全空间
142
143 /// 3个工具
145
146 float tool_inclination{ 0. }; ///< 倾角
147 float tool_azimuth{ 0. }; ///< 方位角
148 std::vector<float> safety_home;
149
150 /// 可配置IO的输入输出安全功能配置
160
170
171 int tp_3pe_for_handguide; ///< 是否将示教器三档位开关作为拖动功能开关
172 int allow_manual_high_speed; ///< 手动模式下允许高速运行
173};
174
175inline std::ostream &operator<<(std::ostream &os,
177{
178 // os << (int)vd;
179 return os;
180}
181
183{
184 /// 是否为外部工具
185 bool remote_tool{ false };
186
187 /// 工件坐标系耦合的
188 std::string attach_frame{ "" };
189
190 /// 用户坐标系
191 /// 如果 robhold 为 false, 那 uframe 的数值是基于 world
192 /// 否则,uframe 的数值是基于 flange
193 std::vector<double> user_coord{ std::vector<double>(6, 0) };
194
195 /// 工件坐标系,基于 uframe
196 std::vector<double> obj_coord{ std::vector<double>(6, 0) };
197};
198
199inline std::ostream &operator<<(std::ostream &os, WObjectData p)
200{
201 return os;
202}
203
204/// 接口函数返回值定义
205///
206/// 整数为警告,负数为错误,0为没有错误也没有警告
207#define ENUM_AuboErrorCodes_DECLARES \
208 ENUM_ITEM(AUBO_OK, 0, "Success") \
209 ENUM_ITEM(AUBO_BAD_STATE, 1, "State error") \
210 ENUM_ITEM(AUBO_QUEUE_FULL, 2, "Planning queue full") \
211 ENUM_ITEM(AUBO_BUSY, 3, "The previous command is executing") \
212 ENUM_ITEM(AUBO_TIMEOUT, 4, "Timeout") \
213 ENUM_ITEM(AUBO_INVL_ARGUMENT, 5, "Invalid parameters") \
214 ENUM_ITEM(AUBO_NOT_IMPLETEMENT, 6, "Interface not implemented") \
215 ENUM_ITEM(AUBO_NO_ACCESS, 7, "Cannot access") \
216 ENUM_ITEM(AUBO_CONN_REFUSED, 8, "Connection refused") \
217 ENUM_ITEM(AUBO_CONN_RESET, 9, "Connection is reset") \
218 ENUM_ITEM(AUBO_INPROGRESS, 10, "Execution in progress") \
219 ENUM_ITEM(AUBO_EIO, 11, "Input/Output error") \
220 ENUM_ITEM(AUBO_NOBUFFS, 12, "") \
221 ENUM_ITEM(AUBO_REQUEST_IGNORE, 13, "Request was ignored") \
222 ENUM_ITEM(AUBO_ALGORITHM_PLAN_FAILED, 14, \
223 "Motion planning algorithm error") \
224 ENUM_ITEM(AUBO_VERSION_INCOMPAT, 15, "Interface version unmatch") \
225 ENUM_ITEM(AUBO_DIMENSION_ERR, 16, \
226 "Input parameter dimension is incorrect") \
227 ENUM_ITEM(AUBO_SINGULAR_ERR, 17, "Input configuration may be singular") \
228 ENUM_ITEM(AUBO_POS_BOUND_ERR, 18, \
229 "Input position boundary exceeds the limit range") \
230 ENUM_ITEM(AUBO_INIT_POS_ERR, 19, "Initial position input is unreasonable") \
231 ENUM_ITEM(AUBO_ELP_SETTING_ERR, 20, "Envelope body setting error") \
232 ENUM_ITEM(AUBO_TRAJ_GEN_FAIL, 21, "Trajectory generation failed") \
233 ENUM_ITEM(AUBO_TRAJ_SELF_COLLISION, 22, "Trajectory self collision") \
234 ENUM_ITEM( \
235 AUBO_IK_NO_CONVERGE, 23, \
236 "Inverse kinematics computation did not converge; computation failed") \
237 ENUM_ITEM(AUBO_IK_OUT_OF_RANGE, 24, \
238 "Inverse kinematics result out of robot range") \
239 ENUM_ITEM(AUBO_IK_CONFIG_DISMATCH, 25, \
240 "Inverse kinematics input configuration contains errors") \
241 ENUM_ITEM(AUBO_IK_JACOBIAN_FAILED, 26, \
242 "The calculation of the inverse Jacobian matrix failed") \
243 ENUM_ITEM(AUBO_IK_NO_SOLU, 27, \
244 "The target point has solutions, but it has exceeded the joint " \
245 "limit conditions") \
246 ENUM_ITEM(AUBO_IK_UNKOWN_ERROR, 28, "Inverse kinematics unkown error") \
247 ENUM_ITEM(AUBO_INST_QUEUED, 100, "Instruction pused into queue succeed") \
248 ENUM_ITEM(AUBO_INTERNAL_ERR, 101, "Internal error caused by alg .etc.") \
249 ENUM_ITEM(AUBO_ERR_UNKOWN, 99999, "Unkown error occurred.")
250
251// clang-format off
252/**
253 * The RuntimeState enum
254 *
255 */
256#define ENUM_RuntimeState_DECLARES \
257 ENUM_ITEM(Running, 0, "正在运行中") \
258 ENUM_ITEM(Retracting, 1, "倒退") \
259 ENUM_ITEM(Pausing, 2, "暂停中") \
260 ENUM_ITEM(Paused, 3, "暂停状态") \
261 ENUM_ITEM(Stepping, 4, "单步执行中") \
262 ENUM_ITEM(Stopping, 5, "受控停止中(保持原有轨迹)") \
263 ENUM_ITEM(Stopped, 6, "已停止") \
264 ENUM_ITEM(Aborting, 7, "停止(最大速度关节运动停机)")
265
266/**
267 * @brief The RobotModeType enum
268 *
269 * 硬件强相关
270 */
271#define ENUM_RobotModeType_DECLARES \
272 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") \
273 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)") \
274 ENUM_ITEM(ConfirmSafety, 1, "正在进行安全配置, 断电状态下进行") \
275 ENUM_ITEM(Booting, 2, "机械臂本体正在上电初始化") \
276 ENUM_ITEM(PowerOff, 3, "机械臂本体处于断电状态") \
277 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") \
278 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") \
279 ENUM_ITEM(BrakeReleasing, 6, "机械臂上电成功, 刹车正在松开") \
280 ENUM_ITEM(BackDrive, 7, "反向驱动:刹车松开, 电机不通电") \
281 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") \
282 ENUM_ITEM(Maintaince, 9, "维护模式: 包括固件升级、参数写入等") \
283 ENUM_ITEM(Error, 10, "") \
284 ENUM_ITEM(PowerOffing, 11, "机械臂本体处于断电过程中")
285
286#define ENUM_SafetyModeType_DECLARES \
287 ENUM_ITEM(Undefined, 0, "安全状态待定") \
288 ENUM_ITEM(Normal, 1, "正常运行模式") \
289 ENUM_ITEM(ReducedMode, 2, "缩减运行模式") \
290 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") \
291 ENUM_ITEM(Violation, 4, "超出安全限制(根据安全配置, 例如速度超限等)") \
292 ENUM_ITEM(ProtectiveStop, 5, "软件触发的停机(保持轨迹, 不抱闸, 不断电)") \
293 ENUM_ITEM(SafeguardStop, 6, "IO触发的防护停机(不保持轨迹, 抱闸, 不断电)") \
294 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") \
295 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") \
296 ENUM_ITEM(Fault, 9, "机械臂硬件故障或者系统故障")
297 //ValidateJointId
298
299/**
300 * 根据ISO 10218-1:2011(E) 5.7节
301 * Automatic: In automatic mode, the robot shall execute the task programme and
302 * the safeguarding measures shall be functioning. Automatic operation shall be
303 * prevented if any stop condition is detected. Switching from this mode shall
304 * result in a stop.
305 */
306#define ENUM_OperationalModeType_DECLARES \
307 ENUM_ITEM(Disabled, 0, "禁用模式: 不使用Operational Mode") \
308 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") \
309 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)")
310
311/**
312 * 机器人的控制模式, 最终的控制对象
313 */
314#define ENUM_RobotControlModeType_DECLARES \
315 ENUM_ITEM(Unknown, 0, "未知的控制模式") \
316 ENUM_ITEM(Position, 1, "位置控制 movej") \
317 ENUM_ITEM(Speed, 2, "速度控制 speedj/speedl") \
318 ENUM_ITEM(Servo, 3, "位置控制 servoj") \
319 ENUM_ITEM(Freedrive, 4, "拖动示教 freedrive_mode") \
320 ENUM_ITEM(Force, 5, "末端力控 force_mode") \
321 ENUM_ITEM(Torque, 6, "关节力矩控制") \
322 ENUM_ITEM(Collision, 7, "碰撞模式")
323
324#define ENUM_JointServoModeType_DECLARES \
325 ENUM_ITEM(Unknown, -1, "未知") \
326 ENUM_ITEM(Open, 0, "开环模式") \
327 ENUM_ITEM(Current, 1, "电流伺服模式") \
328 ENUM_ITEM(Velocity, 2, "速度伺服模式") \
329 ENUM_ITEM(Position, 3, "位置伺服模式") \
330 ENUM_ITEM(Torque, 4, "力矩伺服模式")
331
332#define ENUM_JointStateType_DECLARES \
333 ENUM_ITEM(Poweroff, 0, "节点未连接到接口板或者已经断电") \
334 ENUM_ITEM(Idle, 2, "节点空闲") \
335 ENUM_ITEM(Fault, 3, "节点错误, 节点停止伺服运动, 刹车抱死") \
336 ENUM_ITEM(Running, 4, "节点伺服") \
337 ENUM_ITEM(Bootload, 5, "节点bootloader状态, 暂停一切通讯")
338
339#define ENUM_StandardInputAction_DECLARES \
340 ENUM_ITEM(Default, 0, "无触发") \
341 ENUM_ITEM(Handguide, 1, "拖动示教,高电平触发") \
342 ENUM_ITEM(GoHome, 2, "运动到工程初始位姿,高电平触发") \
343 ENUM_ITEM(StartProgram, 3, "开始工程,上升沿触发") \
344 ENUM_ITEM(StopProgram, 4, "停止工程,上升沿触发") \
345 ENUM_ITEM(PauseProgram, 5, "暂停工程,上升沿触发") \
346 ENUM_ITEM(PopupDismiss, 6, "消除弹窗,上升沿触发") \
347 ENUM_ITEM(PowerOn, 7, "机器人上电/松刹车,上升沿触发") \
348 ENUM_ITEM(PowerOff, 8, "机器人抱死刹车/断电,上升沿触发") \
349 ENUM_ITEM(ResumeProgram, 9, "恢复工程,上升沿触发") \
350 ENUM_ITEM(SlowDown1, 10, "机器人减速触发1,高电平触发") \
351 ENUM_ITEM(SlowDown2, 11, "机器人减速触发2,高电平触发") \
352 ENUM_ITEM(SafeStop, 12, "安全停止,高电平触发") \
353 ENUM_ITEM(RunningGuard, 13, "信号,高电平有效") \
354 ENUM_ITEM(MoveToFirstPoint, 14, "运动到工程初始位姿,高电平触发") \
355 ENUM_ITEM(xSlowDown1, 15, "机器人减速触发1,低电平触发") \
356 ENUM_ITEM(xSlowDown2, 16, "机器人减速触发2,低电平触发")
357
358#define ENUM_StandardOutputRunState_DECLARES \
359 ENUM_ITEM(None, 0, "标准输出状态未定义") \
360 ENUM_ITEM(StopLow, 1, "低电平指示工程停止") \
361 ENUM_ITEM(StopHigh, 2, "高电平指示机器人停止") \
362 ENUM_ITEM(RunningHigh, 3, "指示工程正在运行") \
363 ENUM_ITEM(PausedHigh, 4, "指示工程已经暂停") \
364 ENUM_ITEM(AtHome, 5, "高电平指示机器人正在拖动") \
365 ENUM_ITEM(Handguiding, 6, "高电平指示机器人正在拖动") \
366 ENUM_ITEM(PowerOn, 7, "高电平指示机器人已经上电") \
367 ENUM_ITEM(RobotEmergencyStop, 8, "高电平指示机器人急停按下") \
368 ENUM_ITEM(SystemEmergencyStop, 9, "高电平指示外部输入系统急停按下") \
369 ENUM_ITEM(InternalEmergencyStop, 8, "高电平指示机器人急停按下") \
370 ENUM_ITEM(ExternalEmergencyStop, 9, "高电平指示外部输入系统急停按下") \
371 ENUM_ITEM(SystemError, 10, "系统错误,包括故障、超限、急停、安全停止、防护停止 ") \
372 ENUM_ITEM(NotSystemError, 11, "无系统错误,包括普通模式、缩减模式和恢复模式 ") \
373 ENUM_ITEM(RobotOperable, 12, "机器人可操作,机器人上电且松刹车了 ")
374
375#define ENUM_SafetyInputAction_DECLARES \
376 ENUM_ITEM(Unassigned, 0, "安全输入未分配动作") \
377 ENUM_ITEM(EmergencyStop, 1, "安全输入触发急停") \
378 ENUM_ITEM(SafeguardStop, 2, "安全输入触发防护停止, 边沿触发") \
379 ENUM_ITEM(SafeguardReset, 3, "安全输入触发防护重置, 边沿触发") \
380 ENUM_ITEM(ThreePositionSwitch, 4, "3档位使能开关") \
381 ENUM_ITEM(OperationalMode, 5, "切换自动模式和手动模式") \
382 ENUM_ITEM(HandGuide, 6, "拖动示教") \
383 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") \
384 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)") \
385 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)")
386
387#define ENUM_SafetyOutputRunState_DECLARES \
388 ENUM_ITEM(Unassigned, 0, "安全输出未定义") \
389 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") \
390 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") \
391 ENUM_ITEM(RobotMoving, 3, "输出高当有关节运动速度超过 0.1rad/s") \
392 ENUM_ITEM(RobotNotMoving, 4, "输出高当所有的关节运动速度不超过 0.1rad/s") \
393 ENUM_ITEM(ReducedMode, 5, "输出高当机器人处于缩减模式") \
394 ENUM_ITEM(NotReducedMode, 6, "输出高当机器人不处于缩减模式") \
395 ENUM_ITEM(SafeHome, 7, "输出高当机器人已经处于安全Home位姿") \
396 ENUM_ITEM(RobotNotStopping, 8, "输出低当机器人正在急停或者安全停止中")
397
398#define ENUM_PayloadIdentifyMoveAxis_DECLARES \
399 ENUM_ITEM(Joint_2_6, 0,"第2和6关节运动") \
400 ENUM_ITEM(Joint_3_6, 1,"第3和6关节运动") \
401 ENUM_ITEM(Joint_4_6, 2,"第4和6关节运动") \
402 ENUM_ITEM(Joint_4_5_6, 3,"第4、5、6关节运动") \
403
404#define ENUM_EnvelopingShape_DECLARES \
405 ENUM_ITEM(Cube, 1,"立方体") \
406 ENUM_ITEM(Column, 2,"柱状体") \
407 ENUM_ITEM(Stl, 3,"以STL文件的形式描述负载碰撞集合体")
408
409#define ENUM_TaskFrameType_DECLARES \
410 ENUM_ITEM(NONE, 0,"") \
411 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" \
412 "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" \
413 "机器人TCP与所选特征的起点之间的距离至少为10mm" \
414 "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, " \
415 "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") \
416 ENUM_ITEM(FRAME_FORCE, 2,"力控坐标系不发生变换 SIMPLE_FORC") \
417 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")\
418 ENUM_ITEM(TOOL_FORCE, 4,"以工具末端坐标系作为力控参考坐标系")
419
420#ifdef ERROR
421#undef ERROR
422#endif
423
424#define ENUM_TraceLevel_DECLARES \
425 ENUM_ITEM(FATAL, 0, "") \
426 ENUM_ITEM(ERROR, 1, "") \
427 ENUM_ITEM(WARNING, 2, "") \
428 ENUM_ITEM(INFO, 3, "") \
429 ENUM_ITEM(DEBUG, 4, "")
430
431#define ENUM_AxisModeType_DECLARES \
432 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") \
433 ENUM_ITEM(Disconnected, 0, "未连接") \
434 ENUM_ITEM(PowerOff, 1, "断电") \
435 ENUM_ITEM(BrakeReleasing, 2, "刹车松开中") \
436 ENUM_ITEM(Idle, 3, "空闲") \
437 ENUM_ITEM(Running, 4, "运行中") \
438 ENUM_ITEM(Fault, 5, "错误状态")
439
440#define ENUM_SafeguedStopType_DECLARES \
441 ENUM_ITEM(None, 0, "无安全停止") \
442 ENUM_ITEM(SafeguedStopIOInput, 1, "安全停止(IO输入)") \
443 ENUM_ITEM(SafeguedStop3PE, 2, "安全停止(三态开关)") \
444 ENUM_ITEM(SafeguedStopOperational, 3, "安全停止(操作模式)")
445
446#define ENUM_RobotEmergencyStopType_DECLARES \
447 ENUM_ITEM(RobotEmergencyStopNone, 0, "无紧急停止") \
448 ENUM_ITEM(RobotEmergencyStopControlBox, 1, "紧急停止(控制柜急停)") \
449 ENUM_ITEM(RobotEmergencyStopTeachPendant, 2, "紧急停止(示教器急停)") \
450 ENUM_ITEM(RobotEmergencyStopHandle, 3, "紧急停止(手柄急停)") \
451 ENUM_ITEM(RobotEmergencyStopEI, 4, "紧急停止(固定IO急停)")
452
453#define ENUM_ITEM(c, n, ...) c = n,
458
459enum class RuntimeState : int
460{
462};
463
464enum class RobotModeType : int
465{
467};
468
469enum class AxisModeType : int
470{
472};
473
474/**
475 * 安全状态:
476 *
477 */
478enum class SafetyModeType : int
479{
481};
482
483/**
484 * 操作模式
485 */
490
491/**
492 * 机器人控制模式
493 */
498
499/**
500 * 关节伺服模式
501 */
506
507/**
508 * 关节状态
509 */
510enum class JointStateType : int
511{
513};
514
515/**
516 * 标准输出运行状态
517 */
522
523/**
524 * @brief The StandardInputAction enum
525 */
530
535
540
545
550
555
560
565
570#undef ENUM_ITEM
571
572// clang-format on
573
574#define DECL_TO_STRING_FUNC(ENUM) \
575 inline std::string toString(ENUM v) \
576 { \
577 using T = ENUM; \
578 std::string name = #ENUM "."; \
579 ENUM_##ENUM##_DECLARES \
580 \
581 return #ENUM ".Unkown"; \
582 } \
583 inline std::ostream &operator<<(std::ostream &os, ENUM v) \
584 { \
585 os << toString(v); \
586 return os; \
587 }
588
589#define ENUM_ITEM(c, n, ...) \
590 if (v == T::c) { \
591 return name + #c; \
592 }
593
608
609#undef ENUM_ITEM
610
612{
613 Stopped,
614 Starting,
615 Stropping,
616 Running
617};
618
619enum class RefFrameType
620{
621 None, ///
622 Tool, ///< 工具坐标系
623 Path, ///< 轨迹坐标系
624 Base ///< 基坐标系
625};
626
627/// 圆周运动参数定义
629{
630 std::vector<double> pose_via; ///< 圆周运动途中点的位姿
631 std::vector<double> pose_to; ///< 圆周运动结束点的位姿
632 double a; ///< 加速度, 单位: m/s^2
633 double v; ///< 速度,单位: m/s
634 double blend_radius; ///< 交融半径,单位: m
635 double duration; ///< 运行时间,单位: s
636 double helix;
637 double spiral;
638 double direction;
639 int loop_times; ///< 暂不支持
640};
641
642inline std::ostream &operator<<(std::ostream &os, CircleParameters p)
643{
644 return os;
645}
646
648{
649 std::vector<double> frame; ///< 参考点,螺旋线的中心点和参考坐标系
650 int plane; ///< 参考平面选择 0-XY 1-YZ 2-ZX
651 double angle; ///< 转动的角度,如果为正数,机器人逆时针旋转
652 double spiral; ///< 正数外扩
653 double helix; ///< 正数上升
654};
655
656inline std::ostream &operator<<(std::ostream &os, SpiralParameters p)
657{
658 return os;
659}
660
662{
663 EnvelopingShape shape; // 包络体形状
664 std::vector<double>
665 ep_args; // 包络体组合,shape为None或Stl时无需对ep_args赋值;
666 // shape为Cube时ep_args有9个元素,分别为xmin,xmax,ymin,ymax,zmin,zmax,rx,ry,rz;
667 // shape为Column时ep_args有5个元素,分别为radius,height,rx,ry,rz;
668 std::string stl_path; // stl的路径(绝对路径),stl文件需为二进制文件,
669 // shape设置为Stl时,此项生效
670};
671
672inline std::ostream &operator<<(std::ostream &os, Enveloping p)
673{
674 return os;
675}
676
677/// 用于负载辨识的轨迹配置
679{
680 std::vector<Enveloping> envelopings; // 包络体组合
681 PayloadIdentifyMoveAxis move_axis; // 运动的轴(ID), 下标从0开始
682 std::vector<double> init_joint; // 关节初始位置
683 std::vector<double> upper_joint_bound; // 运动轴上限
684 std::vector<double> lower_joint_bound; // 运动轴下限
685 std::vector<double> max_velocity; // 关节运动的最大速度,默认值为 3.0
686 std::vector<double> max_acceleration; // 关节运动的最大加速度,默认值为 5.0
687};
688
689inline std::ostream &operator<<(std::ostream &os, TrajConfig p)
690{
691 return os;
692}
693
694// result with error code
695using ResultWithErrno = std::tuple<std::vector<double>, int>;
696using ResultWithErrno1 = std::tuple<std::vector<std::vector<double>>, int>;
697
698// mass, cog, aom, inertia
699using Payload = std::tuple<double, std::vector<double>, std::vector<double>,
700 std::vector<double>>;
701
702// force_offset, com, mass, angle
704 std::tuple<std::vector<double>, std::vector<double>, double,
705 std::vector<double>>;
706
707// force_offset, com, mass, angle error
709 std::tuple<std::vector<double>, std::vector<double>, double,
710 std::vector<double>, double>;
711
712// 动力学模型m,d,k
714 std::tuple<std::vector<double>, std::vector<double>, std::vector<double>>;
715
716// double xmin;
717// double xmax;
718// double ymin;
719// double ymax;
720// double zmin;
721// double zmax;
722using Box = std::vector<double>;
723
724// double xcbottom;
725// double ycbottom;
726// double zcbottom;
727// double height;
728// double radius;
729using Cylinder = std::vector<double>;
730
731// double xc;
732// double yc;
733// double radius;
734using Sphere = std::vector<double>;
735
737{
738 uint64_t timestamp; ///< 时间戳,即系统时间
739 TraceLevel level; ///< 日志等级
740 int code; ///< 错误码
741 std::string source; ///< 发送消息的机器人别名 alias
742 ///< 可在 /root/arcs_ws/config/aubo_control.conf
743 ///< 配置文件中查到机器人的alias
744 std::vector<std::string> args; ///< 机器人参数
745};
746using RobotMsgVector = std::vector<RobotMsg>;
747
748/// RTDE菜单
750{
751 bool to_server; ///< 输入/输出
752 int chanel; ///< 通道
753 double frequency; ///< 更新频率
754 int trigger; ///< 触发方式(该功能暂未实现): 0 - 周期; 1 - 变化
755 std::vector<std::string> segments; ///< 字段列表
756};
757
758/// 异常类型
760{
761 parse_error = -32700, ///< 解析错误
762 invalid_request = -32600, ///< 无效请求
763 method_not_found = -32601, ///< 方法未找到
764 invalid_params = -32602, ///< 无效参数
765 internal_error = -32603, ///< 内部错误
766 server_error, ///< 服务器错误
767 invalid ///< 无效
769
770/// 异常码
772{
773 EC_DISCONNECTED = -1, ///< 断开连接
774 EC_NOT_LOGINED = -2, ///< 未登录
775 EC_INVAL_SOCKET = -3, ///< 无效套接字
776 EC_REQUEST_BUSY = -4, ///< 请求繁忙
777 EC_SEND_FAILED = -5, ///< 发送失败
778 EC_RECV_TIMEOUT = -6, ///< 接收超时
779 EC_RECV_ERROR = -7, ///< 接收错误
780 EC_PARSE_ERROR = -8, ///< 解析错误
781 EC_INVALID_REQUEST = -9, ///< 无效请求
782 EC_METHOD_NOT_FOUND = -10, ///< 方法未找到
783 EC_INVALID_PARAMS = -11, ///< 无效参数
784 EC_INTERNAL_ERROR = -12, ///< 内部错误
785 EC_SERVER_ERROR = -13, ///< 服务器错误
786 EC_INVALID = -14 ///< 无效
788
789/// 自定义异常类 AuboException
790class AuboException : public std::exception
791{
792public:
793 AuboException(int code, const std::string &prefix,
794 const std::string &message) noexcept
795 : code_(code), message_(prefix + "-" + message)
796 {
797 }
798
799 AuboException(int code, const std::string &message) noexcept
800 : code_(code), message_(message)
801 {
802 }
803
805 {
806 if (code_ >= -32603 && code_ <= -32600) {
807 return static_cast<error_type>(code_);
808 } else if (code_ >= -32099 && code_ <= -32000) {
809 return server_error;
810 } else if (code_ == -32700) {
811 return parse_error;
812 }
813 return invalid;
814 }
815
816 int code() const { return code_; }
817 const char *what() const noexcept override { return message_.c_str(); }
818
819private:
820 int code_; ///< 异常码
821 std::string message_; ///< 异常消息
822};
823
824inline const char *returnValue2Str(int retval)
825{
826 static const char *retval_str[] = {
827#define ENUM_ITEM(n, v, s) s,
829#undef ENUM_ITEM
830 };
831
832 enum arcs_index
833 {
834#define ENUM_ITEM(n, v, s) n##_INDEX,
836#undef ENUM_ITEM
837 };
838
839 int index = -1;
840
841#define ENUM_ITEM(n, v, s) \
842 if (retval == v) \
843 index = n##_INDEX;
845#undef ENUM_ITEM
846
847 if (index == -1)
848 {
849 index = AUBO_ERR_UNKOWN;
850 }
851
852 return retval_str[(unsigned)index];
853}
854
855} // namespace common_interface
856} // namespace arcs
857#endif
858
859#if defined ENABLE_JSON_TYPES
860#include "bindings/jsonrpc/json_types.h"
861#endif
自定义异常类 AuboException
Definition type_def.h:791
AuboException(int code, const std::string &prefix, const std::string &message) noexcept
Definition type_def.h:793
std::string message_
异常消息
Definition type_def.h:821
const char * what() const noexcept override
Definition type_def.h:817
AuboException(int code, const std::string &message) noexcept
Definition type_def.h:799
std::tuple< std::vector< double >, std::vector< double >, double, std::vector< double > > ForceSensorCalibResult
Definition type_def.h:705
std::ostream & operator<<(std::ostream &os, const RobotSafetyParameterRange &vd)
Definition type_def.h:175
std::tuple< std::vector< std::vector< double > >, int > ResultWithErrno1
Definition type_def.h:696
std::array< float, 3 > Vector3f
Definition type_def.h:31
JointServoModeType
关节伺服模式
Definition type_def.h:503
std::array< double, 3 > Vector3d
Definition type_def.h:29
std::tuple< std::vector< double >, std::vector< double >, double, std::vector< double >, double > ForceSensorCalibResultWithError
Definition type_def.h:710
RobotControlModeType
机器人控制模式
Definition type_def.h:495
std::tuple< std::vector< double >, std::vector< double >, std::vector< double > > DynamicsModel
Definition type_def.h:714
error_type
异常类型
Definition type_def.h:760
@ parse_error
解析错误
Definition type_def.h:761
@ method_not_found
方法未找到
Definition type_def.h:763
@ invalid_params
无效参数
Definition type_def.h:764
@ invalid_request
无效请求
Definition type_def.h:762
@ internal_error
内部错误
Definition type_def.h:765
@ server_error
服务器错误
Definition type_def.h:766
std::array< float, 6 > Vector6f
Definition type_def.h:33
StandardInputAction
The StandardInputAction enum
Definition type_def.h:527
std::vector< double > Box
Definition type_def.h:722
std::vector< double > Sphere
Definition type_def.h:734
StandardOutputRunState
标准输出运行状态
Definition type_def.h:519
std::tuple< double, std::vector< double >, std::vector< double >, std::vector< double > > Payload
Definition type_def.h:700
JointStateType
关节状态
Definition type_def.h:511
const char * returnValue2Str(int retval)
Definition type_def.h:824
@ EC_INVALID_REQUEST
无效请求
Definition type_def.h:781
@ EC_DISCONNECTED
断开连接
Definition type_def.h:773
@ EC_PARSE_ERROR
解析错误
Definition type_def.h:780
@ EC_SERVER_ERROR
服务器错误
Definition type_def.h:785
@ EC_SEND_FAILED
发送失败
Definition type_def.h:777
@ EC_INTERNAL_ERROR
内部错误
Definition type_def.h:784
@ EC_NOT_LOGINED
未登录
Definition type_def.h:774
@ EC_INVAL_SOCKET
无效套接字
Definition type_def.h:775
@ EC_RECV_ERROR
接收错误
Definition type_def.h:779
@ EC_RECV_TIMEOUT
接收超时
Definition type_def.h:778
@ EC_METHOD_NOT_FOUND
方法未找到
Definition type_def.h:782
@ EC_INVALID_PARAMS
无效参数
Definition type_def.h:783
@ EC_REQUEST_BUSY
请求繁忙
Definition type_def.h:776
std::array< float, 4 > Vector4f
Definition type_def.h:32
OperationalModeType
操作模式
Definition type_def.h:487
SafetyModeType
安全状态:
Definition type_def.h:479
std::array< double, 4 > Vector4d
Definition type_def.h:30
@ ENUM_PayloadIdentifyMoveAxis_DECLARES
Definition type_def.h:553
std::tuple< std::vector< double >, int > ResultWithErrno
Definition type_def.h:695
std::vector< RobotMsg > RobotMsgVector
Definition type_def.h:746
std::vector< double > Cylinder
Definition type_def.h:729
double duration
运行时间,单位: s
Definition type_def.h:635
double blend_radius
交融半径,单位: m
Definition type_def.h:634
std::vector< double > pose_via
圆周运动途中点的位姿
Definition type_def.h:630
double v
速度,单位: m/s
Definition type_def.h:633
std::vector< double > pose_to
圆周运动结束点的位姿
Definition type_def.h:631
double a
加速度, 单位: m/s^2
Definition type_def.h:632
std::vector< double > ep_args
Definition type_def.h:665
TraceLevel level
日志等级
Definition type_def.h:739
std::string source
发送消息的机器人别名 alias 可在 /root/arcs_ws/config/aubo_control.conf 配置文件中查到机器人的alias
Definition type_def.h:741
uint64_t timestamp
时间戳,即系统时间
Definition type_def.h:738
std::vector< std::string > args
机器人参数
Definition type_def.h:744
struct arcs::common_interface::RobotSafetyParameterRange::@1 trigger_planes[SAFETY_PLANES_NUM]
8个触发平面
struct arcs::common_interface::RobotSafetyParameterRange::@0 params[SAFETY_PARAM_SELECT_NUM]
最多可以保存2套参数, 默认使用第 0 套参数
float power
sum of joint torques times joint angular speeds
Definition type_def.h:108
int allow_manual_high_speed
手动模式下允许高速运行
Definition type_def.h:172
int tp_3pe_for_handguide
是否将示教器三档位开关作为拖动功能开关
Definition type_def.h:171
Vector6f orig
立方块的原点 (x,y,z,rx,ry,rz)
Definition type_def.h:138
struct arcs::common_interface::RobotSafetyParameterRange::@2 cubic[SAFETY_CUBIC_NUM]
10个安全空间
Vector3f size
立方块的尺寸 (x,y,z)
Definition type_def.h:139
Vector4f tools[TOOL_CONFIGURATION_NUM]
3个工具
Definition type_def.h:144
uint32_t safety_input_emergency_stop
可配置IO的输入输出安全功能配置
Definition type_def.h:151
int restrict_elbow[SAFETY_PLANES_NUM]
x,y,z,displacement
Definition type_def.h:126
float reduced_entry_time
进入缩减模式的最大时间
Definition type_def.h:112
float reduced_entry_distance
进入缩减模式的最大距离(可由安全平面触发)
Definition type_def.h:114
int trigger
触发方式(该功能暂未实现): 0 - 周期; 1 - 变化
Definition type_def.h:754
std::vector< std::string > segments
字段列表
Definition type_def.h:755
double angle
转动的角度,如果为正数,机器人逆时针旋转
Definition type_def.h:651
int plane
参考平面选择 0-XY 1-YZ 2-ZX
Definition type_def.h:650
std::vector< double > frame
参考点,螺旋线的中心点和参考坐标系
Definition type_def.h:649
用于负载辨识的轨迹配置
Definition type_def.h:679
std::vector< double > upper_joint_bound
Definition type_def.h:683
std::vector< double > max_acceleration
Definition type_def.h:686
std::vector< double > lower_joint_bound
Definition type_def.h:684
std::vector< Enveloping > envelopings
Definition type_def.h:680
std::vector< double > init_joint
Definition type_def.h:682
PayloadIdentifyMoveAxis move_axis
Definition type_def.h:681
std::vector< double > max_velocity
Definition type_def.h:685
std::vector< double > obj_coord
工件坐标系,基于 uframe
Definition type_def.h:196
std::vector< double > user_coord
用户坐标系 如果 robhold 为 false, 那 uframe 的数值是基于 world 否则,uframe 的数值是基于 flange
Definition type_def.h:193
bool remote_tool
是否为外部工具
Definition type_def.h:185
std::string attach_frame
工件坐标系耦合的
Definition type_def.h:188
#define TOOL_CONFIGURATION_NUM
Definition type_def.h:27
#define SAFETY_PLANES_NUM
Definition type_def.h:25
#define DECL_TO_STRING_FUNC(ENUM)
Definition type_def.h:574
#define SAFETY_PARAM_SELECT_NUM
Definition type_def.h:24
#define SAFETY_CUBIC_NUM
Definition type_def.h:26