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3. Basics
3.1. Instantiate Robot
/**
* @brief Robot interface class constructor
*/
FRRobot();
3.2. Establish Communication with Controller
/**
* @brief Establish communication with robot controller
* @param [in] ip Controller IP address, default is 192.168.58.2
* @return Error code
*/
errno_t RPC(const char *ip);
3.3. Close Communication with Controller
/**
* @brief Close communication with robot controller
* @return Error code
*/
errno_t CloseRPC();
3.4. Query SDK Version
/**
* @brief Query SDK version
* @param [out] version SDK version
* @return Error code
*/
errno_t GetSDKVersion(char *version);
3.5. Get Controller IP
/**
* @brief Get controller IP
* @param [out] ip Controller IP
* @return Error code
*/
errno_t GetControllerIP(char *ip);
3.6. Control Robot to Enter/Exit Drag Teaching Mode
/**
* @brief Control robot to enter/exit drag teaching mode
* @param [in] state 0-Exit drag teaching mode, 1-Enter drag teaching mode
* @return Error code
*/
errno_t DragTeachSwitch(uint8_t state);
3.7. Check if Robot is in Drag Mode
/**
* @brief Check if robot is in drag teaching mode
* @param [out] state 0-Not in drag teaching mode, 1-In drag teaching mode
* @return Error code
*/
errno_t IsInDragTeach(uint8_t *state);
3.8. Enable/Disable Robot
/**
* @brief Enable/disable robot (enabled by default after power on)
* @param [in] state 0-Disable, 1-Enable
* @return Error code
*/
errno_t RobotEnable(uint8_t state);
3.9. Switch Between Manual/Auto Mode
/**
* @brief Switch between manual/auto mode
* @param [in] mode 0-Auto mode, 1-Manual mode
* @return Error code
*/
errno_t Mode(int mode);
3.10. Shut Down Robot OS
New in version C++SDK-v2.2.1-3.8.1.
/**
* @brief Shut down robot operating system
* @return Error code
*/
errno_t ShutDownRobotOS();
3.11. Set Reconnection Parameters
New in version C++SDK-v2.1.5.0.
/**
* @brief Set communication reconnection parameters
* @param [in] enable Enable reconnection when network fails true-enable false-disable
* @param [in] reconnectTime Reconnection time (ms)
* @param [in] period Reconnection interval (ms)
* @return Error code
*/
errno_t SetReConnectParam(bool enable, int reconnectTime = 30000, int period = 50);
3.12. Shut down the robot operating system
/**
* @brief Shut down the robot operating system
* @return Error code
*/
int ShutDownRobotOS();
3.13. Initialize Log Parameters
New in version C++SDK-v2.1.2.0.
/**
* @brief Initialize log parameters;
* @param output_model：Output mode, 0-Direct output; 1-Buffered output; 2-Asynchronous output;
* @param file_path: File save path+name (max 256 chars), must be in xxx.log format, e.g. /home/fr/linux/fairino.log;
* @param file_num：Number of rolling files, 1~20. Single file size limit 50MB;
* @return errno_t Error code;
*/
errno_t LoggerInit(int output_model = 0, std::string file_path = "", int file_num = 5);
3.14. Set Log Filter Level
New in version C++SDK-v2.1.2.0.
/**
* @brief Set log filter level;
* @param lvl: Filter level, smaller value means less logs, default is 1. 1-error, 2-warning, 3-info, 4-debug;
*/
void SetLoggerLevel(int lvl = 1);
3.15. Basic Robot Control Example
int TestRobotCtrl(void)
{
ROBOT_STATE_PKG pkg = {};
FRRobot robot;
robot.LoggerInit();
robot.SetLoggerLevel(1);
int rtn = robot.RPC("192.168.58.2");
robot.SetReConnectParam(true, 30000, 500);
char ip[64] = "";
char version[64] = "";
uint8_t state;
robot.GetSDKVersion(version);
printf("SDK version:%s\n", version);
robot.GetControllerIP(ip);
printf("controller ip:%s\n", ip);
robot.Mode(1);
robot.Sleep(1000);
robot.DragTeachSwitch(1);
robot.Sleep(1000);
robot.IsInDragTeach(&state);
printf("drag state :%u\n", state);
robot.Sleep(3000);
robot.DragTeachSwitch(0);
robot.Sleep(1000);
robot.IsInDragTeach(&state);
printf("drag state :%u\n", state);
robot.Sleep(3000);
robot.RobotEnable(0);
robot.Sleep(3000);
robot.RobotEnable(1);
robot.Mode(0);
robot.Sleep(1000);
robot.Mode(1);
robot.Sleep(3000);
robot.ShutDownRobotOS();
robot.CloseRPC();
return 0;
}
3.16. Get Robot Software Version Example
/**
* @brief Get robot software version
* @param[out] robotModel Robot model
* @param[out] webversion Web version
* @param[out] controllerVersion Controller version
* @return Error code
*/
errno_t GetSoftwareVersion(char robotModel[64], char webVersion[64], char controllerVersion[64]);
3.17. Get Robot Hardware Version
New in version C++SDK-v2.1.1.0.
/**
* @brief Get robot hardware version
* @param[out] ctrlBoxBoardversion Control box board hardware version
* @param[out] driver1version Driver 1 hardware version
* @param[out] driver2version Driver 2 hardware version
* @param[out] driver3version Driver 3 hardware version
* @param[out] driver4version Driver 4 hardware version
* @param[out] driver5version Driver 5 hardware version
* @param[out] driver6version Driver 6 hardware version
* @param[out] endBoardversion End board hardware version
*/
errno_t GetHardwareVersion(char ctrlBoxBoardversion[128], char driver1version[128], char driver2version[128], char driver3version[128], char driver4version[128], char driver5version[128], char driver6version[128], char endBoardversion[128]);
3.18. Get Robot Firmware Version
New in version C++SDK-v2.1.1.0.
/**
* @brief Get robot firmware version
* @param[out] ctrlBoxBoardversion Control box board firmware version
* @param[out] driver1version Driver 1 firmware version
* @param[out] driver2version Driver 2 firmware version
* @param[out] driver3version Driver 3 firmware version
* @param[out] driver4version Driver 4 firmware version
* @param[out] driver5version Driver 5 firmware version
* @param[out] driver6version Driver 6 firmware version
* @param[out] endBoardversion End board firmware version
*/
errno_t GetFirmwareVersion(char ctrlBoxBoardversion[128], char driver1version[128], char driver2version[128], char driver3version[128], char driver4version[128], char driver5version[128], char driver6version[128], char endBoardversion[128]);
3.19. Get Robot Software/Firmware Version Example
int TestGetVersions(void)
{
ROBOT_STATE_PKG pkg = {};
FRRobot robot;
robot.LoggerInit();
robot.SetLoggerLevel(1);
int rtn = robot.RPC("192.168.58.2");
if (rtn != 0)
{
return -1;
}
robot.SetReConnectParam(true, 30000, 500);
char robotModel[64] = { 0 };
char webversion[64] = { 0 };
char controllerVersion[64] = { 0 };
char ctrlBoxBoardversion[128] = { 0 };
char driver1version[128] = { 0 };
char driver2version[128] = { 0 };
char driver3version[128] = { 0 };
char driver4version[128] = { 0 };
char driver5version[128] = { 0 };
char driver6version[128] = { 0 };
char endBoardversion[128] = { 0 };
rtn = robot.GetSoftwareVersion(robotModel, webversion, controllerVersion);
printf("Getsoftwareversion rtn is: %d\n", rtn);
printf("robotmodel is: %s, webversion is: %s, controllerVersion is: %s \n\n", robotModel, webversion, controllerVersion);
rtn = robot.GetHardwareVersion(ctrlBoxBoardversion, driver1version, driver2version, driver3version, driver4version, driver5version, driver6version, endBoardversion);
printf("GetHardwareversion rtn is: %d\n", rtn);
printf("GetHardwareversion get hardware versoin is: %s, %s, %s, %s, %s, %s, %s, %s\n\n", ctrlBoxBoardversion, driver1version, driver2version, driver3version, driver4version, driver5version, driver6version, endBoardversion);
rtn = robot.GetFirmwareVersion(ctrlBoxBoardversion, driver1version, driver2version, driver3version, driver4version, driver5version, driver6version, endBoardversion);
printf("GetFirmwareversion rtn is: %d\n", rtn);
printf("GetHardwareversion get hardware versoin is: %s, %s, %s, %s, %s, %s, %s, %s\n\n", ctrlBoxBoardversion, driver1version, driver2version, driver3version, driver4version, driver5version, driver6version, endBoardversion);
robot.CloseRPC();
return 0;
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