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15.1. Get SSH public key
/**
* @brief Get SSH public key
* @param [out] keygen Public key
* @return Error code
*/
int GetSSHKeygen(String[] keygen)
15.2. Issue SCP command
New in version Java: SDK-v1.0.6-3.8.3
/**
* @brief Issue SCP command
* @param [in] mode 0-upload (host->controller), 1-download (controller->host)
* @param [in] sshname Host username
* @param [in] sship Host IP address
* @param [in] usr_file_url Host file path
* @param [in] robot_file_url Robot controller file path
* @return Error code
*/
int SetSSHScpCmd(int mode, String sshname, String sship, String usr_file_url, String robot_file_url)
15.3. Calculate MD5 value of specified file
/**
* @brief Calculate MD5 value of specified file
* @param [in] file_path File path including filename, default Traj folder path:"/fruser/traj/", e.g. "/fruser/traj/trajHelix_aima_1.txt"
* @param [out] md5 File MD5 value
* @return Error code
*/
int ComputeFileMD5(String file_path, String[] md5)
15.4. Robot SSH and MD5 command code example
public static int TestSSHMd5(Robot robot)
{
String file_path= "/fruser/airlab.lua";
String[] md5 =new String[]{""};
String[] ssh_keygen=new String[]{""};
int retval = robot.GetSSHKeygen(ssh_keygen);
System.out.println(ssh_keygen[0]);
String ssh_name = "fr";
String ssh_ip = "192.168.58.45";
String ssh_route = "/home/fr";
String ssh_robot_url = "/root/robot/dhpara.config";
retval = robot.SetSSHScpCmd(1, ssh_name, ssh_ip, ssh_route, ssh_robot_url);
System.out.println("SetSSHScpCmd retval is:"+ retval);
System.out.println("robot url is:"+ ssh_robot_url);
robot.ComputeFileMD5(file_path, md5);
System.out.println("md5 is:+"+ md5[0]);
return 0;
}
15.5. Set robot port 20004 feedback period
/**
* @brief Set robot port 20004 feedback period
* @param [in] period Robot port 20004 feedback period(ms)
* @return Error code
*/
public int SetRobotRealtimeStateSamplePeriod(int period)
15.6. Get robot port 20004 feedback period
/**
* @brief Get robot port 20004 feedback period
* @return List[0]:Error code; List[1]:Robot port 20004 feedback period(ms)
*/
public List<Integer> GetRobotRealtimeStateSamplePeriod()
15.7. Robot port 20004 status feedback period configuration example
public static int TestRealtimePeriod(Robot robot)
{
robot.SetRobotRealtimeStateSamplePeriod(10);
List<Integer> getPeriod = new ArrayList<>();
getPeriod=robot.GetRobotRealtimeStateSamplePeriod();
robot.Sleep(1000);
return 0;
}
15.8. Robot software upgrade
/**
* @brief Robot software upgrade
* @param [in] filePath Full path of software upgrade package
* @param [in] block Whether to block until upgrade completes true:block; false:non-block
* @return Error code
*/
public int SoftwareUpgrade(String filePath, boolean block)
15.9. Get robot software upgrade status
/**
* @brief Get robot software upgrade status
* @return List[0]:Error code; List[1]:Robot software upgrade status 0-idle or uploading upgrade package; 1~100: upgrade completion percentage; -1:upgrade failed; -2:verification failed; -3:version verification failed; -4:decompression failed; -5:user configuration upgrade failed; -6:peripheral configuration upgrade failed; -7:extended axis configuration upgrade failed; -8:robot configuration upgrade failed; -9:DH parameter configuration upgrade failed
*/
public List<Integer> GetSoftwareUpgradeState()
15.10. Robot software upgrade code example
public static int TestUpgrade(Robot robot)
{
robot.SoftwareUpgrade("D://zUP/QNX382/software.tar.gz", false);
while (true)
{
List<Integer> inter=new ArrayList<>();
inter=robot.GetSoftwareUpgradeState();
System.out.println("upgrade state is:"+ inter.get(1));
robot.Sleep(300);
}
}
15.11. Download point table database
/**
* @brief Download point table database
* @param [in] pointTableName Point table name to download pointTable1.db
* @param [in] saveFilePath Storage path for downloaded point table C://test/
* @return Error code
*/
int PointTableDownLoad(String pointTableName, String saveFilePath);
15.12. Upload point table database
/**
* @brief Upload point table database
* @param [in] pointTableFilePath Full path name of point table to upload C://test/pointTable1.db
* @return Error code
*/
int PointTableUpLoad(String pointTableFilePath);
15.13. Point table update lua file
/**
* @brief Point table update lua file
* @param [in] pointTableName Point table name to switch to "pointTable1.db", when empty "", means updating lua program to initial program without applied point table
* @param [in] luaFileName Lua file name to update "testPointTable.lua"
* @param [out] errorStr Point table switching error message
* @return Error code
*/
int PointTableUpdateLua(String pointTableName, String luaFileName, String errorStr);
15.14. Robot point table operation code example
public static int TestPointTable(Robot robot)
{
String save_path = "D://zDOWN/";
String point_table_name = "point_table_FR5.db";
int rtn = robot.PointTableDownLoad(point_table_name, save_path);
String upload_path = "D://zUP/point_table_FR5.db";
rtn = robot.PointTableUpLoad(upload_path);
String point_tablename = "point_table_FR5.db";
String lua_name = "airlab.lua";
String err="";
rtn = robot.PointTableUpdateLua(point_tablename, lua_name,err);
robot.CloseRPC();
return 0;
}
15.15. Controller log download
New in version Java: SDK-v1.0.4-3.8.1
/**
* @brief Controller log download
* @param [in] savePath Save file path"D://zDown/"
* @return Error code
*/
int RbLogDownload(String savePath);
15.16. All data source download
New in version Java: SDK-v1.0.4-3.8.1
/**
* @brief All data source download
* @param [in] savePath Save file path"D://zDown/"
* @return Error code
*/
int AllDataSourceDownload(String savePath);
15.17. Data backup package download
New in version Java: SDK-v1.0.4-3.8.1
/**
* @brief Data backup package download
* @param [in] savePath Save file path"D://zDown/"
* @return Error code
*/
int DataPackageDownload(String savePath);
15.18. Download controller data code example
public static int TestDownLoadRobotData(Robot robot)
{
int rtn = robot.RbLogDownload("D://zDOWN/");
rtn = robot.AllDataSourceDownload("D://zDOWN/");
rtn = robot.DataPackageDownload("D://zDOWN/");
return 0;
}
15.19. Set Encoder Upgrade
New in version Java: SDK-v1.0.7-3.8.4
/**
* @brief Set encoder upgrade
* @param [in] path Full local upgrade package path (D://zUP/XXXXX.bin)
* @return Error code
*/
int SetEncoderUpgrade(String path)
15.20. Set Joint Firmware Upgrade
New in version Java: SDK-v1.0.7-3.8.4
/**
* @brief Set joint firmware upgrade
* @param [in] type Upgrade file type: 1-Firmware upgrade; 2-Slave configuration file upgrade
* @param [in] path Full local upgrade package path (D://zUP/XXXXX.bin)
* @return Error code
*/
public int SetJointFirmwareUpgrade(int type, String path)
15.21. Set Controller Firmware Upgrade
New in version Java: SDK-v1.0.7-3.8.4
/**
* @brief Set controller firmware upgrade
* @param [in] type Upgrade file type: 1-Firmware upgrade; 2-Slave configuration file upgrade
* @param [in] path Full local upgrade package path (D://zUP/XXXXX.bin)
* @return Error code
*/
public int SetCtrlFirmwareUpgrade(int type, String path)
15.22. Set End-Effector Firmware Upgrade
New in version Java: SDK-v1.0.7-3.8.4
/**
* @brief Set end-effector firmware upgrade
* @param [in] type Upgrade file type: 1-Firmware upgrade; 2-Slave configuration file upgrade
* @param [in] path Full local upgrade package path (D://zUP/XXXXX.bin)
* @return Error code
*/
public int SetEndFirmwareUpgrade(int type, String path)
15.23. Joint Complete Parameter Configuration Upgrade
New in version Java: SDK-v1.0.7-3.8.4
/**
* @brief Joint complete parameter configuration upgrade
* @param [in] path Full local upgrade package path (D://zUP/XXXXX.bin)
* @return Error code
*/
public int JointAllParamUpgrade(String path)
15.24. Robot Slave Firmware Upgrade Code Example
public static void TestFirmWareUpgrade(Robot robot)
{
robot.RobotEnable(0);
robot.Sleep(200);
int rtn = robot.JointAllParamUpgrade("D://zUP/standardQX/jointallparametersFR56.0.db");
System.out.println("robot JointAllParamUpgrade rtn is:"+ rtn);
rtn = robot.SetCtrlFirmwareUpgrade(2, "D://zUP/upgrade/FAIR_Cobot_Cbd_Asix_V2.0.bin");
System.out.println("robot SetCtrlFirmwareUpgrade config param rtn is:"+ rtn);
rtn = robot.SetEndFirmwareUpgrade(2, "D://zUP/upgrade/FAIR_Cobot_Axle_Asix_V2.4.bin");
System.out.println("robot SetEndFirmwareUpgrade config param rtn is:"+ rtn);
robot.SetSysServoBootMode();
rtn = robot.SetCtrlFirmwareUpgrade(1, "D://zUP/standardQX/FR_CTRL_PRIMCU_FV201010_MAIN_U4_T01_20240529.bin");
System.out.println("robot SetCtrlFirmwareUpgrade rtn is:"+ rtn);
rtn = robot.SetEndFirmwareUpgrade(1, "D://zUP/standardQX/FR_END_FV201010_MAIN_U01_T01_20250522.bin");
System.out.println("robot SetEndFirmwareUpgrade rtn is:"+ rtn);
rtn = robot.SetJointFirmwareUpgrade(1, "D://zUP/standardQX/FR_SERVO_FV502211_MAIN_U7_T07_20250217.bin");
System.out.println("robot SetJointFirmwareUpgrade rtn is:"+ rtn);
robot.CloseRPC();
}
15.25. Robot Operating System Upgrade (LA Control Box)
New in version Java: SDK-v1.0.9-3.8.6
/**
* @brief Robot Operating System Upgrade (LA Control Box)
* @param [in] filePath Full path of the operating system upgrade package
* @return Error code
*/
public int KernelUpgrade(String filePath)
15.26. Get Robot Operating System Upgrade Result (LA Control Box)
New in version Java: SDK-v1.0.9-3.8.6
/**
* @brief Get Robot Operating System Upgrade Result (LA Control Box)
* @param [out] result Upgrade result: 0: Success; -1: Failure
* @return Error code
*/
public int GetKernelUpgradeResult(int[] result)
15.27. Robot MCU Log Generation
/**
* @brief Robot MCU log generation
* @return Error code
*/
public int RobotMCULogCollect()
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