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3.1. Instantiate robot
/**
* @brief Robot interface class constructor
*/
Robot robot = new Robot();
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
*/
int RPC(String ip);
3.3. Close communication with robot
/**
* @brief Close communication with robot
* @return Error code
*/
int CloseRPC();
3.4. Query sdk version
/**
* @brief Query sdk version
* @return Version number
*/
String GetSDKVersion();
3.5. Get controller ip
/**
* @brief Get controller ip
* @param [out] ip Controller ip
* @return Error code
*/
int GetControllerIP(String[] ip);
3.6. Control robot to enter or exit drag teaching mode
/**
* @brief Control robot to enter or exit drag teaching mode
* @param [in] state 0-exit drag teaching mode, 1-enter drag teaching mode
* @return Error code
*/
int DragTeachSwitch(int state);
3.7. Query whether robot is in drag teaching mode
/**
* @brief Query whether robot is in drag teaching mode
* @param [in] state 0-not in drag teaching mode, 1-in drag teaching mode
* @return Error code
*/
int IsInDragTeach(List<Number> state);
3.8. Control robot enable or disable
/**
* @brief Control robot enable or disable, robot is enabled by default after power on
* @param [in] state 0-disable, 1-enable
* @return Error code
*/
int RobotEnable(int state);
3.9. Control robot manual/auto mode switch
/**
* @brief Control robot manual/auto mode switch
* @param [in] mode 0-auto mode, 1-manual mode
* @return Error code
*/
int Mode(int mode);
3.10. Shut down robot os
New in version Java: SDK-v1.0.4-3.8.1
/**
* @brief Shut down robot os
* @return Error code
*/
int ShutDownRobotOS();
3.11. Set robot communication reconnect parameters
/**
* @brief Set robot communication reconnect parameters
* @param [in] enable Whether to enable, true:enable, false:disable
* @param [in] times Reconnect times
* @param [in] period Reconnect interval
* @return Error code
*/
int SetReconnectParam(boolean enable, int times, int period);
3.12. Initialize log parameters
/**
* @brief Initialize log parameters
* @param [in] logType Output mode, DIRECT-direct output; BUFFER-buffer output; ASYNC-async output
* @param [in] logLevel Log filter level, ERROR-error; WARNING-warning; INFO-information; DEBUG-debug
* @param [in] filePath File save path, e.g. "D://Log/"
* @param [in] saveFileNum Save file count, files exceeding both save file count and save file days will be deleted
* @param [in] saveDays Save file days, files exceeding both save file count and save file days will be deleted
* @return Error code
*/
int LoggerInit(FrLogType logType, FrLogLevel logLevel, String filePath, int saveFileNum, int saveDays)
3.13. Set log filter level
/**
* @brief Set log filter level
* @param [in] logLevel Log filter level, ERROR-error; WARNING-warning; INFO-information; DEBUG-debug
* @return Error code
*/
int SetLoggerLevel(FrLogLevel logLevel)
3.14. Robot basic control code example
public static void main(String[] args)
{
Robot robot = new Robot();
robot.SetReconnectParam(true,20,500);
robot.LoggerInit(FrLogType.DIRECT, FrLogLevel.INFO, "D://log", 10, 10);
int rtn = robot.RPC("192.168.58.2");
if(rtn == 0)
{
System.out.println("Rpc connection success");
}
else
{
System.out.println("Rpc connection fail");
return ;
}
String[] ip={""};
String version = "";
version=robot.GetSDKVersion();
System.out.println("SDK version : " + version);
int rtn = robot.GetControllerIP(ip);
System.out.println("Controller ip : " + ip[0] + " " + rtn);
robot.Mode(1);//1-manual mode 0-auto mode
robot.Sleep(1000);
robot.DragTeachSwitch(1);//Enter drag mode
robot.Sleep(1000);
ROBOT_STATE_PKG pkg = robot.GetRobotRealTimeState();
System.out.println("Drag state : " + pkg.robot_state);
robot.Sleep(1000);
robot.DragTeachSwitch(0);//Exit drag mode
robot.Sleep(1000);
pkg = robot.GetRobotRealTimeState();
System.out.println("Drag state : " + pkg.robot_state);
if (pkg.robot_state ==4){
System.out.println("Drag mode");
}else {
System.out.println("Non-drag mode");
}
}
3.15. Get robot software version
/**
* @brief Get robot software version
* @param [out] robotModel Robot model
* @param [out] webVersion Web version
* @param [out] controllerVersion Controller version
* @return Error code
*/
int GetSoftwareVersion(String robotModel, String webVersion, String controllerVersion);
3.16. Get robot hardware version
/**
* @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
* @return Error code
*/
int GetHardwareVersion(String ctrlBoxBoardVersion, String driver1Version, String driver2Version, String driver3Version,
String driver4Version, String driver5Version, String driver6Version, String endBoardVersion);
3.17. Get robot firmware version
/**
* @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
* @return Error code
*/
int GetFirmwareVersion(String ctrlBoxBoardVersion, String driver1Version, String driver2Version, String driver3Version,
String driver4Version, String driver5Version, String driver6Version, String endBoardVersion);
3.18. Get robot software/firmware version code example
public static void main(String[] args)
{
Robot robot = new Robot();
robot.SetReconnectParam(true,20,500);//Set reconnect times and interval
robot.LoggerInit(FrLogType.DIRECT, FrLogLevel.INFO, "D://log", 10, 10);
int rtn = robot.RPC("192.168.58.2");
if(rtn == 0)
{
System.out.println("Rpc connection success");
}
else
{
System.out.println("Rpc connection fail");
return ;
}
String ctrlBoxBoardVersion = "";
String driver1Version = "";
String driver2Version = "";
String driver3Version = "";
String driver4Version = "";
String driver5Version = "";
String driver6Version = "";
String endBoardVersion = "";
robot.GetHardwareVersion(ctrlBoxBoardVersion ,driver1Version, driver2Version, driver3Version,
driver4Version, driver5Version, driver6Version, endBoardVersion);
robot.GetFirmwareVersion(ctrlBoxBoardVersion, driver1Version, driver2Version, driver3Version,
driver4Version, driver5Version, driver6Version, endBoardVersion);
}
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