API 璇存槑
============================

Dobot 宸ユ帶鏈轰富鎺ф敮鎸佺殑 API
++++++++++++++++++++++++++++++++++++++++++

+--------+-------------------------+----------+
| 鎸囦护鍙� | 鍛戒护                    | 鏀寔鎯呭喌 |
+========+=========================+==========+
| 100    | 鑾峰彇鏈烘鑷傜▼搴忕増鏈彿    | 鏀寔     |
+--------+-------------------------+----------+
| 101    | 鍙戦€侀€熷害鏁版嵁            | 鏀寔     |
+--------+-------------------------+----------+
| 102    | 鍙戦€佸姞閫熷害鏁版嵁          | 鏀寔     |
+--------+-------------------------+----------+
| 103    | 鍙戦€佸渾婊戣繃娓″弬鏁�        | 鏀寔     |
+--------+-------------------------+----------+
| 104    | 鍙戦€佸伐鍏峰潗鏍囩郴(TCP)鍙傛暟 | 鏀寔     |
+--------+-------------------------+----------+
| 105    | 璁剧疆鏁板瓧閲忚緭鍑�          | 鏀寔     |
+--------+-------------------------+----------+
| 106    | SetJointsMovej          | 鏀寔     |
+--------+-------------------------+----------+
| 107    | SetCartMovel            | 鏀寔     |
+--------+-------------------------+----------+
| 108    | SetJoinsMovel           | 鏀寔     |
+--------+-------------------------+----------+
| 109    | SetCartMovej            | 鏀寔     |
+--------+-------------------------+----------+
| 110    | MovejSequence           | 鏀寔     |
+--------+-------------------------+----------+
| 111    | MovelSequence           | 鏀寔     |
+--------+-------------------------+----------+
| 112    | SetJointsMovejDo        | 鏀寔     |
+--------+-------------------------+----------+
| 113    | SetCartMovelDo          | 鏀寔     |
+--------+-------------------------+----------+
| 114    | SetJointsMovelDo        | 涓嶆敮鎸�   |
+--------+-------------------------+----------+
| 115    | SetJointsMovejGroupDo   | 涓嶆敮鎸�   |
+--------+-------------------------+----------+
| 116    | SetCartMovelGroupDo     | 涓嶆敮鎸�   |
+--------+-------------------------+----------+
| 117    | SetJointsMovelGroupDo   | 涓嶆敮鎸�   |
+--------+-------------------------+----------+
| 118    | MovelUntil              | 涓嶆敮鎸�   |
+--------+-------------------------+----------+
| 119    | 鑾峰彇鏁板瓧閲忚緭鍏ョ姸鎬�      | 鏀寔     |
+--------+-------------------------+----------+
| 120    | 鑾峰彇鏁板瓧閲忚緭鍑虹姸鎬�      | 涓嶆敮鎸�   |
+--------+-------------------------+----------+
| 121    | 鑾峰彇妯℃嫙閲忚緭鍏ュ彛鏁板€�    | 鏀寔     |
+--------+-------------------------+----------+
| 122    | 鑾峰彇鏈烘鑷傚綋鍓嶈搴�      | 鏀寔     |
+--------+-------------------------+----------+
| 123    | 鑾峰彇鏈烘鑷傚綋鍓嶄綅濮�      | 鏀寔     |
+--------+-------------------------+----------+
| 200    | 鏈烘鑷傚悗鍙板彂閫佺姸鎬�      | 鏀寔     |
+--------+-------------------------+----------+


Dobot 鏈烘鑷備富鎺ф敮鎸佺殑 API
+++++++++++++++++++++++++++++++++++

.. function:: xyzMasterConnect()
   :noindex:
   
   杩炴帴鍒板伐鎺ф満鏈嶅姟鍣�

.. function:: xyzMasterClose()
   :noindex:
   
   鏂紑涓庡伐鎺ф満鏈嶅姟鍣ㄧ殑杩炴帴

.. function:: xyzSwitchApp(app_name)
   :noindex:
   
   鍒囨崲搴旂敤

   :param app_name: 搴旂敤鍚嶇О
   :type app_name: string
   :return: error_code
   :rtype: number

.. function:: xyzSwitchFlow(flow_name)
   :noindex:
   
   鍒囨崲娴佸浘

   :param flow_name: 娴佸浘鍚嶇О
   :type flow_name: string
   :return: error_code
   :rtype: number

.. function:: xyzSwitchItem(ws_id, obj_name)
   :noindex:
   
   鍒囨崲宸ヤ欢

   :param ws_id: 宸ヤ綔绌洪棿 id
   :type ws_id: number
   :param obj_name: 宸ヤ欢鍚嶇О
   :type obj_name: string
   :return: error_code
   :rtype: number

.. function:: xyzSwitchTool(tool_name)
   :noindex:
   
   鍒囨崲宸ュ叿

   :param tool_name: 宸ュ叿鍚嶇О
   :type tool_name: string
   :return: error_code
   :rtype: number

.. function:: xyzReqCapImg(vision_service_id)
   :noindex:

   璇锋眰鎷嶇収

   :param vision_service_id: 闇€瑕佽繘琛屾媿鐓х殑瑙嗚鏈嶅姟 id
   :type vision_service_id: number
   :return: error_code
   :rtype: number
   :return token: 鑾峰彇鎷嶇収缁撴灉鐨勫嚟鎹�
   :type token: number

.. function:: xyzGetCapImg(token)
   :noindex:
   
   鑾峰彇鎷嶇収缁撴灉

   :param  token: 璇锋眰鎷嶇収鏃惰繑鍥炵殑 token
   :type token: number
   :return: error_code
   :rtype: number	

.. function:: xyzCapImg(vision_service_id)
   :noindex:
   
   鎷嶇収

   :param  vision_service_id: 闇€瑕佽繘琛屾媿鐓ф搷浣滅殑宸ヤ綔绌洪棿id
   :type vision_service_id: number
   :return: error_code
   :rtype: number	

.. function:: xyzReqGraspPose(ws_id)
   :noindex:
   
   璇锋眰鎶撳彇浣嶅Э

   :param  ws_id: 闇€瑕佽幏鍙栨姄鍙栦綅濮跨殑宸ヤ綔绌洪棿id
   :type ws_id: number
   :return: error_code
   :rtype: number
   :return token: 鑾峰彇鎶撳彇浣嶅Э缁撴灉鐨勫嚟鎹�
   :type token: number

.. function:: xyzGetGraspPose(token)
   :noindex:
   
   鑾峰彇鎶撳彇浣嶅Э

   :param  token: 璇锋眰鎶撳彇鐩爣浣嶅Э鏃惰繑鍥炵殑token
   :type token: number
   :return: error_code
   :rtype: number	
   :return: pose
   :rtype: table
   :return: pose_num
   :rtype: number
   :return: pipeline_num
   :rtype: number
   :return: register_num
   :rtype: number


.. function:: xyzReqObjPose(ws_id)
   :noindex:
   
   璇锋眰鐗╀綋浣嶅Э

   :param  ws_id: 闇€瑕佽幏鍙栫墿浣撲綅濮跨殑宸ヤ綔绌洪棿id
   :type ws_id: number
   :return: error_code
   :rtype: number
   :return token: 鑾峰彇鐗╀綋浣嶅Э缁撴灉鐨勫嚟鎹�
   :type token: number


.. function:: xyzGetObjPose(token)
   :noindex:
   
   鑾峰彇鐗╀綋浣嶅Э

   :param  token: 璇锋眰鐗╀綋浣嶅Э鏃跺緱鍒扮殑token
   :type token: num
   :return: error_code
   :rtype: number	
   :return: pose
   :rtype: table
   :return: pose_num
   :rtype: number
   :return: pose_type
   :rtype: number


.. function:: xyzResetTask()
   :noindex:
   
   閲嶇疆瑙嗚

   :return: error_code
   :rtype: number

.. function:: xyzSendCurrentJoints()
   :noindex:
   
   鍙戦€佸綋鍓嶅叧鑺備綅濮�

   :return: error_code
   :rtype: number			

.. function:: xyzSendCurrentCartPose()
   :noindex:
   
   鍙戦€佸綋鍓嶇瑳鍗″皵绌洪棿浣嶅Э

   :return: error_code
   :rtype: number

.. function:: xyzReqPick()
   :noindex:
   
   璇锋眰pick鍔ㄤ綔瑙勫垝

   :return: error_code
   :rtype: number


.. function:: xyzReqPlace()
   :noindex:
   
   璇锋眰place鍔ㄤ綔瑙勫垝

   :return: error_code
   :rtype: number

.. function:: xyzReqPickPlace(ws_id)
   :noindex:
   
   璇锋眰pick鍜宲lace瑙勫垝

   :param  ws_id: 闇€瑕佽姹俻ick鍜宲lace瑙勫垝鐨勫伐浣滅┖闂磇d
   :type ws_id: number
   :return: error_code
   :rtype: number			

.. function:: xyzGetPickin(ws_id)
   :noindex:
   
   鑾峰彇鍙栨枡鍏ユ杞ㄨ抗

   :param  ws_id: 闇€瑕佽幏鍙杙ick in杞ㄨ抗鐨勫伐浣滅┖闂磇d
   :type ws_id: number
   :return: error_code
   :rtype: number	
   :return: pipeline_num
   :rtype: number
   :return: register_num
   :rtype: number
   :return: wp_num
   :rtype: number
   :return: wp_type
   :rtype: array
   :return: wp
   :rtype: 2d-array

.. function:: xyzGetPickout(ws_id)
   :noindex:
   
   鑾峰彇鍙栨枡鍑烘杞ㄨ抗

   :param  ws_id: 闇€瑕佽幏鍙杙ick out杞ㄨ抗鐨勫伐浣滅┖闂磇d
   :type ws_id: number
   :return: error_code
   :rtype: number	
   :return: pipeline_num
   :rtype: number
   :return: register_num
   :rtype: number
   :return: wp_num
   :rtype: number
   :return: wp_type
   :rtype: array
   :return: wp
   :rtype: 2d-array

.. function:: xyzGetPlacein(ws_id)
   :noindex:
   
   鑾峰彇鏀炬枡鍏ユ杞ㄨ抗

   :param  ws_id: 闇€瑕佽幏鍙杙lace in杞ㄨ抗鐨勫伐浣滅┖闂磇d
   :type ws_id: number
   :return: error_code
   :rtype: number	
   :return: pipeline_num
   :rtype: number
   :return: register_num
   :rtype: number
   :return: wp_num
   :rtype: number
   :return: wp_type
   :rtype: array
   :return: wp
   :rtype: 2d-array

.. function:: xyzGetPlaceout(ws_id)
   :noindex:
   
   鑾峰彇鏀炬枡鍑烘杞ㄨ抗(娉細璇ュ嚱鏁颁笉闇€瑕佷紶鍏ュ弬鏁帮紝浠呮洿鏂板叏灞€鍙橀噺)

   :param  ws_id: 闇€瑕佽幏鍙杙lace out杞ㄨ抗鐨勫伐浣滅┖闂磇d
   :type ws_id: number
   :return: error_code
   :rtype: number	
   :return: pipeline_num
   :rtype: number
   :return: register_num
   :rtype: number
   :return: wp_num
   :rtype: number
   :return: wp_type
   :rtype: array
   :return: wp
   :rtype: 2d-array

.. function:: xyzSwitchStrat(strat_name)
   :noindex:
   
   璇锋眰鍒囨崲绛栫暐

   :param strat_name: 绛栫暐鍚嶇О
   :type strat_name: string
   :return: error_code
   :rtype: number


.. function:: xyzUpdateTotePose()
   :noindex:
   
   鏂欑閲嶅畾浣�

   :param V_POSE: 鏂欑浣嶅Э(鍏ㄥ眬鍙橀噺)
   :return: error_code
   :rtype: number
   :return: pose
   :rtype: table

.. function:: xyzUpdateObjPoseOnHand()
   :noindex:
   
   宸ヤ欢鍦ㄤ笂鎵嬬殑浜屾瀹氫綅

   :return: error_code
   :rtype: number		

.. function:: xyzUpdateObjPoseToHand()
   :noindex:
   
   宸ヤ欢涓嶅湪鎵嬩笂鐨勪簩娆″畾浣嶏紝鑾峰彇浜屾鎶撳彇鐨勮建杩�

   :return: error_code
   :rtype: number
   :return: pipeline_num
   :rtype: number
   :return: register_num
   :rtype: number
   :return: wp_num
   :rtype: number
   :return: wp_type
   :rtype: array
   :return: wp
   :rtype: 2d-array

.. function:: xyzGetObjPoseType()
   :noindex:
   
   鑾峰彇宸ヤ欢濮挎€佺被鍨�

   :return: error_code
   :rtype: number
   :return: pose_type
   :rtype: number

.. function:: xyzResetPalletStatus()
   :noindex:
   
   閲嶇疆宸ヤ笟鐮佸灈鐘舵€�

   :return: error_code
   :rtype: number

.. function:: xyzExecuteTraj(num_of_waypoints, type_of_waypoints, waypoints)
   :noindex:
   
   鎵ц娈佃建杩�

   :param  num_of_waypoints: 杞ㄨ抗鐐圭殑涓暟
   :type num_of_waypoints: number
   :param  type_of_waypoints: 杞ㄨ抗鐐圭被鍨嬫暟缁�
   :type type_of_waypoints: array
   :param  waypoints[]: 杞ㄨ抗鐐规暟缁�
   :type waypoints[]: 2d-array
   :return: error_code
   :rtype: number

.. function:: xyzCalculateGraspPose(ws_id)
   :noindex:

   璁＄畻鎶撳彇浣嶅Э

   :param  ws_id: 宸ヤ綔绌洪棿 id
   :type ws_id: number
   :return: error_code
   :rtype: number	
   :return: pose
   :rtype: table
   :return: pose_num
   :rtype: number
   :return: pipeline_num
   :rtype: number
   :return: register_num
   :rtype: number

.. function:: FUNC num xyzCalculateObjectPose(ws_id)
   :noindex:

   璁＄畻鐗╀綋浣嶅Э

   :param  ws_id: 宸ヤ綔绌洪棿 id
   :type ws_id: number
   :return: error_code
   :rtype: number	
   :return: pose
   :rtype: table
   :return: obj_num
   :rtype: number
   :return: pose_type
   :rtype: number