API 璇存槑
============================

abb 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        | 鏀寔     |
+--------+-------------------------+----------+
| 115    | SetJointsMovejGroupDo   | 鏀寔     |
+--------+-------------------------+----------+
| 116    | SetCartMovelGroupDo     | 鏀寔     |
+--------+-------------------------+----------+
| 117    | SetJointsMovelGroupDo   | 鏀寔     |
+--------+-------------------------+----------+
| 118    | MovelUntil              | 鏀寔     |
+--------+-------------------------+----------+
| 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�      | 鏀寔     |
+--------+-------------------------+----------+
| 121    | 鑾峰彇妯℃嫙閲忚緭鍏ュ彛鏁板€�    | 涓嶆敮鎸�   |
+--------+-------------------------+----------+
| 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     |
+--------+-------------------------+----------+


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

.. function:: PROC xyzCreateSocket(VAR socketdev sock)
   :noindex:

   鍒涘缓濂楁帴瀛�

   :param sock: 濂楁帴瀛�
   :type sock: VAR socketdev


.. function:: PROC xyzConnect(VAR socketdev sock, string ip, num port)
   :noindex:

   杩炴帴鍒版湇鍔″櫒

   :param sock: 濂楁帴瀛�
   :type sock: VAR socketdev
   :param ip: 鏈嶅姟鍣╥p鍦板潃
   :type ip: string
   :param port: 鏈嶅姟鍣ㄧ鍙ｅ彿
   :type sock: num

.. function:: PROC xyzClose(VAR socketdev sock)
   :noindex:

   鍏抽棴濂楁帴瀛�

   :param sock: 濂楁帴瀛�
   :type sock: VAR socketdev

.. function:: FUNC num xyzSwitchApp(string app_name)
   :noindex:

   鍒囨崲搴旂敤

   :param app_name: 搴旂敤鍚嶇О
   :type app_name: string
   :return: err_code
   :rtype: num

.. function:: FUNC num xyzSwitchFlow(string flow_name)
   :noindex:

   鍒囨崲flow

   :param flow_name: flow鍚嶇О
   :type flow_name: string
   :return: err_code
   :rtype: num

.. function:: FUNC num xyzSwitchItem(int ws_id, string item_codename)
   :noindex:

   鍒囨崲宸ヤ欢

   :param  ws_id: 宸ヤ綔绌洪棿 id
   :type ws_id: num
   :param item_codename: 宸ヤ欢鍚嶇О
   :type item_codename: string
   :return: err_code
   :rtype: num

.. function:: FUNC num xyzSwitchTool(string tool_name)
   :noindex:

   鍒囨崲宸ュ叿

   :param tool_name: 宸ュ叿鍚嶇О
   :type tool_name: string
   :return: err_code
   :rtype: num

.. function:: FUNC num xyzReqCapImg(num ws_id, VAR num token)
   :noindex:

   璇锋眰鎷嶇収

   :param  ws_id: 宸ヤ綔绌洪棿 id
   :type ws_id: num
   :param  token: 璇锋眰鎷嶇収缁撴灉
   :type token: num
   :return: err_code
   :rtype: num			

.. function:: FUNC num xyzGetCapImg(num 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: num
   :return: err_code
   :rtype: num	

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

   鎷嶇収

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

.. function:: FUNC num xyzReqGraspPose(num ws_id, VAR num token)
   :noindex:

   璇锋眰鎶撳彇浣嶅Э

   :param  ws_id: 闇€瑕佽幏鍙栨姄鍙栫偣浣嶇殑宸ヤ綔绌洪棿id
   :type ws_id: INnumT
   :param  token: 杩斿洖鐨勭敤浜庤幏鍙栫洰鏍囩偣浣嶆椂浣跨敤鐨則oken
   :type token: num			
   :return: err_code
   :rtype: num	

.. function:: FUNC num xyzGetGraspPose(num token, VAR num pipeline_num, VAR num register_num, VAR num pose_type, VAR pose grasp_pose)
   :noindex:

   鑾峰彇鎶撳彇浣嶅Э

   :param  token: 姹傛姄鍙栫洰鏍囩偣浣嶆椂杩斿洖鐨則oken
   :type token: num
   :param  pose_num: 鍙緵鎶撳彇鐨勭偣鏁伴噺
   :type pose_num: num
   :param  pipeline_num: pipeline缂栧彿
   :type pipeline_num: num
   :param  register_num: 娉ㄥ唽缂栧彿
   :type register_num: num
   :param  grasp_pose: 鎶撳彇浣嶅Э
   :type grasp_pose: pose   
   :return: err_code
   :rtype: num	

.. function:: FUNC num xyzReqObjPose(num ws_id, VAR num token)
   :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: num
   :param  obj_token: 鐗╀綋浣嶅Э璇嗗埆鐨則oken
   :type obj_token: num			
   :return: err_code
   :rtype: num	


.. function:: FUNC num xyzGetObjPose(num token, VAR num pose_num, VAR num pose_type, VAR pose obj_pose)
   :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
   :param  pose_num: 鐗╀綋鏁伴噺
   :type pose_num: num
   :param  pose_type: 褰撳墠杩斿洖鐨勭墿浣� pose 绫诲瀷
   :type pose_type: num
   :param  obj_pose: 鐗╀綋浣嶅Э
   :type obj_pose: pose   
   :return: err_code
   :rtype: num	


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

   閲嶇疆瑙嗚

   :param  ws_id: 闇€瑕侀噸缃瑙夌殑宸ヤ綔绌洪棿id
   :type ws_id: num	
   :return: err_code
   :rtype: num

.. function:: FUNC num xyzSendCurrentJoints(num joints{*})
   :noindex:

   鍙戦€佺壒瀹氳搴︽暟缁�

   :param joint{*}: 浼犲叆瑙掑害鏁扮粍
   :type joint{*}: num
   :return: err_code
   :rtype: num			

.. function:: FUNC num xyzSendCurrentCartPose(num cart_pose{*})
   :noindex:

   鍙戦€佺壒瀹氫綅濮�

   :param cart_pose{*}: 浼犲叆浣嶅Э鏁扮粍
   :type cart_pose{*}: num
   :return: err_code
   :rtype: num

.. function:: FUNC num xyzSendCurrentExtJoints(num ext_joints{*})
   :noindex:

   鍙戦€佺壒瀹氳搴︽暟缁�

   :param ext_joints{*}: 浼犲叆瑙掑害鏁扮粍
   :type ext_joints{*}: num
   :return: err_code
   :rtype: num

.. function:: FUNC num xyzReqPick()
   :noindex:

   璇锋眰pick鍔ㄤ綔瑙勫垝

   :return: err_code
   :rtype: num


.. function:: FUNC num xyzReqPlace()
   :noindex:

   璇锋眰place鍔ㄤ綔瑙勫垝

   :return: err_code
   :rtype: num

.. function:: FUNC num xyzReqPickPlace()
   :noindex:

   璇锋眰pick鍜宲lace瑙勫垝

   :return: err_code
   :rtype: num			

.. function:: FUNC num xyzGetPickin(VAR num pose_num, VAR num pose_type, VAR num wp_type{*}, VAR jointtarget joint_wp{*}, VAR robtarget cart_wp{*})
   :noindex:

   鑾峰彇鍙栨枡鍏ユ杞ㄨ抗

   :param pose_num: 杞ㄨ抗鐐规暟
   :type pose_num: num
   :param  pipeline_num: pipeline缂栧彿
   :type pipeline_num: num
   :param  register_num: 娉ㄥ唽缂栧彿
   :type register_num: num
   :param  wp_type{*}: 杞ㄨ抗鐐圭被鍨嬫暟缁�
   :type wp_type{*}: num
   :param  joint_wp{*}: 杞ㄨ抗鐐硅搴︽暟缁�
   :type joint_wp{*}: jointtarget
   :param  cart_wp{*}: 杞ㄨ抗鐐逛綅濮挎暟缁�
   :type cart_wp{*}: robtarget   
   :return: err_code
   :rtype: num			

.. function:: FUNC num xyzGetPickout(VAR num pose_num, VAR num pose_type, VAR num wp_type{*}, VAR jointtarget joint_wp{*}, VAR robtarget cart_wp{*})
   :noindex:

   鑾峰彇鍙栨枡鍑烘杞ㄨ抗

   :param pose_num: 杞ㄨ抗鐐规暟
   :type pose_num: num
   :param  pipeline_num: pipeline缂栧彿
   :type pipeline_num: num
   :param  register_num: 娉ㄥ唽缂栧彿
   :type register_num: num
   :param  wp_type{*}: 杞ㄨ抗鐐圭被鍨嬫暟缁�
   :type wp_type{*}: num
   :param  joint_wp{*}: 杞ㄨ抗鐐硅搴︽暟缁�
   :type joint_wp{*}: jointtarget
   :param  cart_wp{*}: 杞ㄨ抗鐐逛綅濮挎暟缁�
   :type cart_wp{*}: robtarget   
   :return: err_code
   :rtype: num	

.. function:: FUNC num xyzGetPlacein(VAR num pose_num, VAR num pose_type, VAR num wp_type{*}, VAR jointtarget joint_wp{*}, VAR robtarget cart_wp{*})
   :noindex:

   鑾峰彇鏀炬枡鍏ユ杞ㄨ抗

   :param pose_num: 杞ㄨ抗鐐规暟
   :type pose_num: num
   :param  pipeline_num: pipelin缂栧彿
   :type pipeline_num: num
   :param  register_num: 娉ㄥ唽缂栧彿
   :type register_num: num
   :param  wp_type{*}: 杞ㄨ抗鐐圭被鍨嬫暟缁�
   :type wp_type{*}: num
   :param  joint_wp{*}: 杞ㄨ抗鐐硅搴︽暟缁�
   :type joint_wp{*}: jointtarget
   :param  cart_wp{*}: 杞ㄨ抗鐐逛綅濮挎暟缁�
   :type cart_wp{*}: robtarget   
   :return: err_code
   :rtype: num	

.. function:: FUNC num xyzGetPlaceout(VAR num pose_num, VAR num pose_type, VAR num wp_type{*}, VAR jointtarget joint_wp{*}, VAR robtarget cart_wp{*})
   :noindex:

   鑾峰彇鏀炬枡鍑烘杞ㄨ抗

   :param pose_num: 杞ㄨ抗鐐规暟
   :type pose_num: num
   :param  pipeline_num: pipelin缂栧彿
   :type pipeline_num: num
   :param  register_num: 娉ㄥ唽缂栧彿
   :type register_num: num
   :param  wp_type{*}: 杞ㄨ抗鐐圭被鍨嬫暟缁�
   :type wp_type{*}: num
   :param  joint_wp{*}: 杞ㄨ抗鐐硅搴︽暟缁�
   :type joint_wp{*}: jointtarget
   :param  cart_wp{*}: 杞ㄨ抗鐐逛綅濮挎暟缁�
   :type cart_wp{*}: robtarget   
   :return: err_code
   :rtype: num					

.. function:: FUNC num xyzSwitchStrat(string 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: err_code
   :rtype: num


.. function:: FUNC num xyzUpdateTotePose(VAR pose tote_pose)
   :noindex:

   鏂欑閲嶅畾浣�

   :param tote_pose: 鏂欑浣嶅Э
   :type tote_pose: pose
   :return: err_code
   :rtype: num

.. function:: FUNC num xyzUpdateObjPoseOnHand()
   :noindex:

   宸ヤ欢鍦ㄤ笂鎵嬬殑浜屾瀹氫綅

   :return: err_code
   :rtype: num		

.. function:: FUNC num xyzUpdateObjPoseToHand(VAR num pose_num, VAR num pose_type, VAR num wp_type{*}, VAR jointtarget joint_wp{*}, VAR robtarget cart_wp{*})
   :noindex:

   宸ヤ欢涓嶅湪鎵嬩笂鐨勪簩娆″畾浣�

   :param pose_num: 宸ヤ欢鐐逛綅鐨勬暟閲�
   :type pose_num: num
   :param  pipeline_num: pipeline缂栧彿
   :type pipeline_num: num
   :param  register_num: 娉ㄥ唽缂栧彿
   :type register_num: num
   :param  wp_type{*}: 宸ヤ欢鐐逛綅绫诲瀷鏁扮粍
   :type wp_type{*}: num
   :param  joint_wp{*}: 宸ヤ欢鐐逛綅瑙掑害鏁扮粍
   :type joint_wp{*}: jointtarget
   :param  cart_wp{*}: 宸ヤ欢浣嶅Э鏁扮粍
   :type cart_wp{*}: robtarget   
   :return: err_code
   :rtype: num

.. function:: FUNC num xyzGetObjPoseType(VAR num pose_type)
   :noindex:

   鑾峰彇宸ヤ欢濮挎€佺被鍨�

   :param pose_type: 宸ヤ欢濮挎€佺被鍨�
   :type pose_type: num
   :return: err_code
   :rtype: num

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

   :return: err_code
   :rtype: num	

.. function:: FUNC num xyzCalculateGraspPose(num ws_id, VAR num pipeline_num, VAR num register_num, VAR num pose_type, VAR pose grasp_pose)
   :noindex:

   璁＄畻鎶撳彇浣嶅Э

   :param  ws_id: 宸ヤ綔绌洪棿 id
   :type ws_id: num
   :param  pose_num: 鍙緵鎶撳彇鐨勭偣鏁伴噺
   :type pose_num: num
   :param  pipeline_num: pipeline缂栧彿
   :type pipeline_num: num
   :param  register_num: 娉ㄥ唽缂栧彿
   :type register_num: num
   :param  grasp_pose: 鎶撳彇浣嶅Э
   :type grasp_pose: pose   
   :return: err_code
   :rtype: num	

.. function:: FUNC num xyzCalculateObjectPose(num ws_id, VAR num pose_num, VAR num pose_type, VAR pose obj_pose)
   :noindex:

   璁＄畻鐗╀綋浣嶅Э

   :param  ws_id: 宸ヤ綔绌洪棿 id
   :type ws_id: num
   :param  pose_num: 鐗╀綋鏁伴噺
   :type pose_num: num
   :param  pose_type: 褰撳墠杩斿洖鐨勭墿浣� pose 绫诲瀷
   :type pose_type: num
   :param  obj_pose: 鐗╀綋浣嶅Э
   :type obj_pose: pose   
   :return: err_code
   :rtype: num	

.. function:: FUNC num xyzUsrCmd(string out_strings{*}, num out_ints{*}, num out_floats{*}, robtarget out_cart, jointtarget out_joints, VAR string in_strings{*}, VAR num in_ints{*}, VAR num in_floats{*}, VAR robtarget in_cart, VAR jointtarget in_joints)
   :noindex:

   鑷畾涔夎姹�

   :param  out_strings: 鍙戦€佺粰宸ユ帶鏈虹殑瀛楃涓叉暟缁勶紝鏁扮粍闀垮害涓�5
   :type out_strings: string{5}
   :param  out_ints: 鍙戦€佺粰宸ユ帶鏈虹殑鏁村瀷鏁扮粍锛屾暟缁勯暱搴﹂渶涓�10
   :type out_ints: num{10}
   :param out_floats: 鍙戦€佺粰宸ユ帶鏈虹殑娴偣鏁版暟缁勶紝鏁扮粍闀垮害涓�10
   :type out_floats: num{10}
   :param out_cart: 鍙戦€佺粰宸ユ帶鏈虹殑绗涘崱灏斾綅濮�
   :type out_cart: robtarget
   :param out_joints: 鍙戦€佺粰宸ユ帶鏈虹殑鍏宠妭瑙掑害
   :type out_joints: jointtarget
   :param in_strings: 宸ユ帶鏈哄彂閫佺粰鏈烘鑷傜殑瀛楃涓叉暟缁勮瀛樻斁鐨勫彉閲忥紝鏁扮粍闀垮害涓�5
   :type in_strings: string{5}
   :param in_ints: 宸ユ帶鏈哄彂閫佺粰鏈烘鑷傜殑鏁村瀷鏁扮粍瑕佸瓨鏀剧殑鍙橀噺锛屾暟缁勯暱搴︿负10
   :type in_ints: num{10}
   :param in_floats: 宸ユ帶鏈哄彂閫佺粰鏈烘鑷傜殑娴偣鏁版暟缁勮瀛樻斁鐨勫彉閲忥紝鏁扮粍闀垮害涓�10
   :type in_floats: num{10}
   :param in_cart: 宸ユ帶鏈哄彂閫佺粰鏈烘鑷傜殑绗涘崱灏斾綅濮胯瀛樻斁鐨勫彉閲�
   :type out_cart: robtarget
   :param in_joints: 宸ユ帶鏈哄彂閫佺粰鏈烘鑷傜殑鍏宠妭瑙掑害鍊艰瀛樻斁鐨勫彉閲�
   :type in_joints: jointtarget