API 说明
============================

Dobot 工控机主控支持的 API
++++++++++++++++++++++++++++++++++++++++++

+--------+-------------------------+----------+
| 指令号 | 命令                    | 支持情况 |
+========+=========================+==========+
| 100    | 获取机械臂程序版本号    | 支持     |
+--------+-------------------------+----------+
| 101    | 发送速度数据            | 支持     |
+--------+-------------------------+----------+
| 102    | 发送加速度数据          | 支持     |
+--------+-------------------------+----------+
| 103    | 发送圆滑过渡参数        | 支持     |
+--------+-------------------------+----------+
| 104    | 发送工具坐标系(TCP)参数 | 支持     |
+--------+-------------------------+----------+
| 105    | 设置数字量输出          | 支持     |
+--------+-------------------------+----------+
| 106    | SetJointsMovej          | 支持     |
+--------+-------------------------+----------+
| 107    | SetCartMovel            | 支持     |
+--------+-------------------------+----------+
| 108    | SetJoinsMovel           | 支持     |
+--------+-------------------------+----------+
| 109    | SetCartMovej            | 支持     |
+--------+-------------------------+----------+
| 110    | MovejSequence           | 支持     |
+--------+-------------------------+----------+
| 111    | MovelSequence           | 支持     |
+--------+-------------------------+----------+
| 112    | SetJointsMovejDo        | 支持     |
+--------+-------------------------+----------+
| 113    | SetCartMovelDo          | 支持     |
+--------+-------------------------+----------+
| 114    | SetJointsMovelDo        | 不支持   |
+--------+-------------------------+----------+
| 115    | SetJointsMovejGroupDo   | 不支持   |
+--------+-------------------------+----------+
| 116    | SetCartMovelGroupDo     | 不支持   |
+--------+-------------------------+----------+
| 117    | SetJointsMovelGroupDo   | 不支持   |
+--------+-------------------------+----------+
| 118    | MovelUntil              | 不支持   |
+--------+-------------------------+----------+
| 119    | 获取数字量输入状态      | 支持     |
+--------+-------------------------+----------+
| 120    | 获取数字量输出状态      | 不支持   |
+--------+-------------------------+----------+
| 121    | 获取模拟量输入口数值    | 支持     |
+--------+-------------------------+----------+
| 122    | 获取机械臂当前角度      | 支持     |
+--------+-------------------------+----------+
| 123    | 获取机械臂当前位姿      | 支持     |
+--------+-------------------------+----------+
| 200    | 机械臂后台发送状态      | 支持     |
+--------+-------------------------+----------+


Dobot 机械臂主控支持的 API
+++++++++++++++++++++++++++++++++++

.. function:: xyzMasterConnect()
   :noindex:
   
   连接到工控机服务器

.. function:: xyzMasterClose()
   :noindex:
   
   断开与工控机服务器的连接

.. function:: xyzSwitchApp(app_name)
   :noindex:
   
   切换应用

   :param app_name: 应用名称
   :type app_name: string
   :return: error_code
   :rtype: number

.. function:: xyzSwitchFlow(flow_name)
   :noindex:
   
   切换流图

   :param flow_name: 流图名称
   :type flow_name: string
   :return: error_code
   :rtype: number

.. function:: xyzSwitchItem(ws_id, obj_name)
   :noindex:
   
   切换工件

   :param ws_id: 工作空间 id
   :type ws_id: number
   :param obj_name: 工件名称
   :type obj_name: string
   :return: error_code
   :rtype: number

.. function:: xyzSwitchTool(tool_name)
   :noindex:
   
   切换工具

   :param tool_name: 工具名称
   :type tool_name: string
   :return: error_code
   :rtype: number

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

   请求拍照

   :param vision_service_id: 需要进行拍照的视觉服务 id
   :type vision_service_id: number
   :return: error_code
   :rtype: number
   :return token: 获取拍照结果的凭据
   :type token: number

.. function:: xyzGetCapImg(token)
   :noindex:
   
   获取拍照结果

   :param  token: 请求拍照时返回的 token
   :type token: number
   :return: error_code
   :rtype: number	

.. function:: xyzCapImg(vision_service_id)
   :noindex:
   
   拍照

   :param  vision_service_id: 需要进行拍照操作的工作空间id
   :type vision_service_id: number
   :return: error_code
   :rtype: number	

.. function:: xyzReqGraspPose(ws_id)
   :noindex:
   
   请求抓取位姿

   :param  ws_id: 需要获取抓取位姿的工作空间id
   :type ws_id: number
   :return: error_code
   :rtype: number
   :return token: 获取抓取位姿结果的凭据
   :type token: number

.. function:: xyzGetGraspPose(token)
   :noindex:
   
   获取抓取位姿

   :param  token: 请求抓取目标位姿时返回的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:
   
   请求物体位姿

   :param  ws_id: 需要获取物体位姿的工作空间id
   :type ws_id: number
   :return: error_code
   :rtype: number
   :return token: 获取物体位姿结果的凭据
   :type token: number


.. function:: xyzGetObjPose(token)
   :noindex:
   
   获取物体位姿

   :param  token: 请求物体位姿时得到的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:
   
   重置视觉

   :return: error_code
   :rtype: number

.. function:: xyzSendCurrentJoints()
   :noindex:
   
   发送当前关节位姿

   :return: error_code
   :rtype: number			

.. function:: xyzSendCurrentCartPose()
   :noindex:
   
   发送当前笛卡尔空间位姿

   :return: error_code
   :rtype: number

.. function:: xyzReqPick()
   :noindex:
   
   请求pick动作规划

   :return: error_code
   :rtype: number


.. function:: xyzReqPlace()
   :noindex:
   
   请求place动作规划

   :return: error_code
   :rtype: number

.. function:: xyzReqPickPlace(ws_id)
   :noindex:
   
   请求pick和place规划

   :param  ws_id: 需要请求pick和place规划的工作空间id
   :type ws_id: number
   :return: error_code
   :rtype: number			

.. function:: xyzGetPickin(ws_id)
   :noindex:
   
   获取取料入框轨迹

   :param  ws_id: 需要获取pick in轨迹的工作空间id
   :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:
   
   获取取料出框轨迹

   :param  ws_id: 需要获取pick out轨迹的工作空间id
   :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:
   
   获取放料入框轨迹

   :param  ws_id: 需要获取place in轨迹的工作空间id
   :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:
   
   获取放料出框轨迹(注：该函数不需要传入参数，仅更新全局变量)

   :param  ws_id: 需要获取place out轨迹的工作空间id
   :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:
   
   请求切换策略

   :param strat_name: 策略名称
   :type strat_name: string
   :return: error_code
   :rtype: number


.. function:: xyzUpdateTotePose()
   :noindex:
   
   料箱重定位

   :param V_POSE: 料箱位姿(全局变量)
   :return: error_code
   :rtype: number
   :return: pose
   :rtype: table

.. function:: xyzUpdateObjPoseOnHand()
   :noindex:
   
   工件在上手的二次定位

   :return: error_code
   :rtype: number		

.. function:: xyzUpdateObjPoseToHand()
   :noindex:
   
   工件不在手上的二次定位，获取二次抓取的轨迹

   :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:
   
   获取工件姿态类型

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

.. function:: xyzResetPalletStatus()
   :noindex:
   
   重置工业码垛状态

   :return: error_code
   :rtype: number

.. function:: xyzExecuteTraj(num_of_waypoints, type_of_waypoints, waypoints)
   :noindex:
   
   执行段轨迹

   :param  num_of_waypoints: 轨迹点的个数
   :type num_of_waypoints: number
   :param  type_of_waypoints: 轨迹点类型数组
   :type type_of_waypoints: array
   :param  waypoints[]: 轨迹点数组
   :type waypoints[]: 2d-array
   :return: error_code
   :rtype: number

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

   计算抓取位姿

   :param  ws_id: 工作空间 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:

   计算物体位姿

   :param  ws_id: 工作空间 id
   :type ws_id: number
   :return: error_code
   :rtype: number	
   :return: pose
   :rtype: table
   :return: obj_num
   :rtype: number
   :return: pose_type
   :rtype: number