案例/模板说明
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机械臂主控主函数说明
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以下为机械臂主控模板代码，注意对工控机返回的 err_code 进行判断。模板用途为所有接口的集成测试，用作实际使用的参考。

.. code-block:: 

                -------------------------Test Code----------------------------------

                -- This function is for testing all api
                function xyzTest()
                xyzTestSwitchApp()
                xyzTestSwitchObj()
                xyzTestSwitchTool()
                -- Because of token, the next 3 test sequence can not be changed
                xyzTestImg()
                xyzTestGrasp()
                xyzTestObj()
                xyzTestResetVision()
                xyzTestSendJointCartExtJoint()
                xyzTestReqPickPlace()
                xyzTestGetPickPlace()
                xyzTestSwitchStrat()
                xyzTestUpdate()
                xyzTestGetObjPoseType()
                xyzTestRestPalletStatus()
                end

                function xyzTestSwitchApp()
                local app_name = "111"
                local error_code = xyzSwitchApp(app_name)
                app_name = "error_app"
                error_code = xyzSwitchApp(app_name)
                end

                function xyzTestSwitchObj()
                local obj_name = "222"
                local error_code = xyzSwitchObj(obj_name)
                obj_name = "error_obj"
                error_code = xyzSwitchObj(obj_name)
                end

                function xyzTestSwitchTool()
                local tool_name = "333"
                local error_code = xyzSwitchTool(tool_name)
                tool_name = "error_tool"
                error_code = xyzSwitchTool(tool_name)
                end

                function xyzTestImg()
                local ws_id = 0
                local token = 1
                -- token in robot server will increase after every call
                local error_code = xyzReqCapImg(ws_id)
                error_code = xyzGetCapImg(token)
                ws_id = 0
                error_code = xyzCapImg(ws_id)
                end

                function xyzTestGrasp()
                local ws_id = 0
                local pose_num = 0
                local pose_type = 0
                local token = 0
                -- token in robot server will increase after every call
                local error_code = xyzReqGraspPose(ws_id)
                token = 3
                error_code = xyzGetGraspPose(token)
                end

                function xyzTestObj()
                local pose_num = 0
                local pose_type = 0

                local ws_id = 0
                local token = 0
                -- token in robot server will increase after every call
                local error_code = xyzReqObjPose(ws_id)
                token = 4
                error_code = xyzGetObjPose(token)
                end

                function xyzTestResetVision()
                local ws_id = 0
                local error_code = xyzResetVision(ws_id)
                end

                function xyzTestSendJointCartExtJoint()
                local error_code = xyzSendCurrentJoints()
                error_code = xyzSendCurrentCartPose()
                end

                function xyzTestReqPickPlace()
                local error_code = xyzReqPick()
                error_code = xyzReqPlace()
                error_code = xyzReqPickPlace()
                end

                function xyzTestGetPickPlace()
                local pose_type = 0
                local pose_num = 0
                --   please check the waypoint data before xyzExecuteTraj() !
                local error_code = xyzGetPickin()
                xyzExecuteTraj()
                error_code = xyzGetPickout()
                xyzExecuteTraj()
                error_code = xyzGetPlacein()
                xyzExecuteTraj()
                error_code = xyzGetPlaceout()
                xyzExecuteTraj()
                end

                function xyzTestSwitchStrat()
                local strat_name = "strat1"
                local error_code = xyzSwitchStrat(strat_name)
                strat_name = "error_strat"
                error_code = xyzSwitchStrat(strat_name)
                end

                function xyzTestUpdate()
                local pose_type = 0
                local pose_num = 0
                local error_code = xyzUpdateTotePose()
                error_code = xyzUpdateObjPoseOnHand()
                error_code = xyzUpdateObjPoseToHand()
                end

                function xyzTestGetObjPoseType()
                local pose_type = 0
                local error_code = xyzGetObjPoseType()
                end

                function xyzTestRestPalletStatus()
                local error_code = xyzResetPalletStatus()
                end

                -------------------------------Main Function-------------------------------------

                function xyzMain()
                xyzMasterConnect()
                xyzTest()
                xyzMasterClose()
                end


                -- In real situation, xyzMain() should be commented or deleted
                -- Call function in script instead
                xyzMain()