机械臂主控通讯协议 v1
==========================================
此版本将于 1.5 MAX 弃用

协议格式
+++++++++++++++++++++++++++++++++

“指令(数据)+分隔符+数据+分隔符+数据+分隔符+…+数据+分隔符+结束符”

发送和接收的数据格式如上所示，数据之间通过分隔符划分，最后以一个结束符来结尾。分隔符可以是英文逗号(',')或者空格(' ')，结束符可以使'#'或者'\\n'。分隔符和结束符根据机械臂的特性可以灵活调整。


error_code判断
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

.. warning:: 机械臂主控时，机械臂运行程序必须要对接收的返回数据进行 error_code 的判断。如果不处理 error_code，机械臂会发生碰撞或者造成其他更严重的后果，威胁使用者的人身安全！

指令
++++++++++++++++++++++++++

1. 心跳信号(xyzHeartBeat)

+------------+----------------+-------------------------+
| 机械臂发送 | “500,#”        | 500: 机械臂ping工控机用 |
+------------+----------------+-------------------------+
| 机械臂接收 | “error_code,#” |                         |
+------------+----------------+-------------------------+

2. 切换应用(xyzSwitchApp)

+------------+------------------+---------------------------------------+
| 机械臂发送 | “501,app_name,#” | 501: 切换应用指令号                   |
|            |                  +---------------------------------------+
|            |                  | app_name(string): 需要切换到的app名字 |
+------------+------------------+---------------------------------------+
| 机械臂接收 | “error_code,#”   |                                       |
+------------+------------------+---------------------------------------+

3. 切换flow(xyzSwitchFlow)

+------------+-------------------+-------------------------------------------------------------------+
| 机械臂发送 | “502,flow_name,#” | 502: 切换task flow指令号                                          |
|            |                   +-------------------------------------------------------------------+
|            |                   | flow_name(string): 需要切换到的task flow名称，以“.t”结尾，如“1.t” |
+------------+-------------------+-------------------------------------------------------------------+
| 机械臂接收 | “error_code,#”    |                                                                   |
+------------+-------------------+-------------------------------------------------------------------+

4. 切换工具(xyzSwitchTool)

+------------+----------------+-----------------------+
| 机械臂发送 | “503,tool,#”   | 503: 切换工具指令号   |
|            |                +-----------------------+
|            |                | tool(string): tool id |
+------------+----------------+-----------------------+
| 机械臂接收 | “error_code,#” |                       |
+------------+----------------+-----------------------+

5. 请求拍照(xyzReqCapImg)

+------------+---------------------------+-----------------------------------------------------+
| 机械臂发送 | “504,vision_service_id,#” | 504: 请求拍照指令号                                 |
|            |                           +-----------------------------------------------------+
|            |                           | vision_service_id(int): 视觉service_id              |
+------------+---------------------------+-----------------------------------------------------+
| 机械臂接收 | “error_code,token,#”      | token(int): 返回的用于请求对应拍照结果时使用的token |
+------------+---------------------------+-----------------------------------------------------+

6. 获取拍照结果(xyzGetCapImg)

+------------+----------------+-----------------------------------+
| 机械臂发送 | “505,token,#”  | 505: 获取拍照结果指令号           |
|            |                +-----------------------------------+
|            |                | token(int): 请求拍照时返回的token |
+------------+----------------+-----------------------------------+
| 机械臂接收 | “error_code,#” |                                   |
+------------+----------------+-----------------------------------+

7. 拍照(xyzCapImg)

+------------+---------------------------+----------------------------------------+
| 机械臂发送 | “506,vision_service_id,#” | 506: 拍照指令号                        |
|            |                           +----------------------------------------+
|            |                           | vision_service_id(int): 视觉service_id |
+------------+---------------------------+----------------------------------------+
| 机械臂接收 | “error_code,#”            |                                        |
+------------+---------------------------+----------------------------------------+

8. 请求抓取目标点位(xyzReqGraspPose)

+------------+----------------------+-------------------------------------------------+
| 机械臂发送 | “507,ws_id,#”        | 507: 请求抓取目标点位指令号                     |
|            |                      +-------------------------------------------------+
|            |                      | ws_id(int): 需要获取抓取点位的工作空间id        |
+------------+----------------------+-------------------------------------------------+
| 机械臂接收 | “error_code,token,#” | token(int): 返回的用于获取目标点位时使用的token |
+------------+----------------------+-------------------------------------------------+

9. 获取抓取目标点位(xyzGetGraspPose)

+------------+------------------------------------------------------------+-----------------------------------------------+
| 机械臂发送 | “508,token,#”                                              | 508: 获取抓取目标点位指令号                   |
|            |                                                            +-----------------------------------------------+
|            |                                                            | token(int): 请求抓取目标点位时返回的token     |
+------------+------------------------------------------------------------+-----------------------------------------------+
| 机械臂接收 | “error_code,x,y,z,a,b,c,d,num,pipeline_num,register_num,#” | x,y,z,a,b,c,d: 为抓取目标点的位姿数据         |
|            |                                                            +-----------------------------------------------+
|            |                                                            | num(int): 当前有多少个可供抓取的点            |
|            |                                                            +-----------------------------------------------+
|            |                                                            | pipeline_num(int): pipeline文件number         |
|            |                                                            +-----------------------------------------------+
|            |                                                            | register_num(int): 用到的注册文件的注册number |
+------------+------------------------------------------------------------+-----------------------------------------------+

10. 请求物体位姿(xyzReqObjPose)

+------------+----------------------+--------------------------------------------+
| 机械臂发送 | “509,ws_id,#”        | 509: 请求物体位姿指令号                    |
|            |                      +--------------------------------------------+
|            |                      | ws_id(int):请求物体所在的空间id            |
+------------+----------------------+--------------------------------------------+
| 机械臂接收 | “error_code,token,#” | token(int):用于获取物体位姿时作为识别token |
+------------+----------------------+--------------------------------------------+

11. 获取物体位姿(xyzGetObjPose)

+------------+--------------------------------------------+---------------------------------------+
| 机械臂发送 | “510,token,#”                              | 510: 获取物体位姿指令号               |
|            |                                            +---------------------------------------+
|            |                                            | token(int) :请求物体位姿时得到的token |
+------------+--------------------------------------------+---------------------------------------+
| 机械臂接收 | “error_code,x,y,z,a,b,c,d,num,pose_type,#” | x,y,z,a,b,c,d: 物体的位姿数据         |
|            |                                            +---------------------------------------+
|            |                                            | num(int): 当前物体位姿个数            |
|            |                                            +---------------------------------------+
|            |                                            | pose_type(int) :物体的位姿类型        |
+------------+--------------------------------------------+---------------------------------------+

12. 重置任务(xyzResetTask)

+------------+----------------+----------------------------+
| 机器人发送 | “511,#”        | 511: 重置任务指令号        |
|            |                |                            |
|            |                | 一般用来初始化任务内部变量 |
+------------+----------------+----------------------------+
| 机器人接收 | “error_code,#“ |                            |
+------------+----------------+----------------------------+

13. 发送机械臂当前角度(xyzSendCurrentJoints)

+------------+---------------------------+-----------------------------------------------------------+
| 机械臂发送 | “512,j1,j2,j3,j4,j5,j6,#” | 512: 发送机械臂当前角度指令号                             |
|            |                           +-----------------------------------------------------------+
|            |                           | j1~j6: 机械臂当前的角度信息                               |
|            |                           +-----------------------------------------------------------+
|            |                           | 如果机械臂轴数小于6轴，则需要对应位置补零，依旧发送六个数 |
+------------+---------------------------+-----------------------------------------------------------+
| 机械臂接收 | “error_code,#”            |                                                           |
+------------+---------------------------+-----------------------------------------------------------+

14. 发送机械臂当前Cartesian(xyzSendCurrentCartPose)

+------------+-----------------------+-------------------------------------------------------+
| 机械臂发送 | “513,x,y,z,a,b,c,d,#” | 513: 发送机械臂当前笛卡尔位姿指令号                   |
|            |                       +-------------------------------------------------------+
|            |                       | x,y,z: 机械臂当前位置数据                             |
|            |                       +-------------------------------------------------------+
|            |                       | a,b,c,d: 机械臂当前姿态数据                           |
|            |                       +-------------------------------------------------------+
|            |                       | 如果机械臂是欧拉角形式，则只需给a,b,c赋值，d赋值0即可 |
+------------+-----------------------+-------------------------------------------------------+
| 机械臂接收 | “error_code,#”        |                                                       |
+------------+-----------------------+-------------------------------------------------------+

15. 发送机械臂当前扩展轴位置(xyzSendCurrentExtJoints)

+------------+---------------------------+------------------------------------------+
| 机械臂发送 | “514,j1,j2,j3,j4,j5,j6,#” | 514: 发送机械臂当前扩展轴的位置          |
|            |                           +------------------------------------------+
|            |                           | j1~j6: 机械臂当前扩展轴的角度信息        |
|            |                           +------------------------------------------+
|            |                           | 如果扩展轴数不足6的,需要补零后发送六个数 |
+------------+---------------------------+------------------------------------------+
| 机械臂接收 | “error_code,#”            |                                          |
+------------+---------------------------+------------------------------------------+

16. 请求pick动作规划(xyzReqPick)

+------------+----------------+-----------------------------+
| 机械臂发送 | “515,#”        | 515: 请求pick动作规划指令号 |
|            |                |                             |
|            |                |                             |
|            |                | 该指令暂不支持              |
+------------+----------------+-----------------------------+
| 机械臂接收 | “error_code,#” |                             |
+------------+----------------+-----------------------------+

17. 请求place动作规划(xyzReqPlace)

+------------+----------------+------------------------------+
| 机械臂发送 | “516,#”        | 516: 请求place动作规划指令号 |
|            |                |                              |
|            |                | 该指令暂不支持               |
+------------+----------------+------------------------------+
| 机械臂接收 | “error_code,#” |                              |
+------------+----------------+------------------------------+

18. 请求pick和place规划(xyzReqPickPlace)

+------------+----------------+--------------------------------+
| 机械臂发送 | “517,ws_id,#”  | 517: 请求pick和place规划指令号 |
|            |                +--------------------------------+
|            |                | ws_id(int):工作空间id          |
+------------+----------------+--------------------------------+
| 机械臂接收 | “error_code,#” |                                |
+------------+----------------+--------------------------------+


19. 获取取料入框轨迹(xyzGetPickin)

+------------+-----------------------------------------------+---------------------------------------------------+
| 机械臂发送 | “518,ws_id,#”                                 | 518: 获取取料入框指令号                           |
|            |                                               +---------------------------------------------------+
|            |                                               | ws_id(int):工作空间id                             |
+------------+-----------------------------------------------+---------------------------------------------------+
| 机械臂接收 | “error_code,pipeline_num,register_num,traj,#“ | pipeline_num(int): pipeline文件number             |
|            |                                               +---------------------------------------------------+
|            |                                               | register_num(int): 用到的注册文件的注册number     |
|            |                                               +---------------------------------------------------+
|            |                                               | traj轨迹点: num+ wp_type + wp + wp_type + wp +….  |
|            |                                               +---------------------------------------------------+
|            |                                               | num: waypoint num 轨迹点数量                      |
|            |                                               +---------------------------------------------------+
|            |                                               | wp_type 轨迹点类型：joints or Cartesian，可能值： |
|            |                                               |                                                   |
|            |                                               | - 11 on joints movej                              |
|            |                                               |                                                   |
|            |                                               | - 12 on joints movel                              |
|            |                                               |                                                   |
|            |                                               | - 21 on cart movej                                |
|            |                                               |                                                   |
|            |                                               | - 22 on cart movel                                |
|            |                                               +---------------------------------------------------+
|            |                                               | wp: 点位，6个值(j1~j6或者xyzabc)                  |
+------------+-----------------------------------------------+---------------------------------------------------+

20. 获取取料出框轨迹(xyzGetPickout)

+------------+-----------------------------------------------+---------------------------------------------------+
| 机械臂发送 | “519,ws_id,#”                                 | 519: 获取取料出框轨迹指令号                       |
|            |                                               +---------------------------------------------------+
|            |                                               | ws_id(int):工作空间id                             |
+------------+-----------------------------------------------+---------------------------------------------------+
| 机械臂接收 | “error_code,pipeline_num,register_num,traj,#“ | pipeline_num(int): pipeline文件number             |
|            |                                               +---------------------------------------------------+
|            |                                               | register_num(int): 用到的注册文件的注册number     |
|            |                                               +---------------------------------------------------+
|            |                                               | traj轨迹点: num+ wp_type + wp + wp_type + wp +….  |
|            |                                               +---------------------------------------------------+
|            |                                               | num: waypoint num 轨迹点数量                      |
|            |                                               +---------------------------------------------------+
|            |                                               | wp_type 轨迹点类型：joints or Cartesian，可能值： |
|            |                                               |                                                   |
|            |                                               | - 11 on joints movej                              |
|            |                                               |                                                   |
|            |                                               | - 12 on joints movel                              |
|            |                                               |                                                   |
|            |                                               | - 21 on cart movej                                |
|            |                                               |                                                   |
|            |                                               | - 22 on cart movel                                |
|            |                                               +---------------------------------------------------+
|            |                                               | wp: 点位，6个值(j1~j6或者xyzabc)                  |
+------------+-----------------------------------------------+---------------------------------------------------+

21. 获取放料入框轨迹(xyzGetPlacein)

+------------+-----------------------------------------------+---------------------------------------------------+
| 机械臂发送 | “520,ws_id,#”                                 | 520: 获取放料入框轨迹指令号                       |
|            |                                               +---------------------------------------------------+
|            |                                               | ws_id(int):工作空间id                             |
+------------+-----------------------------------------------+---------------------------------------------------+
| 机械臂接收 | “error_code,pipeline_num,register_num,traj,#“ | pipeline_num(int): pipeline文件number             |
|            |                                               +---------------------------------------------------+
|            |                                               | register_num(int): 用到的注册文件的注册number     |
|            |                                               +---------------------------------------------------+
|            |                                               | traj轨迹点: num+ wp_type + wp + wp_type + wp +….  |
|            |                                               +---------------------------------------------------+
|            |                                               | num: waypoint num 轨迹点数量                      |
|            |                                               +---------------------------------------------------+
|            |                                               | wp_type 轨迹点类型：joints or Cartesian，可能值： |
|            |                                               |                                                   |
|            |                                               | - 11 on joints movej                              |
|            |                                               |                                                   |
|            |                                               | - 12 on joints movel                              |
|            |                                               |                                                   |
|            |                                               | - 21 on cart movej                                |
|            |                                               |                                                   |
|            |                                               | - 22 on cart movel                                |
|            |                                               +---------------------------------------------------+
|            |                                               | wp: 点位，6个值(j1~j6或者xyzabc)                  |
+------------+-----------------------------------------------+---------------------------------------------------+

22. 获取放料出框轨迹(xyzGetPlaceout)

+------------+-----------------------------------------------+---------------------------------------------------+
| 机械臂发送 | “521,ws_id,#”                                 | 521: 获取放料出框轨迹指令号                       |
|            |                                               +---------------------------------------------------+
|            |                                               | ws_id(int):工作空间id                             |
+------------+-----------------------------------------------+---------------------------------------------------+
| 机械臂接收 | “error_code,pipeline_num,register_num,traj,#“ | pipeline_num(int): pipeline文件number             |
|            |                                               +---------------------------------------------------+
|            |                                               | register_num(int): 用到的注册文件的注册number     |
|            |                                               +---------------------------------------------------+
|            |                                               | traj轨迹点: num+ wp_type + wp + wp_type + wp +….  |
|            |                                               +---------------------------------------------------+
|            |                                               | num: waypoint num 轨迹点数量                      |
|            |                                               +---------------------------------------------------+
|            |                                               | wp_type 轨迹点类型：joints or Cartesian，可能值： |
|            |                                               |                                                   |
|            |                                               | - 11 on joints movej                              |
|            |                                               |                                                   |
|            |                                               | - 12 on joints movel                              |
|            |                                               |                                                   |
|            |                                               | - 21 on cart movej                                |
|            |                                               |                                                   |
|            |                                               | - 22 on cart movel                                |
|            |                                               +---------------------------------------------------+
|            |                                               | wp: 点位，6个值(j1~j6或者xyzabc)                  |
+------------+-----------------------------------------------+---------------------------------------------------+

23. 请求切换策略(xyzSwitchStrat)

+------------+--------------------+------------------------------+
| 机器人发送 | “522,strat_name,#” | 522: 请求切换策略指令号      |
|            |                    +------------------------------+
|            |                    | strat_name(string): 策略名称 |
+------------+--------------------+------------------------------+
| 机器人接收 | “error_code,#”     |                              |
+------------+--------------------+------------------------------+

24. 料箱重定位(xyzUpdateTotePose)

+------------+------------------------------+---------------------------------------------------------------------+
| 机械臂发送 | “523,#”                      | 523: 料箱重定位指令号                                               |
|            |                              |                                                                     |
|            |                              |                                                                     |
|            |                              | 执行完毕后，环境中的料箱位姿会被自动更新                            |
+------------+------------------------------+---------------------------------------------------------------------+
| 机械臂接收 | “error_code,x,y,z,a,b,c,d,#” | x,y,z,a,b,c,d: 重定位后的料箱位姿数据，目前该值用不到，用户无需使用 |
+------------+------------------------------+---------------------------------------------------------------------+


25. 工件在上手的二次定位(xyzUpdateObjPoseOnHand)

+------------+----------------+---------------------------------+
| 机械臂发送 | “524,#”        | 524: 工件在手上的二次定位指令号 |
+------------+----------------+---------------------------------+
| 机械臂接收 | “error_code,#” |                                 |
+------------+----------------+---------------------------------+

26. 工件不在手上的二次定位(xyzUpdateObjPoseToHand)

+------------+-----------------------------------------------+---------------------------------------------------+
| 机械臂发送 | “525,#”                                       | 525: 工件不在手上的二次定位指令号                 |
+------------+-----------------------------------------------+---------------------------------------------------+
| 机械臂接收 | “error_code,pipeline_num,register_num,traj,#“ | pipeline_num(int): pipeline文件number             |
|            |                                               +---------------------------------------------------+
|            |                                               | register_num(int): 用到的注册文件的注册number     |
|            |                                               +---------------------------------------------------+
|            |                                               | traj轨迹点: num+ wp_type + wp + wp_type + wp +….  |
|            |                                               +---------------------------------------------------+
|            |                                               | num: waypoint num 轨迹点数量                      |
|            |                                               +---------------------------------------------------+
|            |                                               | wp_type 轨迹点类型：joints or Cartesian，可能值： |
|            |                                               |                                                   |
|            |                                               | - 11 on joints movej                              |
|            |                                               |                                                   |
|            |                                               | - 12 on joints movel                              |
|            |                                               |                                                   |
|            |                                               | - 21 on cart movej                                |
|            |                                               |                                                   |
|            |                                               | - 22 on cart movel                                |
|            |                                               +---------------------------------------------------+
|            |                                               | wp: 点位，6个值(j1~j6或者xyzabc)                  |
+------------+-----------------------------------------------+---------------------------------------------------+

27. 获取工件姿态类型(xyzGetObjPoseType)

+------------+--------------------------+-----------------------------------+
| 机器人发送 | “526,#”                  | 526: 工件正反面识别指令号         |
+------------+--------------------------+-----------------------------------+
| 机器人接收 | “error_code,pose_type,#“ | pose_type(int):工件的pose类型信息 |
+------------+--------------------------+-----------------------------------+

28. 重置工业码垛状态(xyzResetPalletStatus)

+------------+----------------+-------------------------+
| 机械臂发送 | “527,#”        | 527: 重置码垛状态指令号 |
+------------+----------------+-------------------------+
| 机械臂接收 | “error_code,#” |                         |
+------------+----------------+-------------------------+

29. 切换工件(xyzSwitchItem)

+------------+-----------------------------+---------------------------------+
| 机器人发送 | “528,ws_id,item_codename,#” | 528: 切换工件指令号             |
|            |                             +---------------------------------+
|            |                             | ws_id(int): 工作空间id          |
|            |                             +---------------------------------+
|            |                             | item_codename(string): 工件代号 |
+------------+-----------------------------+---------------------------------+
| 机器人接收 | “error_code,#“              |                                 |
+------------+-----------------------------+---------------------------------+

30. 计算抓取目标点位(xyzCalculateGraspPose)

+------------+------------------------------------------------------------+-----------------------------------------------+
| 机械臂发送 | “529,ws_id,#”                                              | 529: 计算抓取目标点位指令号                   |
|            |                                                            +-----------------------------------------------+
|            |                                                            | 该指令等价于xyzReqGraspPose +xyzGetGraspPose  |
|            |                                                            +-----------------------------------------------+
|            |                                                            | ws_id(int): 工作空间id                        |
+------------+------------------------------------------------------------+-----------------------------------------------+
| 机械臂接收 | “error_code,x,y,z,a,b,c,d,num,pipeline_num,register_num,#” | x,y,z,a,b,c,d: 为抓取目标点的位姿数据         |
|            |                                                            +-----------------------------------------------+
|            |                                                            | num(int): 当前有多少个可供抓取的点            |
|            |                                                            +-----------------------------------------------+
|            |                                                            | pipeline_num(int): pipeline文件number         |
|            |                                                            +-----------------------------------------------+
|            |                                                            | register_num(int): 用到的注册文件的注册number |
+------------+------------------------------------------------------------+-----------------------------------------------+

31. 计算物体位姿(xyzCalculateObjectPose)

+------------+--------------------------------------------+-------------------------------------------+
| 机械臂发送 | “530,ws_id,#”                              | 530: 计算物体位姿指令号                   |
|            |                                            +-------------------------------------------+
|            |                                            | 该指令等价于xyzReqObjPose + xyzGetObjPose |
|            |                                            +-------------------------------------------+
|            |                                            | ws_id(int): 工作空间id                    |
+------------+--------------------------------------------+-------------------------------------------+
| 机械臂接收 | “error_code,x,y,z,a,b,c,d,num,pose_type,#“ | x,y,z,a,b,c,d: 物体的位姿数据             |
|            |                                            +-------------------------------------------+
|            |                                            | num(int): 当前物体位姿个数                |
|            |                                            +-------------------------------------------+
|            |                                            | pose_type(int) :物体的位姿类型            |
+------------+--------------------------------------------+-------------------------------------------+