案例/模板说明

机械臂主控主函数说明

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。

def xyzMain():
xyzMasterConnect() #连接工控机
xyzTest() #集成测试
xyzMasterClose() #断开连接
end

##########################Test Code##############################

# This function is for testing all api
def 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

def xyzTestSwitchApp():
app_name = "111"
error_code = xyzSwitchApp(app_name)
app_name = "error_app"
error_code = xyzSwitchApp(app_name)
end

def xyzTestSwitchObj():
obj_name = "222"
error_code = xyzSwitchObj(obj_name)
obj_name = "error_obj"
error_code = xyzSwitchObj(obj_name)
end

def xyzTestSwitchTool():
tool_name = "333"
error_code = xyzSwitchTool(tool_name)
tool_name = "error_tool"
error_code = xyzSwitchTool(tool_name)
end

def xyzTestImg():
ws_id = 0
token = 0
# token in robot server will increase after every call
error_code = xyzReqCapImg(ws_id)
error_code = xyzGetCapImg(token)
ws_id = 0
error_code = xyzCapImg(ws_id)
end

def xyzTestGrasp():
ws_id = 0
pose_num = 0
pose_type = 0
grasp_pose = p[0,0,0,0,0,0]
token = 0
# token in robot server will increase after every call
error_code = xyzReqGraspPose(ws_id)
token = 2
error_code = xyzGetGraspPose(token)
end

def xyzTestObj():
pose_num = 0
pose_type = 0
obj_pose = p[0,0,0,0,0,0]
ws_id = 0
token = 0
# token in robot server will increase after every call
error_code = xyzReqObjPose(ws_id)
token = 3
error_code = xyzGetObjPose(token)
end

def xyzTestResetVision():
ws_id = 0
error_code = xyzResetVision(ws_id)
end

def xyzTestSendJointCartExtJoint():
error_code = xyzSendCurrentJoints()
error_code = xyzSendCurrentCartPose()
end

def xyzTestReqPickPlace():
error_code = xyzReqPick()
error_code = xyzReqPlace()
error_code = xyzReqPickPlace()
end

def xyzTestGetPickPlace():
pose_type = 0
pose_num = 0
# please check the waypoint data before xyzExecuteTraj() !
error_code = xyzGetPickin()
xyzExecuteTraj()
error_code = xyzGetPickout()
xyzExecuteTraj()
error_code = xyzGetPlacein()
xyzExecuteTraj()
error_code = xyzGetPlaceout()
xyzExecuteTraj()
end

def xyzTestSwitchStrat():
strat_name = "strat1"
error_code = xyzSwitchStrat(strat_name)
strat_name = "error_strat"
error_code = xyzSwitchStrat(strat_name)
end

def xyzTestUpdate():
tote_pose = p[0,0,0,0,0,0]
pose_type = 0
pose_num = 0
error_code = xyzUpdateTotePose()
error_code = xyzUpdateObjPoseOnHand()
error_code = xyzUpdateObjPoseToHand()
end

def xyzTestGetObjPoseType():
pose_type = 0
error_code = xyzGetObjPoseType()
end

def xyzTestRestPalletStatus():
error_code = xyzResetPalletStatus()
end

# This is the main function for test 主函数
xyzMain()