捷勃特机器人 SDK
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4.4 程序信息读写 ​

4.4.1 获取指定程序中指定位姿点值 ​

方法名ProgramPoses.Read(string programName , int index , FileType ft = FileType.UserProgram)
描述读取指定程序中指定序号的位姿点数据
请求参数programName : string 指定程序名称
index : int 指定位姿点的序号
ft : FileType 文件类型
返回值ProgramPose 程序中的机器人位姿数据
StatusCode: 读取操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

示例代码

ProgramPoses/ReadProgramPose.cs
cs
using Agilebot.IR;
using Agilebot.IR.ProgramPoses;
using Agilebot.IR.Types;

public class ReadProgramPose
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置程序名称和位姿点索引
            // [EN] Set program name and pose index
            string progName = "test_prog";
            int index = 1;

            // [ZH] 读取指定程序中指定位姿点值
            // [EN] Read specified pose value in specified program
            ProgramPose pose;
            (pose, code) = controller.ProgramPoses.Read(progName, index);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("读取程序位姿点成功/Read Program Pose Success");
                Console.WriteLine($"位姿信息/Pose Info: {pose}");
            }
            else
            {
                Console.WriteLine($"读取程序位姿点失败/Read Program Pose Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.4.2 修改指定程序中指定位姿点值 ​

方法名ProgramPoses.Write(string programName , int index , ProgramPose value , FileType ft = FileType.UserProgram)
描述修改指定程序中指定序号的位姿点数据
请求参数programName : string 指定程序名称
index : int 指定位姿点的序号
value : ProgramPose 程序中的机器人位姿数据
ft : FileType 文件类型
返回值StatusCode: 写入操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

示例代码

ProgramPoses/WriteProgramPose.cs
cs
using Agilebot.IR;
using Agilebot.IR.ProgramPoses;
using Agilebot.IR.Types;

public class WriteProgramPose
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置程序名称和位姿点索引
            // [EN] Set program name and pose index
            string progName = "test_prog";
            int index = 2;

            // [ZH] 生成随机位姿点
            // [EN] Generate random pose
            ProgramPose rndPose = ProgramPose.GenerateRandomPose(index);

            // [ZH] 修改指定程序中指定位姿点值
            // [EN] Write specified pose value in specified program
            code = controller.ProgramPoses.Write(progName, index, rndPose);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("写入程序位姿点成功/Write Program Pose Success");
            }
            else
            {
                Console.WriteLine($"写入程序位姿点失败/Write Program Pose Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.4.3 添加指定程序位姿点 ​

方法名ProgramPoses.Add(string programName , int index , ProgramPose value , FileType ft = FileType.UserProgram)
描述在指定程序中指定序号位置添加位姿点数据
请求参数programName : string 指定程序名称
index : int 指定位姿点的序号
value : ProgramPose 程序中的机器人位姿数据
ft : FileType 文件类型
返回值StatusCode: 添加操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

示例代码

ProgramPoses/AddProgramPose.cs
cs
using Agilebot.IR;
using Agilebot.IR.ProgramPoses;
using Agilebot.IR.Types;

public class AddProgramPose
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置程序名称和位姿点索引
            // [EN] Set program name and pose index
            string progName = "test_prog";
            int index = 3;

            // [ZH] 生成随机位姿点
            // [EN] Generate random pose
            ProgramPose rndPose = ProgramPose.GenerateRandomPose(index);

            // [ZH] 添加指定程序中指定位姿点
            // [EN] Add specified pose in specified program
            code = controller.ProgramPoses.Add(progName, index, rndPose);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("添加程序位姿点成功/Add Program Pose Success");
            }
            else
            {
                Console.WriteLine($"添加程序位姿点失败/Add Program Pose Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.4.4 删除指定程序中指定序号的位姿点 ​

方法名ProgramPoses.Delete(string programName , int index , FileType ft = FileType.UserProgram)
描述删除指定程序中指定序号的位姿点
请求参数programName : string 指定程序名称
index : int 指定位姿点的序号
ft : FileType 文件类型
返回值StatusCode: 删除操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

示例代码

ProgramPoses/DeleteProgramPose.cs
cs
using Agilebot.IR;
using Agilebot.IR.ProgramPoses;
using Agilebot.IR.Types;

public class DeleteProgramPose
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置程序名称和位姿点索引
            // [EN] Set program name and pose index
            string progName = "test_prog";
            int index = 3;

            // [ZH] 删除指定程序中指定位姿点
            // [EN] Delete specified pose in specified program
            code = controller.ProgramPoses.Delete(progName, index);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("删除程序位姿点成功/Delete Program Pose Success");
            }
            else
            {
                Console.WriteLine($"删除程序位姿点失败/Delete Program Pose Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.4.5 获取指定程序中所有的位姿点 ​

方法名ProgramPoses.ReadAllPoses(string programName , FileType ft = FileType.UserProgram)
描述获取指定程序中所有的位姿点信息
请求参数programName : string 指定程序名称
ft : FileType 文件类型
返回值List<ProgramPose>: 位姿点数据列表
StatusCode: 获取操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

示例代码

ProgramPoses/ReadAllProgramPoses.cs
cs
using Agilebot.IR;
using Agilebot.IR.ProgramPoses;
using Agilebot.IR.Types;

public class ReadAllProgramPoses
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置程序名称
            // [EN] Set program name
            string progName = "test_prog";

            // [ZH] 读取指定程序中所有位姿点
            // [EN] Read all poses in specified program
            List<ProgramPose> poses;
            (poses, code) = controller.ProgramPoses.ReadAllPoses(progName);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("读取所有程序位姿点成功/Read All Program Poses Success");
                Console.WriteLine($"位姿点数量/Number of poses: {poses.Count}");

                for (int i = 0; i < poses.Count; i++)
                {
                    Console.WriteLine($"位姿点 {i + 1}/Pose {i + 1}: {poses[i]}");
                }
            }
            else
            {
                Console.WriteLine($"读取所有程序位姿点失败/Read All Program Poses Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.4.6 机器人程序位姿点类型转换 ​

方法名ProgramPoses.ConvertPose(ProgramPose pose , PoseType toType )
描述将程序中机器人位姿点在关节坐标和笛卡尔空间坐标之间转换
请求参数pose : ProgramPose 程序中的机器人位姿数据
toType : PoseType 希望转换后的坐标类型
返回值ProgramPose: 转换后的位姿数据
StatusCode: 转换操作执行结果
兼容的机器人软件版本协作 (Copper): v7.5.0.0+
工业 (Bronze): v7.5.0.0+

示例代码

ProgramPoses/ConvertProgramPose.cs
cs
using Agilebot.IR;
using Agilebot.IR.ProgramPoses;
using Agilebot.IR.Types;

public class ConvertProgramPose
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置程序名称和位姿点索引
            // [EN] Set program name and pose index
            string progName = "test_prog";
            int cartIndex = 1;

            // [ZH] 先读取一个位姿点
            // [EN] First read a pose
            ProgramPose cartPose;
            (cartPose, code) = controller.ProgramPoses.Read(progName, cartIndex);
            if (code != StatusCode.OK)
            {
                Console.WriteLine($"读取位姿点失败/Read Pose Failed: {code.GetDescription()}");
                return code;
            }

            // [ZH] 转换位姿点类型（从笛卡尔坐标转换为关节坐标）
            // [EN] Convert pose type (from Cartesian to Joint coordinates)
            ProgramPose pose;
            (pose, code) = controller.ProgramPoses.ConvertPose(cartPose, PoseType.Joint);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("转换程序位姿点成功/Convert Program Pose Success");
                Console.WriteLine($"原始位姿/Original Pose: {cartPose}");
                Console.WriteLine($"转换后位姿/Converted Pose: {pose}");
            }
            else
            {
                Console.WriteLine($"转换程序位姿点失败/Convert Program Pose Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

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