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SDK 提供的功能\n\n用户通过 SocketTCP/共享内存等方式与 aubo_control 的扩展功能 aubo_comm 服务端连接，发送指令给 aubo_control 控制器软件，实现对机器人的远程控制和信息获取。\n\n### 1.1 JsonRPC 接口\n\n提供了基于 SocketTCP 协议的 JsonRPC 通讯接口，主要用于向aubo_control发送指令。\n\n### 1.2 RTDE 接口\n\n提供了基于 SocketTCP 协议的 RTDE 通讯接口，主要用于获取机器人各类信息。\n\n### 1.3 Script 接口\n\n提供了基于 SocketTCP 和 Http 协议的 Script 通讯接口，主要用于向机器人发送lua程序脚本和接收变量、错误提示信息。\n\n\n\n## 2. 运行环境和安装\n\n### 2.1 运行环境要求\n\n* node 8+ ;  npm 无版本要求\n\n### 2.2 安装方法\n\n```\nnpm install @aubo/aubo_sdk\n```\n\n\n\n## 3. 使用介绍\n\n可以将sdk视为一个连接机器人的工具，这个工具包含三个连接（`rpc`、`rtde`、`script`）。想要精准的控制机器人和获取机器人信息需要依赖这三个连接。三个连接分别提供不同的功能。\n\nsdk提供了两种使用方法可供选择：\n\n一：独立管理三个连接，三个连接互不影响。\n\n二：使用 `Robot-Proxy` 统一管理三个连接，只需要关注`Robot-Proxy`的状态。\n\n以下是三个连接客户端和`Robot-Proxy`对外暴露的方法：\n\n### 3.1 RpcClient\n\n* connectRpcServer(ip: string, port: number)\n* disconnectRpcServer()\n* hasConnected()\n* getRobotNames()\n* login(robotName: string)\n* logout()\n* hasLogined()\n* getSystemInfo()\n* getRuntimeMachine()\n* getRegisterControl()\n* getMath()\n* getSocket()\n* getSerial()\n* getRobotInterface(robotName: string)\n* getCurrentRobotInterface()\n\nRpc 连接中具体包含了哪些功能性接口请参照`common_interface`。\n\n### 3.2 RtdeClient\n\n* connectRtdeServer(ip: string, port: number)\n* disconnectRtdeServer()\n* hasConnected()\n* registeredMsgCallBack(callBack: Function)\n* cancellationMsgCallBack()\n* getCurrentWsClientStatus()\n* subscribeTopicWithChannel(topicNames: Array<string>, intervalTime: number,channel: number )\n* unsubscribeChannel(channel: number)\n\nRtde 还对外提供了常用话题池 `TopicInputPool` 和 `TopicOutputPool`，方便用户订阅机器人消息。\n\n### 3.3 ScriptClient\n\n* connectScriptServer(ip: string, port: number)\n* disconnectScriptServer()\n* hasConnected()\n* getCurrentWsClientStatus()\n* sendScriptStrByWs(str: string)\n* sendScriptStrByHttp(str: string)\n* registerVariableChangeEvent(callBack: Function)\n* stopCallBackVariableChange()\n* registerScriptError(callBack: Function)\n* stopCallBackScriptError()\n* registerErrorCloseEvent(callBack: Function)\n\n ### 3.4 RobotProxy\n\n* connectServer(ip: string,rpcPort: number,rtdePort: number,scriptPort: number)\n* disConnectFromServer()\n* hasConnect()\n* getRpcClient()\n* getRtdeClient()\n* getScriptClient()\n* getRobotNames()\n* login(robotName: string)\n* logout()\n* getCurrentRobotName()\n* hasLogin()\n* getMath()\n* getRegisterControl()\n* getRuntimeMachine()\n* getSerial()\n* getSocket()\n* getSystemInfo()\n* getIoControl()\n* getForceControl()\n* getMotionControl()\n* getRobotAlgorithm()\n* getRobotConfig()\n* getRobotManage()\n* getRobotState()\n* getSyncMove()\n* getTrace()\n* sendScriptStrByWs(str: string)\n* sendScriptStrByHttp(str: string)\n* registerVariableChangeEvent(callBack: Function)\n* stopCallBackVariableChange()\n* registerScriptError(callBack: Function)\n* stopCallBackScriptError()\n* batchAddRtdeTopicCallbacks(topics: Array<string>,callbacks: Array<Function>,intervalTime: number)\n* deleteRtdeTopicCallbacks(topics: Array<string>)\n* addRtdeTopicCallback(topic: string,callback: Function,intervalTime: number)\n\n可以将`RobotProxy`理解为对三个连接（`rpc`、`rtde`、`script`）进行了一层封装，使用`RobotProxy`时可以不关注三个连接，只专注于功能接口的调用。\n\n\n\n\n\n","readmeFilename":"README.md"}