Merge pull request #57 from liufang-robot/master

修正future数据不能返回的问题

CMakeLists.txt

@@ -8,7 +8,7 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 option(CMAKE_EXPORT_COMPILE_COMMANDS "Export compile command" TRUE)
 
 
-project(lebai VERSION 1.1.8 LANGUAGES CXX)
+project(lebai VERSION 1.1.9 LANGUAGES CXX)
 set(PROJECT_NAMESPACE lebai)
 message(STATUS "${PROJECT_NAME} version: ${PROJECT_VERSION}")
 # message(STATUS "major: ${PROJECT_VERSION_MAJOR}")

Doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "lebai sdk"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.1.8
+PROJECT_NUMBER         = 1.1.9
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

doc/changelog.md

@@ -1,5 +1,9 @@
 # ChangeLog
 
+## 1.1.9
+
+添加接口连接抛出异常的处理
+
 ## 1.1.8
 
 speedl添加参考坐标系

examples/example.cc

@@ -1,76 +1,96 @@
 /**
  * Copyright 2022 lebai.ltd
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
- * 
+ *
  *     http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
-*/
+ */
 
 #include <iostream>
 #include <chrono>
 #include <thread>
 #include <cmath>
 #include <lebai/robot.hh>
 
-
-int main(int argc, char ** argv)
+int main(int argc, char **argv)
 {
-  if(argc < 2)
+  if (argc < 2)
   {
-    std::cerr<<"You must specify the IP address of the robot"<<std::endl;
-    std::cerr<<"Execute example as follow:"<<std::endl;
-    std::cerr<<"./example 192.168.1.200 sim"<<std::endl;
+    std::cerr << "You must specify the IP address of the robot" << std::endl;
+    std::cerr << "Execute example as follow:" << std::endl;
+    std::cerr << "./example 192.168.1.200 sim" << std::endl;
     return 0;
   }
   std::string ip = argv[1];
   bool sim = false;
-  if(argc > 2)
+  if (argc > 2)
   {
     std::string sim_str = argv[2];
-    if(sim_str == "sim")
+    if (sim_str == "sim")
     {
       sim = true;
     }
   }
-  std::cout<<"Connecting to robot at "<<ip<<std::endl;
-  std::cout<<"Connecting for simulation mode is "<<sim<<std::endl;
+  std::cout << "Connecting to robot at " << ip << std::endl;
+  std::cout << "Connecting for simulation mode is " << sim << std::endl;
   // Create robot instance
   lebai::l_master::Robot robot(ip, sim);
-  std::this_thread::sleep_for(std::chrono::seconds(1));  
-  robot.movej({13.0/ 180.0 * M_PI, -52.0/ 180.0 * M_PI, 86.0/ 180.0 * M_PI, 8.0/ 180.0 * M_PI, -59.0/ 180.0 * M_PI, -11.0/ 180.0 * M_PI}, 1.0, 0.5, 0.0, 0.0);
+  std::this_thread::sleep_for(std::chrono::seconds(1));
+  robot.movej({13.0 / 180.0 * M_PI, -52.0 / 180.0 * M_PI, 86.0 / 180.0 * M_PI, 8.0 / 180.0 * M_PI, -59.0 / 180.0 * M_PI, -11.0 / 180.0 * M_PI}, 1.0, 0.5, 0.0, 0.0);
   robot.movej({0.0 / 180.0 * M_PI, -52.0 / 180.0 * M_PI, 86.0 / 180.0 * M_PI,
                8.0 / 180.0 * M_PI, -59.0 / 180.0 * M_PI, -11.0 / 180.0 * M_PI},
               1.0, 0.5, 0.0, 0.0);
   robot.wait_move();
-  auto id  = robot.start_task("10052");
-  std::cout << "id " << id << "\n";
+  for (size_t i = 0; i < 30; ++i)
+  {
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+    try {
+      robot.get_robot_mode();
+    }
+    catch(std::runtime_error & ex)
+    {
+      std::cout<<"get_robot_mode error: "<<ex.what()<<std::endl;
+    }
+
+  }
+
+  // std::cout << "after sleep" << std::endl;
+  // bool is_network_connected = robot.is_network_connected();
+  // std::cout << "is connected "
+  //           << "\n";
+  // if (!is_network_connected)
+  // {
+  //   std::cout << "exit....\n";
+  //   return 0;
+  // }
+
   // robot.wait_move();
   // robot.movec({{"x", -0.282541}, {"y", -0.168246}, {"z", 0.265824}, {"rz", 1.27256}, {"ry", -0.206353}, {"rx", 0.937445}},
   // {{"x", -0.255832}, {"y", 0.00270435}, {"z", 0.266642}, {"rz", 1.27293}, {"ry", -0.20805}, {"rx", 0.94485}},
   //   0.0, 1.0, 0.5, 0.0, 0.0);
-// kinematics_forward: -0.282541, -0.168246, 0.265824, 1.27256, -0.206353, 0.937445
-// kinematics_forward: -0.255832, 0.00270435, 0.266642, 1.27293, -0.20805, 0.94485       
+  // kinematics_forward: -0.282541, -0.168246, 0.265824, 1.27256, -0.206353, 0.937445
+  // kinematics_forward: -0.255832, 0.00270435, 0.266642, 1.27293, -0.20805, 0.94485
 
-  //auto fk_resp = robot.kinematics_forward({3.0/ 180.0 * M_PI, -48.0/ 180.0 * M_PI, 78.0/ 180.0 * M_PI, 9.0/ 180.0 * M_PI, -67.0/ 180.0 * M_PI, -3.0/ 180.0 * M_PI});
-  //std::vector<double> jp = {3.0/ 180.0 * M_PI, -48.0/ 180.0 * M_PI, 78.0/ 180.0 * M_PI, 9.0/ 180.0 * M_PI, -67.0/ 180.0 * M_PI, -3.0/ 180.0 * M_PI};
-  //std::cout<<"jp "<<jp[0]<<", "<<jp[1]<<", "<<jp[2]<<", "<<jp[3]<<", "<<jp[4]<<", "<<jp[5]<<std::endl;
-  //std::cout<<"kinematics_forward: "<<fk_resp.pose["x"]<<", "<<fk_resp.pose["y"]<<", "<<fk_resp.pose["z"]<<", "<<fk_resp.pose["rx"]<<", "<<fk_resp.pose["ry"]<<", "<<fk_resp.pose["rz"]<<std::endl;
-  //auto ik_resp = robot.kinematics_inverse(fk_resp.pose);
-  //if(ik_resp.ok)
+  // auto fk_resp = robot.kinematics_forward({3.0/ 180.0 * M_PI, -48.0/ 180.0 * M_PI, 78.0/ 180.0 * M_PI, 9.0/ 180.0 * M_PI, -67.0/ 180.0 * M_PI, -3.0/ 180.0 * M_PI});
+  // std::vector<double> jp = {3.0/ 180.0 * M_PI, -48.0/ 180.0 * M_PI, 78.0/ 180.0 * M_PI, 9.0/ 180.0 * M_PI, -67.0/ 180.0 * M_PI, -3.0/ 180.0 * M_PI};
+  // std::cout<<"jp "<<jp[0]<<", "<<jp[1]<<", "<<jp[2]<<", "<<jp[3]<<", "<<jp[4]<<", "<<jp[5]<<std::endl;
+  // std::cout<<"kinematics_forward: "<<fk_resp.pose["x"]<<", "<<fk_resp.pose["y"]<<", "<<fk_resp.pose["z"]<<", "<<fk_resp.pose["rx"]<<", "<<fk_resp.pose["ry"]<<", "<<fk_resp.pose["rz"]<<std::endl;
+  // auto ik_resp = robot.kinematics_inverse(fk_resp.pose);
+  // if(ik_resp.ok)
   //{
-  //  std::cout<<"kinematics_inverse: "<<ik_resp.joint_positions[0]<<", "<<ik_resp.joint_positions[1]<<", "<<ik_resp.joint_positions[2]<<", "<<ik_resp.joint_positions[3]<<", "<<ik_resp.joint_positions[4]<<", "<<ik_resp.joint_positions[5]<<std::endl;
-  //}
-  //jp = {-28/ 180.0 * M_PI, -59.0/ 180.0 * M_PI, 96.0/ 180.0 * M_PI, -2.0/ 180.0 * M_PI, -92.0/ 180.0 * M_PI, 16.0/ 180.0 * M_PI};
-  //std::cout<<"jp "<<jp[0]<<", "<<jp[1]<<", "<<jp[2]<<", "<<jp[3]<<", "<<jp[4]<<", "<<jp[5]<<std::endl;
-  //fk_resp = robot.kinematics_forward(jp);
-  //std::cout<<"kinematics_forward: "<<fk_resp.pose["x"]<<", "<<fk_resp.pose["y"]<<", "<<fk_resp.pose["z"]<<", "<<fk_resp.pose["rx"]<<", "<<fk_resp.pose["ry"]<<", "<<fk_resp.pose["rz"]<<std::endl;
+  //   std::cout<<"kinematics_inverse: "<<ik_resp.joint_positions[0]<<", "<<ik_resp.joint_positions[1]<<", "<<ik_resp.joint_positions[2]<<", "<<ik_resp.joint_positions[3]<<", "<<ik_resp.joint_positions[4]<<", "<<ik_resp.joint_positions[5]<<std::endl;
+  // }
+  // jp = {-28/ 180.0 * M_PI, -59.0/ 180.0 * M_PI, 96.0/ 180.0 * M_PI, -2.0/ 180.0 * M_PI, -92.0/ 180.0 * M_PI, 16.0/ 180.0 * M_PI};
+  // std::cout<<"jp "<<jp[0]<<", "<<jp[1]<<", "<<jp[2]<<", "<<jp[3]<<", "<<jp[4]<<", "<<jp[5]<<std::endl;
+  // fk_resp = robot.kinematics_forward(jp);
+  // std::cout<<"kinematics_forward: "<<fk_resp.pose["x"]<<", "<<fk_resp.pose["y"]<<", "<<fk_resp.pose["z"]<<", "<<fk_resp.pose["rx"]<<", "<<fk_resp.pose["ry"]<<", "<<fk_resp.pose["rz"]<<std::endl;
   return 0;
 }

sdk/include/lebai/robot.hh

@@ -63,6 +63,8 @@ namespace lebai
   /**
    *  @brief 机械臂的主要接口对象，通过本对象的方法与机械臂进行数据交互.
    *  @note 使用该数据结构和机械臂交互要求机械臂软件版本>=3.1.5。
+   *  @note 接口的每一个函数都可能抛出异常std::runtime_error, 这是因为网络连接丢失或者调用的逻辑错误等。
+   * 
    *
    */
   class Robot
@@ -71,6 +73,7 @@ namespace lebai
     /**
      * @brief 内部实现.
      * @note 用户无需使用.
+     * 
      */
     class RobotImpl;
 
@@ -80,11 +83,6 @@ namespace lebai
      * @brief 构造Robot对象.
      * @note 当你尝试创建Robot对象时，会根据传入的ip参数尝试去连接机械臂，但是可能会连接失败，当连接不成功时，对象依然会创建。
      * 
-     * 但是如果网络没有连接成功而你调用和机械臂交互的接口时，会抛出std::runtime_error异常，表示网络连接异常.
-     * 
-     * 你可以通过@ref is_network_connected()方法来判断是否连接成功，如果连接不成功，你可以尝试重新创建Robot对象，或者等待网络恢复.
-     * 
-     * 
      * 
      * @param ip: 机械臂IP地址.
      * @param simulator: 用于表示机械臂是否为仿真机械臂(docker仿真或控制器运行在仿真模式下)的macs标志.True表示仿真模式，False表示实物机械臂.
@@ -115,7 +113,7 @@ namespace lebai
 
     /**
      * @brief 返回是否和机械臂的网络连接正常，如果网络连接异常，调用和机械臂交互的接口会抛出异常std::runtime_error。
-     * 
+     * @note 不建议使用，直接catch接口调用获取网络异常。
      * @return true 表示网络连接正常，false表示网络连接异常.
     */
     bool is_network_connected();