1/**
2* @brief Example of using CNDE real-time status configuration interface
3*/
4public static void TestRealtimeStateConfig(Robot robot)
5{
6
7 // 1. Create initial state list
8 List<RobotState> stateList1 = new ArrayList<>();
9 stateList1.add(RobotState.ProgramState);
10 stateList1.add(RobotState.RobotState);
11 stateList1.add(RobotState.JointCurPos);
12 stateList1.add(RobotState.ToolCurPos);
13
14 // 2. First call to SetRobotRealtimeStateConfig to configure states and period
15 int period1 = 100; // 100ms period
16 int rtn = robot.SetRobotRealtimeStateConfig(stateList1, period1);
17 System.out.printf("1. SetRobotRealtimeStateConfig (initial list, period=%d) rtn: %d%n", period1, rtn);
18
19 if (rtn == 0) {
20 // 3. Add additional status
21 rtn = robot.AddRobotRealtimeState(RobotState.RobotTime);
22 System.out.printf("2. AddRobotRealtimeState (RobotTime) rtn: %d%n", rtn);
23
24 // 4. Call SetRobotRealtimeStateConfig again to reconfigure (different state list)
25 List<RobotState> stateList2 = new ArrayList<>();
26 stateList2.add(RobotState.ProgramState);
27 stateList2.add(RobotState.RobotState);
28 stateList2.add(RobotState.MainCode);
29 stateList2.add(RobotState.SubCode);
30 stateList2.add(RobotState.JointCurPos);
31 stateList2.add(RobotState.ToolCurPos);
32 stateList2.add(RobotState.ActualJointTorque);
33
34 int period2 = 50; // 50ms period
35 rtn = robot.SetRobotRealtimeStateConfig(stateList2, period2);
36 System.out.printf("3. SetRobotRealtimeStateConfig (updated list, period=%d) rtn: %d%n", period2, rtn);
37
38 // 5. Modify period
39 int newPeriod = 80; // 80ms period
40 rtn = robot.SetRobotRealtimeStatePeriod(newPeriod);
41 System.out.printf("4. SetRobotRealtimeStatePeriod (period=%d) rtn: %d%n", newPeriod, rtn);
42
43 // 6. Get current configuration and print
44 Robot.StateConfigResult configResult = robot.GetRobotRealtimeStateConfig();
45 System.out.println("5. GetRobotRealtimeStateConfig result:");
46 System.out.printf(" - Period: %d ms%n", configResult.period);
47 System.out.println(" - Configured States:");
48 for (int i = 0; i < configResult.stateList.size(); i++) {
49 System.out.printf(" [%d] %s%n", i, configResult.stateList.get(i));
50 }
51
52 rtn = robot.RPC("192.168.58.2");
53 if (rtn == 0) {
54 System.out.println("rpc connection success");
55 } else {
56 System.out.println("rpc connection fail");
57 return;
58 }
59 // Wait for CNDE connection to establish
60 System.out.println("Waiting for CNDE connection to establish...");
61 while (robot.CNDEGetStateData() == null) {
62 robot.Sleep(100);
63 }
64 System.out.println("CNDE connection established, starting to receive data...");
65
66 // 7. Loop to read real-time status to verify configuration
67 System.out.println("6. Reading real-time states...");
68 while(true) {
69 robot.Sleep(1000);
70 // Get status data via CNDE
71 ROBOT_STATE_PKG pkg = robot.CNDEGetStateData();
72 if (pkg == null) {
73 System.out.println("Status data is null, CNDE connection disconnected, waiting for reconnection");
74 continue; // Continue loop while disconnected, waiting for reconnection
75 }
76 System.out.println("\n--- Robot Time ---");
77 if (pkg.robotTime != null) {
78 System.out.println("robotTime: " + pkg.robotTime.year + "-" + pkg.robotTime.month + "-" + pkg.robotTime.day +
79 " " + pkg.robotTime.hour + ":" + pkg.robotTime.minute + ":" + pkg.robotTime.second +
80 "." + pkg.robotTime.millisecond);
81 }
82
83 System.out.println(" --- Status Information ---");
84 System.out.printf(" program_state: %d%n", pkg.program_state);
85 System.out.printf(" robot_state: %d%n", pkg.robot_state);
86 System.out.printf(" main_code: %d%n", pkg.main_code);
87 System.out.printf(" sub_code: %d%n", pkg.sub_code);
88 System.out.println(" --- Joint Positions (actual_joint_pos) ---");
89 System.out.printf(" jt_cur_pos[0-2]: %.2f, %.2f, %.2f%n",
90 pkg.jt_cur_pos[0], pkg.jt_cur_pos[1], pkg.jt_cur_pos[2]);
91 System.out.printf(" jt_cur_pos[3-5]: %.2f, %.2f, %.2f%n",
92 pkg.jt_cur_pos[3], pkg.jt_cur_pos[4], pkg.jt_cur_pos[5]);
93 System.out.println(" --- TCP Positions (actual_TCP_pos) ---");
94 System.out.printf(" tl_cur_pos[0-2]: %.2f, %.2f, %.2f%n",
95 pkg.tl_cur_pos[0], pkg.tl_cur_pos[1], pkg.tl_cur_pos[2]);
96 System.out.printf(" tl_cur_pos[3-5]: %.2f, %.2f, %.2f%n",
97 pkg.tl_cur_pos[3], pkg.tl_cur_pos[4], pkg.tl_cur_pos[5]);
98 System.out.println(" --- Joint Torques (actual_joint_torque) ---");
99 System.out.printf(" jt_cur_tor[0-2]: %.2f, %.2f, %.2f%n",
100 pkg.jt_cur_tor[0], pkg.jt_cur_tor[1], pkg.jt_cur_tor[2]);
101 System.out.printf(" jt_cur_tor[3-5]: %.2f, %.2f, %.2f%n",
102 pkg.jt_cur_tor[3], pkg.jt_cur_tor[4], pkg.jt_cur_tor[5]);
103 robot.Sleep(500);
104 }
105 } else {
106 System.out.printf("SetRobotRealtimeStateConfig failed with error: %d%n", rtn);
107 }
108}