3. Robotics Basics

3.1. Instantiated Robot

Prototype	`RPC(ip)`
Description	Instantiating a robot object
Required parameter	`ip`:The IP address of the robot, with a default factory IP of “192.168.58.2”
Optional parameter	NULL
Return value	Success: Returns a robot object Failed: The created object will be destroyed

3.2. Close the RPC connection

Prototype	`CloseRPC()`
Description	Close RPC connection
Mandatory parameters	NULL
Default parameters	NULL
Return Value	NULL

3.3. Query SDK version number

prototype	`GetSDKVersion()`
Description	Query SDK version number
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Fail-errcode `sdk`: SDK version number, controller version number

3.4. Get controller IP

Prototype	`GetControllerIP()`
Description	Query Controller IP
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `ip`: controller IP

3.5. Controlling the robot into and out of drag-and-drop instructor mode

Prototype	`DragTeachSwitch(state)`
Description	Controls the robot into and out of drag-and-drop demonstration mode.
Mandatory parameter	`state`: 1-entry into drag-indicator mode, 0-exit from drag-indicator mode
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

3.6. Queries whether the robot is in drag mode

Prototype	`IsInDragTeach()`
Description	Queries whether the robot is in drag-and-drop demonstration mode.
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `state`: 0 - non-drag instructional mode, 1 - drag instructional mode

3.7. Control robot up-enable or down-enable

prototype	`RobotEnable(state)`
Description	Control robot up-enable or down-enable
Mandatory parameters	`state`: 1 - up enable, 0 - down enable
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

3.8. Control of robot hand-automatic mode switching

prototype	`Mode(state)`
description	control robot hand auto mode switching
Mandatory parameters	`state`: 0 - automatic mode, 1 - manual mode
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

3.9. Shut down the robot operating system

New in version python: SDK-v2.1.1

Prototype	`ShutDownRobotOS()`
Description	Shut down the robot operating system
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

3.10. Initialize the log parameters

New in version python: SDK-v2.1.1

Prototype	`LoggerInit(output_model=1, file_path=", file_num=5)`
Description	Initialize the log parameters
Mandatory parameters	NULL
Default parameters	`output_model`：Output mode, 0- Direct output; 1- Buffered output; 2- Asynchronous output, default 1 `file_path`：File path + name, the name must be XXX. The log form, such as/home/fr. / Linux/fairino log. The default path where the program is executed, with the default name fairino_year +month+data.log(e.g., fairino_2024_03_13.log); `file_num`：The number of files for rolling storage ranges from 1 to 20, with a default value of 5. The upper limit for a single file is 50M.
Return Value	Error Code Success-0 Failure- errcode

3.11. Setting the log filter level

New in version python: SDK-v2.0.2

Prototype	`SetLoggerLevel(lvl=1)`
Description	Set log filter level
Mandatory parameters	NULL
Default Parameters	`lvl`: filter level value, the smaller the value the less output logs, 1-error, 2-warnning, 3-inform, 4-debug, default value is 1
Return Value	Error Code Success-0 Failure- errcode

3.12. Robot base control code example

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
error,version = robot.GetSDKVersion()
print(f"SDK version: {version}")
error,ip = robot.GetControllerIP()
print(f"controller ip: {ip}")
robot.Mode(1)
time.sleep(1)
robot.DragTeachSwitch(state=1)
time.sleep(1)
error,state = robot.IsInDragTeach()
print(f"drag state: {state}")
time.sleep(3)
robot.DragTeachSwitch(state=0)
time.sleep(1)
error,state = robot.IsInDragTeach()
print(f"drag state: {state}")
time.sleep(3)
robot.RobotEnable(0)
time.sleep(3)
robot.RobotEnable(1)
robot.Mode(0)
time.sleep(1)
robot.Mode(1)
robot.CloseRPC()

3.13. Get the software version of the robot

New in version python: SDK-v2.0.1

Prototype	`GetSoftwareVersion()`
Description	Get the software version of the robot
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `robotModel`: robot model `webVersion`: web version `controllerVersion`: controller version

3.14. Getting robot hardware version information

New in version python: SDK-v2.0.1

Prototype	`GetSlaveHardVersion()`
Description	Get robot hardware version information
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `ctrlBoxBoardVersion`: control box version `driver1Version` `driver2Version` `driver3Version` `driver4Version` `driver5Version` `driver6Version` `endBoardVersion`

3.15. Getting robot firmware version information

New in version python: SDK-v2.0.1

Prototype	`GetSlaveFirmVersion()`
Description	Get information about the robot’s firmware version.
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode `ctrlBoxBoardVersion`: control box version `driver1Version` `driver2Version` `driver3Version` `driver4Version` `driver5Version` `driver6Version` `endBoardVersion`

3.16. Get the robot software firmware version code sample

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
rtn,robotModel, webversion, controllerVersion = robot.GetSoftwareVersion()
print(f"Getsoftwareversion rtn is: {rtn}")
print(f"robotmodel is: {robotModel}, webversion is: {webversion}, controllerVersion is: {controllerVersion}\n")
rtn,ctrlBoxBoardversion, driver1version, driver2version,driver3version, driver4version, driver5version,driver6version, endBoardversion = robot.GetHardwareversion()
print(f"GetHardwareversion rtn is: {rtn}")
print(f"GetHardwareversion get hardware version is: {ctrlBoxBoardversion}, {driver1version}, {driver2version}, "
      f"{driver3version}, {driver4version}, {driver5version}, {driver6version}, {endBoardversion}\n")
rtn,ctrlBoxBoardversion, driver1version, driver2version,driver3version, driver4version, driver5version,driver6version, endBoardversion = robot.GetFirmwareVersion()
print(f"GetFirmwareversion rtn is: {rtn}")
print(f"GetFirmwareversion get firmware version is: {ctrlBoxBoardversion}, {driver1version}, {driver2version}, "
      f"{driver3version}, {driver4version}, {driver5version}, {driver6version}, {endBoardversion}\n")
robot.CloseRPC()