Other interfaces ================ .. toctree:: :maxdepth: 5 Get SSH public key +++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: /** * @brief Get SSH public key * @param [out] keygen Public key * @return Error code */ int GetSSHKeygen(String[] keygen) Issue SCP command +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: Java SDK-v1.0.6-3.8.3 .. code-block:: Java :linenos: /** * @brief Issue SCP command * @param [in] mode 0-upload (host->controller), 1-download (controller->host) * @param [in] sshname Host username * @param [in] sship Host IP address * @param [in] usr_file_url Host file path * @param [in] robot_file_url Robot controller file path * @return Error code */ int SetSSHScpCmd(int mode, String sshname, String sship, String usr_file_url, String robot_file_url) Calculate MD5 value of specified file +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: /** * @brief Calculate MD5 value of specified file * @param [in] file_path File path including filename, default Traj folder path:"/fruser/traj/", e.g. "/fruser/traj/trajHelix_aima_1.txt" * @param [out] md5 File MD5 value * @return Error code */ int ComputeFileMD5(String file_path, String[] md5) Robot SSH and MD5 command code example +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: public static int TestSSHMd5(Robot robot) { String file_path= "/fruser/airlab.lua"; String[] md5 =new String[]{""}; String[] ssh_keygen=new String[]{""}; int retval = robot.GetSSHKeygen(ssh_keygen); System.out.println(ssh_keygen[0]); String ssh_name = "fr"; String ssh_ip = "192.168.58.45"; String ssh_route = "/home/fr"; String ssh_robot_url = "/root/robot/dhpara.config"; retval = robot.SetSSHScpCmd(1, ssh_name, ssh_ip, ssh_route, ssh_robot_url); System.out.println("SetSSHScpCmd retval is:"+ retval); System.out.println("robot url is:"+ ssh_robot_url); robot.ComputeFileMD5(file_path, md5); System.out.println("md5 is:+"+ md5[0]); return 0; } Set robot port 20004 feedback period ++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: /** * @brief Set robot port 20004 feedback period * @param [in] period Robot port 20004 feedback period(ms) * @return Error code */ public int SetRobotRealtimeStateSamplePeriod(int period) Get robot port 20004 feedback period ++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: /** * @brief Get robot port 20004 feedback period * @return List[0]:Error code; List[1]:Robot port 20004 feedback period(ms) */ public List GetRobotRealtimeStateSamplePeriod() Robot port 20004 status feedback period configuration example ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: public static int TestRealtimePeriod(Robot robot) { robot.SetRobotRealtimeStateSamplePeriod(10); List getPeriod = new ArrayList<>(); getPeriod=robot.GetRobotRealtimeStateSamplePeriod(); robot.Sleep(1000); return 0; } Robot software upgrade ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: /** * @brief Robot software upgrade * @param [in] filePath Full path of software upgrade package * @param [in] block Whether to block until upgrade completes true:block; false:non-block * @return Error code */ public int SoftwareUpgrade(String filePath, boolean block) Get robot software upgrade status ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: /** * @brief Get robot software upgrade status * @return List[0]:Error code; List[1]:Robot software upgrade status 0-idle or uploading upgrade package; 1~100: upgrade completion percentage; -1:upgrade failed; -2:verification failed; -3:version verification failed; -4:decompression failed; -5:user configuration upgrade failed; -6:peripheral configuration upgrade failed; -7:extended axis configuration upgrade failed; -8:robot configuration upgrade failed; -9:DH parameter configuration upgrade failed */ public List GetSoftwareUpgradeState() Robot software upgrade code example +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: public static int TestUpgrade(Robot robot) { robot.SoftwareUpgrade("D://zUP/QNX382/software.tar.gz", false); while (true) { List inter=new ArrayList<>(); inter=robot.GetSoftwareUpgradeState(); System.out.println("upgrade state is:"+ inter.get(1)); robot.Sleep(300); } } Download point table database +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: /** * @brief Download point table database * @param [in] pointTableName Point table name to download pointTable1.db * @param [in] saveFilePath Storage path for downloaded point table C://test/ * @return Error code */ int PointTableDownLoad(String pointTableName, String saveFilePath); Upload point table database +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: /** * @brief Upload point table database * @param [in] pointTableFilePath Full path name of point table to upload C://test/pointTable1.db * @return Error code */ int PointTableUpLoad(String pointTableFilePath); Point table update lua file +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: /** * @brief Point table update lua file * @param [in] pointTableName Point table name to switch to "pointTable1.db", when empty "", means updating lua program to initial program without applied point table * @param [in] luaFileName Lua file name to update "testPointTable.lua" * @param [out] errorStr Point table switching error message * @return Error code */ int PointTableUpdateLua(String pointTableName, String luaFileName, String errorStr); Robot point table operation code example +++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: public static int TestPointTable(Robot robot) { String save_path = "D://zDOWN/"; String point_table_name = "point_table_FR5.db"; int rtn = robot.PointTableDownLoad(point_table_name, save_path); String upload_path = "D://zUP/point_table_FR5.db"; rtn = robot.PointTableUpLoad(upload_path); String point_tablename = "point_table_FR5.db"; String lua_name = "airlab.lua"; String err=""; rtn = robot.PointTableUpdateLua(point_tablename, lua_name,err); robot.CloseRPC(); return 0; } Controller log download +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: Java SDK-v1.0.4-3.8.1 .. code-block:: Java :linenos: /** * @brief Controller log download * @param [in] savePath Save file path"D://zDown/" * @return Error code */ int RbLogDownload(String savePath); All data source download +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: Java SDK-v1.0.4-3.8.1 .. code-block:: Java :linenos: /** * @brief All data source download * @param [in] savePath Save file path"D://zDown/" * @return Error code */ int AllDataSourceDownload(String savePath); Data backup package download +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: Java SDK-v1.0.4-3.8.1 .. code-block:: Java :linenos: /** * @brief Data backup package download * @param [in] savePath Save file path"D://zDown/" * @return Error code */ int DataPackageDownload(String savePath); Download controller data code example +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: public static int TestDownLoadRobotData(Robot robot) { int rtn = robot.RbLogDownload("D://zDOWN/"); rtn = robot.AllDataSourceDownload("D://zDOWN/"); rtn = robot.DataPackageDownload("D://zDOWN/"); return 0; } Set Encoder Upgrade +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: Java SDK-v1.0.7-3.8.4 .. code-block:: Java :linenos: /** * @brief Set encoder upgrade * @param [in] path Full local upgrade package path (D://zUP/XXXXX.bin) * @return Error code */ int SetEncoderUpgrade(String path) Set Joint Firmware Upgrade +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: Java SDK-v1.0.7-3.8.4 .. code-block:: Java :linenos: /** * @brief Set joint firmware upgrade * @param [in] type Upgrade file type: 1-Firmware upgrade; 2-Slave configuration file upgrade * @param [in] path Full local upgrade package path (D://zUP/XXXXX.bin) * @return Error code */ public int SetJointFirmwareUpgrade(int type, String path) Set Controller Firmware Upgrade +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: Java SDK-v1.0.7-3.8.4 .. code-block:: Java :linenos: /** * @brief Set controller firmware upgrade * @param [in] type Upgrade file type: 1-Firmware upgrade; 2-Slave configuration file upgrade * @param [in] path Full local upgrade package path (D://zUP/XXXXX.bin) * @return Error code */ public int SetCtrlFirmwareUpgrade(int type, String path) Set End-Effector Firmware Upgrade +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: Java SDK-v1.0.7-3.8.4 .. code-block:: Java :linenos: /** * @brief Set end-effector firmware upgrade * @param [in] type Upgrade file type: 1-Firmware upgrade; 2-Slave configuration file upgrade * @param [in] path Full local upgrade package path (D://zUP/XXXXX.bin) * @return Error code */ public int SetEndFirmwareUpgrade(int type, String path) Joint Complete Parameter Configuration Upgrade +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: Java SDK-v1.0.7-3.8.4 .. code-block:: Java :linenos: /** * @brief Joint complete parameter configuration upgrade * @param [in] path Full local upgrade package path (D://zUP/XXXXX.bin) * @return Error code */ public int JointAllParamUpgrade(String path) Robot Slave Firmware Upgrade Code Example +++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: public static void TestFirmWareUpgrade(Robot robot) { robot.RobotEnable(0); robot.Sleep(200); int rtn = robot.JointAllParamUpgrade("D://zUP/standardQX/jointallparametersFR56.0.db"); System.out.println("robot JointAllParamUpgrade rtn is:"+ rtn); rtn = robot.SetCtrlFirmwareUpgrade(2, "D://zUP/upgrade/FAIR_Cobot_Cbd_Asix_V2.0.bin"); System.out.println("robot SetCtrlFirmwareUpgrade config param rtn is:"+ rtn); rtn = robot.SetEndFirmwareUpgrade(2, "D://zUP/upgrade/FAIR_Cobot_Axle_Asix_V2.4.bin"); System.out.println("robot SetEndFirmwareUpgrade config param rtn is:"+ rtn); robot.SetSysServoBootMode(); rtn = robot.SetCtrlFirmwareUpgrade(1, "D://zUP/standardQX/FR_CTRL_PRIMCU_FV201010_MAIN_U4_T01_20240529.bin"); System.out.println("robot SetCtrlFirmwareUpgrade rtn is:"+ rtn); rtn = robot.SetEndFirmwareUpgrade(1, "D://zUP/standardQX/FR_END_FV201010_MAIN_U01_T01_20250522.bin"); System.out.println("robot SetEndFirmwareUpgrade rtn is:"+ rtn); rtn = robot.SetJointFirmwareUpgrade(1, "D://zUP/standardQX/FR_SERVO_FV502211_MAIN_U7_T07_20250217.bin"); System.out.println("robot SetJointFirmwareUpgrade rtn is:"+ rtn); robot.CloseRPC(); } Robot Operating System Upgrade (LA Control Box) +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: Java SDK-v1.0.9-3.8.6 .. code-block:: Java :linenos: /** * @brief Robot Operating System Upgrade (LA Control Box) * @param [in] filePath Full path of the operating system upgrade package * @return Error code */ public int KernelUpgrade(String filePath) Get Robot Operating System Upgrade Result (LA Control Box) +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: Java SDK-v1.0.9-3.8.6 .. code-block:: Java :linenos: /** * @brief Get Robot Operating System Upgrade Result (LA Control Box) * @param [out] result Upgrade result: 0: Success; -1: Failure * @return Error code */ public int GetKernelUpgradeResult(int[] result) Robot MCU Log Generation ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: /** * @brief Robot MCU log generation * @return Error code */ public int RobotMCULogCollect() Set Robot to Stop Running When Port Communication is Disconnected ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: /** * @brief Set robot to stop running when port communication is disconnected * @param portID Port number 0-8080; 1-8083; 2-20002; 3-20004 * @param enable 0-disable; 1-enable * @param confirmTime Communication disconnection confirmation duration (ms)[0-5000] * @return Error code */ public int SetRobotStopOnComDisc(int portID, bool enable, int confirmTime) Get Robot Stop on Communication Disconnection Parameters ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: /** * @brief Get robot stop on communication disconnection parameters * @param portID Port number 0-8080; 1-8083; 2-20002; 3-20004 * @param enable Result array, index 0: 0-disable; 1-enable * @param confirmTime Result array, index 0: Communication disconnection confirmation duration (ms)[0-5000] * @return Error code */ public int GetRobotStopOnComDisc(int portID, int[] enable, int[] confirmTime) Robot Stop on Communication Disconnection Parameter Code Example ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: void TestRobotStopOnComDisc(Robot robot) { int[] enable = {0}; int[] confirmTime = {0}; int rtn = 0; rtn = robot.SetRobotStopOnComDisc(0, true, 330); rtn = robot.SetRobotStopOnComDisc(1, true, 550); rtn = robot.SetRobotStopOnComDisc(2, true, 110); rtn = robot.SetRobotStopOnComDisc(3, true, 220); System.out.printf("SetRobotStopOnComDisc %d\n", rtn); robot.GetRobotStopOnComDisc(0, enable, confirmTime); System.out.printf("GetRobotStopOnComDisc 8080 rtn %d; enable is %d; confirm time is %d\n", rtn, enable[0], confirmTime[0]); robot.GetRobotStopOnComDisc(1, enable, confirmTime); System.out.printf("GetRobotStopOnComDisc 8083 rtn %d; enable is %d; confirm time is %d\n", rtn, enable[0], confirmTime[0]); robot.GetRobotStopOnComDisc(2, enable, confirmTime); System.out.printf("GetRobotStopOnComDisc 20002 rtn %d; enable is %d; confirm time is %d\n", rtn, enable[0], confirmTime[0]); robot.GetRobotStopOnComDisc(3, enable, confirmTime); System.out.printf("GetRobotStopOnComDisc 20004 rtn %d; enable is %d; confirm time is %d\n", rtn, enable[0], confirmTime[0]); return; } Send UDP Instruction Frame ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: /** * @brief Send UDP instruction frame * @param frame Instruction frame * @return Error code */ public int SendUDPFrame(String frame) SDK Code Example for UDP Communication ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: public static void TestRobotUDP (Robot robot) { robot.udpCmdClient.SetUDPCmdRpyCallback((srcType, count, cmdID, dataLen, content) -> { System.out.println("\n[Received robot UDP response]"); System.out.println("srcType: " + srcType); System.out.println("count: " + count); System.out.println("cmdID: " + cmdID); System.out.println("dataLen: " + dataLen); System.out.println("content: " + content); return 0; }); // Send frame String frameToSend = "/f/bIII52III236III7IIIMode(1)III/b/f"; robot.SendUDPFrame(frameToSend); robot.Sleep(2000); frameToSend = "/f/bIII52III236III7IIIMode(0)III/b/f"; robot.SendUDPFrame(frameToSend); robot.Sleep(2000); frameToSend = "/f/bIII41III201III153IIIMoveJ(53.857,-89.441,119.453,-22.664,61.059,3.369,-54.249,-491.930,375.396,96.474,-6.896,-7.783,0,0,100,100,100,0.000,0.000,0.000,0.000,-1,0,0,0,0,0,0,0)III/b/f"; robot.SendUDPFrame(frameToSend); robot.Sleep(2000); frameToSend = "/f/bIII42III203III163IIIMoveL(81.736,-85.284,114.974,-23.261,88.746,6.799,125.744,-506.570,375.396,96.474,-6.896,-7.783,0,0,100,100,100,-1,0,0.000,0.000,0.000,0.000,0,0,0,0,0,0,0,0,100,0)III/b/f"; robot.SendUDPFrame(frameToSend); robot.Sleep(2000); frameToSend = "/f/bIII47III400III15IIIGetMCVersion(1)III/b/f/f/bIII48III424III21IIIGetSlaveFirmVersion()III/b/f"; robot.SendUDPFrame(frameToSend); robot.Sleep(2000); } Set User-Defined Robot End-Effector LED Color ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: /** * @brief Set user-defined robot end-effector LED color * @param r End red LED control; 0-off; 1-on * @param g End green LED control; 0-off; 1-on * @param b End blue LED control; 0-off; 1-on * @return Error code */ public int SetUserLEDColor(bool r, bool g, bool b) SDK Code Example for Setting User-Defined Robot End-Effector LED Color ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: Java :linenos: public void testled(robot) { robot.SetUserLEDColor(true, true, true); robot.Sleep(1000); robot.SetUserLEDColor(false, false, false); robot.Sleep(1000); robot.SetUserLEDColor(true, false, false); robot.Sleep(1000); robot.SetUserLEDColor(false, true, false); robot.Sleep(1000); robot.SetUserLEDColor(false, false, true); }