单机机器人SDK文档

Stand-alone Robot SDK Documentation
Install the SDK
Users can install the Java SDK through maven:
1. <dependency>
2. <groupId>com.hansrobot</groupId>
3. <artifactId>robot-sdk</artifactId>
4. <version>1.0.0</version>
5. </dependency>
6.
7. //为 common
8. <dependency>
9. <groupId>com.hansrobot</groupId>
10. <artifactId>common</artifactId>
11. <version>1.0.0</version>
12. </dependency>
Uninstall the SDK
The SDK can be uninstalled by deleting pom dependencies or source code.
Import class name
The package name of COS Java SDK is com.hansrobot.robotsdk.* , and you can import the
classes needed for program running through IDE tools such as Eclipse or Intellij.
Callback type interface
There are two cases when executing an action, one is to return the status synchronously, and the
other is to return the status asynchronously. The asynchronous state is that when the interface is
called, it will immediately return a calling state of the interface, and then return an execution state
asynchronously; for example, the navigation interface: calling the navigation interface will
immediately return a status of whether the call is successful (return immediately ), and then return
a status of whether the AGV navigation is successful or not (asynchronous return).
Connect robot
Before operating the robot, you need to connect to the robot.

1. HansRobotSDK api = new HansRobotSDK();
2. //robotIp is robot ip ，you need to connect the robot segment
3. //32000 is the robot request port
4. //32001 is the robot push port
CallResult cr = api.connectRobot(robotIp, 32000, 32001);
5. //judge whether the connection is succeed
6. Assert.assertEquals(cr.getError(), HansRobotError.SUCCESS);
Description of some enumerated fields
1. //robot subscription data

2. public enum SubscribeTopic{
3. ROBOT_DATA, //robot data
4. LASER_DATA, //laser data
5. REQUEST_RESULT_ASYNC, //asynchronous result notification for a request
6. ROBOT_INFO //robot information,push RobotInfo
7. }
8. //Robot Action Description
9. public static enum RunCmdEnum {
10. START, //start action
11. PAUSE, //pause the action, this state can only be used after the action starts
12. CONTINUE, //Continue action, this state can only be used after pause
13. STOP; //Stop the action, you can request it during execution
14. }
Subscribe to robot news
Subscribe to the robot message return
subscribe(SubscribeTopic.ROBOT_DATA.name(), true,null);
Interface call description
When calling the robot, you need to confirm 2 things:
1. Before the robot confirms the position, you need to confirm whether the robot is in the normal
position, or has not been moved by people when it is turned off
2. Before calling, the control right of the robot needs to be preempted, otherwise the action
cannot be executed (the control right can be preempted repeatedly)
AGV navigation
AGV can navigate to a certain site on the map according to the constructed parameters

2. //connect robot
3. CallResult cr = api.connectRobot(robotIp, 32000, 32001);
5. if (CallResult.check(cr)) {
6. CallResult finalResult = CallResult.success();
7. NavigateRequestParam param = new NavigateRequestParam();
8. //
9. param.setCmd(CommonTypes.RunCmdEnum.START);
10. //position name
11. param.setDestPosition("LM30");
12. //map name
13. param.setDestMap("0823");
14. //result is the call parameters
15. cr = api.navigate(param, result -> {
16. if (CallResult.check(result))
17. System.out.println("navigate successfully");
18. else
19. System.out.println("navigate failed");
20. finalResult.fromOther(result);
21. finalResult.setData("");
22. System.out.println("error:" + result.getError() + " msg:" + result.getMessage());
23. });
24. Assert.assertEquals(HansRobotError.SUCCESS, cr.getError());
25. while (finalResult.getData() == null) {
26. CommonClass.sleep(1000);
27. }
28. }
NavigateRequestParam class, the main members are as follows:
member name description type

destPosition Site information on the map String
destMap map name String
cmd execution state Enum
Whether it arrives
noNeedPrecision Boolean
accurately is generally false
AGV navigation (synchronous method)
The AGV can navigate to a certain site on the map according to the constructed parameters.
Since this method is a synchronous method, there is no need to wait for the callback

6. NavigateRequestParam param = new NavigateRequestParam();
8. param.setDestPosition("LM1");
9. param.setDestMap("testMap");
10. cr = api.navigateForSync(param);
11. Assert.assertEquals(HansRobotError.SUCCESS, cr.getError());
12. }
NavigateRequestParam class, the main members are as follows:
member name describe type
destPosition Site information on the map String
destMap map name String
cmd execution state Enum
Whether it arrives
noNeedPrecision Boolean
accurately is generally false
ARM performs robotic arm actions
ARM can execute preset actions in the robot arm, just need to pass the script name, and also can
transfer parameters to perform if conditional operation

5. RunArmFunctionRequestParam param = new RunArmFunctionRequestParam();
7. param.setFunctionName("Func_test");
9. cr = api.runArmFunction(param, result -> {
10. if (CallResult.check(result))
11. System.out.println("run arm script function successfully");
12. else
13. System.out.println("run arm script function failed");
14. finalResult.setData("");
15. System.out.println("error:" + result.getError() + " msg:" + result.getMessage());

16. });
17. //wait for call data
18. while (finalResult.getData() == null) {
19. CommonClass.sleep(1000);
20. }
21. }
RunArmFunctionRequestParam class, the main members are as follows:
scriptName script name String
The name of the function to

functionName String
execute
functionParams incoming parameters Enum

cmd execution status Boolean
Timeout time, -1 means no

timeout int
timeout
ARM performs robotic arm action (synchronous method)
ARM can execute preset actions in the robot arm, just need to pass the script name, and also can
transfer parameters to perform if conditional operation

5. RunArmFunctionRequestParam param = new
RunArmFunctionRequestParam();
param.setFunctionName("Func_test");
CallResult finalResult = CallResult.success();
RunArmFunctionRequestParam class, the main members are as follows:
The name of the function to

functionName String
execute
functionParams incoming parameters Enum
cmd execution state Boolean
Timeout time, -1 means no

timeout int
timeout
Set configuration file parameters
Set the built-in parameters of the robot

3. SubscribeDataCallback callback = new SubscribeDataCallback() {
4. SetParamsForSdkParam sdk = new SetParamsForSdkParam();
5. sdk.setQuitChargePowerLevel("0.95");
6. sdk.setChargeMap("chargeMap");
7. sdk.setHomeMap("A1-5F");
8. CallResult result = api.setRobotParams(sdk);
SetParamsForSdkParam class, the main members are as follows:
Whether to enable automatic

enableAutoCharge String
charging
The amount of electricity that

needs to be charged
needChargePowerLevel String
(automatically charge when it is
lower than the amount)
Exit charging power (exit charging

quitChargePowerLevel String
after the power is reached)
chargeMap charging map String
chargePoint charging point String
homeMap stand by String
homePoint standby map String
maxLinearSpeed AGV straight line speed String
armSpeedRatio Arm movement speed String
The working mode of the robot, 0:

workMode stand-alone, 1: multiple machines String
can be called, 2: multiple
machines cannot be called
maxAngularSpeed AGV turning speed String
Get configuration file parameters
Get the built-in parameters of the robot

3. CallResult result = api.getPropertiesData();
4. //data are within data
5. System.out.println(result.getData());
The available data are as follows:
Whether to enable automatic

enableAutoCharge String
charging
The amount of electricity that

needs to be charged
needChargePowerLevel String
(automatically recharge when it is
lower than the amount)
Exit charging power (exit charging

quitChargePowerLevel String
after the power is reached)
chargeMap charging map String
chargePoint charging point String
homeMap stand by String
homePoint standby map String
maxLinearSpeed AGV straight line speed String
armSpeedRatio Arm movement speed String
The working mode of the robot, 0:

workMode stand-alone, 1: multiple machines String
can be called, 2: multiple
machines cannot be called
maxAngularSpeed AGV turning speed String
Set the emergency stop state of the robot
Set the emergency stop state of the robot

3. EmergencyStopRequestParam param = new EmergencyStopRequestParam();
4. param.setEstop(true);
5. CallResult result = api.estop(param);
7. System.out.println(result.getError());
8. System.out.println(result.getMessage());
EmergencyStopRequestParam class, the main member attributes are as follows:
Whether to enable emergency

estop String
stop
Relocation request
Robot retargeting request

3. RelocateRequestParam param = new RelocateRequestParam();
4. param.setUseHomePose(false);
5. param.setCancel(true);
6. param.setRange(0);
7. param.setRobotX(0);
8. param.setRobotY(0);
9. param.setRobotAngle(0);
10. CallResult result = api.relocation(param, callResult -> {
11. //internal call interface
12. });
14. System.out.println(result.getError());
15. System.out.println(result.getMessage());
RelocateRequestParam class, the main member properties are as follows:
true: cancel relocation, false:

cancel ignore, when false, other boolean
parameters are required
The relocation extent, the radius

range of the circle centered on the float
relocation point
robotAngle relocate point orientation, in rad float
relocate point x-coordinate, in

robotX float
meters
relocate point y-coordinate, in

robot Y float
meters
Whether to use the home point

configured on the agv interface
useHomePose for relocation, if true, ignore the boolean
relocation point coordinates and
radius parameters.
Confirm location request
When the robot confirms the positioning request, the robot needs to manually confirm the
positioning, and cannot automatically confirm the positioning, because it is impossible to
determine whether the robot was moved by someone when it was turned off.
HansRobotSDK api = new HansRobotSDK();

CallResult result = api.locationConfirm();
System.out.println(result.getData());
Seize control
The robot seizes the control right. Before controlling the robot, it needs to seize the control right,
otherwise the command cannot be executed.

CallResult result = api.takeControl();
release control
Robot releases control, and it can release control after preemption

CallResult result = api.releaseControl();
Query control
Query the control rights of the robot

CallResult result = api.queryControl();
Initialize the gripper
Initialize the 485-type gripper of the robotic arm. When the gripper is initialized, no items can be
hung on the gripper and the robotic arm needs to be at the home point.

CallResult result = api.initGripper();
Control Gripper
The gripper of the controlled robotic arm 485 type, true is closed, false is open

CtrlGripperRequestParam params = new CtrlGripperRequestParam();
params.setClose(false);
CallResult result = api.ctrlGripper(params);
The robotic arm returns to the origin
The robot arm returns to the preset home point. When calling this interface, you need to pay
attention to the safety of the robot arm. Is there anyone around?

CallResult result = api.armGoHomePose(callResult -> {
});
The robot arm starts zero-force teaching
The mechanical arm is turned on for zero-force teaching, and the mechanical arm in this state
can swing freely.
BooleanRequestParam params = new BooleanRequestParam();
params.setParam(false);
CallResult result = api.startArmZeroForce(params);
BooleanRequestParam class, the main member attributes are as follows:
Whether to enable zero force

param Boolean
teaching
Control robotic arm movement control
Robotic arm movement control

RunCmdRequest params = new RunCmdRequest();
params.setCmd(CommonTypes.RunCmdEnum.STOP);
CallResult result = api.armMoveCtrl(params);
System.out.println(result.getData());。
RunCmdRequest class, the main member properties are as follows:
robot arm moves, pauses,

cmd enumerate
continues, and stops.
AGV clears abnormal information
Clear AGV abnormal information

CallResult result = api.clearErrors();
Get AGV map collection information
Get the AGV map collection

CallResult result = api.getMaps();
Query the site information in the map
Obtain the site information in the map, which can be used in conjunction with the interface for
obtaining map information

GetPositionsRequestParam param = new GetPositionsRequestParam();
//map name
param.setMapName("0823");
CallResult result = api.getPositions(param);
GetPositionsRequestParam class, the main member properties are as follows:
mapName map name String
Get map information
Obtain the site information in the map, which can be used in conjunction with the interface for
obtaining map information.
1 HansRobotSDK api = new HansRobotSDK();
2 CallResult cr = api.connectRobot(robotIp, 32000, 32001);
3 GetMapInfoRequestParam param = new GetMapInfoRequestParam();
4 param.setMapName("0823");
5 param.setContainPixelData(false);
6 CallResult result = api.getMapInfo(param);
7 System.out.println("4" + result.getData());
GetMapInfoRequestParam class, the main member attributes are as follows:
containPixelData Not fill Boolean

The robot arm moves continuously
The robot arm moves continuously, but it needs to use longMoveEvent

//arm continues to move
ArmCtrlLongJogL param = new ArmCtrlLongJogL();
param.setAxisId(2);
param.setDerection(0);
param.setnState(1);
param.setMoveMode(1);
param.setKeep(true);
CallResult result = api.ctrlArmLongJogL(param, callResult -> {
System.out.println("test ctrlArmLongJogL");
});
System.out.println("4" + result.getData());
System.out.println("5" + result.getError());
System.out.println("6" + result.getMessage());
for (int i = 0; i < 10; i++) {
Thread.sleep(300);
//only ofr test. It need to be called alone in actual use.
api.longMoveEvent(true);
}
param.setnState(0);
result = api.ctrlArmLongJogL(param, callResult -> {
System.out.println("test ctrlArmLongJogL11111");
});
// 3 parameters below will be passed when the arm moves certain distance
// param.setAxisId(2);
// param.setDerection(0);
// param.setMoveMode(2);
// CallResult result = api.ctrlArmLongJogL(param,callResult -> {
// System.out.println("test ctrlArmLongJogL");
// });
// System.out.println("" + result.getData());
ArmCtrlLongJogL class, the main member attributes are as follows:

Jog axis ID(0-5)

axisId int
(0:X,1:Y,2:Z,3:RX,4:RY,5:RZ)
derectification Movement direction: 0= negative int

direction; 1= positive direction;
nState Motion start and stop: 0= stop; int

1= start;
keep whether to continue moving Boolean
moveMode Movement mode: 1. Continuous int

movement, 2. Fixed movement
Tell the robotic arm to continue moving
When the above interface is moving, it needs to be called once every 500 milliseconds, otherwise
the mechanical arm will stop, just pass the true parameter directly, and pass false when it needs
to stop
api.longMoveEvent(true);
AGV rotates in place
This interface allows the AGV to rotate at a certain angle, and the speed can also be controlled.

//AGV rotate in place
RotateRequestParam param = new RotateRequestParam();
param.setRotateSpeed(0.1);
param.setAngle(0.1);
CallResult result = api.rotate(param, callResult -> {
});
RotateRequestParam class, the main member attributes are as follows:

rotateSpeed spinning speed double
the angle angle int
AGV travels a fixed distance
Let the AGV travel a certain distance

//AGV moves certain distance in a straight line MoveLineRequestParam param = new
MoveLineRequestParam();
param.setxSpeed(0.1);
param.setySpeed(0);
param.setDistance(0.1);
CallResult result = api.agvMoveLine(param, callResult -> {
});
The MoveLineRequestParam class, the main member attributes are as follows:
xSpeed Forward or backward speed, double

when the parameter is positive,
move forward, when the
parameter is negative, move
backward
ySpeed Fixed to 0 double
distance Advance distance double

AGV switch map
AGV switching map function

//AGV 切换地图
SwitchMapRequestParam param = new SwitchMapRequestParam();
param.setMapName("0823");
CallResult result = api.agvSwitchMap(param);
SwitchMapRequestParam class, the main member attributes are as follows:
AGV keeps moving
AGV continuous mobile interface

//AGv 持续移动，一直传参就会一直移动
ManualMoveRequestParam param = new ManualMoveRequestParam();
param.setW(0);
param.setVx(1);
param.setVy(0);
for (int i = 0; i < 3; i++) {
CallResult result = api.ctrlAgvMove(param);
ManualMoveRequestParam class, the main member attributes are as follows:
w Moving speed float
Continuous moving distance,

vx positive number moves forward, float
negative number moves
backward
vy Just pass 0 float
Execute the robotic arm script
Execute the preset robotic arm script, which can be programmed in the robotic arm and then
used HansRobotSDK api = new HansRobotSDK(); here
//执行机械臂脚本
RunArmScriptRequestParam param = new RunArmScriptRequestParam();
param.setCmd(CommonTypes.RunCmdEnum.START);
param.setFunctionParams(null);
param.setScriptName("");
param.setFunctionName("Func_1");
param.setTimeout(-1);
CallResult result = api.executeArmScript(param, callResult -> {
});
RunArmScriptRequestParam class, the main member attributes are as follows:
functionName function name String
functionParams function parameters String[]
cmd Excuting an order enum
timeout Timeout time, -1 means never int

timeout
Execute the robotic arm script
Execute the preset robotic arm script, which can be programmed in the robotic arm and then
used HansRobotSDK api = new HansRobotSDK(); here
CtrlArmRequestParam param = new CtrlArmRequestParam();
param.setArmIndex(0);
param.setArmSpeed(0);
param.setValidParam(CtrlArmRequestParam.ValidParamEnum.STOP_VALID);
param.setEnable(false);
param.setStop(false);
param.setClearFaults(false);
param.setClearFaults(false);
CallResult result = api.ctrlArm(param);
of CtrlArmRequestParam class are as follows:
Specifies which parameters are

valid.
0: powerOn
validParam 1: enable int
2: stop
3:clearFaults
4: armSpeed
powerOn Whether to power on Boolean
enable whether to open Boolean
stop Whether to suspend Boolean
Whether to clear the error of the

clearFaults robotic arm, when the robotic arm Boolean
reports an error, it can be set to true
to clear the error
armIndex Robot id, default is 0 int
armSpeed Arm speed float

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Stand-alone Robot SDK Documentation

Install the SDK

Users can install the Java SDK through maven:

Uninstall the SDK

The SDK can be uninstalled by deleting pom dependencies or source code.

Import class name

Callback type interface

Before operating the robot, you need to connect to the robot.

Description of some enumerated fields

1. //robot subscription data

Subscribe to robot news

Subscribe to the robot message return

Interface call description

When calling the robot, you need to confirm 2 things:

1. HansRobotSDK api = new HansRobotSDK();

NavigateRequestParam class, the main members are as follows:

member name description type

destMap map name String

cmd execution state Enum

AGV navigation (synchronous method)

1. HansRobotSDK api = new HansRobotSDK();

NavigateRequestParam class, the main members are as follows:

member name describe type

destPosition Site information on the map String

destMap map name String

cmd execution state Enum

1. HansRobotSDK api = new HansRobotSDK();

15. System.out.println("error:" + result.getError() + " msg:" + result.getMessage());

RunArmFunctionRequestParam class, the main members are as follows:

member name description type

scriptName script name String

The name of the function to

functionParams incoming parameters Enum

Timeout time, -1 means no

ARM performs robotic arm action (synchronous method)

1. HansRobotSDK api = new HansRobotSDK();

RunArmFunctionRequestParam class, the main members are as follows:

member name describe type

scriptName script name String

The name of the function to

functionParams incoming parameters Enum

cmd execution state Boolean

Timeout time, -1 means no

Set configuration file parameters

Set the built-in parameters of the robot

8. CallResult result = api.setRobotParams(sdk);

SetParamsForSdkParam class, the main members are as follows:

member name description type

Whether to enable automatic

The amount of electricity that

Exit charging power (exit charging

chargeMap charging map String

chargePoint charging point String

homeMap stand by String

homePoint standby map String

maxLinearSpeed AGV straight line speed String

armSpeedRatio Arm movement speed String

The working mode of the robot, 0:

maxAngularSpeed AGV turning speed String

Get configuration file parameters

Get the built-in parameters of the robot

The available data are as follows:

member name describe type