1.2 Quick Start

Recommended Path

The current recommended integration path is:

Instantiate Arm
Call Connect(controllerIp, teachPanelIp) to establish the main RPC connection
Call business capabilities through arm.controllerInfo / arm.motionControl / arm.programManager / ...
If you use subscribe/publish, call arm.topicPubSub.Connect() separately
Call Disconnect() when finished

C++17 Minimal Integration

cpp17/info_get_controller_version/src/main.cpp

cpp

#include "query_version_and_model/run.h"
#include "query_statuses/run.h"

int main(void)
{
    // [ZH] 默认只调用一个门面方法；如需体验其他接口，请把下一行替换成下面任意一行。
    // [EN] The main function calls only one facade by default. Replace the next line with any line below to try other APIs.
    return RunInfoGetControllerVersionQueryVersionAndModel();
    // return RunInfoGetControllerVersionQueryStatuses();
}

cpp17/info_get_controller_version/src/query_version_and_model/run.cpp

cpp

#include <iostream>
#include "arm_api.h"
#include "status_code.h"

#include "query_version_and_model/run.h"

/**
 * 查询版本与型号门面。
 * @return 0 表示成功，否则返回 1。
 */
int RunInfoGetControllerVersionQueryVersionAndModel(void)
{
    // [ZH] 连接机器人，请直接修改下面的魔鬼字符串。
    // [EN] Connect to the robot and edit the hard-coded magic strings below directly.
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("10.27.1.2", "10.27.1.102");
    if (connectRet != STATUS_CODE::OK) {
        std::cerr << "[cpp17_info_basic] 连接机器人失败 / Connect to the robot failed, 状态码 / Status code: "
                  << static_cast<int>(connectRet) << "\n";
        return 1;
    }
    std::cout << "[cpp17_info_basic] 机器人连接成功 / Robot connected successfully\n";
    // [ZH] 获取控制器版本和机械臂型号。
    // [EN] Get the controller version and robot model.
    std::pair<std::string, STATUS_CODE> versionPair = arm.controllerInfo.GetControllerVersion();
    std::pair<std::string, STATUS_CODE> modelPair = arm.controllerInfo.GetArmModelInfo();
    std::cout << "[cpp17_info_basic] GetControllerVersion 状态码 / GetControllerVersion status code: "
              << static_cast<int>(versionPair.second)
              << ", 版本 / Version: " << versionPair.first << "\n";
    std::cout << "[cpp17_info_basic] GetArmModelInfo 状态码 / GetArmModelInfo status code: "
              << static_cast<int>(modelPair.second)
              << ", 型号 / Model: " << modelPair.first << "\n";

    // [ZH] 断开连接，结束示例。
    // [EN] Disconnect and finish the example.
    arm.Disconnect();
    std::cout << "[cpp17_info_basic] 示例结束 / Example finished\n";
    return 0;
}

C99 Minimal Integration

c99/info_basic/src/main.cpp

cpp

#include <stdio.h>

extern "C" {
#include "c_arm_api.h"
}

int main(void)
{
    // [ZH] 本示例直接在源码中写死连接地址，不解析命令行参数。
    // [EN] This example hard-codes the connection addresses in the source code and does not parse command-line arguments.
    // [ZH] 创建并连接 SDK 句柄。
    // [EN] Create the SDK handle and connect to the robot.
    ArmHandle* handle = Arm_Create();
    if (handle == NULL) {
        printf("[c99_info] 创建句柄失败 / Failed to create the handle\n");
        return 1;
    }
    int ret = Arm_Connect(handle, "10.27.1.2", "10.27.1.102");
    if (ret != 0) {
        printf("[c99_info] 连接失败 / Connect failed, 状态码 / Status code: %d\n", ret);
        Arm_Destroy(handle);
        return 1;
    }
    printf("[c99_info] 机器人连接成功 / Robot connected successfully\n");

    // [ZH] 读取控制器版本与机械臂型号。
    // [EN] Read the controller version and robot model.
    char version[128] = {0};
    char model[128] = {0};
    ret = Arm_Info_GetControllerVersion(handle, version, sizeof(version));
    printf("[c99_info] GetControllerVersion 状态码 / GetControllerVersion status code: %d, 版本 / Version: %s\n", ret, version);
    ret = Arm_Info_GetArmModelInfo(handle, model, sizeof(model));
    printf("[c99_info] GetArmModelInfo 状态码 / GetArmModelInfo status code: %d, 型号 / Model: %s\n", ret, model);

    // [ZH] 获取并归还 SDK 控制权限。
    // [EN] Acquire and release the SDK control access.
    Arm_Info_AcquireAccess(handle);
    printf("[c99_info] 已获取控制权 / SDK access acquired\n");
    Arm_Info_ReleaseAccess(handle);
    printf("[c99_info] 已归还控制权 / SDK access released\n");

    // [ZH] 顺序读取全部状态类接口。
    // [EN] Read all status-oriented APIs in sequence.
    int opMode = 0;
    int ctrlStatus = 0;
    int robotStatus = 0;
    int servoStatus = 0;
    int softMode = 0;
    ret = Arm_Info_GetOpMode(handle, &opMode);
    printf("[c99_info] GetOpMode 状态码 / GetOpMode status code: %d, 操作模式 / Operation mode: %d\n", ret, opMode);
    ret = Arm_Info_GetCtrlStatus(handle, &ctrlStatus);
    printf("[c99_info] GetCtrlStatus 状态码 / GetCtrlStatus status code: %d, 控制器状态 / Controller status: %d\n", ret, ctrlStatus);
    ret = Arm_Info_GetRobotStatus(handle, &robotStatus);
    printf("[c99_info] GetRobotStatus 状态码 / GetRobotStatus status code: %d, 机器人状态 / Robot status: %d\n", ret, robotStatus);
    ret = Arm_Info_GetServoStatus(handle, &servoStatus);
    printf("[c99_info] GetServoStatus 状态码 / GetServoStatus status code: %d, 伺服状态 / Servo status: %d\n", ret, servoStatus);
    ret = Arm_Info_GetSoftMode(handle, &softMode);
    printf("[c99_info] GetSoftMode 状态码 / GetSoftMode status code: %d, 软模式 / Soft mode: %d\n", ret, softMode);

    // [ZH] 顺序执行全部写接口与动作接口。
    // [EN] Execute all setter APIs and action APIs in sequence.
    ret = Arm_Info_SetSoftMode(handle, softMode);
    printf("[c99_info] SetSoftMode 状态码 / SetSoftMode status code: %d\n", ret);
    ret = Arm_Info_SetOpMode(handle, opMode);
    printf("[c99_info] SetOpMode 状态码 / SetOpMode status code: %d\n", ret);
    ret = Arm_Info_SwitchLedLight(handle, 1);
    printf("[c99_info] SwitchLedLight 状态码 / SwitchLedLight status code: %d\n", ret);
    ret = Arm_Info_ServoOn(handle);
    printf("[c99_info] ServoOn 状态码 / ServoOn status code: %d\n", ret);
    ret = Arm_Info_ServoOff(handle);
    printf("[c99_info] ServoOff 状态码 / ServoOff status code: %d\n", ret);
    ret = Arm_Info_ServoReset(handle);
    printf("[c99_info] ServoReset 状态码 / ServoReset status code: %d\n", ret);
    ret = Arm_Info_Estop(handle);
    printf("[c99_info] Estop 状态码 / Estop status code: %d\n", ret);

    // [ZH] 断开连接并销毁句柄。
    // [EN] Disconnect and destroy the handle.
    Arm_Disconnect(handle);
    Arm_Destroy(handle);
    printf("[c99_info] 示例结束 / Example finished\n");
    return 0;
}

Connect Semantics

Item	Description
`controllerIp`	Controller IP
`teachPanelIp`	Optional; if empty, the SDK derives the address according to its current connection rules. Business code should prefer passing it explicitly to avoid ambiguity.
Address fill-in	Industrial and collaborative address combinations are handled by the SDK's current connection rules
Values filled after success	`version` , `model` , `robotType`
Bound facades	`controllerInfo` , `motionControl` , `programManager` , `ioSignals` , `registerBank` , `trajectoryManager` , `coordinateSystemManager` , `modbusClient` , `topicPubSub` , and others become available after connection

Connected Public Members

Member	Role	Related Doc
`version` / `model` / `robotType`	Device identification fields filled during connection	Arm
`controllerInfo`	Controller status and basic control	ControllerInfo
`alarmClient`	Alarm query and reset	AlarmClient
`motionControl`	Motion and payload	MotionControl
`programManager`	Program execution and poses	ProgramManager
`ioSignals`	IO read/write	IoSignals
`registerBank`	R/PR/SR/MR/MH/MI registers	RegisterBank
`trajectoryManager`	Offline trajectories and path tables	TrajectoryManager
`realTimeTrajectoryControl`	Real-time trajectory	RealTimeTrajectoryControl
`controllerFileManager`	File upload, download, and search	ControllerFileManager
`joggingControl`	Teaching motion	JoggingControl
`extensionClient`	Extension services	ExtensionClient
`topicPubSub`	WebSocket subscription and publish	TopicPubSub
`coordinateSystemManager`	Coordinate system management	CoordinateSystemManager
`modbusClient`	Modbus capabilities	ModbusClient

Return Value Conventions

Language	Return Form
C++17	`STATUS_CODE` or `std::pair<T, STATUS_CODE>`
C99	`int` status code + out parameters

C++17

Pure action interfaces return STATUS_CODE
Query interfaces return std::pair<T, STATUS_CODE>
When connection has not completed or the facade has not been initialized, failure data values usually return empty strings, UNKNOWN , zero-value structures, or empty containers

C99

Return values are int status codes
Business results are returned through out parameters
For string and array outputs, pay attention to buffer size and BUFFER_TOO_SMALL

`topicPubSub` Extra Step

Arm::Connect() only binds topicPubSub to the current controller / teach-panel address; you still need to call:

cpp

STATUS_CODE ret = arm.topicPubSub.Connect(); // Establish TopicPubSub WebSocket connection with the address bound by Arm::Connect()

If you use an independent TopicPubSub object instead of entering through Arm , you must pass the address explicitly:

cpp

TopicPubSub topicPubSub; // Create an independent TopicPubSub object
STATUS_CODE ret = topicPubSub.Connect("192.168.110.102"); // Explicitly pass the teach-panel or proxy-side WebSocket address

1 Overview and Setup

2 Data Structures

3 Methods

4 C99 API

6 Other Language Integration

1.2 Quick Start

Recommended Path

C++17 Minimal Integration

C99 Minimal Integration

Connect Semantics

Connected Public Members

Return Value Conventions

C++17

C99

`topicPubSub` Extra Step

1.2 Quick Start ​

Recommended Path ​

C++17 Minimal Integration ​

C99 Minimal Integration ​

Connect Semantics ​

Connected Public Members ​

Return Value Conventions ​

C++17 ​

C99 ​

topicPubSub Extra Step ​

1.2 Quick Start

Recommended Path

C++17 Minimal Integration

C99 Minimal Integration

Connect Semantics

Connected Public Members

Return Value Conventions

C++17

C99

`topicPubSub` Extra Step