3.10 ControllerFileManager Class

Overview

ControllerFileManager handles controller file upload, download, deletion, search, and existence checks.

3.10.1 Upload File

Upload(const std::string& filePath, const std::string& fileType, bool overwriting = false)

Item	Description
Purpose	Upload a local file to the corresponding controller file area
filePath	Local file path. User programs, block programs, and similar file groups are resolved by base file name
fileType	File type. Prefer the constants in FileType
overwriting	Whether to allow overwriting a controller-side file with the same name
Return	STATUS_CODE

The file type changes how the upload is performed:

File Type	Upload Rule
FileType::TRAJECTORY	Uploads the .trajectory file by base name
FileType::USER_PROGRAM	Uploads the .json and .xml files by base name
FileType::BLOCK_PROGRAM	Uploads the .block , .json , and .xml files by base name
FileType::ROBOT_TMP / FileType::TRAJECTORY_CSV	Uploads the single file passed by name

3.10.2 Download File

Download(const std::string& fileName, const std::string& localPath, const std::string& fileType, bool overwriting = false)

Item	Description
Purpose	Download a controller file to a local directory or target file
fileName	Controller-side file name or base name. User programs and block programs do not need an extension
localPath	Local save directory. For FileType::FLY_SHOT , this is treated as a target file path
fileType	File type. Prefer the constants in FileType
overwriting	When false , returns FAILED_TO_DOWNLOAD_SAME_NAME_FILE if the local target already exists
Return	STATUS_CODE

Additional rules:

• When downloading a user program or block program, the SDK downloads the related files and creates a same-name .zip locally.
• Before downloading, the SDK checks whether the controller-side target exists. If it does not exist, FILE_NOTEXIST is returned.

3.10.3 Delete File

Delete(const std::string& fileName, const std::string& fileType)

Item	Description
Purpose	Delete a controller-side file or file group
fileName	Controller-side file name or base name
fileType	File type, which determines whether a single file or a same-name file group is deleted
Return	STATUS_CODE

The target is checked before deletion. If it does not exist, FILE_NOTEXIST is returned.

3.10.4 Search File

Search(const std::string& pattern)

Item	Description
Purpose	Search common controller file areas by file name pattern
pattern	Glob-style pattern, such as *.csv or demo*
Return	std::pair<std::vector<FileInfo>, STATUS_CODE>

Returned FileInfo records contain the file name and its path. Use the status code to determine whether the call succeeded; the result list may be empty.

3.10.5 Check Whether a File Exists

IsExist(const std::string& fileName)

Item	Description
Purpose	Check whether an absolute controller-side path exists
fileName	Absolute controller-side path, for example /root/robot_data/progs/robot_tmp/demo.csv
Return	std::pair<bool, STATUS_CODE>

STATUS_CODE::OK means the check itself succeeded; the bool value indicates whether the file exists.

Minimal Call Example

#include <iostream>      // Standard output stream for printing file query results
#include "arm_api.h"    // Arm entry point; after connection, file APIs are accessed through arm.file_manager
#include "status_code.h" // STATUS_CODE for checking SDK call results

int main()
{
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("192.168.110.2", "");
    if (connectRet != STATUS_CODE::OK) {
        return 1;
    }

    auto [items, searchRet] = arm.file_manager.Search("*.csv");
    auto [exists, existRet] = arm.file_manager.IsExist(
        "/root/robot_data/progs/robot_tmp/demo.csv"
    );
    if (searchRet != STATUS_CODE::OK || existRet != STATUS_CODE::OK) {
        return 1;
    }

    std::cout << "search_count=" << items.size() << "\n";
    std::cout << "demo_exists=" << exists << "\n";

    // arm.file_manager.Download(
    //     "demo.csv",
    //     "D:/sdk-demo",
    //     FileType::TRAJECTORY_CSV,
    //     true
    // );
    return 0;
}

Scenario Examples

The snippets below cover the APIs on this page across search, existence checks, upload/download, and deletion. They assume the arm object from the minimal example is already connected. Calls that write or delete files remain commented out; confirm the paths before running them.

Search and Check File Existence

auto [items, searchRet] = arm.file_manager.Search("*.csv");
auto [exists, existRet] = arm.file_manager.IsExist("/root/robot_data/progs/robot_tmp/demo.csv");
if (searchRet == STATUS_CODE::OK && existRet == STATUS_CODE::OK) {
    std::cout << "search_count=" << items.size() << " exists=" << exists << "\n";
}

Upload and Download Files

// STATUS_CODE uploadRet = arm.file_manager.Upload("D:/sdk-demo/demo.csv", FileType::TRAJECTORY_CSV, true);
// STATUS_CODE downloadRet = arm.file_manager.Download("demo.csv", "D:/sdk-demo", FileType::TRAJECTORY_CSV, true);

Delete a Controller-Side File

// STATUS_CODE deleteRet = arm.file_manager.Delete("demo.csv", FileType::TRAJECTORY_CSV);

Example code:

cpp17/file_manager_basic/src/main.cpp

#include "query_files/run.h"
#include "write_files/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 RunFileManagerBasicQueryFiles();
    // return RunFileManagerBasicWriteFiles();
}