4.8 C99 Registers Interface

Overview

C99 Registers provides read/write operations for R, PR, SR, MR, MH, and MI registers. C99 functions are flat entry points; strings and structures use caller-provided buffers.

Corresponding header:

include/c_arm_registers.h

Interface Signatures

`Arm_Registers_ReadR`

int Arm_Registers_ReadR(ArmHandle* h, int index, double* outValue);

Item	Description
Description	Reads an R register
Request Parameters	`h` : `ArmHandle` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , R register ID `outValue` : `double` , output R value pointer
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

`Arm_Registers_WriteR`

int Arm_Registers_WriteR(ArmHandle* h, int index, double value);

Item	Description
Description	Writes an R register
Request Parameters	`h` : `ArmHandle*` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , R register ID `value` : `double` , value to write into the R register
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

`Arm_Registers_DeleteR`

int Arm_Registers_DeleteR(ArmHandle* h, int index);

Item	Description
Description	Deletes an R register
Request Parameters	`h` : `ArmHandle*` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , R register ID
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

`Arm_Registers_ReadPR`

int Arm_Registers_ReadPR(ArmHandle* h, int index, ArmPoseRegister* outReg);

Item	Description
Description	Reads a PR pose register
Request Parameters	`h` : `ArmHandle` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , PR register ID `outReg` : `ArmPoseRegister` , output PR structure allocated by the caller
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

`Arm_Registers_WritePR`

int Arm_Registers_WritePR(ArmHandle* h, const ArmPoseRegister* reg);

Item	Description
Description	Writes a PR pose register
Request Parameters	`h` : `ArmHandle` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `reg` : `const ArmPoseRegister` , pointer parameter whose lifetime must remain valid during the call
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

`Arm_Registers_DeletePR`

int Arm_Registers_DeletePR(ArmHandle* h, int index);

Item	Description
Description	Deletes a PR pose register
Request Parameters	`h` : `ArmHandle*` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , PR register ID
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

`Arm_Registers_ReadSR`

int Arm_Registers_ReadSR(ArmHandle* h, int index, char* outBuf, size_t bufSize);

Item	Description
Description	Reads an SR string register
Request Parameters	`h` : `ArmHandle` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , SR register ID `outBuf` : `char` , output string buffer allocated by the caller `bufSize` : `size_t` , output buffer size, including space for the trailing `\0`
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes
Notes	String output uses the caller-provided buffer. If the buffer is insufficient, the function returns according to the status code

`Arm_Registers_WriteSR`

int Arm_Registers_WriteSR(ArmHandle* h, int index, const char* value);

Item	Description
Description	Writes an SR string register
Request Parameters	`h` : `ArmHandle` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , SR register ID `value` : `const char` , SR string value to write
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

`Arm_Registers_DeleteSR`

int Arm_Registers_DeleteSR(ArmHandle* h, int index);

Item	Description
Description	Deletes an SR string register
Request Parameters	`h` : `ArmHandle*` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , SR register ID
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

`Arm_Registers_ReadMR`

int Arm_Registers_ReadMR(ArmHandle* h, int index, int* outValue);

Item	Description
Description	Reads an MR register
Request Parameters	`h` : `ArmHandle` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , MR register ID `outValue` : `int` , output MR value pointer
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

`Arm_Registers_WriteMR`

int Arm_Registers_WriteMR(ArmHandle* h, int index, int value);

Item	Description
Description	Writes an MR register
Request Parameters	`h` : `ArmHandle*` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , MR register ID `value` : `int` , value to write into the MR register
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

`Arm_Registers_DeleteMR`

int Arm_Registers_DeleteMR(ArmHandle* h, int index);

Item	Description
Description	Deletes an MR register
Request Parameters	`h` : `ArmHandle*` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , MR register ID
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

`Arm_Registers_ReadMH`

int Arm_Registers_ReadMH(ArmHandle* h, int index, int* outValue);

Item	Description
Description	Reads an MH register
Request Parameters	`h` : `ArmHandle` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , MH register ID `outValue` : `int` , output MH value pointer
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

`Arm_Registers_WriteMH`

int Arm_Registers_WriteMH(ArmHandle* h, int index, int value);

Item	Description
Description	Writes an MH register
Request Parameters	`h` : `ArmHandle*` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , MH register ID `value` : `int` , value to write into the MH register
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

`Arm_Registers_ReadMI`

int Arm_Registers_ReadMI(ArmHandle* h, int index, int* outValue);

Item	Description
Description	Reads an MI register
Request Parameters	`h` : `ArmHandle` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , MI register ID `outValue` : `int` , output MI value pointer
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

`Arm_Registers_WriteMI`

int Arm_Registers_WriteMI(ArmHandle* h, int index, int value);

Item	Description
Description	Writes an MI register
Request Parameters	`h` : `ArmHandle*` , C99 session handle, usually from `Arm_Create()` ; business APIs require connection first `index` : `int` , MI register ID `value` : `int` , value to write into the MI register
Return Value	STATUS_CODE integer value; `0` means success, other values should be handled as status codes

Register Types

Type	Read	Write	Delete	Data
R	`Arm_Registers_ReadR`	`Arm_Registers_WriteR`	`Arm_Registers_DeleteR`	`double`
PR	`Arm_Registers_ReadPR`	`Arm_Registers_WritePR`	`Arm_Registers_DeletePR`	`ArmPoseRegister`
SR	`Arm_Registers_ReadSR`	`Arm_Registers_WriteSR`	`Arm_Registers_DeleteSR`	String
MR	`Arm_Registers_ReadMR`	`Arm_Registers_WriteMR`	`Arm_Registers_DeleteMR`	`int`
MH	`Arm_Registers_ReadMH`	`Arm_Registers_WriteMH`	No delete API	`int`
MI	`Arm_Registers_ReadMI`	`Arm_Registers_WriteMI`	No delete API	`int`

Parameters and Rules

Item	Rule
`index`	Controller-side register ID
`Arm_Registers_ReadSR()`	Uses `char* + bufSize` to output the string. The buffer must include space for the trailing `\0`
`Arm_Registers_ReadPR()`	Outputs `ArmPoseRegister` ; caller passes a valid structure pointer
`Arm_Registers_WritePR()`	Uses `ArmPoseRegister.id` to specify the PR ID to write
`MH` / `MI`	Provide read/write APIs, but no delete APIs
Write and delete	Change controller register state; confirm the site business before running them

`ArmPoseRegister` Fields

Field	Type	Description
`id`	`int`	PR register ID
`cart`	`double[6]`	Cartesian pose data
`joint`	`double[9]`	Joint pose data
`poseType`	`int`	Pose type. See `ArmPoseType`
`turnCycle`	`int[9]`	Joint turn-cycle information
`wristFlip`	`int`	Wrist flip flag
`armUpDown`	`int`	Arm up/down posture flag
`armBackFront`	`int`	Arm back/front posture flag
`armLeftRight`	`int`	Arm left/right posture flag
`name`	`char[64]`	Pose name
`comment`	`char[128]`	Pose comment

Minimal Call Example

#include <stdio.h>     // printf for printing R register value
#include "c_arm_api.h" // C99 SDK umbrella header

int main(void)
{
    ArmHandle* h = Arm_Create();
    double rValue = 0.0;
    if (h == NULL) {
        return 1;
    }

    if (Arm_Connect(h, "10.27.1.2", "10.27.1.102") != 0) {
        Arm_Destroy(h);
        return 1;
    }

    int ret = Arm_Registers_ReadR(h, 1, &rValue);
    printf("r1=%f\n", rValue);
    Arm_Disconnect(h);
    Arm_Destroy(h);
    return ret == 0 ? 0 : 1;
}

Scenario Examples

double rValue = 0.0;
ArmPoseRegister pr = {0};
char sr[128] = {0};
int mr = 0;
int mh = 0;
int mi = 0;
int readRRet = Arm_Registers_ReadR(h, 1, &rValue);
int readPRRet = Arm_Registers_ReadPR(h, 1, &pr);
int readSRRet = Arm_Registers_ReadSR(h, 1, sr, sizeof(sr));
int readMRRet = Arm_Registers_ReadMR(h, 1, &mr);
int readMHRet = Arm_Registers_ReadMH(h, 1, &mh);
int readMIRet = Arm_Registers_ReadMI(h, 1, &mi);
/* int writeRRet = Arm_Registers_WriteR(h, 1, rValue); */
/* int writePRRet = Arm_Registers_WritePR(h, &pr); */
/* int writeSRRet = Arm_Registers_WriteSR(h, 1, "demo"); */
/* int writeMRRet = Arm_Registers_WriteMR(h, 1, mr); */
/* int writeMHRet = Arm_Registers_WriteMH(h, 1, mh); */
/* int writeMIRet = Arm_Registers_WriteMI(h, 1, mi); */
/* int deleteRRet = Arm_Registers_DeleteR(h, 1); */
/* int deletePRRet = Arm_Registers_DeletePR(h, 1); */
/* int deleteSRRet = Arm_Registers_DeleteSR(h, 1); */
/* int deleteMRRet = Arm_Registers_DeleteMR(h, 1); */
(void)readRRet;
(void)readPRRet;
(void)readSRRet;
(void)readMRRet;
(void)readMHRet;
(void)readMIRet;

Example code:

c99/registers_basic/src/main.cpp

cpp

#include <stdio.h>
#include <string.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_registers] 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_registers] 连接失败 / Connect failed, 状态码 / Status code: %d\n", ret);
        Arm_Destroy(handle);
        return 1;
    }
    printf("[c99_registers] 机器人连接成功 / Robot connected successfully\n");

    // [ZH] 顺序读取全部寄存器类型。
    // [EN] Read all register types in sequence.
    double rValue = 0.0;
    ArmPoseRegister prValue;
    char srValue[256] = {0};
    int mrValue = 0;
    int mhValue = 0;
    int miValue = 0;
    memset(&prValue, 0, sizeof(prValue));
    ret = Arm_Registers_ReadR(handle, 0, &rValue);
    printf("[c99_registers] ReadR 状态码 / ReadR status code: %d, R[0]=%.6f\n", ret, rValue);
    ret = Arm_Registers_ReadPR(handle, 0, &prValue);
    printf("[c99_registers] ReadPR 状态码 / ReadPR status code: %d, PR[0].id=%d, name=%s\n", ret, prValue.id, prValue.name);
    ret = Arm_Registers_ReadSR(handle, 0, srValue, sizeof(srValue));
    printf("[c99_registers] ReadSR 状态码 / ReadSR status code: %d, SR[0]=%s\n", ret, srValue);
    ret = Arm_Registers_ReadMR(handle, 0, &mrValue);
    printf("[c99_registers] ReadMR 状态码 / ReadMR status code: %d, MR[0]=%d\n", ret, mrValue);
    ret = Arm_Registers_ReadMH(handle, 0, &mhValue);
    printf("[c99_registers] ReadMH 状态码 / ReadMH status code: %d, MH[0]=%d\n", ret, mhValue);
    ret = Arm_Registers_ReadMI(handle, 0, &miValue);
    printf("[c99_registers] ReadMI 状态码 / ReadMI status code: %d, MI[0]=%d\n", ret, miValue);

    // [ZH] 顺序执行全部写接口与删除接口。
    // [EN] Execute all write APIs and delete APIs in sequence.
    ret = Arm_Registers_WriteR(handle, 0, rValue);
    printf("[c99_registers] WriteR 状态码 / WriteR status code: %d\n", ret);
    ret = Arm_Registers_DeleteR(handle, 0);
    printf("[c99_registers] DeleteR 状态码 / DeleteR status code: %d\n", ret);
    ret = Arm_Registers_WritePR(handle, &prValue);
    printf("[c99_registers] WritePR 状态码 / WritePR status code: %d\n", ret);
    ret = Arm_Registers_DeletePR(handle, prValue.id);
    printf("[c99_registers] DeletePR 状态码 / DeletePR status code: %d\n", ret);
    ret = Arm_Registers_WriteSR(handle, 0, srValue);
    printf("[c99_registers] WriteSR 状态码 / WriteSR status code: %d\n", ret);
    ret = Arm_Registers_DeleteSR(handle, 0);
    printf("[c99_registers] DeleteSR 状态码 / DeleteSR status code: %d\n", ret);
    ret = Arm_Registers_WriteMR(handle, 0, mrValue);
    printf("[c99_registers] WriteMR 状态码 / WriteMR status code: %d\n", ret);
    ret = Arm_Registers_DeleteMR(handle, 0);
    printf("[c99_registers] DeleteMR 状态码 / DeleteMR status code: %d\n", ret);
    ret = Arm_Registers_WriteMH(handle, 0, mhValue);
    printf("[c99_registers] WriteMH 状态码 / WriteMH status code: %d\n", ret);
    ret = Arm_Registers_WriteMI(handle, 0, miValue);
    printf("[c99_registers] WriteMI 状态码 / WriteMI 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_registers] 示例结束 / Example finished\n");
    return 0;
}

1 Overview and Setup

2 Data Structures

3 Methods

4 C99 API

6 Other Language Integration

4.8 C99 Registers Interface

Overview

Interface Signatures

`Arm_Registers_ReadR`

`Arm_Registers_WriteR`

`Arm_Registers_DeleteR`

`Arm_Registers_ReadPR`

`Arm_Registers_WritePR`

`Arm_Registers_DeletePR`

`Arm_Registers_ReadSR`

`Arm_Registers_WriteSR`

`Arm_Registers_DeleteSR`

`Arm_Registers_ReadMR`

`Arm_Registers_WriteMR`

`Arm_Registers_DeleteMR`

`Arm_Registers_ReadMH`

`Arm_Registers_WriteMH`

`Arm_Registers_ReadMI`

`Arm_Registers_WriteMI`

Register Types

Parameters and Rules

`ArmPoseRegister` Fields

Minimal Call Example

Scenario Examples

4.8 C99 Registers Interface ​

Overview ​

Interface Signatures ​

Arm_Registers_ReadR ​

Arm_Registers_WriteR ​

Arm_Registers_DeleteR ​

Arm_Registers_ReadPR ​

Arm_Registers_WritePR ​

Arm_Registers_DeletePR ​

Arm_Registers_ReadSR ​

Arm_Registers_WriteSR ​

Arm_Registers_DeleteSR ​

Arm_Registers_ReadMR ​

Arm_Registers_WriteMR ​

Arm_Registers_DeleteMR ​

Arm_Registers_ReadMH ​

Arm_Registers_WriteMH ​

Arm_Registers_ReadMI ​

Arm_Registers_WriteMI ​

Register Types ​

Parameters and Rules ​

ArmPoseRegister Fields ​

Minimal Call Example ​

Scenario Examples ​

4.8 C99 Registers Interface

Overview

Interface Signatures

`Arm_Registers_ReadR`

`Arm_Registers_WriteR`

`Arm_Registers_DeleteR`

`Arm_Registers_ReadPR`

`Arm_Registers_WritePR`

`Arm_Registers_DeletePR`

`Arm_Registers_ReadSR`

`Arm_Registers_WriteSR`

`Arm_Registers_DeleteSR`

`Arm_Registers_ReadMR`

`Arm_Registers_WriteMR`

`Arm_Registers_DeleteMR`

`Arm_Registers_ReadMH`

`Arm_Registers_WriteMH`

`Arm_Registers_ReadMI`

`Arm_Registers_WriteMI`

Register Types

Parameters and Rules

`ArmPoseRegister` Fields

Minimal Call Example

Scenario Examples