vimior / uarm-sdk

C++ SDK for uArm (swift/swiftpro)

uArm-C++-SDK

---

Overview

• This module encapsulates the operations for uArm. It provides baisc Movement on C++.
• The library only supports uArm Swift/SwiftPro
• The library is based on serial

Caution

• Temporarily only supports Swift / SwiftPro.
• Make sure you move the device head to a safe position and completely quit uArm Studio before running the tests.

Doc

• Swift/SwiftPro

Install

Get the code:

git clone https://github.com/uArm-Developer/uArm-SDK.git

Linux/MacOS

• Build (only in Linux and MacOS):

   make
  

• Install (only in Linux and MacOS):

   sudo make install
  

• Run Test (only in Linux and MacOS)

  ./test_uarm all
  

Windows

• please refer to visual_studio example

Example:

• Swift/SwiftPro

Import

#include "uarm/uarm.h"
using namespace uarm;	

Create instance

Swift swift();
Swift swift(port);

API list

• Please refer to the documentation or the appendix for details and parameters of the API.

// connect and disconnect
swift.connect(...);
swift.disconnect(...);

// send cmd
swift.send_cmd_sync(...);
swift.send_cmd_async(...);

// register and release event callback
swift.register_power_callback(...);
swift.release_power_callback();
swift.register_report_position_callback(...);
swift.release_report_position_callback();
swift.register_key0_callback(...);
swift.release_key0_callback();
swift.register_key1_callback(...);
swift.release_key1_callback();
swift.register_limit_switch_callback(...);
swift.release_limit_switch_callback();
swift.set_report_position(...);
swift.set_report_keys(...);

// move
swift.set_position(...);
swift.set_polar(...);
swift.set_servo_angle(...);
swift.set_wrist(...);
swift.reset(...);

// set
swift.set_servo_attach(...);
swift.set_servo_detach(...);
swift.set_mode(...);
swift.set_buzzer(...);
swift.set_pump(...);
swift.set_gripper(...);
swift.set_digital_output(...);
swift.set_digital_direction(...);
swift.set_acceleration(...);

// get
swift.get_position(...);
swift.get_polar(...);
swift.get_servo_angle(...);
swift.get_device_info(...);
swift.get_power_status(...);
swift.get_mode(...);
swift.get_servo_attach(...);
swift.get_limit_switch(...);
swift.get_gripper_catch(...);
swift.get_pump_status(...);
swift.get_digital(...);
swift.get_analog(...);
swift.get_is_moving(...);

// flush cmd
swift.flush_cmd(...);

---

Appendix (Swift API)

namespace uarm { using serial::Timeout; using serial::PortInfo; using serial::list_ports;

class Swift

class constructor

/*!

• @param port: a std::string containing the address of the serial port, which would be something like 'COM1' on Windows and '/dev/ttyACM0' on Linux.
• @param baudrate: an unsigned 32-bit integer that represents the baudrate
• @param timeout: A Timeout struct that defines the timeout

*/

Swift(const std::string &port = "", uint32_t baudrate = 115200, Timeout timeout = Timeout::simpleTimeout(1000), int cmd_pend_size = 2);

---

property

bool connected; // connect status
serial::Serial ser; // serial instance
bool power_status; // power status
std::string port; // port name
uint32_t baudrate; // baudrate
uint8_t mode;
std::string device_info[5];
	// device_info[0]: device_type
	// device_info[1]: hardware_version
	// device_info[2]: firmware_version
	// device_info[3]: api_version
	// device_info[4]: device_unique

---

method

/*! Connect to uArm

• @param port: a std::string containing the address of the serial port, which would be something like 'COM1' on Windows and '/dev/ttyS0' on Linux.
• @param baudrate: An unsigned 32-bit integer that represents the baudrate
• @param timeout: A Timeout struct that defines the timeout
• return: 0 if connect success else -1

*/

int connect(const std::string &port = "", uint32_t baudrate = 115200, Timeout timeout = Timeout::simpleTimeout(1000));

/*! Disconnect to uArm */

void disconnect();

/*! Sync send cmd to uArm

• @param cmd: a std::string
• @param timeout: A float number that maximum seconds to waiting the execute result return
• return: the execute result or TIMEOUT or NotConnected or Exception

*/

std::string send_cmd_sync(const std::string &cmd, float timeout = default_timeout_2);

/*! Async send cmd to uArm

• @param cmd: a std::string
• @param callback: a function pointer to handle the execute result
• return: OK or TIMEOUT or NotConnected or Exception

*/

std::string send_cmd_async(const std::string &cmd, 
	float timeout = default_timeout_2, 
	std::function<void (std::string)> callback = NULL);
std::string send_cmd_async(const std::string &cmd, 
	float timeout = default_timeout_2, 
	void(*callback)(std::string) = NULL);

/*! Register power event callback

• @param callback: a function pointer
• return: true/false

*/

bool register_power_callback(void(*callback)(bool));

/*! Release power event callback */

void release_power_callback();

/*! Register position report event callback

• @param callback: a function pointer
• return: true/false

*/

bool register_report_position_callback(void(*callback)(std::vector<float>));

/*! Release position report event callback */

void release_report_position_callback();

/*! Register key0 pressed event callback

• @param callback: a function pointer
• return: true/false

*/

bool register_key0_callback(void(*callback)(int));

/*! Release key0 pressed event callback */

void release_key0_callback();

/*! Register key1 pressed event callback

• @param callback: a function pointer
• return: true/false

*/

bool register_key1_callback(void(*callback)(int));

/*! Release key1 pressed event callback */

void release_key1_callback();

/*! Register limit switch event callback

• @param callback: a function pointer
• return: true/false

*/

bool register_limit_switch_callback(void(*callback)(bool));

/*! Release limit switch event callback */

void release_limit_switch_callback();

/*! Report position in (interval) seconds

• @param interval: seconds, disable report if interval is 0
• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_report_position(float interval, bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Report the buttons event

• @param on: true/false, disable report if on is false
• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_report_keys(bool on, bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Attach the servo with the servo_id

• @param servo_id: -1 ~ 3, -1 represents all servo
• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_servo_attach(int servo_id, bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Detach the servo with the servo_id

• @param servo_id: -1 ~ 3, -1 represents all servo
• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_servo_detach(int servo_id, bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Set the mode, only support SwiftPro

• @param mode: mode, 0: general mode, 1: laser mode, 2: 3D Print mode, 3: pen/gripper mode
• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_mode(int mode, bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Set the position

• @param x: (mm) location X
• @param y: (mm) location Y
• @param x: (mm) location Z
• @param speed: (mm/min) speed of move
• @param relative: relative move or not, default is false
• @param wait: true/false, default is false
• @param timeout: timeout, default is 10s
• @param callback: callback, default is None, only available if wait is true
• @param cmd: "G0" or "G1", default is "G0"
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_position(float x, float y, float z, long speed = default_speed, bool relative = false, bool wait = false, float timeout = default_timeout_10, void(*callback)(int) = NULL, std::string cmd="G0");

/*! Set the polar coordinate

• @param stretch: (mm)
• @param rotation: (degree), 0 ~ 180
• @param height: (degree)
• @param speed: (mm/min) speed of move
• @param relative: relative move or not, default is false
• @param wait: true/false, default is false
• @param timeout: timeout, default is 10s
• @param callback: callback, default is None, only available if wait is true
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_polar(float stretch, float rotation, float height, long speed = default_speed, bool relative = false, bool wait = false, float timeout = default_timeout_10, void(*callback)(int) = NULL);

/*! Set the servo angle

• @param servo_id: servo_id, 0 ~ 3
• @param angle: (degree), 0 ~ 180
• @param speed: (mm/min) speed of move
• @param relative: relative move or not, default is false
• @param wait: true/false, default is false
• @param timeout: timeout, default is 10s
• @param callback: callback, default is None, only available if wait is true
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_servo_angle(int servo_id, float angle, long speed = default_speed, bool wait = false, float timeout = default_timeout_10, void(*callback)(int) = NULL);

/*! Set the wrist angle (SERVO HAND)

• @param angle: (degree), 0 ~ 180
• @param speed: (mm/min) speed of move
• @param relative: relative move or not, default is false
• @param wait: true/false, default is false
• @param timeout: timeout, default is 10s
• @param callback: callback, default is None, only available if wait is true
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_wrist(float angle, long speed = default_speed, bool wait = false, float timeout = default_timeout_10, void(*callback)(int) = NULL);

/*! Control the buzzer

• @param frequency: frequency, default is 1000
• @param duration: duration, default is 2s
• @param wait: true/false, default is false
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_buzzer(int frequency = 1000, float duration = 2, bool wait = false, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Control the pump

• @param on: true/false
• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_pump(bool on, bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Control the gripper

• @param on: true/false
• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_gripper(bool _catch, bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Set digital output value

• @param pin: IO pin
• @param value: 0: output low level, 1: output high level
• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_digital_output(int pin, int value, bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Set digital direction

• @param pin: IO pin
• @param value: 0: input, 1: output
• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_digital_direction(int pin, int value, bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Set the acceleration, only support firmware version > 4.0

• @param acc: acc value
• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return:
  • 0: ok
  • -1: not connect
  • -2: timeout
  • -3: serial exception
  • -4: command not exist
  • -5: params error
  • -6: address over
  • -7: command buffer full
  • -8: power is not connect
  • -9: operatation failed
  • -10: servo is detach, can not execute the cmd

*/

int set_acceleration(float acc, bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Reset

• @param speed:
• @param timeout: timeout, default is 10s
• @param x: reset position x, default is 200
• @param y: reset position x, default is 0
• @param z: reset position x, default is 150

*/

void reset(long speed = default_speed, float timeout = default_timeout_10, float x = 200, float y = 0, float z = 150);

/*! Get position

• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return: std::vector object, like [x, y, z, r] or []

*/

std::vector<float> get_position(bool wait = true, float timeout = default_timeout_2, void(*callback)(std::vector<float>) = NULL);

/*! Get polar

• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return: std::vector object, like [stretch, rotation, height] or []

*/

std::vector<float> get_polar(bool wait = true, float timeout = default_timeout_2, void(*callback)(std::vector<float>) = NULL);

/*! Get servo angle

• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return: std::vector object, like [angle-0, angle-1, angle-2] or []

*/

std::vector<float> get_servo_angle(bool wait = true, float timeout = default_timeout_2, void(*callback)(std::vector<float>) = NULL);

/*! Get device info

• @param timeout: timeout, default is 10s
• return: device_info
  • device_info[0]: device_type
  • device_info[1]: hardware_version
  • device_info[2]: firmware_version
  • device_info[3]: api_version
  • device_info[4]: device_unique

*/

std::string* get_device_info(float timeout = default_timeout_10);

/*! Get power status

• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return: 0: power off, 1: power on, -1: failed

*/

int get_power_status(bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Get mode

• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return: mode, 0: general mode, 1: laser mode, 2: 3D Print mode, 3: pen/gripper mode, -1: failed

*/

int get_mode(bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Get servo attach status

• @param servo_id:
• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return: 0: attach, 1: detach, -1: failed

*/

int get_servo_attach(int servo_id, bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Get limit switch

• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return: 0: limit switch on, 1: limit switch off, -1: failed

*/

int get_limit_switch(bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Get gripper status

• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return: 0: stop, 1: working, 2: catch thing, -1: failed

*/

int get_gripper_catch(bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Get pump status

• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return: 0: stop, 1: working, 2: pump thing, -1: failed

*/

int get_pump_status(bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Get the digital value from specific pin

• @param pin: specific pin
• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return: 0: low level, 1: high level, -1: failed

*/

int get_digital(int pin, bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Get the analog value from specific pin

• @param pin: specific pin
• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return: analog value if return !== -1 else failed

*/

int get_analog(int pin, bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Check uArm is moving or not

• @param wait: true/false, default is true
• @param timeout: timeout, default is 2s
• @param callback: callback, default is None, only available if wait is true
• return: 0: not move, 1: moving, -1: failed

*/

int get_is_moving(bool wait = true, float timeout = default_timeout_2, void(*callback)(int) = NULL);

/*! Wait until all command return or timeout */

void flush_cmd();

}; } // namespace uarm