Examples of Running Java SDK

In Windows Environment

This section describes how to run Java SDK examples in the Windows environment, covering standard Maven projects and Android projects.

Note

• If the SDK client connects to a real robot arm, you must set the IP address in the code to the robot arm's IP address.

• If the project runs on the Aubo Sim virtual machine and the SDK client connects to the virtual machine, the IP address should be the virtual machine's IP address.

Java SDK Maven Project Example

This section describes how to use IntelliJ IDEA to power on the Aubo robot arm via the Java SDK in the Windows environment.

1. Open IntelliJ IDEA and click New Project.

   

2. Create a Maven Archetype project and select the relevant options as shown in the steps below.

   

3. Refer to the Installation Guide to configure the Maven project repository, then run the Maven build command in the terminal: mvn clean compile -U.

   

4. Create a test class AppTest.java in the test directory and run it.

   
   Click to view sample code

   package cn.aubo_robotics;
   
   import cn.aubo_robotics.aubo_sdk.aubo.enums.RobotModeType;
   import cn.aubo_robotics.aubo_sdk.aubo.enums.RuntimeState;
   import cn.aubo_robotics.aubo_sdk.aubo.enums.SafetyModeType;
   import cn.aubo_robotics.aubo_sdk.aubo_sdk.RtdeRecipe;
   import cn.aubo_robotics.aubo_sdk.robot_proxy.RobotProxy;
   import com.google.common.collect.Lists;
   import junit.framework.TestCase;
   
   import java.util.List;
   import java.util.concurrent.CompletableFuture;
   import java.util.function.Consumer;
   
   /**
    * Unit test for simple App.
    */
   public class AppTestDemo
           extends TestCase {
       private RobotProxy proxy = null;
   
       public void connect() {
           RobotProxy proxy = new RobotProxy();
           try {
               CompletableFuture<Boolean> connectServer = proxy.connectServer("192.x.x.x", 9012, 9013, 30003);
               // Important: add a 5-second timeout to get() as a substitute for method parameter timeout
               System.out.println("Connection status: " + connectServer.get(5000, java.util.concurrent.TimeUnit.MILLISECONDS));
               this.proxy = proxy;
               proxy.selectRobot(0);
               proxy.login("", "");
           } catch (Exception e) {
               throw new RuntimeException(e);
           }
       }
   
       public void getRobotsAndSelect() {
           try {
               List<String> robotNames = this.proxy.getRobotNames();
               robotNames.forEach(System.out::println);
   
               if (!robotNames.isEmpty()) {
                   this.proxy.selectRobot(0);
                   this.proxy.login("", "");
                   System.out.println(robotNames.get(0) + " is logined.");
               }
           } catch (Exception e) {
               throw new RuntimeException(e);
           }
       }
   
       public void poweron() {
           try {
               boolean connected = this.proxy.hasLogin();
               if (this.proxy != null && connected) {
                   while (true) {
                       RuntimeState status = this.proxy.getRuntimeMachine().getRuntimeState();
                       RobotModeType robotModeType = this.proxy.getRobotState().getRobotModeType();
                       SafetyModeType safetyModeType = this.proxy.getRobotState().getSafetyModeType();
   
                       System.out.println(
                               "Before poweron. robot status: " +
                                       status +
                                       ",  mode type: " +
                                       robotModeType +
                                       ", safetyModeType:" +
                                       safetyModeType
                       );
   
                       if (
                               safetyModeType == SafetyModeType.RobotEmergencyStop ||
                                       safetyModeType == SafetyModeType.SystemEmergencyStop ||
                                       safetyModeType == SafetyModeType.SafeguardStop
                       ) {
                           System.out.println("Auto enable robot: emergency stop.");
                           break;
                       }
                       if (status == RuntimeState.Stopped && (robotModeType == RobotModeType.PowerOff || robotModeType == RobotModeType.NoController)) {
                          this.proxy.getRobotManage().poweron();
                          System.out.println("Robot has power on.");
                          Thread.sleep(3000);
                      }
                      // The robot has been powered on, protective stop will no longer power on
                      else if (robotModeType == RobotModeType.Running) {
                          break;
                      }
   
                      // Release brakes
                      if (robotModeType == RobotModeType.Idle) {
                          this.proxy.getRobotManage().startup();
                          System.out.println("Robot has startup.");
                          Thread.sleep(1000);
                          break;
                      }
                  }
              }
          } catch (Exception e) {
              throw new RuntimeException(e);
          }
      }
   
      public void addRtdeTopicCallback() {
          try {
              Consumer<Object> callback = new Consumer<Object>() {
                  @Override
                  public void accept(Object o) {
                      System.out.println("single callback: " + o);
                  }
              };
              this.proxy.addRtdeTopicCallback(0, RtdeRecipe.TopicOutputPoolEnum.target_q.name(), callback, 100, null);
   
              Thread.sleep(5000);
          } catch (Exception e) {
              throw new RuntimeException(e);
          }
      }
   
      public void disconnect() {
          try {
              List<String> topicList = Lists.newArrayList(RtdeRecipe.TopicOutputPoolEnum.target_q.name());
              this.proxy.deleteRtdeTopicCallbacks(0, topicList);
              this.proxy.disConnectFromServer();
              this.proxy.logout();
              this.proxy = null;
          } catch (Exception e) {
              throw new RuntimeException(e);
          }
      }
   
      public static void main(String[] args) {
          try {
              AppTestDemo appTest = new AppTestDemo();
              appTest.connect();
              appTest.getRobotsAndSelect();
              System.out.println("[AppTest] Connected successfully.");
              appTest.poweron();
              System.out.println("[AppTest] Robot has been powered on.");
              appTest.addRtdeTopicCallback();
              System.out.println("[AppTest] RTDE subscription started.");
              Thread.sleep(3000);
              appTest.disconnect();
              System.out.println("[AppTest] Disconnected.");
          } catch (Exception e) {
              System.out.printf("%s\n", e.getMessage());
          }
      }
   }

5. After running the AppTest.java file, check the runtime logs. Upon success, you can see the robot arm has been powered on in the virtual machine.

   

Java SDK Android Project Example

This section describes how to use Android Studio to power on the Aubo robot arm via the Java SDK in the Windows environment.

1. Open Android Studio and navigate through "New Project > Empty Activity > Next".

   

2. Configure the project name as shown in the image.

   

3. Refer to the Installation Guide to configure the Android project repository.

4. Write the code in the MainActivity file, connect the Android device, and run the Android program.

   Click to view sample code

   package com.sdktest.sdktestapplication
   
   import android.os.Bundle
   import android.util.Log
   import androidx.appcompat.app.AppCompatActivity
   import cn.aubo_robotics.aubo_sdk.robot_proxy.RobotProxy
   
   class MainActivity : AppCompatActivity() {
   
   
       override fun onCreate(savedInstanceState: Bundle?) {
           super.onCreate(savedInstanceState)
           setContentView(R.layout.activity_main)
           testSDK()
       }
       private val savedRpcPort = 9012
       private val savedRtdePort = 9013
       private val savedScriptPort = 30003
   
       //Enter the IP address of the connected device
       private val host = "172.18.14.240"
       private val proxy = RobotProxy()
       fun testSDK() {
           try {
               //1.Connect
               val connectedFuture = proxy.connectServer(
                   host,
                   savedRpcPort,
                   savedRtdePort,
                   savedScriptPort
               )
   
               val connected = connectedFuture.get()
               if (connected) {
                   Log.d("AUBO_SDK", "connect success: $host")
               } else {
                   Log.e("AUBO_SDK", "connect failed: $host")
               }
               // 2. Login
               proxy.login("username", "password")
               // 3. Select robot
               proxy.selectRobot(0)
   
           } catch (e: Exception) {
               Log.e("AUBO_SDK", "connect error", e)
           }
       }
   }

   

5. After running the MainActivity file, check the runtime logs in Logcat as shown. Upon success, you can see the robot arm has been powered on in the virtual machine.