lebai_sdk 0.1.8 → 0.1.10

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package/lebai_sdk.d.ts CHANGED
@@ -94,40 +94,40 @@ export class Robot {
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  * @param {any} p
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  * @param {number} a
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  * @param {number} v
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- * @param {number} t
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+ * @param {number | undefined} t
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  * @param {number | undefined} r
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  * @returns {Promise<number>}
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  */
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- towardj(p: any, a: number, v: number, t: number, r?: number): Promise<number>;
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+ towardj(p: any, a: number, v: number, t?: number, r?: number): Promise<number>;
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  /**
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  * @param {any} p
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  * @param {number} a
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  * @param {number} v
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- * @param {number} t
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+ * @param {number | undefined} t
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  * @param {number | undefined} r
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  * @returns {Promise<number>}
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  */
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- movej(p: any, a: number, v: number, t: number, r?: number): Promise<number>;
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+ movej(p: any, a: number, v: number, t?: number, r?: number): Promise<number>;
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  /**
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  * @param {any} p
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  * @param {number} a
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  * @param {number} v
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- * @param {number} t
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+ * @param {number | undefined} t
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  * @param {number | undefined} r
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  * @returns {Promise<number>}
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  */
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- movel(p: any, a: number, v: number, t: number, r?: number): Promise<number>;
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+ movel(p: any, a: number, v: number, t?: number, r?: number): Promise<number>;
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  /**
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  * @param {any} via
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  * @param {any} p
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  * @param {number} rad
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  * @param {number} a
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  * @param {number} v
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- * @param {number} t
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+ * @param {number | undefined} t
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  * @param {number | undefined} r
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  * @returns {Promise<number>}
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  */
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- movec(via: any, p: any, rad: number, a: number, v: number, t: number, r?: number): Promise<number>;
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+ movec(via: any, p: any, rad: number, a: number, v: number, t?: number, r?: number): Promise<number>;
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  /**
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  * @param {any} p
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  * @param {any} v
@@ -144,16 +144,20 @@ export class Robot {
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  */
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  move_pvat(p: any, v: any, a: any, t: number): Promise<void>;
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  /**
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+ * @param {number} a
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  * @param {any} v
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- * @returns {Promise<void>}
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+ * @param {number | undefined} t
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+ * @returns {Promise<number>}
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  */
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- speedj(v: any): Promise<void>;
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+ speedj(a: number, v: any, t?: number): Promise<number>;
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  /**
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+ * @param {number} a
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  * @param {any} v
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+ * @param {number | undefined} t
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  * @param {any | undefined} frame
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- * @returns {Promise<void>}
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+ * @returns {Promise<number>}
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  */
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- speedl(v: any, frame?: any): Promise<void>;
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+ speedl(a: number, v: any, t?: number, frame?: any): Promise<number>;
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  /**
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  * @returns {Promise<void>}
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  */
@@ -236,11 +240,23 @@ export class Robot {
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  set_signal(index: number, value: number): Promise<void>;
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  /**
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  * @param {number} index
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+ * @param {any} values
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+ * @returns {Promise<void>}
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+ */
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+ set_signals(index: number, values: any): Promise<void>;
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+ /**
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+ * @param {number} index
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  * @returns {Promise<number>}
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  */
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  get_signal(index: number): Promise<number>;
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  /**
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  * @param {number} index
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+ * @param {number} len
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+ * @returns {Promise<any>}
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+ */
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+ get_signals(index: number, len: number): Promise<any>;
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+ /**
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+ * @param {number} index
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  * @param {number} value
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  * @returns {Promise<void>}
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  */
@@ -257,10 +273,51 @@ export class Robot {
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  /**
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  * @param {number | undefined} id
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  * @returns {Promise<string>}
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+ */
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+ wait_task(id?: number): Promise<string>;
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+ /**
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+ * @param {number | undefined} id
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+ * @returns {Promise<string>}
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  */
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  get_task_state(id?: number): Promise<string>;
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  /**
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  * @param {string} device
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+ * @param {number} timeout
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+ * @returns {Promise<void>}
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+ */
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+ set_serial_timeout(device: string, timeout: number): Promise<void>;
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+ /**
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+ * @param {string} device
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+ * @param {number} baud_rate
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+ * @returns {Promise<void>}
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+ */
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+ set_serial_baud_rate(device: string, baud_rate: number): Promise<void>;
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+ /**
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+ * @param {string} device
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+ * @param {any} parity
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+ * @returns {Promise<void>}
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+ */
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+ set_serial_parity(device: string, parity: any): Promise<void>;
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+ /**
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+ * @param {string} device
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+ * @param {any} data
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+ * @returns {Promise<void>}
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+ */
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+ write_serial(device: string, data: any): Promise<void>;
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+ /**
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+ * @param {string} device
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+ * @param {number} len
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+ * @returns {Promise<any>}
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+ */
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+ read_serial(device: string, len: number): Promise<any>;
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+ /**
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+ * @param {string} device
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+ * @param {number} timeout
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+ * @returns {Promise<void>}
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+ */
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+ set_modbus_timeout(device: string, timeout: number): Promise<void>;
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+ /**
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+ * @param {string} device
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  * @param {string} pin
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  * @param {boolean} value
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  * @returns {Promise<void>}
@@ -316,6 +373,11 @@ export class Robot {
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  */
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  read_input_registers(device: string, pin: string, count: number): Promise<any>;
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  /**
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+ * @param {boolean | undefined} force
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+ * @returns {Promise<void>}
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+ */
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+ init_claw(force?: boolean): Promise<void>;
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+ /**
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  * @param {number | undefined} force
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  * @param {number | undefined} amplitude
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  * @returns {Promise<void>}
@@ -403,6 +465,14 @@ export class Robot {
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  */
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  get_velocity_factor(): Promise<number>;
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  /**
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+ * @returns {Promise<any>}
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+ */
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+ get_kin_data(): Promise<any>;
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+ /**
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+ * @returns {Promise<any>}
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+ */
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+ get_robot_state(): Promise<any>;
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+ /**
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  * @param {string} name
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  * @param {string | undefined} dir
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  * @returns {Promise<any>}