lebai_sdk 0.2.26 → 0.3.0

package/lebai_sdk.d.ts

@@ -1,626 +1,128 @@
 /* tslint:disable */
 /* eslint-disable */
-/**
- * @param {string} ip
- * @param {boolean} simu
- * @returns {Promise<Robot>}
- */
 export function connect(ip: string, simu: boolean): Promise<Robot>;
-/**
- * @param {number} time
- * @returns {Promise<any>}
- */
 export function discover_devices(time: number): Promise<any>;
-/**
- * @param {any} ms
- * @returns {Promise<void>}
- */
 export function sleep_ms(ms: any): Promise<void>;
-/**
- * @returns {any}
- */
 export function timestamp(): any;
-/**
- * @returns {string}
- */
 export function version(): string;
 export class Robot {
+  private constructor();
   free(): void;
-  /**
-   * @returns {Promise<boolean>}
-   */
   is_connected(): Promise<boolean>;
-  /**
-   * @returns {Promise<string>}
-   */
   wait_disconnect(): Promise<string>;
-  /**
-   * @param {string} method
-   * @param {string | undefined} [param]
-   * @returns {Promise<string>}
-   */
-  call(method: string, param?: string): Promise<string>;
-  /**
-   * @param {string} method
-   * @param {string | undefined} [param]
-   * @returns {Promise<RobotSubscription>}
-   */
-  subscribe(method: string, param?: string): Promise<RobotSubscription>;
-  /**
-   * @param {any} p
-   * @returns {Promise<number>}
-   */
+  call(method: string, param?: string | null): Promise<string>;
+  subscribe(method: string, param?: string | null): Promise<RobotSubscription>;
   measure_manipulation(p: any): Promise<number>;
-  /**
-   * @param {any} p
-   * @returns {Promise<any>}
-   */
   kinematics_forward(p: any): Promise<any>;
-  /**
-   * @param {any} p
-   * @param {any | undefined} [refer]
-   * @returns {Promise<any>}
-   */
-  kinematics_inverse(p: any, refer?: any): Promise<any>;
-  /**
-   * @param {any} from
-   * @param {any} to
-   * @returns {Promise<any>}
-   */
+  kinematics_inverse(p: any, refer?: any | null): Promise<any>;
   pose_trans(from: any, to: any): Promise<any>;
-  /**
-   * @param {any} pose
-   * @param {any} delta
-   * @param {any | undefined} [frame]
-   * @returns {Promise<any>}
-   */
-  pose_add(pose: any, delta: any, frame?: any): Promise<any>;
-  /**
-   * @param {any} p
-   * @returns {Promise<any>}
-   */
+  pose_add(pose: any, delta: any, frame?: any | null): Promise<any>;
   pose_inverse(p: any): Promise<any>;
-  /**
-   * @param {string} name
-   * @param {any | undefined} [pose]
-   * @param {string | undefined} [dir]
-   * @param {any | undefined} [refer]
-   * @returns {Promise<void>}
-   */
-  save_pose(name: string, pose?: any, dir?: string, refer?: any): Promise<void>;
-  /**
-   * @param {string} name
-   * @param {string | undefined} [dir]
-   * @param {boolean | undefined} [raw_pose]
-   * @returns {Promise<any>}
-   */
-  load_pose(name: string, dir?: string, raw_pose?: boolean): Promise<any>;
-  /**
-   * @param {string} name
-   * @param {string | undefined} [dir]
-   * @returns {Promise<any>}
-   */
-  load_frame(name: string, dir?: string): Promise<any>;
-  /**
-   * @returns {Promise<void>}
-   */
+  save_pose(name: string, pose?: any | null, dir?: string | null, refer?: any | null): Promise<void>;
+  load_pose(name: string, dir?: string | null, raw_pose?: boolean | null): Promise<any>;
+  load_frame(name: string, dir?: string | null): Promise<any>;
   pause_move(): Promise<void>;
-  /**
-   * @returns {Promise<void>}
-   */
   resume_move(): Promise<void>;
-  /**
-   * @returns {Promise<void>}
-   */
   stop_move(): Promise<void>;
-  /**
-   * @param {number | undefined} [id]
-   * @returns {Promise<void>}
-   */
-  wait_move(id?: number): Promise<void>;
-  /**
-   * @returns {Promise<number>}
-   */
+  wait_move(id?: number | null): Promise<void>;
   get_running_motion(): Promise<number>;
-  /**
-   * @param {number} id
-   * @returns {Promise<string>}
-   */
   get_motion_state(id: number): Promise<string>;
-  /**
-   * @param {any} p
-   * @param {number} a
-   * @param {number} v
-   * @param {number | undefined} [t]
-   * @param {number | undefined} [r]
-   * @returns {Promise<number>}
-   */
-  towardj(p: any, a: number, v: number, t?: number, r?: number): Promise<number>;
-  /**
-   * @param {any} p
-   * @param {number} a
-   * @param {number} v
-   * @param {number | undefined} [t]
-   * @param {number | undefined} [r]
-   * @returns {Promise<number>}
-   */
-  movej(p: any, a: number, v: number, t?: number, r?: number): Promise<number>;
-  /**
-   * @param {any} p
-   * @param {number} a
-   * @param {number} v
-   * @param {number | undefined} [t]
-   * @param {number | undefined} [r]
-   * @returns {Promise<number>}
-   */
-  movel(p: any, a: number, v: number, t?: number, r?: number): Promise<number>;
-  /**
-   * @param {any} via
-   * @param {any} p
-   * @param {number} rad
-   * @param {number} a
-   * @param {number} v
-   * @param {number | undefined} [t]
-   * @param {number | undefined} [r]
-   * @returns {Promise<number>}
-   */
-  movec(via: any, p: any, rad: number, a: number, v: number, t?: number, r?: number): Promise<number>;
-  /**
-   * @param {any} p
-   * @param {any} v
-   * @param {any} a
-   * @param {number} t
-   * @returns {Promise<void>}
-   */
+  towardj(p: any, a: number, v: number, t?: number | null, r?: number | null): Promise<number>;
+  movej(p: any, a: number, v: number, t?: number | null, r?: number | null): Promise<number>;
+  movel(p: any, a: number, v: number, t?: number | null, r?: number | null): Promise<number>;
+  movec(via: any, p: any, rad: number, a: number, v: number, t?: number | null, r?: number | null): Promise<number>;
   move_pvat(p: any, v: any, a: any, t: number): Promise<void>;
-  /**
-   * @param {any} p
-   * @param {any} v
-   * @param {number} t
-   * @returns {Promise<void>}
-   */
   move_pvt(p: any, v: any, t: number): Promise<void>;
-  /**
-   * @param {any} p
-   * @param {number} t
-   * @returns {Promise<void>}
-   */
   move_pt(p: any, t: number): Promise<void>;
-  /**
-   * @param {string} name
-   * @param {string | undefined} [dir]
-   * @returns {Promise<number>}
-   */
-  move_trajectory(name: string, dir?: string): Promise<number>;
-  /**
-   * @param {number} a
-   * @param {any} v
-   * @param {number | undefined} [t]
-   * @returns {Promise<number>}
-   */
-  speedj(a: number, v: any, t?: number): Promise<number>;
-  /**
-   * @param {number} a
-   * @param {any} v
-   * @param {number | undefined} [t]
-   * @param {any | undefined} [frame]
-   * @returns {Promise<number>}
-   */
-  speedl(a: number, v: any, t?: number, frame?: any): Promise<number>;
-  /**
-   * @returns {Promise<void>}
-   */
+  move_trajectory(name: string, dir?: string | null): Promise<number>;
+  speedj(a: number, v: any, t?: number | null): Promise<number>;
+  speedl(a: number, v: any, t?: number | null, frame?: any | null): Promise<number>;
   teach_mode(): Promise<void>;
-  /**
-   * @returns {Promise<void>}
-   */
   end_teach_mode(): Promise<void>;
-  /**
-   * @param {any} device
-   * @param {number} pin
-   * @param {any} mode
-   * @returns {Promise<void>}
-   */
   set_dio_mode(device: any, pin: number, mode: any): Promise<void>;
-  /**
-   * @param {any} device
-   * @param {number} pin
-   * @returns {Promise<any>}
-   */
   get_dio_mode(device: any, pin: number): Promise<any>;
-  /**
-   * @param {any} device
-   * @param {number} pin
-   * @param {number} value
-   * @returns {Promise<void>}
-   */
   set_do(device: any, pin: number, value: number): Promise<void>;
-  /**
-   * @param {any} device
-   * @param {number} pin
-   * @returns {Promise<number>}
-   */
   get_do(device: any, pin: number): Promise<number>;
-  /**
-   * @param {any} device
-   * @param {number} pin
-   * @param {number} num
-   * @returns {Promise<any>}
-   */
   get_dos(device: any, pin: number, num: number): Promise<any>;
-  /**
-   * @param {any} device
-   * @param {number} pin
-   * @returns {Promise<number>}
-   */
   get_di(device: any, pin: number): Promise<number>;
-  /**
-   * @param {any} device
-   * @param {number} pin
-   * @param {number} num
-   * @returns {Promise<any>}
-   */
   get_dis(device: any, pin: number, num: number): Promise<any>;
-  /**
-   * @param {any} device
-   * @param {number} pin
-   * @param {number} value
-   * @returns {Promise<void>}
-   */
   set_ao(device: any, pin: number, value: number): Promise<void>;
-  /**
-   * @param {any} device
-   * @param {number} pin
-   * @returns {Promise<number>}
-   */
   get_ao(device: any, pin: number): Promise<number>;
-  /**
-   * @param {any} device
-   * @param {number} pin
-   * @param {number} num
-   * @returns {Promise<any>}
-   */
   get_aos(device: any, pin: number, num: number): Promise<any>;
-  /**
-   * @param {any} device
-   * @param {number} pin
-   * @returns {Promise<number>}
-   */
   get_ai(device: any, pin: number): Promise<number>;
-  /**
-   * @param {any} device
-   * @param {number} pin
-   * @param {number} num
-   * @returns {Promise<any>}
-   */
   get_ais(device: any, pin: number, num: number): Promise<any>;
-  /**
-   * @param {number} index
-   * @param {number} value
-   * @returns {Promise<void>}
-   */
   set_signal(index: number, value: number): Promise<void>;
-  /**
-   * @param {number} index
-   * @param {any} values
-   * @returns {Promise<void>}
-   */
   set_signals(index: number, values: any): Promise<void>;
-  /**
-   * @param {number} index
-   * @returns {Promise<number>}
-   */
   get_signal(index: number): Promise<number>;
-  /**
-   * @param {number} index
-   * @param {number} len
-   * @returns {Promise<any>}
-   */
   get_signals(index: number, len: number): Promise<any>;
-  /**
-   * @param {number} index
-   * @param {number} value
-   * @returns {Promise<void>}
-   */
   add_signal(index: number, value: number): Promise<void>;
-  /**
-   * @param {string} key
-   * @param {string} value
-   * @returns {Promise<void>}
-   */
   set_item(key: string, value: string): Promise<void>;
-  /**
-   * @param {string} key
-   * @returns {Promise<any>}
-   */
   get_item(key: string): Promise<any>;
-  /**
-   * @param {string} prefix
-   * @returns {Promise<any>}
-   */
   get_items(prefix: string): Promise<any>;
-  /**
-   * @param {string} name
-   * @param {any | undefined} [params]
-   * @returns {Promise<any>}
-   */
-  run_plugin_cmd(name: string, params?: any): Promise<any>;
-  /**
-   * @param {string} scene
-   * @param {any | undefined} [params]
-   * @param {string | undefined} [dir]
-   * @param {boolean | undefined} [is_parallel]
-   * @param {number | undefined} [loop_to]
-   * @returns {Promise<number>}
-   */
-  start_task(scene: string, params?: any, dir?: string, is_parallel?: boolean, loop_to?: number): Promise<number>;
-  /**
-   * @returns {Promise<any>}
-   */
+  run_plugin_cmd(name: string, params?: any | null): Promise<any>;
+  start_task(scene: string, params?: any | null, dir?: string | null, is_parallel?: boolean | null, loop_to?: number | null): Promise<number>;
   get_task_list(): Promise<any>;
-  /**
-   * @returns {Promise<number | undefined>}
-   */
   get_main_task_id(): Promise<number | undefined>;
-  /**
-   * @param {number | undefined} [id]
-   * @returns {Promise<string>}
-   */
-  wait_task(id?: number): Promise<string>;
-  /**
-   * @param {number | undefined} [id]
-   * @returns {Promise<string>}
-   */
-  get_task_state(id?: number): Promise<string>;
-  /**
-   * @param {number | undefined} [id]
-   * @returns {Promise<void>}
-   */
-  cancel_task(id?: number): Promise<void>;
-  /**
-   * @param {number | undefined} [id]
-   * @returns {Promise<void>}
-   */
-  pause_task(id?: number): Promise<void>;
-  /**
-   * @param {number | undefined} [id]
-   * @returns {Promise<void>}
-   */
-  resume_task(id?: number): Promise<void>;
-  /**
-   * @param {string} device
-   * @param {number} timeout
-   * @returns {Promise<void>}
-   */
+  wait_task(id?: number | null): Promise<string>;
+  get_task_state(id?: number | null): Promise<string>;
+  cancel_task(id?: number | null): Promise<void>;
+  pause_task(id?: number | null): Promise<void>;
+  resume_task(id?: number | null): Promise<void>;
   set_serial_timeout(device: string, timeout: number): Promise<void>;
-  /**
-   * @param {string} device
-   * @param {number} baud_rate
-   * @returns {Promise<void>}
-   */
   set_serial_baud_rate(device: string, baud_rate: number): Promise<void>;
-  /**
-   * @param {string} device
-   * @param {any} parity
-   * @returns {Promise<void>}
-   */
   set_serial_parity(device: string, parity: any): Promise<void>;
-  /**
-   * @param {string} device
-   * @param {any} data
-   * @returns {Promise<void>}
-   */
   write_serial(device: string, data: any): Promise<void>;
-  /**
-   * @param {string} device
-   * @param {number} len
-   * @returns {Promise<any>}
-   */
   read_serial(device: string, len: number): Promise<any>;
-  /**
-   * @param {string} device
-   * @param {number} timeout
-   * @returns {Promise<void>}
-   */
+  disconnect_modbus(device: string): Promise<void>;
   set_modbus_timeout(device: string, timeout: number): Promise<void>;
-  /**
-   * @param {string} device
-   * @param {string} pin
-   * @param {boolean} value
-   * @returns {Promise<void>}
-   */
   write_single_coil(device: string, pin: string, value: boolean): Promise<void>;
-  /**
-   * @param {string} device
-   * @param {string} pin
-   * @param {any} values
-   * @returns {Promise<void>}
-   */
   write_multiple_coils(device: string, pin: string, values: any): Promise<void>;
-  /**
-   * @param {string} device
-   * @param {string} pin
-   * @param {number} count
-   * @returns {Promise<any>}
-   */
   read_coils(device: string, pin: string, count: number): Promise<any>;
-  /**
-   * @param {string} device
-   * @param {string} pin
-   * @param {number} count
-   * @returns {Promise<any>}
-   */
   read_discrete_inputs(device: string, pin: string, count: number): Promise<any>;
-  /**
-   * @param {string} device
-   * @param {string} pin
-   * @param {number} value
-   * @returns {Promise<void>}
-   */
   write_single_register(device: string, pin: string, value: number): Promise<void>;
-  /**
-   * @param {string} device
-   * @param {string} pin
-   * @param {any} values
-   * @returns {Promise<void>}
-   */
   write_multiple_registers(device: string, pin: string, values: any): Promise<void>;
-  /**
-   * @param {string} device
-   * @param {string} pin
-   * @param {number} count
-   * @returns {Promise<any>}
-   */
   read_holding_registers(device: string, pin: string, count: number): Promise<any>;
-  /**
-   * @param {string} device
-   * @param {string} pin
-   * @param {number} count
-   * @returns {Promise<any>}
-   */
   read_input_registers(device: string, pin: string, count: number): Promise<any>;
-  /**
-   * @param {boolean | undefined} [force]
-   * @returns {Promise<void>}
-   */
-  init_claw(force?: boolean): Promise<void>;
-  /**
-   * @param {number | undefined} [force]
-   * @param {number | undefined} [amplitude]
-   * @returns {Promise<void>}
-   */
-  set_claw(force?: number, amplitude?: number): Promise<void>;
-  /**
-   * @returns {Promise<any>}
-   */
+  init_claw(force?: boolean | null): Promise<void>;
+  set_claw(force?: number | null, amplitude?: number | null): Promise<void>;
   get_claw(): Promise<any>;
-  /**
-   * @param {string} name
-   * @param {string | undefined} [dir]
-   * @returns {Promise<any>}
-   */
-  load_led_style(name: string, dir?: string): Promise<any>;
-  /**
-   * @param {any} style
-   * @returns {Promise<void>}
-   */
+  set_flange_baud_rate(baud_rate: number): Promise<void>;
+  load_led_style(name: string, dir?: string | null): Promise<any>;
   set_led_style(style: any): Promise<void>;
-  /**
-   * @param {number} mode
-   * @param {number} speed
-   * @param {Int32Array} colors
-   * @returns {Promise<void>}
-   */
   set_led(mode: number, speed: number, colors: Int32Array): Promise<void>;
-  /**
-   * @param {number} voice
-   * @param {number} volume
-   * @returns {Promise<void>}
-   */
   set_voice(voice: number, volume: number): Promise<void>;
-  /**
-   * @param {number} mode
-   * @returns {Promise<void>}
-   */
   set_fan(mode: number): Promise<void>;
-  /**
-   * @returns {Promise<void>}
-   */
   start_sys(): Promise<void>;
-  /**
-   * @returns {Promise<void>}
-   */
   stop_sys(): Promise<void>;
-  /**
-   * @returns {Promise<void>}
-   */
   powerdown(): Promise<void>;
-  /**
-   * @returns {Promise<void>}
-   */
   reboot(): Promise<void>;
-  /**
-   * @returns {Promise<void>}
-   */
   stop(): Promise<void>;
-  /**
-   * @returns {Promise<void>}
-   */
   estop(): Promise<void>;
-  /**
-   * @returns {Promise<void>}
-   */
+  set_collision_detector_sensitivity(sensitivity: number): Promise<void>;
+  disable_collision_detector(): Promise<void>;
+  enable_collision_detector(): Promise<void>;
+  disable_joint_limits(): Promise<void>;
+  enable_joint_limits(): Promise<void>;
   find_zero(): Promise<void>;
-  /**
-   * @param {string} name
-   * @param {string | undefined} [dir]
-   * @returns {Promise<any>}
-   */
-  load_tcp(name: string, dir?: string): Promise<any>;
-  /**
-   * @param {any} pose
-   * @returns {Promise<void>}
-   */
+  load_tcp(name: string, dir?: string | null): Promise<any>;
   set_tcp(pose: any): Promise<void>;
-  /**
-   * @returns {Promise<any>}
-   */
   get_tcp(): Promise<any>;
-  /**
-   * @param {number} speed_factor
-   * @returns {Promise<void>}
-   */
   set_velocity_factor(speed_factor: number): Promise<void>;
-  /**
-   * @returns {Promise<number>}
-   */
   get_velocity_factor(): Promise<number>;
-  /**
-   * @returns {Promise<any>}
-   */
   get_estop_reason(): Promise<any>;
-  /**
-   * @returns {Promise<any>}
-   */
   get_kin_data(): Promise<any>;
-  /**
-   * @returns {Promise<any>}
-   */
   get_robot_state(): Promise<any>;
-  /**
-   * @returns {Promise<any>}
-   */
   get_phy_data(): Promise<any>;
-  /**
-   * @param {string} name
-   * @param {string | undefined} [dir]
-   * @returns {Promise<any>}
-   */
-  load_payload(name: string, dir?: string): Promise<any>;
-  /**
-   * @param {number | undefined} [mass]
-   * @param {any | undefined} [cog]
-   * @returns {Promise<void>}
-   */
-  set_payload(mass?: number, cog?: any): Promise<void>;
-  /**
-   * @returns {Promise<any>}
-   */
+  load_payload(name: string, dir?: string | null): Promise<any>;
+  set_payload(mass?: number | null, cog?: any | null): Promise<void>;
   get_payload(): Promise<any>;
-  /**
-   * @param {any} pose
-   * @returns {Promise<void>}
-   */
   set_gravity(pose: any): Promise<void>;
-  /**
-   * @returns {Promise<any>}
-   */
   get_gravity(): Promise<any>;
+  can_move(robot_state: any): Promise<boolean>;
+  in_pose(p: any): Promise<boolean>;
 }
 export class RobotSubscription {
+  private constructor();
   free(): void;
-  /**
-   * @returns {Promise<string | undefined>}
-   */
   next(): Promise<string | undefined>;
 }