Merge branch 'main' into osx_support

Author: SupermanOfHeiLinPu

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.16)
 
-project(elite-cs-series-sdk VERSION 1.2.0)
+project(elite-cs-series-sdk VERSION 1.3.0)
 
 option(ELITE_COMPILE_TESTS "Compile tests" OFF)
 option(ELITE_COMPILE_DOC "Compile documentation" OFF)
@@ -22,7 +22,7 @@ else()
     message(FATAL_ERROR  "C++ standard must C++14 or higher")
 endif()
 
-# --- MODIFIED: 使用现代化的 CONFIG 模式查找 Boost，并移除了写死的版本号 ---
+
 find_package(Boost REQUIRED CONFIG COMPONENTS system thread)
 find_package(libssh)
 if(libssh_FOUND)
@@ -38,7 +38,7 @@ configure_file(
 # Source file list
 set(
     ELITE_LIB_SOURCE_FILE
-    source/Common/Utils.cpp
+    source/Common/StringUtils.cpp
     source/Common/TcpServer.cpp
     source/Common/EliteException.cpp
     source/Common/SshUtils.cpp
@@ -78,17 +78,31 @@ set(
 
 set(
     ELITE_HEADER_FILES
-    Elite/DataType.hpp Elite/VersionInfo.hpp Dashboard/DashboardClient.hpp
-    Rtsi/RtsiClientInterface.hpp Rtsi/RtsiIOInterface.hpp Rtsi/RtsiRecipe.hpp
-    Primary/PrimaryPackage.hpp Primary/RobotConfPackage.hpp Primary/PrimaryPortInterface.hpp
-    EliteException.hpp Elite/EliteDriver.hpp Elite/Log.hpp Elite/RemoteUpgrade.hpp
-    Elite/ControllerLog.hpp Elite/RobotException.hpp Common/RtUtils.hpp
+    Elite/DataType.hpp
+    Elite/VersionInfo.hpp
+    Dashboard/DashboardClient.hpp
+    Rtsi/RtsiClientInterface.hpp
+    Rtsi/RtsiIOInterface.hpp
+    Rtsi/RtsiRecipe.hpp
+    Primary/PrimaryPackage.hpp
+    Primary/RobotConfPackage.hpp
+    Primary/PrimaryPortInterface.hpp
+    EliteException.hpp
+    Elite/EliteDriver.hpp
+    Elite/Log.hpp
+    Elite/RemoteUpgrade.hpp
+    Elite/ControllerLog.hpp
+    Elite/RobotException.hpp
+    Common/RtUtils.hpp
+    Common/SshUtils.hpp
+    Common/Utils.hpp
+    Common/EndianUtils.hpp
+    Common/StringUtils.hpp
 )
 
 set(SDK_STATIC_LIB_OUTPUT_NAME "${PROJECT_NAME}")
 set(SDK_SHARED_LIB_OUTPUT_NAME "${PROJECT_NAME}")
 
-# --- MODIFIED: 增加对 macOS (APPLE) 的支持 ---
 if(CMAKE_SYSTEM_NAME STREQUAL "Windows")
     message(STATUS "SYSTEM: Windows")
     add_definitions(-D_WIN32_WINNT=0x0601)
@@ -108,7 +122,6 @@ endif()
 add_library(${PROJECT_NAME}_SHARED SHARED ${ELITE_LIB_SOURCE_FILE})
 add_library(${PROJECT_NAME}_STATIC STATIC ${ELITE_LIB_SOURCE_FILE})
 
-# --- MODIFIED: 使用现代化的方式为目标添加 ELITE_EXPORT_LIBRARY 编译定义 ---
 if(CMAKE_SYSTEM_NAME STREQUAL "Windows")
     target_compile_definitions(${PROJECT_NAME}_SHARED PRIVATE ELITE_EXPORT_LIBRARY)
     target_compile_definitions(${PROJECT_NAME}_STATIC PRIVATE ELITE_EXPORT_LIBRARY)
@@ -151,7 +164,6 @@ endif()
 string(COMPARE EQUAL "${CMAKE_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}" is_top_level)
 option(ELITE_INSTALL "Include packaging rules" "${is_top_level}")
 
-# --- MODIFIED: 增加对 macOS (APPLE) 的支持 ---
 if((CMAKE_SYSTEM_NAME STREQUAL "Linux" OR APPLE) AND ELITE_INSTALL)
     include(GNUInstallDirs)
     install(TARGETS ${PROJECT_NAME}_SHARED ${PROJECT_NAME}_STATIC EXPORT ${PROJECT_NAME}Targets LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})

Changelog.cn.md

@@ -8,10 +8,12 @@
   - 新增字符串列表构造函数。
   - 新增判断是否连接的接口:`isConnected()`。
   - 新增判断是否开始数据同步的接口`isStarted()`。
+  - 新增接口 `getActualTCPPose()`、`getActualTCPVelocity()`、`getActualTCPForce()`（修正原拼写错误）。
 - `DashboardClient`
   - 新增获取机器人类型接口：`robotType()`
   - 新增获取机器人序列号接口：`robotSerialNumber()`
   - 新增获取机器人ID接口：`robotID()`
+- 默认的日志句柄增加时间戳信息。
 
 ### Changed
 - 调整 `external_control.script` 中 “trajectory_socket” 的“timeout”值。
@@ -24,9 +26,14 @@
 - 修复收到30001不完整的报文后，出现的内存问题。
 - 修复`TcpServer`中静态资源析构顺序提前的问题。
 - 修复`EliteDriver::registerRobotExceptionCallback()`接口没有实现的问题。
+- 修复析构时会崩溃的问题。
 
 ### Deprecated
 - 弃用 `DashboardClient::robot()` 未来版本将移除，请改用 `DashboardClient::robotType()`
+- 由于拼写错误，以下接口已弃用，将在未来版本移除，请使用对应的新接口：
+  - `RtsiIOInterface::getAcutalTCPPose()` -> `RtsiIOInterface::getActualTCPPose()`
+  - `RtsiIOInterface::getAcutalTCPVelocity()` -> `RtsiIOInterface::getActualTCPVelocity()`
+  - `RtsiIOInterface::getAcutalTCPForce()` -> `RtsiIOInterface::getActualTCPForce()`
 
 ## [v1.2.0] - 2025-08-14
 

Changelog.md

@@ -8,10 +8,12 @@
   - Adds a string list constructor.
   - Add an interface to determine if connected: `isConnected()`.
   - Add an interface to determine if data synchronization has started: `isStarted()`.
+  - Added interfaces `getActualTCPPose()`, `getActualTCPVelocity()`, and `getActualTCPForce()` (corrected previous spelling errors).
 - `DashboardClient`
   - Added interface to get robot type: `robotType()`
   - Added interface to get robot serial number: `robotSerialNumber()`
   - Added interface to get robot ID: `robotID()`
+- Add timestamp information to the default log handler.
 
 ### Changed
 - Adjust the "timeout" value of "trajectory_socket" in `external_control.script`.
@@ -23,10 +25,15 @@
 - Fix the issue where the error level was incorrect when parsing the 30001 robot error exception message.
 - Fix the memory issue that occurs after receiving incomplete messages from 30001.
 - Fix the issue where static resources in `TcpServer` are destructed prematurely.
-- - Fixed the issue where the `EliteDriver::registerRobotExceptionCallback()` interface was not implemented.
+- Fixed the issue where the `EliteDriver::registerRobotExceptionCallback()` interface was not implemented.
+- Fix the crash issue during destruction.
 
 ### Deprecated
 - Deprecated `DashboardClient::robot()` it will be removed in future versions. Please use `DashboardClient::robotType()` instead.
+- Due to spelling errors, the following interfaces have been deprecated and will be removed in future versions. Please use the corresponding new interfaces:
+  - `RtsiIOInterface::getAcutalTCPPose()` -> `RtsiIOInterface::getActualTCPPose()`
+  - `RtsiIOInterface::getAcutalTCPVelocity()` -> `RtsiIOInterface::getActualTCPVelocity()`
+  - `RtsiIOInterface::getAcutalTCPForce()` -> `RtsiIOInterface::getActualTCPForce()`
 
 ## [v1.2.0] - 2025-08-14
 

doc/API/cn/RTSI.cn.md

@@ -557,7 +557,7 @@ vector6d_t getActualJointTemperatures()
 
 ### 获取实际TCP位姿
 ```cpp
-vector6d_t getAcutalTCPPose()
+vector6d_t getActualTCPPose()
 ```
 - ***功能***
 
@@ -569,7 +569,7 @@ vector6d_t getAcutalTCPPose()
 
 ### 获取实际TCP速度
 ```cpp
-vector6d_t getAcutalTCPVelocity()
+vector6d_t getActualTCPVelocity()
 ```
 - ***功能***
 
@@ -581,7 +581,7 @@ vector6d_t getAcutalTCPVelocity()
 
 ### 获取实际TCP力
 ```cpp
-vector6d_t getAcutalTCPForce()
+vector6d_t getActualTCPForce()
 ```
 - ***功能***
 

doc/API/en/RTSI.en.md

@@ -457,7 +457,7 @@ Gets the actual joint temperatures.
 
 ### Get the Actual TCP Pose
 ```cpp
-vector6d_t getAcutalTCPPose()
+vector6d_t getActualTCPPose()
 ```
 - ***Function***
 Gets the actual Cartesian coordinates of the tool.
@@ -467,7 +467,7 @@ Gets the actual Cartesian coordinates of the tool.
 
 ### Get the Actual TCP Velocity
 ```cpp
-vector6d_t getAcutalTCPVelocity()
+vector6d_t getActualTCPVelocity()
 ```
 - ***Function***
 Gets the actual Cartesian velocity of the tool.
@@ -477,7 +477,7 @@ Gets the actual Cartesian velocity of the tool.
 
 ### Get the Actual TCP Force
 ```cpp
-vector6d_t getAcutalTCPForce()
+vector6d_t getActualTCPForce()
 ```
 - ***Function***
 Gets the generalized force of the TCP (subtracting the force data caused by the payload).

doc/UserGuide/cn/Get-Robot-State.cn.md

@@ -8,7 +8,36 @@
 ## 背景说明
 RTSI 是 Elite CS 系列机器人的一种通讯接口，最高可以250HZ的频率读取、写入机器人IO。SDK中提供了两种接口，第一种接口是RTSI的基础接口（RtsiClientInterface），可以操控RTSI通讯的每一个步骤。第二种接口将机器人的各种数据（RtsiIOInterface），例如关节角等，封装成了函数，可以直接调用。  
 
-RTSI 协议的具体说明可到官网下载RTSI说明文档。
+RTSI 协议的具体说明可到官网下载RTSI说明文档，下图简单展示了RTSI协议的流程。
+
+```
+               +------+
+               | 连接 |
+               +------+
+                  |
+                  |
+                  v
+            +-------------+
+            | 验证协议版本 |
+            +-------------+
+                   |
+         +---------+------------+
+         |                      |
+         |                      |
++-------------------+       +------------------+       
+| 配置输入、输出订阅 |       | 获取控制器版本信息|
++-------------------+       +------------------+
+        |
+        |
++-------------+ 
+| 发送启动信号 |
++-------------+ 
+       |
+       |
++-------------+ 
+| 开始数据同步 |
++-------------+ 
+```
 
 ## 任务
 

doc/UserGuide/cn/Let-Robot-Move.cn.md

@@ -73,7 +73,7 @@ class TrajectoryControl {
         ELITE_LOG_INFO("Start releasing brake...");
         if (!dashboard_->brakeRelease()) {
             ELITE_LOG_FATAL("Brake release failed");
-            return 1;
+            return false;
         }
         ELITE_LOG_INFO("Brake released");
 
@@ -109,10 +109,8 @@ class TrajectoryControl {
             return false;
         }
 
-        for (const auto& points : target_points) {
-            ELITE_LOG_INFO("Moving joints to target: [%lf, %lf, %lf, %lf, %lf, %lf]", points[0], points[1], points[2], points[3], points[4], points[5]);
-
-            if (!driver_->writeTrajectoryPoint(points, point_time, blend_radius, is_cartesian)) {
+        for (const auto& joints : target_points) {
+            if (!driver_->writeTrajectoryPoint(joints, point_time, blend_radius, is_cartesian)) {
                 ELITE_LOG_ERROR("Failed to write trajectory point");
                 return false;
             }
@@ -134,20 +132,11 @@ class TrajectoryControl {
         auto result = move_done_future.get();
         ELITE_LOG_INFO("Trajectory motion completed with result: %d", result);
 
-        std::promise<TrajectoryMotionResult> cancel_done_promise;
-        driver_->setTrajectoryResultCallback([&](TrajectoryMotionResult result) { cancel_done_promise.set_value(result); });
-
         if(!driver_->writeIdle(0)) {
             ELITE_LOG_ERROR("Failed to write idle command");
             return false;
         }
 
-        auto cancel_done_future = cancel_done_promise.get_future();
-        if (cancel_done_future.wait_for(std::chrono::seconds(10)) != std::future_status::ready) {
-            ELITE_LOG_ERROR("Failed to wait for cancel done");
-            return false;
-        }
-
         return result == TrajectoryMotionResult::SUCCESS;
     }
 
@@ -460,7 +449,7 @@ int main(int argc, const char** argv) {
     ELITE_LOG_INFO("Joints moved to target");
 
 
-    vector6d_t actual_pose = rtsi_client->getAcutalTCPPose();
+    vector6d_t actual_pose = rtsi_client->getActualTCPPose();
     std::vector<vector6d_t> trajectory;
 
     actual_pose[2] -= 0.2;
@@ -618,7 +607,7 @@ cp /your/path/external_control.script ./
 
 3. 获取当前TCP位姿，规划一个三角形轨迹，并运行
     ```cpp
-    vector6d_t actual_pose = rtsi_client->getAcutalTCPPose();
+    vector6d_t actual_pose = rtsi_client->getActualTCPPose();
     std::vector<vector6d_t> trajectory;
 
     actual_pose[2] -= 0.2;

doc/UserGuide/cn/Servoj-Move.cn.md

@@ -113,28 +113,28 @@ int main(int argc, char** argv) {
 
     bool positive_rotation = false;
     bool negative_rotation = false;
-    vector6d_t acutal_joint;
+    vector6d_t actual_joint;
     vector6d_t target_joint;
     double increment = 0;
     bool first_point = true;
     auto next = steady_clock::now();
     while (!(positive_rotation && negative_rotation)) {
-        acutal_joint = s_rtsi_client->getActualJointPositions();
+        actual_joint = s_rtsi_client->getActualJointPositions();
         // If first point init target_joint
         if (first_point) {
-            target_joint = acutal_joint;
+            target_joint = actual_joint;
             first_point = false;
         }
 
         // Set the increment of positive rotation and negative rotation
         if (positive_rotation == false) {
             increment = 0.0005;
-            if (acutal_joint[5] >= 3) {
+            if (actual_joint[5] >= 3) {
                 positive_rotation = true;
             }
         } else if (negative_rotation == false) {
             increment = -0.0005;
-            if (acutal_joint[5] <= -3) {
+            if (actual_joint[5] <= -3) {
                 negative_rotation = true;
             }
         }
@@ -228,31 +228,31 @@ while (!s_driver->isRobotConnected()) {
 ```cpp
 bool positive_rotation = false;
 bool negative_rotation = false;
-vector6d_t acutal_joint;
+vector6d_t actual_joint;
 vector6d_t target_joint;
 double increment = 0;
 bool first_point = true;
 auto next = steady_clock::now();
 
 while (!(positive_rotation && negative_rotation)) {
-    acutal_joint = s_rtsi_client->getActualJointPositions();
+    actual_joint = s_rtsi_client->getActualJointPositions();
 
     if (first_point) {
-        target_joint = acutal_joint; // 初始化目标位置
+        target_joint = actual_joint; // 初始化目标位置
         first_point = false;
     }
 
     // 正向旋转到关节 6 >= 3 rad
     if (!positive_rotation) {
         increment = 0.0005;
-        if (acutal_joint[5] >= 3) {
+        if (actual_joint[5] >= 3) {
             positive_rotation = true;
         }
     }
     // 反向旋转到关节 6 <= -3 rad
     else if (!negative_rotation) {
         increment = -0.0005;
-        if (acutal_joint[5] <= -3) {
+        if (actual_joint[5] <= -3) {
             negative_rotation = true;
         }
     }

doc/UserGuide/en/Get-Robot-State.en.md

@@ -8,7 +8,36 @@ Call the relevant interfaces of the SDK to obtain the robot's joint angles and s
 ## Background
 RTSI is a communication interface for Elite CS series robots, which can read and write robot I/O at a maximum frequency of 250Hz. The SDK provides two types of interfaces. The first is the basic RTSI interface (RtsiClientInterface), which can control every step of RTSI communication. The second interface encapsulates various robot data (RtsiIOInterface), such as joint angles, into functions that can be called directly.  
 
-The specific description of the RTSI protocol can be found in the RTSI documentation downloaded from the official website.
+The specific description of the RTSI protocol can be found in the RTSI documentation downloaded from the official website. The following diagram briefly illustrates the workflow of the RTSI protocol.
+
+```
+               +------+
+               | 连接 |
+               +------+
+                  |
+                  |
+                  v
+            +-------------+
+            | 验证协议版本 |
+            +-------------+
+                   |
+         +---------+------------+
+         |                      |
+         |                      |
++-------------------+       +------------------+       
+| 配置输入、输出订阅 |       | 获取控制器版本信息|
++-------------------+       +------------------+
+        |
+        |
++-------------+ 
+| 发送启动信号 |
++-------------+ 
+       |
+       |
++-------------+ 
+| 开始数据同步 |
++-------------+ 
+```
 
 ## Tasks