HIKROBOT_SDK_text1——机器人控制权

1.切换示教员，然后在示教器释放掉控制权

2.连接机器人代码

#include <memory>
#include <Windows.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#include "MP_Public_API.h"

int main()
{
    int64_t llRet = MP_SUCCESS;

    // Create Handle
    void * pHandle = MP_CreateHandle();
    if (nullptr == pHandle)
    {
        printf("Create Handle fail!\n");
    }
    else
    {
        printf("Create Handle Success!\n");
        do
        {
            // Connect Controller Wth IP Address
            char szConnectInfo[BUFFER_LEN_32] = { "127.0.0.1:9000" };
            //请查看通讯管理中的IP，并改为Socket通讯
            llRet = MP_ConnectCtrlWithIP(pHandle, szConnectInfo);
            if (MP_SUCCESS != llRet)
            {
                printf("Connect Ctrl With IP fail! llRet [0x%x]\n", llRet);
                MP_DestroyHandle(pHandle);
                break;
            }
            printf("Connect Controller With IP Success!\n");

            Sleep(500);

            // Request Control Access
            llRet = MP_RequestControlAccess(pHandle);
            if (MP_SUCCESS != llRet)
            {
                printf("Request Control Access fail! llRet [0x%x]\n", llRet);
                MP_DestroyHandle(pHandle);
                break;
            }
            printf("Request Control Access Success!\n");

            // Disconnect Controller
            llRet = MP_DisConnectCTRL(pHandle);
            if (MP_SUCCESS != llRet)
            {
                printf("Disconnect Ctrl With IP fail! llRet [0x%x]\n", llRet);
                MP_DestroyHandle(pHandle);
                break;
            }
            printf("Disconnect Ctrl With IP Success!\n");

            // Destroy Handle
            llRet = MP_DestroyHandle(pHandle);
            if (MP_SUCCESS != llRet)
            {
                printf("Destroy Handle fail! llRet [0x%x]\n", llRet);
                break;
            }
            printf("Destroy Handle  Success!\n");

        } while (false);

    }
    system("pause");

    return 0;
}

3.各部分讲解

int64_t llRet = MP_SUCCESS;//用于各部分的标志位执行判断
void* pHandle = MP_CreateHandle();//创建连接句柄
char szConnectInfo[BUFFER_LEN_32] = { "192.168.3.64:9000" };

llRet = MP_ConnectCtrlWithIP(pHandle, szConnectInfo);//连接机器人
llRet = MP_RequestControlAccess(pHandle);//请求机器人控制权
llRet = MP_DisConnectCTRL(pHandle);//断开机器人控制器
llRet = MP_DestroyHandle(pHandle);//销毁机器人句柄
llRet = MP_ReleaseControlAccess(pHandle);//释放机器人控制权