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1. Omnicore系统的示教器插件开发不需要选项，且在发布了AppMaker之后，大大简化了一般用户的开发难度，具体见：OmnicoreAPP开发助手发布
2. Omnicore App SDK 本质是基于webService2.0接口编写了相关的js函数，具体见：https://developercenter.robotstudio.com/omnicore-sdk
和 https://developercenter.robotstudio.com/api/RWS
3. Omnicore App SDK中对于写入数据，提供了setValue和setRawValue函数。但以上函数只能修改数据的当前值（即pers的值和var的当前值）。如果用户希望对常量型const 的点位通过自定义插件 示教修改坐标，可以基于webService，在AppMaker生成的code.js中编写以下代码：
// 修改数据的初值，包括const，per，var的初值asyncfunctionmodifyConst(task, module, name, value) {await RWS.Mastership.request();const url = '/rw/rapid/symbol/RAPID/' + task + '/' + module + '/' + name + '/data';// initval = true, 设置初值，包括const类型 // 在URL参数中加入 initval = trueconst queryParams = {initval: 'true', };const bodyParams = {value: value };
// 构建URL，包括查询参数 const queryString = new URLSearchParams(queryParams).toString();const fullUrl = `${url}?${queryString}`;
// 构建请求的body，包括表单数据 const formData = new URLSearchParams(bodyParams);
try {const response = await fetch(fullUrl, {method: 'POST',headers: {'Accept': 'application/hal+json;v=2.0','Content-Type': 'application/x-www-form-urlencoded;v=2.0' },body: formData.toString() });
// 检查响应是否成功 if (!response.ok) {thrownewError(`HTTP error! status: ${response.status}`); } } catch (error) {// 处理请求过程中的错误 console.error('写入错误:', error);throw error; // 重新抛出错误以便在调用者中处理 }await RWS.Mastership.release();}
// getPosition 函数，获取当前机器人位姿asyncfunctiongetPosition() {const url = '/rw/motionsystem/mechunits/ROB_1/robtarget';const username = 'Default User';const password = 'robotics';const auth = `Basic ${btoa(username + ':' + password)}`; // Basic 认证头
try {const response = await fetch(url, {method: 'GET',headers: {'Authorization': auth,'Accept': 'application/hal+json;v=2.0' } });
// 检查响应是否成功 if (!response.ok) {thrownewError(`HTTP error! status: ${response.status}`); }
// 解析 JSON 数据 const dat1 = await response.json();var d = dat1.state[0];var robTarget = "[[" + d.x + "," + d.y + "," + d.z + "],[" + d.q1 + "," + d.q2 + "," + d.q3 + "," + d.q4 + "],[" + d.cf1 + "," + d.cf4 + "," + d.cf6 + "," + d.cfx + "],[" + d.eax_a + "," + d.eax_b + "," + d.eax_c + "," + d.eax_d + "," + d.eax_e + "," + d.eax_f + "]]";
return robTarget; // 返回解析后的数据 } catch (error) {// 处理请求过程中的错误 console.error('Error in getPosition:', error);throw error; // 重新抛出错误以便在调用者中处理 }}
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