xcore_api Module Introduction

Modules currently included in xcore_api:

Module	Introduction
const_data	Mainly contains commonly used data structures, such as pose, workpiece tool information, and ecat pdo information, etc.
endtool	End tool interface
ethercat	Mainly used for ethercat slave communication
fieldbus	Bus module, such as modbus, etc.
hooks	Used for Controller to trigger callbacks registered by each Plugin at specific events.
io	Used to get signal register status.
launch	Plugin entry module.
motion_cmd	Motion module related interfaces, can implement custom motion.
registers	Register function codes
rl_cmd	Command module interfaces, can implement custom commands.
rl_task	Get current RL program running status.
sdk	SDK custom commands
service	Used for Client Plugin and Controller Plugin communication, can implement custom protocols.
states	Robot status acquisition.
userlog	Report log codes
utils	Encapsulated common module functions, including file read/write, thread pool, singleton, etc.