nrc_c_interface.h

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#ifndef INCLUDE_C_INTERFACE_NRC_C_INTERFACE_H_
#define INCLUDE_C_INTERFACE_NRC_C_INTERFACE_H_
 
#include "c/parameter/nrc_define.h"
#include "c/parameter/nrc_interface_parameter.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
EXPORT_API SOCKETFD connect_robot_c(const char* ip, const char* port);
 
EXPORT_API int clear_error_c(SOCKETFD socketFd);
EXPORT_API int clear_error_robot_c(SOCKETFD socketFd, int robotNum);
 
EXPORT_API int set_servo_state_c(SOCKETFD socketFd, int state);
EXPORT_API int set_servo_state_robot_c(SOCKETFD socketFd, int robotNum, int state);
 
EXPORT_API int get_servo_state_c(SOCKETFD socketFd, int& status);
EXPORT_API int get_servo_state_robot_c(SOCKETFD socketFd, int robotNum, int& status);
 
EXPORT_API int set_servo_poweron_c(SOCKETFD socketFd);
EXPORT_API int set_servo_poweron_robot_c(SOCKETFD socketFd, int robotNum);
 
EXPORT_API int set_servo_poweroff_c(SOCKETFD socketFd);
EXPORT_API int set_servo_poweroff_robot_c(SOCKETFD socketFd, int robotNum);
 
EXPORT_API int get_current_position_c(SOCKETFD socketFd, int coord, double* pos);
EXPORT_API int get_current_position_robot_c(SOCKETFD socketFd, int robotNum, int coord, double* pos);
 
EXPORT_API int get_joint_position_c(SOCKETFD socketFd, int axisNum, double* pos);
EXPORT_API int get_joint_position_robot_c(SOCKETFD socketFd, int robotNum, int axisNum, double* pos);
 
EXPORT_API int get_current_extra_position_c(SOCKETFD socketFd, double* pos);
EXPORT_API int get_current_extra_position_robot_c(SOCKETFD socketFd, int robotNum, double* pos);
 
EXPORT_API int set_speed_c(SOCKETFD socketFd, int speed);
EXPORT_API int set_speed_robot_c(SOCKETFD socketFd, int robotNum, int speed);
 
EXPORT_API int get_speed_c(SOCKETFD socketFd, int& speed);
EXPORT_API int get_speed_robot_c(SOCKETFD socketFd, int robotNum, int& speed);
 
EXPORT_API int set_current_coord_c(SOCKETFD socketFd, int coord);
EXPORT_API int set_current_coord_robot_c(SOCKETFD socketFd, int robotNum, int coord);
 
EXPORT_API int get_current_coord_c(SOCKETFD socketFd, int& coord);
EXPORT_API int get_current_coord_robot_c(SOCKETFD socketFd, int robotNum, int& coord);
 
EXPORT_API int set_current_mode_c(SOCKETFD socketFd, int mode);
EXPORT_API int set_current_mode_robot_c(SOCKETFD socketFd, int robotNum, int mode);
 
EXPORT_API int get_current_mode_c(SOCKETFD socketFd, int& mode);
EXPORT_API int get_current_mode_robot_c(SOCKETFD socketFd, int robotNum, int& mode);
 
EXPORT_API int get_robot_running_state_c(SOCKETFD socketFd, int& status);
 
EXPORT_API int get_origin_coord_to_target_coord_c(SOCKETFD socketFd, int originCoord, double* originPos, int targetCoord, double* targetPos);
 
EXPORT_API int get_robot_dh_param_c(SOCKETFD socketFd, CRobotDHParam& param);
 
EXPORT_API int get_robot_joint_param_c(SOCKETFD socketFd, int id, CRobotJointParam& param);
 
EXPORT_API int robot_movej_c(SOCKETFD socketFd, int coord, double vel, double acc, double dec, double* targetPos);
 
EXPORT_API int robot_movel_c(SOCKETFD socketFd, int coord, double vel, double acc, double dec, double* targetPos);
 
#ifdef __cplusplus
}
#endif
#endif /* INTERFACE_C_API_NRC_C_INTERFACE_H_ */