nrc_c_queue_operate.h File Reference

#include "c/parameter/nrc_define.h"

Go to the source code of this file.

Functions
EXPORT_API int	queue_motion_set_status_c (SOCKETFD socketFd, bool status)
	打开or关闭控制器的队列运动模式
EXPORT_API int	queue_motion_set_status_robot_c (SOCKETFD socketFd, int robotNum, bool status)
EXPORT_API int	queue_motion_send_to_controller_c (SOCKETFD socketFd, int size)
	将本地队列的前size个数据发送到控制器
EXPORT_API int	queue_motion_send_to_controller_robot_c (SOCKETFD socketFd, int robotNum, int size)
EXPORT_API int	queue_motion_suspend_c (SOCKETFD socketFd)
	暂停连续运动
EXPORT_API int	queue_motion_suspend_robot_c (SOCKETFD socketFd, int robotNum)
EXPORT_API int	queue_motion_restart_c (SOCKETFD socketFd)
	暂停后再次运行运动队列
EXPORT_API int	queue_motion_restart_robot_c (SOCKETFD socketFd, int robotNum)
EXPORT_API int	queue_motion_stop_not_power_off_c (SOCKETFD socketFd)
	停止连续运动保持上电状态
EXPORT_API int	queue_motion_stop_not_power_off_robot_c (SOCKETFD socketFd, int robotNum)
EXPORT_API int	queue_motion_push_back_moveJ_c (SOCKETFD socketFd, int coord, double vel, double acc, double dec, int pl, double *targetPos)
	队列运动模式的本地队列最后插入一条moveJ运动
EXPORT_API int	queue_motion_push_back_moveJ_robot_c (SOCKETFD socketFd, int robotNum, int coord, double vel, double acc, double dec, int pl, double *targetPos)
EXPORT_API int	queue_motion_push_back_moveL_c (SOCKETFD socketFd, int coord, double vel, double acc, double dec, int pl, double *targetPos)
	队列运动模式的本地队列最后插入一条moveL运动
EXPORT_API int	queue_motion_push_back_moveL_robot_c (SOCKETFD socketFd, int robotNum, int coord, double vel, double acc, double dec, int pl, double *targetPos)
EXPORT_API int	queue_motion_push_back_moveC_c (SOCKETFD socketFd, int coord, double vel, double acc, double dec, int pl, double *targetPos)
	队列运动模式的本地队列最后插入一条moveC运动
EXPORT_API int	queue_motion_push_back_moveC_robot_c (SOCKETFD socketFd, int robotNum, int coord, double vel, double acc, double dec, int pl, double *targetPos)
EXPORT_API int	queue_motion_push_back_moveCA_c (SOCKETFD socketFd, int coord, double vel, double acc, double dec, int pl, double *targetPos)
	队列运动模式的本地队列最后插入一条moveCA运动
EXPORT_API int	queue_motion_push_back_moveCA_robot_c (SOCKETFD socketFd, int robotNum, int coord, double vel, double acc, double dec, int pl, double *targetPos)
EXPORT_API int	queue_motion_push_back_moveS_c (SOCKETFD socketFd, int coord, double vel, double acc, double dec, int pl, double *targetPos)
	队列运动模式的本地队列最后插入一条moveS运动
EXPORT_API int	queue_motion_push_back_moveS_robot_c (SOCKETFD socketFd, int robotNum, int coord, double vel, double acc, double dec, int pl, double *targetPos)
EXPORT_API int	queue_motion_push_back_moveJ_extra_c (SOCKETFD socketFd, int coord, double vel, double acc, double dec, int pl, double *targetPos)
	队列运动模式的本地队列最后插入一条moveJExtra外部轴关节运动
EXPORT_API int	queue_motion_push_back_moveJ_extra_robot_c (SOCKETFD socketFd, int robotNum, int coord, double vel, double acc, double dec, int pl, double *targetPos)
EXPORT_API int	queue_motion_push_back_moveL_extra_c (SOCKETFD socketFd, int coord, double vel, double acc, double dec, int pl, double *targetPos)
	队列运动模式的本地队列最后插入一条moveLExtra外部轴关节运动
EXPORT_API int	queue_motion_push_back_moveL_extra_robot_c (SOCKETFD socketFd, int robotNum, int coord, double vel, double acc, double dec, int pl, double *targetPos)
EXPORT_API int	queue_motion_push_back_timer_c (SOCKETFD socketFd, double time)
	队列运动模式的本地队列最后插入一条Timer指令
EXPORT_API int	queue_motion_push_back_timer_robot_c (SOCKETFD socketFd, int robotNum, double time)
EXPORT_API int	queue_motion_push_back_dout_c (SOCKETFD socketFd, int port, bool value)
	队列运动模式的本地队列最后插入一条DOUT指令
EXPORT_API int	queue_motion_push_back_dout_robot_c (SOCKETFD socketFd, int robotNum, int port, bool value)

Function Documentation

queue_motion_push_back_dout_c()

EXPORT_API int queue_motion_push_back_dout_c	(	SOCKETFD	socketFd,
		int	port,
		bool	value )

队列运动模式的本地队列最后插入一条DOUT指令

Parameters

port	端口
value

queue_motion_push_back_dout_robot_c()

EXPORT_API int queue_motion_push_back_dout_robot_c	(	SOCKETFD	socketFd,
		int	robotNum,
		int	port,
		bool	value )

queue_motion_push_back_moveC_c()

EXPORT_API int queue_motion_push_back_moveC_c	(	SOCKETFD	socketFd,
		int	coord,
		double	vel,
		double	acc,
		double	dec,
		int	pl,
		double *	targetPos )

队列运动模式的本地队列最后插入一条moveC运动

Parameters

targetPos	目标点坐标 长度7位
velocity	参数范围(1,1000] mm/s
acc，dec	参数范围(1,100]
pl	多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_moveC_robot_c()

EXPORT_API int queue_motion_push_back_moveC_robot_c	(	SOCKETFD	socketFd,
		int	robotNum,
		int	coord,
		double	vel,
		double	acc,
		double	dec,
		int	pl,
		double *	targetPos )

queue_motion_push_back_moveCA_c()

EXPORT_API int queue_motion_push_back_moveCA_c	(	SOCKETFD	socketFd,
		int	coord,
		double	vel,
		double	acc,
		double	dec,
		int	pl,
		double *	targetPos )

队列运动模式的本地队列最后插入一条moveCA运动

Parameters

targetPos	目标点坐标 长度7位
velocity	参数范围(1,1000] mm/s
acc，dec	参数范围(1,100]
pl	多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_moveCA_robot_c()

EXPORT_API int queue_motion_push_back_moveCA_robot_c	(	SOCKETFD	socketFd,
		int	robotNum,
		int	coord,
		double	vel,
		double	acc,
		double	dec,
		int	pl,
		double *	targetPos )

queue_motion_push_back_moveJ_c()

EXPORT_API int queue_motion_push_back_moveJ_c	(	SOCKETFD	socketFd,
		int	coord,
		double	vel,
		double	acc,
		double	dec,
		int	pl,
		double *	targetPos )

队列运动模式的本地队列最后插入一条moveJ运动

Parameters

moveCmd

targetPos 目标点坐标 长度7位 velocity 参数范围(1,100] 度/s acc，dec 参数范围(1,100] pl 多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_moveJ_extra_c()

EXPORT_API int queue_motion_push_back_moveJ_extra_c	(	SOCKETFD	socketFd,
		int	coord,
		double	vel,
		double	acc,
		double	dec,
		int	pl,
		double *	targetPos )

队列运动模式的本地队列最后插入一条moveJExtra外部轴关节运动

Parameters

targetPos	目标点坐标 长度7+7 本体7位 外部轴7位
velocity	参数范围(1,100] 度/s
acc，dec	参数范围(1,100]
pl	多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_moveJ_extra_robot_c()

EXPORT_API int queue_motion_push_back_moveJ_extra_robot_c	(	SOCKETFD	socketFd,
		int	robotNum,
		int	coord,
		double	vel,
		double	acc,
		double	dec,
		int	pl,
		double *	targetPos )

queue_motion_push_back_moveJ_robot_c()

EXPORT_API int queue_motion_push_back_moveJ_robot_c	(	SOCKETFD	socketFd,
		int	robotNum,
		int	coord,
		double	vel,
		double	acc,
		double	dec,
		int	pl,
		double *	targetPos )

queue_motion_push_back_moveL_c()

EXPORT_API int queue_motion_push_back_moveL_c	(	SOCKETFD	socketFd,
		int	coord,
		double	vel,
		double	acc,
		double	dec,
		int	pl,
		double *	targetPos )

队列运动模式的本地队列最后插入一条moveL运动

Parameters

targetPos	目标点坐标 长度7位
velocity	参数范围(1,1000] mm/s
acc，dec	参数范围(1,100]
pl	多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_moveL_extra_c()

EXPORT_API int queue_motion_push_back_moveL_extra_c	(	SOCKETFD	socketFd,
		int	coord,
		double	vel,
		double	acc,
		double	dec,
		int	pl,
		double *	targetPos )

队列运动模式的本地队列最后插入一条moveLExtra外部轴关节运动

Parameters

targetPos	目标点坐标 长度7+7 本体7位 外部轴7位
velocity	参数范围(1,1000] mm/s
acc，dec	参数范围(1,100]
pl	多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_moveL_extra_robot_c()

EXPORT_API int queue_motion_push_back_moveL_extra_robot_c	(	SOCKETFD	socketFd,
		int	robotNum,
		int	coord,
		double	vel,
		double	acc,
		double	dec,
		int	pl,
		double *	targetPos )

queue_motion_push_back_moveL_robot_c()

EXPORT_API int queue_motion_push_back_moveL_robot_c	(	SOCKETFD	socketFd,
		int	robotNum,
		int	coord,
		double	vel,
		double	acc,
		double	dec,
		int	pl,
		double *	targetPos )

queue_motion_push_back_moveS_c()

EXPORT_API int queue_motion_push_back_moveS_c	(	SOCKETFD	socketFd,
		int	coord,
		double	vel,
		double	acc,
		double	dec,
		int	pl,
		double *	targetPos )

队列运动模式的本地队列最后插入一条moveS运动

Parameters

targetPos	目标点坐标 长度7位
velocity	参数范围(1,1000] mm/s
acc，dec	参数范围(1,100]
pl	多条轨迹之间平滑参数 参数范围[0,5]

queue_motion_push_back_moveS_robot_c()

EXPORT_API int queue_motion_push_back_moveS_robot_c	(	SOCKETFD	socketFd,
		int	robotNum,
		int	coord,
		double	vel,
		double	acc,
		double	dec,
		int	pl,
		double *	targetPos )

queue_motion_push_back_timer_c()

EXPORT_API int queue_motion_push_back_timer_c	(	SOCKETFD	socketFd,
		double	time )

队列运动模式的本地队列最后插入一条Timer指令

Parameters

time

延时 单位s

queue_motion_push_back_timer_robot_c()

EXPORT_API int queue_motion_push_back_timer_robot_c	(	SOCKETFD	socketFd,
		int	robotNum,
		double	time )

queue_motion_restart_c()

EXPORT_API int queue_motion_restart_c

(

SOCKETFD

socketFd

)

暂停后再次运行运动队列

queue_motion_restart_robot_c()

EXPORT_API int queue_motion_restart_robot_c	(	SOCKETFD	socketFd,
		int	robotNum )

queue_motion_send_to_controller_c()

EXPORT_API int queue_motion_send_to_controller_c	(	SOCKETFD	socketFd,
		int	size )

将本地队列的前size个数据发送到控制器

Parameters

size

要发送的队列大小

Returns

0-成功 -1-失败 -2-未连接机器人 -3-传入的size超过队列长度

Warning

控制器接受到队列后，将会立马开始运动。调用前请先调用queue_motion_set_status(true);

queue_motion_send_to_controller_robot_c()

EXPORT_API int queue_motion_send_to_controller_robot_c	(	SOCKETFD	socketFd,
		int	robotNum,
		int	size )

queue_motion_set_status_c()

EXPORT_API int queue_motion_set_status_c	(	SOCKETFD	socketFd,
		bool	status )

打开or关闭控制器的队列运动模式

Parameters

status

0-关闭 1-打开

Returns

0-成功 -1-失败 -2-未连接机器人

Warning

无论是打开还是关闭，都将清空远端控制器已经存储的队列

queue_motion_set_status_robot_c()

EXPORT_API int queue_motion_set_status_robot_c	(	SOCKETFD	socketFd,
		int	robotNum,
		bool	status )

queue_motion_stop_not_power_off_c()

EXPORT_API int queue_motion_stop_not_power_off_c

(

SOCKETFD

socketFd

)

停止连续运动保持上电状态

queue_motion_stop_not_power_off_robot_c()

EXPORT_API int queue_motion_stop_not_power_off_robot_c	(	SOCKETFD	socketFd,
		int	robotNum )

queue_motion_suspend_c()

EXPORT_API int queue_motion_suspend_c

(

SOCKETFD

socketFd

)

暂停连续运动

queue_motion_suspend_robot_c()

EXPORT_API int queue_motion_suspend_robot_c	(	SOCKETFD	socketFd,
		int	robotNum )