nrc_c_queue_operate.h

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/*
 * nrc_c_queue_operate.h
 *
 *  Created on: 2025年1月24日
 *      Author: yiixiong
 */
 
#ifndef INCLUDE_C_INTERFACE_NRC_C_QUEUE_OPERATE_H_
#define INCLUDE_C_INTERFACE_NRC_C_QUEUE_OPERATE_H_
 
#include "c/parameter/nrc_define.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
EXPORT_API int queue_motion_set_status_c(SOCKETFD socketFd, bool status);
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);
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);
EXPORT_API int queue_motion_suspend_robot_c(SOCKETFD socketFd, int robotNum);
 
EXPORT_API int queue_motion_restart_c(SOCKETFD socketFd);
EXPORT_API int queue_motion_restart_robot_c(SOCKETFD socketFd, int robotNum);
 
EXPORT_API int queue_motion_stop_not_power_off_c(SOCKETFD socketFd);
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);
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);
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);
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);
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);
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);
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);
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);
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);
EXPORT_API int queue_motion_push_back_dout_robot_c(SOCKETFD socketFd, int robotNum, int port, bool value);
 
#ifdef __cplusplus
}
#endif
#endif /* INTERFACE_C_INTERFACE_NRC_C_QUEUE_OPERATE_H_ */