nrc_craft_conveyor_belt_track.h File Reference

#include "parameter/nrc_define.h"
#include "parameter/nrc_craft_conveyor_belt_track_parameter.h"

Go to the source code of this file.

Functions
EXPORT_API Result	conveyor_belt_tracking_set_basic_parameter (SOCKETFD socketFd, int encoderVal, int time, int encoderDirection, double encoderResolution, double maxEncoderVal, double minEncoderVal, int posRecordMode, double speed, int userCoord, int conveyorID, int height, int trackOnRunModeWithTargetOverrun, int compensationEncoderVal)
	设置传送带跟踪的基本参数
EXPORT_API Result	conveyor_belt_tracking_set_basic_parameter_robot (SOCKETFD socketFd, int robotNum, int encoderVal, int time, int encoderDirection, double encoderResolution, double maxEncoderVal, double minEncoderVal, int posRecordMode, double speed, int userCoord, int conveyorID, int height, int trackOnRunModeWithTargetOverrun, int compensationEncoderVal)
EXPORT_API Result	conveyor_belt_tracking_set_identification_parameter (SOCKETFD socketFd, int conveyorID, int detectSrcType, int capturePos, int visionID, int visionIoFilterType, int visionLatchEncoderValueType, int communication, int sensorTrg, int type)
	设置传送带参数识别的配置
EXPORT_API Result	conveyor_belt_tracking_set_identification_parameter_robot (SOCKETFD socketFd, int robotNum, int conveyorID, int detectSrcType, int capturePos, int visionID, int visionIoFilterType, int visionLatchEncoderValueType, int communication, int sensorTrg, int type)
EXPORT_API Result	conveyor_belt_tracking_set_sensor_calibration (SOCKETFD socketFd, int conveyorID, const std::vector< double > sensorPos)
	设置传送带上的传感器标定参数
EXPORT_API Result	conveyor_belt_tracking_set_sensor_calibration_robot (SOCKETFD socketFd, int robotNum, int conveyorID, const std::vector< double > sensorPos)
EXPORT_API Result	conveyor_belt_tracking_set_tracking_range (SOCKETFD socketFd, int conveyorID, double receLatestPos, double trackRangeXMax, double trackRangeYMax, double trackRangeYMin, double trackRangeZMax, double trackRangeZMin, double trackStartXPoint)
	设置传送带跟踪范围参数
EXPORT_API Result	conveyor_belt_tracking_set_tracking_range_robot (SOCKETFD socketFd, int robotNum, int conveyorID, double receLatestPos, double trackRangeXMax, double trackRangeYMax, double trackRangeYMin, double trackRangeZMax, double trackRangeZMin, double trackStartXPoint)
EXPORT_API Result	conveyor_belt_tracking_set_tracking_wait_point (SOCKETFD socketFd, int conveyorID, bool isWait, double delayDetectTime, const std::vector< double > pos)
	标定传送带跟踪等待点的位置参数
EXPORT_API Result	conveyor_belt_tracking_set_tracking_wait_point_robot (SOCKETFD socketFd, int robotNum, int conveyorID, bool isWait, double delayDetectTime, const std::vector< double > pos)
EXPORT_API Result	conveyor_belt_set_sensor_calibration (SOCKETFD socketFd, int conveyorID)
	标定获得传感器位置
EXPORT_API Result	conveyor_belt_set_sensor_calibration_robot (SOCKETFD socketFd, int robotNum, int conveyorID)
EXPORT_API Result	conveyor_belt_calibrate_for_sensor_point (SOCKETFD socketFd, int conveyorID)
	标定获得传感器位置
EXPORT_API Result	conveyor_belt_calibrate_for_sensor_point_robot (SOCKETFD socketFd, int robotNum, int conveyorID)
EXPORT_API Result	conveyor_belt_calculate_for_sensor_point (SOCKETFD socketFd, int conveyorID)
	计算传感器位置
EXPORT_API Result	conveyor_belt_calculate_for_sensor_point_robot (SOCKETFD socketFd, int robotNum, int conveyorID)
EXPORT_API Result	conveyor_belt_get_basic_paramters (SOCKETFD socketFd, int conveyorID, ConveyorBasicParams &param)
	获取基本参数
EXPORT_API Result	conveyor_belt_get_basic_paramters_robot (SOCKETFD socketFd, int robotNum, int conveyorID, ConveyorBasicParams &param)
EXPORT_API Result	conveyor_belt_get_identification_paramters (SOCKETFD socketFd, int conveyorID, ConveyorIdentificationParams &param)
	获取识别参数
EXPORT_API Result	conveyor_belt_get_identification_paramters_robot (SOCKETFD socketFd, int robotNum, int conveyorID, ConveyorIdentificationParams &param)
EXPORT_API Result	conveyor_belt_get_sensor_paramters (SOCKETFD socketFd, int conveyorID, ConveyorSensorParams &param)
	获取传感器参数
EXPORT_API Result	conveyor_belt_get_sensor_paramters_robot (SOCKETFD socketFd, int robotNum, int conveyorID, ConveyorSensorParams &param)
EXPORT_API Result	conveyor_belt_get_track_range_paramters (SOCKETFD socketFd, int conveyorID, ConveyorTrackRangeParams &param)
	获取跟踪范围参数
EXPORT_API Result	conveyor_belt_get_track_range_paramters_robot (SOCKETFD socketFd, int robotNum, int conveyorID, ConveyorTrackRangeParams &param)
EXPORT_API Result	conveyor_belt_get_wait_point_paramters (SOCKETFD socketFd, int conveyorID, ConveyorWaitPointParams &param)
	获取等待点参数
EXPORT_API Result	conveyor_belt_get_wait_point_paramters_robot (SOCKETFD socketFd, int robotNum, int conveyorID, ConveyorWaitPointParams &param)

Function Documentation

conveyor_belt_calculate_for_sensor_point()

EXPORT_API Result conveyor_belt_calculate_for_sensor_point	(	SOCKETFD	socketFd,
		int	conveyorID )

计算传感器位置

Parameters

conveyorID

传送带的ID

conveyor_belt_calculate_for_sensor_point_robot()

EXPORT_API Result conveyor_belt_calculate_for_sensor_point_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	conveyorID )

conveyor_belt_calibrate_for_sensor_point()

EXPORT_API Result conveyor_belt_calibrate_for_sensor_point	(	SOCKETFD	socketFd,
		int	conveyorID )

标定获得传感器位置

Parameters

conveyorID

传送带的ID

conveyor_belt_calibrate_for_sensor_point_robot()

EXPORT_API Result conveyor_belt_calibrate_for_sensor_point_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	conveyorID )

conveyor_belt_get_basic_paramters()

EXPORT_API Result conveyor_belt_get_basic_paramters	(	SOCKETFD	socketFd,
		int	conveyorID,
		ConveyorBasicParams &	param )

获取基本参数

Parameters

conveyorID

传送带的ID

conveyor_belt_get_basic_paramters_robot()

EXPORT_API Result conveyor_belt_get_basic_paramters_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	conveyorID,
		ConveyorBasicParams &	param )

conveyor_belt_get_identification_paramters()

EXPORT_API Result conveyor_belt_get_identification_paramters	(	SOCKETFD	socketFd,
		int	conveyorID,
		ConveyorIdentificationParams &	param )

获取识别参数

Parameters

conveyorID

传送带的ID

conveyor_belt_get_identification_paramters_robot()

EXPORT_API Result conveyor_belt_get_identification_paramters_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	conveyorID,
		ConveyorIdentificationParams &	param )

conveyor_belt_get_sensor_paramters()

EXPORT_API Result conveyor_belt_get_sensor_paramters	(	SOCKETFD	socketFd,
		int	conveyorID,
		ConveyorSensorParams &	param )

获取传感器参数

Parameters

conveyorID

传送带的ID

conveyor_belt_get_sensor_paramters_robot()

EXPORT_API Result conveyor_belt_get_sensor_paramters_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	conveyorID,
		ConveyorSensorParams &	param )

conveyor_belt_get_track_range_paramters()

EXPORT_API Result conveyor_belt_get_track_range_paramters	(	SOCKETFD	socketFd,
		int	conveyorID,
		ConveyorTrackRangeParams &	param )

获取跟踪范围参数

Parameters

conveyorID

传送带的ID

conveyor_belt_get_track_range_paramters_robot()

EXPORT_API Result conveyor_belt_get_track_range_paramters_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	conveyorID,
		ConveyorTrackRangeParams &	param )

conveyor_belt_get_wait_point_paramters()

EXPORT_API Result conveyor_belt_get_wait_point_paramters	(	SOCKETFD	socketFd,
		int	conveyorID,
		ConveyorWaitPointParams &	param )

获取等待点参数

Parameters

conveyorID

传送带的ID

conveyor_belt_get_wait_point_paramters_robot()

EXPORT_API Result conveyor_belt_get_wait_point_paramters_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	conveyorID,
		ConveyorWaitPointParams &	param )

conveyor_belt_set_sensor_calibration()

EXPORT_API Result conveyor_belt_set_sensor_calibration	(	SOCKETFD	socketFd,
		int	conveyorID )

标定获得传感器位置

Parameters

conveyorID

传送带的ID

conveyor_belt_set_sensor_calibration_robot()

EXPORT_API Result conveyor_belt_set_sensor_calibration_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	conveyorID )

conveyor_belt_tracking_set_basic_parameter()

EXPORT_API Result conveyor_belt_tracking_set_basic_parameter	(	SOCKETFD	socketFd,
		int	encoderVal,
		int	time,
		int	encoderDirection,
		double	encoderResolution,
		double	maxEncoderVal,
		double	minEncoderVal,
		int	posRecordMode,
		double	speed,
		int	userCoord,
		int	conveyorID,
		int	height,
		int	trackOnRunModeWithTargetOverrun,
		int	compensationEncoderVal )

设置传送带跟踪的基本参数

Parameters

encoderVal	编码器的值 单位线
time	跟踪补偿时间 单位毫秒
encoderDirection	编码器的方向，用于确定正反转
encoderResolution	编码器的分辨率，指每转或每单位的脉冲数
maxEncoderVal	编码器的最大值，用于限制或标定编码器的读数范围 单位线
minEncoderVal	编码器的最小值，用于限制或标定编码器的读数范围 单位线
posRecordMode	位置记录模式 编码器/恒速设置
speed	传送带速度 单位毫米/秒
userCoord	用户坐标系统的标识，指定操作在哪个坐标下进行
conveyorID	传送带的ID
robot	机器人标识，指定哪个机器人与此操作相关
height	跟踪目标高度 传感器感知/跟踪指令示教
trackOnRunModeWithTargetOverrun	目标超限运行方式 等待下一个目标/跳行到追踪结束运行
compensationEncoderVal	跟踪补偿编码器值 单位线
robotName	机器人的名称，用于标识特定的机器人实例

Returns

函数执行的结果状态码，0表示成功，-1表示等待消息失败，-2表示找不到指定的客户端

Note

此函数将配置传送带跟踪的基本参数，包括编码器的设置、传送带与机器人的关联等。

conveyor_belt_tracking_set_basic_parameter_robot()

EXPORT_API Result conveyor_belt_tracking_set_basic_parameter_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	encoderVal,
		int	time,
		int	encoderDirection,
		double	encoderResolution,
		double	maxEncoderVal,
		double	minEncoderVal,
		int	posRecordMode,
		double	speed,
		int	userCoord,
		int	conveyorID,
		int	height,
		int	trackOnRunModeWithTargetOverrun,
		int	compensationEncoderVal )

conveyor_belt_tracking_set_identification_parameter()

EXPORT_API Result conveyor_belt_tracking_set_identification_parameter	(	SOCKETFD	socketFd,
		int	conveyorID,
		int	detectSrcType,
		int	capturePos,
		int	visionID,
		int	visionIoFilterType,
		int	visionLatchEncoderValueType,
		int	communication,
		int	sensorTrg,
		int	type )

设置传送带参数识别的配置

Parameters

conveyorID	传送带的ID
detectSrcType	检测源的类型
capturePos	信号源参数
visionID	视觉系统的ID
visionIoFilterType	视觉输入输出过滤类型
visionLatchEncoderValueType	视觉锁存编码器值的类型
communication	通讯方式
sensorTrg	传感器触发方式
type	识别类型
robot	机器人标识，指定哪个机器人与此操作相关

Returns

函数执行的结果状态码，0表示成功，-1表示等待消息失败，-2表示找不到指定的客户端

Note

此函数用于配置传送带的参数识别设置，包括检测源和识别方式的详细信息。

conveyor_belt_tracking_set_identification_parameter_robot()

EXPORT_API Result conveyor_belt_tracking_set_identification_parameter_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	conveyorID,
		int	detectSrcType,
		int	capturePos,
		int	visionID,
		int	visionIoFilterType,
		int	visionLatchEncoderValueType,
		int	communication,
		int	sensorTrg,
		int	type )

conveyor_belt_tracking_set_sensor_calibration()

EXPORT_API Result conveyor_belt_tracking_set_sensor_calibration	(	SOCKETFD	socketFd,
		int	conveyorID,
		const std::vector< double >	sensorPos )

设置传送带上的传感器标定参数

Parameters

conveyorID	传送带的ID
robot	机器人标识，指定哪个机器人与此操作相关
sensorPos	传感器位置，长度 6

Returns

函数执行的结果状态码，0表示成功，-1表示等待消息失败，-2表示找不到指定的客户端

Note

此函数用于配置传送带传感器的标定参数，以确保传感器能准确地测量传送带上物体的位置。

conveyor_belt_tracking_set_sensor_calibration_robot()

EXPORT_API Result conveyor_belt_tracking_set_sensor_calibration_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	conveyorID,
		const std::vector< double >	sensorPos )

conveyor_belt_tracking_set_tracking_range()

EXPORT_API Result conveyor_belt_tracking_set_tracking_range	(	SOCKETFD	socketFd,
		int	conveyorID,
		double	receLatestPos,
		double	trackRangeXMax,
		double	trackRangeYMax,
		double	trackRangeYMin,
		double	trackRangeZMax,
		double	trackRangeZMin,
		double	trackStartXPoint )

设置传送带跟踪范围参数

Parameters

conveyorID	传送带的ID
robot	机器人标识，指定哪个机器人与此操作相关
receLatestPos	最新接收位置
trackRangeXMax	X轴最大跟踪范围
trackRangeYMax	Y轴最大跟踪范围
trackRangeYMin	Y轴最小跟踪范围
trackRangeZMax	Z轴最大跟踪范围
trackRangeZMin	Z轴最小跟踪范围
trackStartXPoint	跟踪起始X点

Returns

函数执行的结果状态码，0表示成功，-1表示等待消息失败，-2表示找不到指定的客户端

Note

此函数用于配置传送带跟踪范围，以确保机器人能在指定的空间范围内进行有效跟踪。

conveyor_belt_tracking_set_tracking_range_robot()

EXPORT_API Result conveyor_belt_tracking_set_tracking_range_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	conveyorID,
		double	receLatestPos,
		double	trackRangeXMax,
		double	trackRangeYMax,
		double	trackRangeYMin,
		double	trackRangeZMax,
		double	trackRangeZMin,
		double	trackStartXPoint )

conveyor_belt_tracking_set_tracking_wait_point()

EXPORT_API Result conveyor_belt_tracking_set_tracking_wait_point	(	SOCKETFD	socketFd,
		int	conveyorID,
		bool	isWait,
		double	delayDetectTime,
		const std::vector< double >	pos )

标定传送带跟踪等待点的位置参数

Parameters

conveyorID	传送带的ID
isWait	无工件是否到指定点等待
delayDetectTime	等待延时的时间参数
pos	机器人的位置坐标，包括X、Y、Z轴坐标以及三个旋转轴的角度（弧度制）长度7
robot	机器人标识，指定哪个机器人与此操作相关

Returns

函数执行的结果状态码，0表示成功，-1表示等待消息失败，-2表示找不到指定的客户端

Note

此函数用于标定与传送带相关的机器人跟踪等待点的位置参数。

conveyor_belt_tracking_set_tracking_wait_point_robot()

EXPORT_API Result conveyor_belt_tracking_set_tracking_wait_point_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	conveyorID,
		bool	isWait,
		double	delayDetectTime,
		const std::vector< double >	pos )