nrc_craft_conveyor_belt_track.h

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#ifndef INCLUDE_API_NRC_CRAFT_CONVEYOR_BELT_TRACK_H_
#define INCLUDE_API_NRC_CRAFT_CONVEYOR_BELT_TRACK_H_
 
#include "parameter/nrc_define.h"
#include "parameter/nrc_craft_conveyor_belt_track_parameter.h"
 
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
EXPORT_API Result conveyor_belt_get_wait_point_paramters_robot(SOCKETFD socketFd, int robotNum, int conveyorID, ConveyorWaitPointParams& param);
 
#endif /* INCLUDE_API_NRC_CRAFT_CONVEYOR_BELT_TRACK_H_ */