nrc_interface.h

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#ifndef INCLUDE_API_NRC_INTERFACE_H_
#define INCLUDE_API_NRC_INTERFACE_H_
 
#include "parameter/nrc_define.h"
#include "parameter/nrc_interface_parameter.h"
#include <string>
#include <vector>
 
EXPORT_API std::string get_library_version();
 
EXPORT_API SOCKETFD connect_robot(const std::string& ip, const std::string& port);
 
EXPORT_API Result disconnect_robot(SOCKETFD socketFd);
 
EXPORT_API Result get_connection_status(SOCKETFD socketFd);
 
EXPORT_API Result set_reconnect(SOCKETFD socketFd, bool reconnect);
 
EXPORT_API Result send_message(SOCKETFD socketFd,int messageID, const std::string& message);
 
EXPORT_API Result recv_message(SOCKETFD socketFd,void(*callback)(int messageID,const char* message));
 
EXPORT_API Result set_receive_error_or_warnning_message_callback(SOCKETFD socketFd,void(*function) (int messageType, const char* message, int messageCode));
 
EXPORT_API Result set_robots_parallel(SOCKETFD socketFd, bool open);
 
EXPORT_API Result clear_error(SOCKETFD socketFd);
EXPORT_API Result clear_error_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result set_servo_state(SOCKETFD socketFd, int state);
EXPORT_API Result set_servo_state_robot(SOCKETFD socketFd, int robotNum, int state);
 
EXPORT_API Result get_servo_state(SOCKETFD socketFd, int& status);
EXPORT_API Result get_servo_state_robot(SOCKETFD socketFd, int robotNum, int& status);
 
EXPORT_API Result set_servo_poweron(SOCKETFD socketFd);
EXPORT_API Result set_servo_poweron_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result set_servo_poweroff(SOCKETFD socketFd);
EXPORT_API Result set_servo_poweroff_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result get_current_position(SOCKETFD socketFd, int coord, std::vector<double>& pos);
EXPORT_API Result get_current_position_robot(SOCKETFD socketFd, int robotNum, int coord, std::vector<double>& pos);
 
EXPORT_API Result get_current_extra_position(SOCKETFD socketFd, std::vector<double>& pos);
EXPORT_API Result get_current_extra_position_robot(SOCKETFD socketFd, int robotNum, std::vector<double>& pos);
 
EXPORT_API Result get_robot_configuration(SOCKETFD socketFd, int& configuration);
EXPORT_API Result get_robot_configuration_robot(SOCKETFD socketFd,  int robotNum, int& configuration);
 
EXPORT_API Result get_robot_running_state(SOCKETFD socketFd, int& status);
EXPORT_API Result get_robot_running_state_robot(SOCKETFD socketFd, int robotNum, int& status);
 
EXPORT_API Result set_speed(SOCKETFD socketFd, int speed);
EXPORT_API Result set_speed_robot(SOCKETFD socketFd, int robotNum, int speed);
 
EXPORT_API Result get_speed(SOCKETFD socketFd, int& speed);
EXPORT_API Result get_speed_robot(SOCKETFD socketFd, int robotNum, int& speed);
 
EXPORT_API Result set_current_coord(SOCKETFD socketFd, int coord);
EXPORT_API Result set_current_coord_robot(SOCKETFD socketFd, int robotNum, int coord);
 
EXPORT_API Result get_current_coord(SOCKETFD socketFd, int& coord);
EXPORT_API Result get_current_coord_robot(SOCKETFD socketFd, int robotNum, int& coord);
 
EXPORT_API Result set_current_mode(SOCKETFD socketFd, int mode);
EXPORT_API Result set_current_mode_robot(SOCKETFD socketFd, int robotNum, int mode);
 
EXPORT_API Result get_current_mode(SOCKETFD socketFd, int& mode);
EXPORT_API Result get_current_mode_robot(SOCKETFD socketFd, int robotNum, int& mode);
 
EXPORT_API Result get_robot_type(SOCKETFD socketFd, int& type);
EXPORT_API Result get_robot_type_robot(SOCKETFD socketFd, int robotNum, int& type);
 
EXPORT_API Result set_teach_type(SOCKETFD socketFd, int type);
EXPORT_API Result set_teach_type_robot(SOCKETFD socketFd, int robotNum, int type);
 
EXPORT_API Result get_teach_type(SOCKETFD socketFd, int& type);
EXPORT_API Result get_teach_type_robot(SOCKETFD socketFd, int robotNum, int& type);
 
EXPORT_API Result get_pos_reachable(SOCKETFD socketFd, std::vector<double> pos, std::string movetype, bool &result);
EXPORT_API Result get_pos_reachable_robot(SOCKETFD socketFd, int robotNum, std::vector<double> pos, std::string movetype, bool &result);
 
//=====================================工具手相关=================================================
EXPORT_API Result set_tool_hand_number(SOCKETFD socketFd, int toolNum);
EXPORT_API Result set_tool_hand_number_robot(SOCKETFD socketFd, int robotNum, int toolNum);
 
EXPORT_API Result get_tool_hand_number(SOCKETFD socketFd, int& toolNum);
EXPORT_API Result get_tool_hand_number_robot(SOCKETFD socketFd, int robotNum, int& toolNum);
 
EXPORT_API Result set_tool_hand_param(SOCKETFD socketFd, int toolNum, ToolParam param);
EXPORT_API Result set_tool_hand_param_robot(SOCKETFD socketFd, int robotNum, int toolNum, ToolParam param);
 
EXPORT_API Result get_tool_hand_param(SOCKETFD socketFd,int toolNum, ToolParam& param);
EXPORT_API Result get_tool_hand_param_robot(SOCKETFD socketFd, int robotNum, int toolNum, ToolParam& param);
 
EXPORT_API Result tool_hand_2_or_20_point_calibrate(SOCKETFD socketFd, int point);
EXPORT_API Result tool_hand_2_or_20_point_calibrate_robot(SOCKETFD socketFd, int robotNum, int point);
 
EXPORT_API Result tool_hand_2_or_20_point_calibrate_caculate(SOCKETFD socketFd, int calNum = 1, bool noCalZero = false);
EXPORT_API Result tool_hand_2_or_20_point_calibrate_caculate_robot(SOCKETFD socketFd, int robotNum, int calNum = 1, bool noCalZero = false);
 
EXPORT_API Result tool_hand_2_or_20_point_calibrate_clear(SOCKETFD socketFd, int pointNum);
EXPORT_API Result tool_hand_2_or_20_point_calibrate_clear_robot(SOCKETFD socketFd, int robotNum, int pointNum);
 
EXPORT_API Result tool_hand_7_point_calibrate(SOCKETFD socketFd, int point, int toolNum);
EXPORT_API Result tool_hand_7_point_calibrate_robot(SOCKETFD socketFd, int robotNum, int point, int toolNum);
 
EXPORT_API Result tool_hand_7_point_calibrate_caculate(SOCKETFD socketFd, int toolNum, int calibrationPointNum = 7);
EXPORT_API Result tool_hand_7_point_calibrate_caculate_robot(SOCKETFD socketFd, int robotNum, int toolNum, int calibrationPointNum = 7);
 
EXPORT_API Result tool_hand_7_point_calibrate_clear(SOCKETFD socketFd, int pointNum, int toolNum);
EXPORT_API Result tool_hand_7_point_calibrate_clear_robot(SOCKETFD socketFd, int robotNum, int pointNum, int toolNum);
 
//======================================================================================
EXPORT_API Result set_user_coord_number(SOCKETFD socketFd, int userNum);
EXPORT_API Result set_user_coord_number_robot(SOCKETFD socketFd, int robotNum, int userNum);
 
EXPORT_API Result get_user_coord_number(SOCKETFD socketFd, int& userNum);
EXPORT_API Result get_user_coord_number_robot(SOCKETFD socketFd, int robotNum, int& userNum);
 
EXPORT_API Result get_user_coord_para(SOCKETFD socketFd,int userNum, std::vector<double>& pos);
EXPORT_API Result get_user_coord_para_robot(SOCKETFD socketFd, int robotNum, int userNum, std::vector<double>& pos);
 
EXPORT_API Result set_user_coordinate_data(SOCKETFD socketFd,int userNum, std::vector<double> pos);
EXPORT_API Result set_user_coordinate_data_robot(SOCKETFD socketFd, int robotNum, int userNum, std::vector<double> pos);
 
EXPORT_API Result calibration_oxy(SOCKETFD socketFd, int userNum, std::string xyo);
EXPORT_API Result calibration_oxy_robot(SOCKETFD socketFd, int robotNum, int userNum, std::string xyo);
 
EXPORT_API Result calculate_user_coordinate(SOCKETFD socketFd, int userNumber);
EXPORT_API Result calculate_user_coordinate_robot(SOCKETFD socketFd, int robotNum, int userNum);
 
//==============================================================================
EXPORT_API Result set_global_position(SOCKETFD socketFd, std::string posName, std::vector<double> posInfo);
EXPORT_API Result set_global_position_robot(SOCKETFD socketFd, int robotNum, std::string posName, std::vector<double> posInfo);
 
EXPORT_API Result get_global_position(SOCKETFD socketFd, std::string posName, std::vector<double>& pos);
EXPORT_API Result get_global_position_robot(SOCKETFD socketFd, int robotNum, std::string posName, std::vector<double>& pos);
 
EXPORT_API Result set_global_sync_position(SOCKETFD socketFd, const std::string& posName, std::vector<double> posInfo);
EXPORT_API Result set_global_sync_position_robot(SOCKETFD socketFd, int robotNum, const std::string& posName, std::vector<double> posInfo);
 
EXPORT_API Result get_global_sync_position(SOCKETFD socketFd, const std::string& posName, std::vector<double>& pos);
EXPORT_API Result get_global_sync_position_robot(SOCKETFD socketFd, int robotNum, const std::string& posName, std::vector<double>& pos);
 
EXPORT_API Result set_global_variant(SOCKETFD socketFd, const std::string& varName, double varValue);
EXPORT_API Result set_global_variant_robot(SOCKETFD socketFd, int robotNum, const std::string& varName, double varValue);
 
EXPORT_API Result get_global_variant(SOCKETFD socketFd, const std::string& varName, double& vaule);
EXPORT_API Result get_global_variant_robot(SOCKETFD socketFd, int robotNum, const std::string& varName, double& vaule);
 
EXPORT_API Result set_axis_zero_position(SOCKETFD socketFd, int axis);
EXPORT_API Result set_axis_zero_position_robot(SOCKETFD socketFd, int robotNum, int axis);
 
EXPORT_API Result set_zero_pos_deviation(SOCKETFD socketFd,int axis, double shift);
EXPORT_API Result set_zero_pos_deviation_robot(SOCKETFD socketFd, int robotNum, int axis, double shift);
 
EXPORT_API Result get_single_cycle(SOCKETFD socketFd, std::vector<double>& single_cycle);
EXPORT_API Result get_single_cycle_robot(SOCKETFD socketFd, int robotNum, std::vector<double>& single_cycle);
 
EXPORT_API Result get_four_point(SOCKETFD socketFd, std::vector<double>& result);
EXPORT_API Result get_four_point_robot(SOCKETFD socketFd, int robotNum, std::vector<double>& result);
 
EXPORT_API Result set_four_point_mark(SOCKETFD socketFd, int point, int status);
EXPORT_API Result set_four_point_mark_robot(SOCKETFD socketFd, int robotNum, int point, int status);
 
EXPORT_API Result four_point_calculation(SOCKETFD socketFd, double L1, double L2, std::vector<double>& result);
EXPORT_API Result four_point_calculation_robot(SOCKETFD socketFd, int robotNum, double L1, double L2, std::vector<double>& result);
 
EXPORT_API Result set_result_for_DH(SOCKETFD socketFd, int& apply);
EXPORT_API Result set_result_for_DH_robot(SOCKETFD socketFd, int robotNum, int& apply);
 
EXPORT_API Result get_origin_coord_to_target_coord(SOCKETFD socketFd, int originCoord, std::vector<double> originPos, int targetCoord,std::vector<double>& targetPos);
EXPORT_API Result get_origin_coord_to_target_coord_robot(SOCKETFD socketFd, int robotNum, int originCoord, std::vector<double> originPos, int targetCoord,std::vector<double>& targetPos);
 
EXPORT_API Result get_robot_dh_param(SOCKETFD socketFd, RobotDHParam& param);
EXPORT_API Result get_robot_dh_param_robot(SOCKETFD socketFd, int robotNum, RobotDHParam& param);
 
EXPORT_API Result get_robot_joint_param(SOCKETFD socketFd, int id, RobotJointParam& param);
EXPORT_API Result get_robot_joint_param_robot(SOCKETFD socketFd, int robotNum, int id, RobotJointParam& param);
 
EXPORT_API Result get_teachbox_connection_status(SOCKETFD socketFd, bool &connected);
EXPORT_API Result get_teachbox_connection_status_robot(SOCKETFD socketFd, int robotNum, bool &connected);
 
EXPORT_API Result get_controller_id(SOCKETFD socketFd, char* id);
EXPORT_API Result get_controller_id_robot(SOCKETFD socketFd, int robotNum, char* id);
 
EXPORT_API Result get_controller_id_csharp(SOCKETFD socketFd, std::vector<char>& id);
EXPORT_API Result get_controller_id_csharp_robot(SOCKETFD socketFd, int robotNum, std::vector<char>& id);
 
EXPORT_API Result get_sensor_data(SOCKETFD socketFd, std::vector<int>& data);
EXPORT_API Result get_sensor_data_robot(SOCKETFD socketFd, int robotNum, std::vector<int>& data);
 
EXPORT_API Result get_static_search_position(SOCKETFD socketFd, int fileid, int tableid, int delaytime, std::vector<double>& pos);
EXPORT_API Result get_static_search_position_robot(SOCKETFD socketFd,int robotNum, int fileid, int tableid, int delaytime, std::vector<double>& pos);
 
EXPORT_API Result get_curretn_motor_torque(SOCKETFD socketFd, std::vector<int>& motorTorque, std::vector<int>& motorTorqueSync);
EXPORT_API Result get_curretn_motor_torque_robot(SOCKETFD socketFd,int robotNum, std::vector<int>& motorTorque, std::vector<int>& motorTorqueSync);
 
EXPORT_API Result get_curretn_motor_speed(SOCKETFD socketFd, std::vector<int>& motorSpeed, std::vector<int>& motorSpeedSync);
EXPORT_API Result get_curretn_motor_speed_robot(SOCKETFD socketFd,int robotNum, std::vector<int>& motorSpeed, std::vector<int>& motorSpeedSync);
 
EXPORT_API Result get_curretn_motor_payload(SOCKETFD socketFd, std::vector<double>& motorPayload, std::vector<double>& motorPayloadSync);
EXPORT_API Result get_curretn_motor_payload_robot(SOCKETFD socketFd,int robotNum, std::vector<double>& motorPayload, std::vector<double>& motorPayloadSync);
 
EXPORT_API Result get_curretn_line_speed_and_joint_speed(SOCKETFD socketFd, double& lineSpeed, std::vector<double>& jointSpeed, std::vector<double>& jointSpeedSync);
EXPORT_API Result get_curretn_line_speed_and_joint_speed_robot(SOCKETFD socketFd,int robotNum, double& lineSpeed, std::vector<double>& jointSpeed, std::vector<double>& jointSpeedSync);
 
//=============================motion=========================
EXPORT_API Result robot_start_jogging(SOCKETFD socketFd, int axis, bool dir);
EXPORT_API Result robot_start_jogging_robot(SOCKETFD socketFd, int robotNum, int axis, bool dir);
 
EXPORT_API Result robot_stop_jogging(SOCKETFD socketFd, int axis);
EXPORT_API Result robot_stop_jogging_robot(SOCKETFD socketFd, int robotNum, int axis);
 
EXPORT_API Result robot_go_to_reset_position(SOCKETFD socketFd);
EXPORT_API Result robot_go_to_reset_position_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result robot_go_home(SOCKETFD socketFd);
EXPORT_API Result robot_go_home_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result robot_movej(SOCKETFD socketFd,MoveCmd moveCmd);
EXPORT_API Result robot_movej_robot(SOCKETFD socketFd, int robotNum, MoveCmd moveCmd);
 
EXPORT_API Result robot_movel(SOCKETFD socketFd, MoveCmd moveCmd);
EXPORT_API Result robot_movel_robot(SOCKETFD socketFd, int robotNum, MoveCmd moveCmd);
 
EXPORT_API Result robot_movec(SOCKETFD socketFd, std::vector<double> pos1, std::vector<double> pos2, std::vector<double> pos3, int vel, int coord, int acc, int dec);
EXPORT_API Result robot_movec_robot(SOCKETFD socketFd, int robotNum, std::vector<double> pos1, std::vector<double> pos2, std::vector<double> pos3,int vel,int coord,int acc, int dec);
 
EXPORT_API Result robot_moveca(SOCKETFD socketFd, std::vector<double> pos1, std::vector<double> pos2, std::vector<double> pos3, int vel, int coord, int acc, int dec);
EXPORT_API Result robot_moveca_robot(SOCKETFD socketFd, int robotNum, std::vector<double> pos1, std::vector<double> pos2, std::vector<double> pos3, int vel, int coord, int acc, int dec);
 
EXPORT_API Result robot_moves(SOCKETFD socketFd, std::vector<std::vector<double>> pos, int vel, int coord, int acc, int dec);
EXPORT_API Result robot_moves_robot(SOCKETFD socketFd, int robotNum, std::vector<std::vector<double>> pos, int vel, int coord, int acc, int dec);
 
EXPORT_API Result robot_extra_movej(SOCKETFD socketFd, MoveCmd moveCmd);
EXPORT_API Result robot_extra_movej_robot(SOCKETFD socketFd, int robotNum, MoveCmd moveCmd);
 
EXPORT_API Result robot_extra_movel(SOCKETFD socketFd, MoveCmd moveCmd);
EXPORT_API Result robot_extra_movel_robot(SOCKETFD socketFd, int robotNum, MoveCmd moveCmd);
 
EXPORT_API Result robot_extra_movec(SOCKETFD socketFd, std::vector<double> pos1, std::vector<double> pos2, std::vector<double> pos3, int vel, int coord, int acc, int dec);
EXPORT_API Result robot_extra_movec_robot(SOCKETFD socketFd, int robotNum, std::vector<double> pos1, std::vector<double> pos2, std::vector<double> pos3, int vel, int coord, int acc, int dec);
 
EXPORT_API Result servo_move(SOCKETFD socketFd, ServoMovePara servoMove);
EXPORT_API Result servo_move_robot(SOCKETFD socketFd, int robotNum, ServoMovePara servoMove);
 
EXPORT_API Result set_collision_para(SOCKETFD socketFd, CollisionPara collisionpara);
EXPORT_API Result set_collision_para_robot(SOCKETFD socketFd, int robotNum, CollisionPara collisionpara);
 
EXPORT_API Result set_position_dragParams(SOCKETFD socketFd, double dragInPosMaxVel, double dragInPosMaxAngleVel);
EXPORT_API Result set_position_dragParams_robot(SOCKETFD socketFd, int robotNum, double dragInPosMaxVel, double dragInPosMaxAngleVel);
 
#endif /* INCLUDE_API_NRC_INTERFACE_H_ */