nrc_interface_parameter.h

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#ifndef INCLUDE_API_NRC_INTERFACE_PARAMETER_H_
#define INCLUDE_API_NRC_INTERFACE_PARAMETER_H_
 
#include <string>
 
// enum RobotType {
//     NOTYPE = 0,
//     SIX_AXLE_GENERAL = 1,
//     FOUR_AXLE_SCARA,
//     FOUR_AXLE_STACK,
//     FOUR_AXLE_GENERAL,
//     ONE_AXLE_GENERAL,
//     FIVE_AXLE_GENERAL,
//     SIX_AXLE_ONE_GENERAL,
//     TWO_AXLE_SCARA,
//     THREE_AXLE_SCARA,
//     THREE_AXLE_ANGLE,
//     THREE_AXLE_ABNORMITY,
//     SEVEN_AXLE_GENERAL,
//     FOUR_AXLE_SCARA_ABNORMITY,
//     FOUR_AXLE_PALLET_1,
//     SIX_AXLE_SPRAY,
//     FOUR_AXLE_ANGLE,
//     FOUR_AXLE_POLAR_ABNORMITY,
//     SIX_AXLE_ABNORMITY,
//     GANTRY_WELD,
//     R_DELTA,
//     R_WINE_CHAMFER,
//     R_GANTRY_WELD_2_,
//     R_GENERAL_5S_COLLABORATIVE_,
//     FOUR_AXLE_SCARA_ABNORMITY_3_,
// };
 
enum RobotType {
   NOTYPE = 0, // 默认值
   SIX_AXLE_GENERAL = 1,
   FOUR_AXLE_SCARA,
   FOUR_AXLE_STACK,
   FOUR_AXLE_GENERAL,
   ONE_AXLE_GENERAL,
   FIVE_AXLE_GENERAL,
   SIX_AXLE_ONE_GENERAL,
   TWO_AXLE_SCARA,
   THREE_AXLE_SCARA,
   THREE_AXLE_ANGLE,
   THREE_AXLE_ABNORMITY,
   SEVEN_AXLE_GENERAL,
   FOUR_AXLE_SCARA_ABNORMITY,
   FOUR_AXLE_PALLET_1,
   SIX_AXLE_SPRAY,
   FOUR_AXLE_ANGLE,
   FOUR_AXLE_POLAR_ABNORMITY,
   SIX_AXLE_ABNORMITY,
   GANTRY_WELD,
   R_DELTA,
   R_WINE_CHAMFER,
   R_GANTRY_WELD_2,
   R_FOUR_CARTESIAN_COORDINATE_1,
   R_GANTRY_WELD_6,
   FIVE_AXLE_MIXED,
   R_SCARA_FOURAXIS_2,
   SIX_AXLE_ABNORMITY_3,
   R_SCARA_THREEAXIS_1,
   R_DELTA_2D_,
   R_GANTRY_WELD_3_,
   R_GENERAL_3S_1_,
   R_GENERAL_5S_COLLABORATIVE_,
   FOUR_AXLE_SCARA_ABNORMITY_3_,
   R_GENERAL_6S_CBBARA_,
   R_HEAVY_DUTY_FOUR_AXIS_,
};
 
struct ToolParam {
    double X;                       //X轴偏移方向
    double Y;                       //Y轴偏移方向
    double Z;                       //Z轴偏移方向
    double A;                       //绕A轴旋转
    double B;                       //绕B轴旋转
    double C;                       //绕C轴旋转
    double payloadMass;             //负载质量
    double payloadInertia;          //负载惯性
    double payloadMassCenter_X;     //负载质心X
    double payloadMassCenter_Y;     //负载质心Y
    double payloadMassCenter_Z;     //负载质心Z
};
 
struct RobotDHParam
{
    double L1{0};
    double L2{0};
    double L3{0};
    double L4{0};
    double L5{0};
    double L6{0};
    double L7{0};
    double L8{0};
    double L9{0};
    double L10{0};
    double L11{0};
    double L12{0};
    double L13{0};
    double L14{0};
    double L15{0};
    double L16{0};
    double L17{0};
    double L18{0};
    double L19{0};
    double L20{0};
 
    std::string Couple_Coe_1_2;
    std::string Couple_Coe_2_3;
    std::string Couple_Coe_3_2;
    std::string Couple_Coe_3_4;
    std::string Couple_Coe_4_5;
    std::string Couple_Coe_4_6;
    std::string Couple_Coe_5_6;
 
    double dynamicLimit_max{0};
    double dynamicLimit_min{0};
 
 
    double pitch{0};//螺距
    double sliding_lead_value{0};//滑动电动缸导程,酒槽机型用
    double uplift_lead_value{0};//顶升电动缸导程,酒槽机型用
    double spray_distance{0};//喷料距离,酒槽机型用
 
    double threeAxisDirection{0};//3轴方向
    double fiveAxisDirection{0};//五轴方向
 
    double twoAxisConversionRatio{0};
    double threeAxisConversionRatio{0};
    double amplificationRatio;
 
    double conversionratio_x{0};
    double conversionratio_y{0};
    double conversionratio_z{0};
 
    double conversionratio_J1{0};  //1轴转换比 五轴混动
    double conversionratio_J2{0};
    double conversionratio_J3{0};
 
    int upsideDown{0};
};
 
struct ServoMovePara {
    bool clearBuffer;                       
    int targetMode;                         
    int sendMode;                           
    int runMode;                            
    int sum;                                
    int count;                              
    int coord;                              
    int extMove;                            
    int size;                               
    std::vector<std::vector<double>> pos;   
    std::vector<double> timeStamp;          
};
 
struct RobotJointParam {
    double reducRatio;          //减速比
    int encoderResolution;      //编码器位数
    double posSWLimit;          //轴正限位
    double negSWLimit;          //轴反限位
    double ratedRotSpeed;       //电机额定正转速
    double ratedDeRotSpeed;     //电机额定反转速
    double maxRotSpeed;         //电机最大正转速
    double maxDeRotSpeed;       //电机最大反转速
    double ratedVel;            //额定正速度
    double deRatedVel;          //额定反速度
    double maxAcc;              //最大加速度
    double maxDecel;            //最大减速度
    int direction;              //模型方向，1：正向，-1：反向
};
 
struct CollisionPara {
    std::vector<double> collisionDetection_run;    
    std::vector<double> collisionDetection_teach;  
    double position_delay_time_ms_value{0.0};      
    double error_enable_time_ms_value{0.0};        
    unsigned int axisum{6};                        
};
 
#endif /* INCLUDE_API_NRC_INTERFACE_PARAMETER_H_ */