nrc_io.h

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/*
 * nrc_io.h
 *
 *  Created on: 2024年11月14日
 *      Author: yiixiong
 */
 
#ifndef INCLUDE_CPP_INTERFACE_NRC_IO_H_
#define INCLUDE_CPP_INTERFACE_NRC_IO_H_
 
#include "cpp/parameter/nrc_define.h"
#include "cpp/parameter/nrc_io_parameter.h"
 
EXPORT_API Result get_io_type(SOCKETFD socketFd, IOtype& io_type);
 
EXPORT_API Result set_digital_output(SOCKETFD socketFd, int port, int value);
 
EXPORT_API Result get_digital_output(SOCKETFD socketFd, std::vector<int>& out);
 
EXPORT_API Result get_digital_input(SOCKETFD socketFd,std::vector<int>& in);
 
EXPORT_API Result set_analog_output(SOCKETFD socketFd,int port,double value);
 
EXPORT_API Result get_analog_output(SOCKETFD socketFd,std::vector<double>& aout);
 
EXPORT_API Result get_analog_input(SOCKETFD socketFd,std::vector<double>& ain);
 
EXPORT_API Result set_force_digital_input(SOCKETFD socketFd, int port, int force, int value);
 
EXPORT_API Result get_force_digital_input(SOCKETFD socketFd, std::vector<int>& port, std::vector<double>& status);
 
EXPORT_API Result set_IO_reset_function(SOCKETFD socketFd, int robotNum, int type, std::vector<int> enable, std::vector<int> value);
 
EXPORT_API Result get_IO_reset_function(SOCKETFD socketFd, int robotNum, int type, std::vector<int>& enable, std::vector<int>& value);
 
EXPORT_API Result set_error_msg_of_digital_input(SOCKETFD socketFd, std::vector<AlarmdIO> msg);
 
EXPORT_API Result get_error_msg_of_digital_input(SOCKETFD socketFd, std::vector<AlarmdIO>& msg);
 
EXPORT_API Result set_error_msg_of_digital_output(SOCKETFD socketFd, std::vector<AlarmdIO> msg);
 
EXPORT_API Result get_error_msg_of_digital_output(SOCKETFD socketFd, std::vector<AlarmdIO>& msg);
 
EXPORT_API Result set_remote_param(SOCKETFD socketFd, int robotNum, int speed, bool start, int time, int startTime, int num = 10);
 
EXPORT_API Result get_remote_param(SOCKETFD socketFd, int robotNum, int& speed, bool& start, int& time, int& startTime, int& num);
 
EXPORT_API Result set_remote_function(SOCKETFD socketFd, int robotNum, RemoteControl general,  std::vector<RemoteProgram> program, int num = 10);
 
EXPORT_API Result get_remote_function(SOCKETFD socketFd, int robotNum, int& num, int& time, RemoteControl& general,  std::vector<RemoteProgram>& program);
 
EXPORT_API Result set_remote_status_tips(SOCKETFD socketFd, int robotNum, int outagePort, int outageValue, std::vector<RemoteProgram> program);
 
EXPORT_API Result get_remote_status_tips(SOCKETFD socketFd, int robotNum, int& num, int& outagePort, int& outageValue,  std::vector<RemoteProgram>& program);
 
EXPORT_API Result set_remote_program(SOCKETFD socketFd, int robotNum, std::vector<RemoteProgramSetting> program);
 
EXPORT_API Result get_remote_program(SOCKETFD socketFd, int robotNum, int& num, std::vector<RemoteProgramSetting>& program);
 
EXPORT_API Result set_hard_enable_port(SOCKETFD socketFd, int enable, int port1, int port2);
 
EXPORT_API Result get_hard_enable_port(SOCKETFD socketFd, int& enable, int& port1, int& port2);
 
EXPORT_API Result set_safe_IO_function(SOCKETFD socketFd, int robotNum, SafeIO safeIO);
 
EXPORT_API Result get_safe_IO_function(SOCKETFD socketFd, int robotNum, SafeIO& safeIO);
 
#endif /* INCLUDE_API_NRC_IO_H_ */