nrc_job_operate.h File Reference

#include "parameter/nrc_define.h"
#include <string>

Go to the source code of this file.

Functions
EXPORT_API Result	job_upload_by_directory (SOCKETFD socketFd, const std::string &directoryPath)
	根据文件夹上传一整个文件夹的作业文件
EXPORT_API Result	job_upload_by_file (SOCKETFD socketFd, const std::string &filePath)
	根据文件名上传一个作业文件
EXPORT_API Result	job_sync_job_file (SOCKETFD socketFd)
	上传作业文件同步刷新示教器
EXPORT_API Result	job_download_by_directory (SOCKETFD socketFd, const std::string &directoryPath, bool isCover)
	下载所有作业文件到指定文件夹
EXPORT_API Result	log_download_by_quantity (SOCKETFD socketFd, int counts, const std::string &directoryPath)
	下载指定数量的日志文件到指定文件夹
EXPORT_API Result	backup_system (SOCKETFD socketFd)
	一键备份系统，会保存至当前执行程序目录下
EXPORT_API Result	job_create (SOCKETFD socketFd, const std::string &jobName)
	新建作业文件
EXPORT_API Result	job_create_robot (SOCKETFD socketFd, int robotNum, const std::string &jobName)
EXPORT_API Result	job_delete (SOCKETFD socketFd, const std::string &jobName)
	删除指定的作业文件
EXPORT_API Result	job_delete_robot (SOCKETFD socketFd, int robotNum, const std::string &jobName)
EXPORT_API Result	job_open (SOCKETFD socketFd, const std::string &jobName)
	打开指定的作业文件
EXPORT_API Result	job_open_robot (SOCKETFD socketFd, int robotNum, const std::string &jobName)
EXPORT_API Result	job_get_command_total_lines (SOCKETFD socketFd, int &totalLines)
	获取作业文件总行号
EXPORT_API Result	job_get_command_total_lines_robot (SOCKETFD socketFd, int robotNum, int &totalLines)
EXPORT_API Result	job_get_command_content_by_line (SOCKETFD socketFd, int line, int &commandType, std::string &jobContent)
	获取对应行号的作业文件内容
EXPORT_API Result	job_get_command_content_by_line_robot (SOCKETFD socketFd, int robotNum, int line, int &commandType, std::string &jobContent)
EXPORT_API Result	job_delete_command_by_line (SOCKETFD socketFd, int line)
	删除指定行号
EXPORT_API Result	job_delete_command_by_line_robot (SOCKETFD socketFd, int robotNum, int line)
EXPORT_API Result	job_run (SOCKETFD socketFd, const std::string &jobName)
	运行指定的作业文件
EXPORT_API Result	job_run_robot (SOCKETFD socketFd, int robotNum, const std::string &jobName)
EXPORT_API Result	job_step (SOCKETFD socketFd, const std::string &jobName, int line)
	单步运行指定的作业文件的某一行
EXPORT_API Result	job_step_robot (SOCKETFD socketFd, int robotNum, const std::string &jobName, int line)
EXPORT_API Result	job_pause (SOCKETFD socketFd)
	暂停作业文件
EXPORT_API Result	job_pause_robot (SOCKETFD socketFd, int robotNum)
EXPORT_API Result	job_continue (SOCKETFD socketFd)
	继续运行作业文件
EXPORT_API Result	job_continue_robot (SOCKETFD socketFd, int robotNum)
EXPORT_API Result	job_stop (SOCKETFD socketFd)
	停止作业文件(不会下电)
EXPORT_API Result	job_stop_robot (SOCKETFD socketFd, int robotNum)
EXPORT_API Result	job_run_times (SOCKETFD socketFd, int index)
	设置作业文件运行次数
EXPORT_API Result	job_run_times_robot (SOCKETFD socketFd, int robotNum, int index)
EXPORT_API Result	job_break_point_run (SOCKETFD socketFd, const std::string &jobName)
	继续运行作业文件
EXPORT_API Result	job_break_point_run_robot (SOCKETFD socketFd, int robotNum, const std::string &jobName)
EXPORT_API Result	job_get_current_file (SOCKETFD socketFd, std::string &jobName)
	获取当前打开的作业文件名称(c::用下面这个支持的类型)
EXPORT_API Result	job_get_current_file_robot (SOCKETFD socketFd, int robotNum, std::string &jobName)
EXPORT_API Result	job_get_current_file_csharp (SOCKETFD socketFd, std::vector< char > &jobName)
	获取当前打开的作业文件名称(c::用这个)
EXPORT_API Result	job_get_current_file_csharp_robot (SOCKETFD socketFd, int robotNum, std::vector< char > &jobName)
EXPORT_API Result	job_get_current_line (SOCKETFD socketFd, int &line)
	获取当前打开的作业文件运行到的行数
EXPORT_API Result	job_get_current_line_robot (SOCKETFD socketFd, int robotNum, int &line)
EXPORT_API Result	job_insert_local_position (SOCKETFD socketFd, PositionData posData)
	作业文件插入一个局部点位
EXPORT_API Result	job_insert_local_position_robot (SOCKETFD socketFd, int robotNum, PositionData posData)
EXPORT_API Result	job_set_local_position (SOCKETFD socketFd, const std::string &posName, std::vector< double > posInfo)
	根据点位名修改当前作业文件局部点位
EXPORT_API Result	job_set_local_position_robot (SOCKETFD socketFd, int robotNum, const std::string &posName, std::vector< double > posInfo)
EXPORT_API Result	job_insert_moveJ (SOCKETFD socketFd, int line, MoveCmd moveCmd)
	向作业文件插入一条moveJ关节运动
EXPORT_API Result	job_insert_moveJ_robot (SOCKETFD socketFd, int robotNum, int line, MoveCmd moveCmd)
EXPORT_API Result	job_insert_moveL (SOCKETFD socketFd, int line, MoveCmd moveCmd)
	向作业文件插入一条moveL
EXPORT_API Result	job_insert_moveL_robot (SOCKETFD socketFd, int robotNum, int line, MoveCmd moveCmd)
EXPORT_API Result	job_insert_moveC (SOCKETFD socketFd, int line, MoveCmd moveCmd)
	向作业文件插入一条moveC
EXPORT_API Result	job_insert_moveC_robot (SOCKETFD socketFd, int robotNum, int line, MoveCmd moveCmd)
EXPORT_API Result	job_insert_imove (SOCKETFD socketFd, int line, MoveCmd moveCmd)
	向作业文件插入一条增量指令IMOVE moveCmd.targetPosType = 3 moveCmd.targetPosName = "RP0001"
EXPORT_API Result	job_insert_imove_rbobt (SOCKETFD socketFd, int robotNum, int line, MoveCmd moveCmd)
EXPORT_API Result	job_insert_moveComm (SOCKETFD socketFd, int line, std::string moveType, double m_vel, double m_acc, double m_dec, int m_time, int m_pl)
	向作业文件插入一条外部点指令moveComm
EXPORT_API Result	job_insert_moveComm_rbobt (SOCKETFD socketFd, int robotNum, int line, std::string moveType, double m_vel, double m_acc, double m_dec, int m_time, int m_pl)
EXPORT_API Result	job_insert_samov_command (SOCKETFD socketFd, int line, MoveCmd moveCmd, PositionData posData)
	向作业文件插入一条SAMOV(定点移动)
EXPORT_API Result	job_insert_samov_command_robot (SOCKETFD socketFd, int robotNum, int line, MoveCmd moveCmd, PositionData posData)
EXPORT_API Result	job_insert_timer_command (SOCKETFD socketFd, int line, double time)
	在作业文件中插入一条延时指令
EXPORT_API Result	job_insert_timer_command_robot (SOCKETFD socketFd, int robotNum, int line, double time)
EXPORT_API Result	job_insert_io_out_command (SOCKETFD socketFd, int line, IOCommandParams params)
	在作业文件中插入一条IO输出
EXPORT_API Result	job_insert_io_out_command_robot (SOCKETFD socketFd, int robotNum, int line, IOCommandParams params)
EXPORT_API Result	job_insert_until (SOCKETFD socketFd, int line, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup)
	向作业文件插入一条until
EXPORT_API Result	job_insert_until_robot (SOCKETFD socketFd, int robotNum, int line, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup)
EXPORT_API Result	job_insert_end_until (SOCKETFD socketFd, int line)
	向作业文件插入一条enduntil
EXPORT_API Result	job_insert_end_until_robot (SOCKETFD socketFd, int robotNum, int line)
EXPORT_API Result	job_insert_while (SOCKETFD socketFd, int line, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup)
	向作业文件插入一条while
EXPORT_API Result	job_insert_while_robot (SOCKETFD socketFd, int rbobtNum, int line, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup)
EXPORT_API Result	job_insert_end_while (SOCKETFD socketFd, int line)
	向作业文件插入一条ENDWHILE(结束直到)指令
EXPORT_API Result	job_insert_end_while_robot (SOCKETFD socketFd, int rbobtNum, int line)
EXPORT_API Result	job_insert_if (SOCKETFD socketFd, int line, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup)
	向作业文件插入一条IF
EXPORT_API Result	job_insert_if_robot (SOCKETFD socketFd, int robotNum, int line, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup)
EXPORT_API Result	job_insert_end_if (SOCKETFD socketFd, int line)
	向作业文件插入一条ENDIF(结束如果)指令
EXPORT_API Result	job_insert_end_if_robot (SOCKETFD socketFd, int robotNum, int line)
EXPORT_API Result	job_insert_label (SOCKETFD socketFd, int line, const std::string &label)
	向作业文件插入一条LABEL(标签)指令
EXPORT_API Result	job_insert_label_robot (SOCKETFD socketFd, int robotNum, int line, const std::string &label)
EXPORT_API Result	job_insert_jump (SOCKETFD socketFd, int line, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup, bool jumpConditionFlag, const std::string &label)
	向作业文件插入一条JUMP(跳转)指令
EXPORT_API Result	job_insert_jump_robot (SOCKETFD socketFd, int robotNum, int line, const std::vector< std::vector< Condition > > &conditionGroups, const std::vector< int > &logic, const std::vector< std::vector< int > > &logicGroup, bool jumpConditionFlag, const std::string &label)
EXPORT_API Result	job_insert_vision_craft_start (SOCKETFD socketFd, int line, int id)
	向作业文件插入一条VISION_RUN(开始视觉)指令
EXPORT_API Result	job_insert_vision_craft_start_robot (SOCKETFD socketFd, int robotNum, int line, int id)
EXPORT_API Result	job_insert_vision_craft_get_pos (SOCKETFD socketFd, int line, int id, const std::string posName)
	向作业文件插入一条VISION_POS(获取视觉位置)指令
EXPORT_API Result	job_insert_vision_craft_get_pos_robot (SOCKETFD socketFd, int robotNum, int line, int id, const std::string posName)
EXPORT_API Result	job_insert_vision_craft_visual_trigger (SOCKETFD socketFd, int line, int id)
	向作业文件插入一条VISION_POS(触发视觉)指令
EXPORT_API Result	job_insert_vision_craft_visual_trigger_robot (SOCKETFD socketFd, int robotNum, int line, int id)
EXPORT_API Result	job_insert_vision_craft_visual_end (SOCKETFD socketFd, int line, int id)
	向作业文件插入一条VISION_END(视觉结束)指令
EXPORT_API Result	job_insert_vision_craft_visual_end_robot (SOCKETFD socketFd, int robotNum, int line, int id)
EXPORT_API Result	job_insert_conveyor_check_pos (SOCKETFD socketFd, int line, int id)
	向作业文件插入一条CONVEYOR_CHECKPOS(传送带工件检测开始)指令
EXPORT_API Result	job_insert_conveyor_check_pos_robot (SOCKETFD socketFd, int robotNum, int line, int id)
EXPORT_API Result	job_insert_conveyor_check_end (SOCKETFD socketFd, int line, int id)
	向作业文件插入一条CONVEYOR_CHECKEND(传送带工件检测结束)指令
EXPORT_API Result	job_insert_conveyor_check_end_robot (SOCKETFD socketFd, int robotNum, int line, int id)
EXPORT_API Result	job_insert_conveyor_on (SOCKETFD socketFd, int line, int id, int postype, std::vector< double > pos, int vel, int acc)
	向作业文件插入一条CONVEYOR_ON(传送带跟踪开始)指令
EXPORT_API Result	job_insert_conveyor_on_robot (SOCKETFD socketFd, int robotNum, int line, int id, int postype, std::vector< double > pos, int vel, int acc)
EXPORT_API Result	job_insert_conveyor_off (SOCKETFD socketFd, int line, int id)
	向作业文件插入一条CONVEYOR_OFF(传送带跟踪结束)指令
EXPORT_API Result	job_insert_conveyor_off_robot (SOCKETFD socketFd, int robotNum, int line, int id)
EXPORT_API Result	job_insert_conveyor_pos (SOCKETFD socketFd, int line, int id, const std::string posName)
	向作业文件插入一条CONVEYOR_POS(获取传送带跟踪位置)指令
EXPORT_API Result	job_insert_conveyor_pos_robot (SOCKETFD socketFd, int robotNum, int line, int id, const std::string posName)
EXPORT_API Result	job_insert_conveyor_clear (SOCKETFD socketFd, int line, int id, int removeType)
	向作业文件插入一条CONVEYOR_POS(获取传送带跟踪位置)指令
EXPORT_API Result	job_insert_conveyor_clear_robot (SOCKETFD socketFd, int robotNum, int line, int id, int removeType)
EXPORT_API Result	job_insert_cil (SOCKETFD socketFd, int line, MoveCmd moveCmd, int id)
	向作业文件插入一条CIL(相贯线)
EXPORT_API Result	job_insert_cil_robot (SOCKETFD socketFd, int robotNum, int line, MoveCmd moveCmd, int id)

Function Documentation

backup_system()

EXPORT_API Result backup_system

(

SOCKETFD

socketFd

)

一键备份系统，会保存至当前执行程序目录下

job_break_point_run()

EXPORT_API Result job_break_point_run	(	SOCKETFD	socketFd,
		const std::string &	jobName )

继续运行作业文件

Note

需要运行模式

job_break_point_run_robot()

EXPORT_API Result job_break_point_run_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		const std::string &	jobName )

job_continue()

EXPORT_API Result job_continue

(

SOCKETFD

socketFd

)

继续运行作业文件

Note

需要运行模式

job_continue_robot()

EXPORT_API Result job_continue_robot	(	SOCKETFD	socketFd,
		int	robotNum )

job_create()

EXPORT_API Result job_create	(	SOCKETFD	socketFd,
		const std::string &	jobName )

新建作业文件

Parameters

jobName

作业文件名 只允许字母开头，字母数字组合

Test

新建QQQ.JBR job_create(SOCKETFD socketFd,"QQQ");

job_create_robot()

EXPORT_API Result job_create_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		const std::string &	jobName )

job_delete()

EXPORT_API Result job_delete	(	SOCKETFD	socketFd,
		const std::string &	jobName )

删除指定的作业文件

Parameters

jobName

作业文件名

Test

删除QQQ.JBR job_delete(SOCKETFD socketFd,"QQQ");

job_delete_command_by_line()

EXPORT_API Result job_delete_command_by_line	(	SOCKETFD	socketFd,
		int	line )

删除指定行号

job_delete_command_by_line_robot()

EXPORT_API Result job_delete_command_by_line_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line )

job_delete_robot()

EXPORT_API Result job_delete_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		const std::string &	jobName )

job_download_by_directory()

EXPORT_API Result job_download_by_directory	(	SOCKETFD	socketFd,
		const std::string &	directoryPath,
		bool	isCover )

下载所有作业文件到指定文件夹

Parameters

directoryPath

目录的完整路径

job_get_command_content_by_line()

EXPORT_API Result job_get_command_content_by_line	(	SOCKETFD	socketFd,
		int	line,
		int &	commandType,
		std::string &	jobContent )

获取对应行号的作业文件内容

Parameters

line

行号

job_get_command_content_by_line_robot()

EXPORT_API Result job_get_command_content_by_line_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		int &	commandType,
		std::string &	jobContent )

job_get_command_total_lines()

EXPORT_API Result job_get_command_total_lines	(	SOCKETFD	socketFd,
		int &	totalLines )

获取作业文件总行号

job_get_command_total_lines_robot()

EXPORT_API Result job_get_command_total_lines_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int &	totalLines )

job_get_current_file()

EXPORT_API Result job_get_current_file	(	SOCKETFD	socketFd,
		std::string &	jobName )

获取当前打开的作业文件名称(c::用下面这个支持的类型)

Parameters

jobname

当前打开的作业文件

job_get_current_file_csharp()

EXPORT_API Result job_get_current_file_csharp	(	SOCKETFD	socketFd,
		std::vector< char > &	jobName )

获取当前打开的作业文件名称(c::用这个)

Parameters

jobname

当前打开的作业文件

job_get_current_file_csharp_robot()

EXPORT_API Result job_get_current_file_csharp_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		std::vector< char > &	jobName )

job_get_current_file_robot()

EXPORT_API Result job_get_current_file_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		std::string &	jobName )

job_get_current_line()

EXPORT_API Result job_get_current_line	(	SOCKETFD	socketFd,
		int &	line )

获取当前打开的作业文件运行到的行数

Parameters

line

运行到的行数

job_get_current_line_robot()

EXPORT_API Result job_get_current_line_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int &	line )

job_insert_cil()

EXPORT_API Result job_insert_cil	(	SOCKETFD	socketFd,
		int	line,
		MoveCmd	moveCmd,
		int	id )

向作业文件插入一条CIL(相贯线)

Parameters

moveCmd	指令参数
id	工艺号参数
line	插入的位置

job_insert_cil_robot()

EXPORT_API Result job_insert_cil_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		MoveCmd	moveCmd,
		int	id )

job_insert_conveyor_check_end()

EXPORT_API Result job_insert_conveyor_check_end	(	SOCKETFD	socketFd,
		int	line,
		int	id )

向作业文件插入一条CONVEYOR_CHECKEND(传送带工件检测结束)指令

Parameters

id

工艺号

job_insert_conveyor_check_end_robot()

EXPORT_API Result job_insert_conveyor_check_end_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		int	id )

job_insert_conveyor_check_pos()

EXPORT_API Result job_insert_conveyor_check_pos	(	SOCKETFD	socketFd,
		int	line,
		int	id )

向作业文件插入一条CONVEYOR_CHECKPOS(传送带工件检测开始)指令

Parameters

id

工艺号

job_insert_conveyor_check_pos_robot()

EXPORT_API Result job_insert_conveyor_check_pos_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		int	id )

job_insert_conveyor_clear()

EXPORT_API Result job_insert_conveyor_clear	(	SOCKETFD	socketFd,
		int	line,
		int	id,
		int	removeType )

向作业文件插入一条CONVEYOR_POS(获取传送带跟踪位置)指令

Parameters

id	工艺号
removeType	删除范围 0 全部目标 1本次目标

job_insert_conveyor_clear_robot()

EXPORT_API Result job_insert_conveyor_clear_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		int	id,
		int	removeType )

job_insert_conveyor_off()

EXPORT_API Result job_insert_conveyor_off	(	SOCKETFD	socketFd,
		int	line,
		int	id )

向作业文件插入一条CONVEYOR_OFF(传送带跟踪结束)指令

Parameters

id

工艺号

job_insert_conveyor_off_robot()

EXPORT_API Result job_insert_conveyor_off_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		int	id )

job_insert_conveyor_on()

EXPORT_API Result job_insert_conveyor_on	(	SOCKETFD	socketFd,
		int	line,
		int	id,
		int	postype,
		std::vector< double >	pos,
		int	vel,
		int	acc )

向作业文件插入一条CONVEYOR_ON(传送带跟踪开始)指令

Parameters

id	工艺号
posTtype	0:需要手动传入点位 1：默认使用工件点
pos	坐标 长度14位 [0-7]坐标信息(坐标系,坐标值的角度弧度制等) [8-14]坐标数据
vel	参数范围[2,2000] mm/s
acc	参数范围[1,100]job_insert_
line	插入位置

job_insert_conveyor_on_robot()

EXPORT_API Result job_insert_conveyor_on_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		int	id,
		int	postype,
		std::vector< double >	pos,
		int	vel,
		int	acc )

job_insert_conveyor_pos()

EXPORT_API Result job_insert_conveyor_pos	(	SOCKETFD	socketFd,
		int	line,
		int	id,
		const std::string	posName )

向作业文件插入一条CONVEYOR_POS(获取传送带跟踪位置)指令

Parameters

id	工艺号
posName	全局点位名

job_insert_conveyor_pos_robot()

EXPORT_API Result job_insert_conveyor_pos_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		int	id,
		const std::string	posName )

job_insert_end_if()

EXPORT_API Result job_insert_end_if	(	SOCKETFD	socketFd,
		int	line )

向作业文件插入一条ENDIF(结束如果)指令

job_insert_end_if_robot()

EXPORT_API Result job_insert_end_if_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line )

job_insert_end_until()

EXPORT_API Result job_insert_end_until	(	SOCKETFD	socketFd,
		int	line )

向作业文件插入一条enduntil

job_insert_end_until_robot()

EXPORT_API Result job_insert_end_until_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line )

job_insert_end_while()

EXPORT_API Result job_insert_end_while	(	SOCKETFD	socketFd,
		int	line )

向作业文件插入一条ENDWHILE(结束直到)指令

job_insert_end_while_robot()

EXPORT_API Result job_insert_end_while_robot	(	SOCKETFD	socketFd,
		int	rbobtNum,
		int	line )

job_insert_if()

EXPORT_API Result job_insert_if	(	SOCKETFD	socketFd,
		int	line,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup )

向作业文件插入一条IF

Parameters

socketFd	套接字文件描述符
conditionGroups	条件组的二维向量
logic	第一层的逻辑类型，0为"与"，1为"或"
logicGroup	第二层的逻辑类型，0为"与"，1为"或"

job_insert_if_robot()

EXPORT_API Result job_insert_if_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup )

job_insert_imove()

EXPORT_API Result job_insert_imove	(	SOCKETFD	socketFd,
		int	line,
		MoveCmd	moveCmd )

向作业文件插入一条增量指令IMOVE moveCmd.targetPosType = 3 moveCmd.targetPosName = "RP0001"

job_insert_imove_rbobt()

EXPORT_API Result job_insert_imove_rbobt	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		MoveCmd	moveCmd )

job_insert_io_out_command()

EXPORT_API Result job_insert_io_out_command	(	SOCKETFD	socketFd,
		int	line,
		IOCommandParams	params )

在作业文件中插入一条IO输出

Parameters

line

插入的行数

job_insert_io_out_command_robot()

EXPORT_API Result job_insert_io_out_command_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		IOCommandParams	params )

job_insert_jump()

EXPORT_API Result job_insert_jump	(	SOCKETFD	socketFd,
		int	line,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup,
		bool	jumpConditionFlag,
		const std::string &	label )

向作业文件插入一条JUMP(跳转)指令

job_insert_jump_robot()

EXPORT_API Result job_insert_jump_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup,
		bool	jumpConditionFlag,
		const std::string &	label )

job_insert_label()

EXPORT_API Result job_insert_label	(	SOCKETFD	socketFd,
		int	line,
		const std::string &	label )

向作业文件插入一条LABEL(标签)指令

Parameters

label

标签名字

job_insert_label_robot()

EXPORT_API Result job_insert_label_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		const std::string &	label )

job_insert_local_position()

EXPORT_API Result job_insert_local_position	(	SOCKETFD	socketFd,
		PositionData	posData )

作业文件插入一个局部点位

Parameters

posData

位置数据

job_insert_local_position_robot()

EXPORT_API Result job_insert_local_position_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		PositionData	posData )

job_insert_moveC()

EXPORT_API Result job_insert_moveC	(	SOCKETFD	socketFd,
		int	line,
		MoveCmd	moveCmd )

向作业文件插入一条moveC

Parameters

moveCmd	运动指令参数
line	插入的位置

job_insert_moveC_robot()

EXPORT_API Result job_insert_moveC_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		MoveCmd	moveCmd )

job_insert_moveComm()

EXPORT_API Result job_insert_moveComm	(	SOCKETFD	socketFd,
		int	line,
		std::string	moveType,
		double	m_vel,
		double	m_acc,
		double	m_dec,
		int	m_time,
		int	m_pl )

向作业文件插入一条外部点指令moveComm

job_insert_moveComm_rbobt()

EXPORT_API Result job_insert_moveComm_rbobt	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		std::string	moveType,
		double	m_vel,
		double	m_acc,
		double	m_dec,
		int	m_time,
		int	m_pl )

job_insert_moveJ()

EXPORT_API Result job_insert_moveJ	(	SOCKETFD	socketFd,
		int	line,
		MoveCmd	moveCmd )

向作业文件插入一条moveJ关节运动

Parameters

moveCmd	运动指令参数
line	插入的位置

job_insert_moveJ_robot()

EXPORT_API Result job_insert_moveJ_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		MoveCmd	moveCmd )

job_insert_moveL()

EXPORT_API Result job_insert_moveL	(	SOCKETFD	socketFd,
		int	line,
		MoveCmd	moveCmd )

向作业文件插入一条moveL

Parameters

moveCmd	运动指令参数
line	插入的位置

job_insert_moveL_robot()

EXPORT_API Result job_insert_moveL_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		MoveCmd	moveCmd )

job_insert_samov_command()

EXPORT_API Result job_insert_samov_command	(	SOCKETFD	socketFd,
		int	line,
		MoveCmd	moveCmd,
		PositionData	posData )

向作业文件插入一条SAMOV(定点移动)

Parameters

moveCmd	运动指令参数 点位数据用 PositionData
line	插入的位置

job_insert_samov_command_robot()

EXPORT_API Result job_insert_samov_command_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		MoveCmd	moveCmd,
		PositionData	posData )

job_insert_timer_command()

EXPORT_API Result job_insert_timer_command	(	SOCKETFD	socketFd,
		int	line,
		double	time )

在作业文件中插入一条延时指令

Parameters

time	延时时间 单位:s
line	插入的位置

job_insert_timer_command_robot()

EXPORT_API Result job_insert_timer_command_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		double	time )

job_insert_until()

EXPORT_API Result job_insert_until	(	SOCKETFD	socketFd,
		int	line,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup )

向作业文件插入一条until

Parameters

conditionGroups	条件组的二维向量
logic	第一层的逻辑类型，0为"与"，1为"或"
logicGroup	第二层的逻辑类型，0为"与"，1为"或"

job_insert_until_robot()

EXPORT_API Result job_insert_until_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup )

job_insert_vision_craft_get_pos()

EXPORT_API Result job_insert_vision_craft_get_pos	(	SOCKETFD	socketFd,
		int	line,
		int	id,
		const std::string	posName )

向作业文件插入一条VISION_POS(获取视觉位置)指令

Parameters

id	工艺号
line	插入位置
posName	存放位置的变量名 例如GP0001

job_insert_vision_craft_get_pos_robot()

EXPORT_API Result job_insert_vision_craft_get_pos_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		int	id,
		const std::string	posName )

job_insert_vision_craft_start()

EXPORT_API Result job_insert_vision_craft_start	(	SOCKETFD	socketFd,
		int	line,
		int	id )

向作业文件插入一条VISION_RUN(开始视觉)指令

Parameters

id	工艺号
line	插入位置

job_insert_vision_craft_start_robot()

EXPORT_API Result job_insert_vision_craft_start_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		int	id )

job_insert_vision_craft_visual_end()

EXPORT_API Result job_insert_vision_craft_visual_end	(	SOCKETFD	socketFd,
		int	line,
		int	id )

向作业文件插入一条VISION_END(视觉结束)指令

Parameters

id	工艺号
line	插入位置

job_insert_vision_craft_visual_end_robot()

EXPORT_API Result job_insert_vision_craft_visual_end_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		int	id )

job_insert_vision_craft_visual_trigger()

EXPORT_API Result job_insert_vision_craft_visual_trigger	(	SOCKETFD	socketFd,
		int	line,
		int	id )

向作业文件插入一条VISION_POS(触发视觉)指令

Parameters

id	工艺号
line	插入位置

job_insert_vision_craft_visual_trigger_robot()

EXPORT_API Result job_insert_vision_craft_visual_trigger_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	line,
		int	id )

job_insert_while()

EXPORT_API Result job_insert_while	(	SOCKETFD	socketFd,
		int	line,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup )

向作业文件插入一条while

Parameters

conditionGroups	条件组的二维向量
logic	第一层的逻辑类型，0为"与"，1为"或"
logicGroup	第二层的逻辑类型，0为"与"，1为"或"

job_insert_while_robot()

EXPORT_API Result job_insert_while_robot	(	SOCKETFD	socketFd,
		int	rbobtNum,
		int	line,
		const std::vector< std::vector< Condition > > &	conditionGroups,
		const std::vector< int > &	logic,
		const std::vector< std::vector< int > > &	logicGroup )

job_open()

EXPORT_API Result job_open	(	SOCKETFD	socketFd,
		const std::string &	jobName )

打开指定的作业文件

Parameters

jobName

作业文件名

Test

打开QQQ.JBR job_open(SOCKETFD socketFd,"QQQ");

job_open_robot()

EXPORT_API Result job_open_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		const std::string &	jobName )

job_pause()

EXPORT_API Result job_pause

(

SOCKETFD

socketFd

)

暂停作业文件

job_pause_robot()

EXPORT_API Result job_pause_robot	(	SOCKETFD	socketFd,
		int	robotNum )

job_run()

EXPORT_API Result job_run	(	SOCKETFD	socketFd,
		const std::string &	jobName )

运行指定的作业文件

Parameters

jobName

作业文件名

Test

运行QQQ.JBR job_run(SOCKETFD socketFd,"QQQ");

job_run_robot()

EXPORT_API Result job_run_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		const std::string &	jobName )

job_run_times()

EXPORT_API Result job_run_times	(	SOCKETFD	socketFd,
		int	index )

设置作业文件运行次数

Parameters

index

运行次数 0-无限次

job_run_times_robot()

EXPORT_API Result job_run_times_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		int	index )

job_set_local_position()

EXPORT_API Result job_set_local_position	(	SOCKETFD	socketFd,
		const std::string &	posName,
		std::vector< double >	posInfo )

根据点位名修改当前作业文件局部点位

Parameters

posName	需要修改的点位名
posInfo[14]	[0]坐标系 0：关节 1：直角 2：工具 3：用户 [1]:0 角度制 1弧度制 [2]形态 [3]工具手坐标序号 [4]用户坐标序号 [5][6] 备用 [7-13] 点位信息

job_set_local_position_robot()

EXPORT_API Result job_set_local_position_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		const std::string &	posName,
		std::vector< double >	posInfo )

job_step()

EXPORT_API Result job_step	(	SOCKETFD	socketFd,
		const std::string &	jobName,
		int	line )

单步运行指定的作业文件的某一行

Parameters

jobName	作业文件名
line	行号 [1,最大行号]

Test

运行QQQ.JBR的第一行 job_step(SOCKETFD socketFd,"QQQ",1);

job_step_robot()

EXPORT_API Result job_step_robot	(	SOCKETFD	socketFd,
		int	robotNum,
		const std::string &	jobName,
		int	line )

job_stop()

EXPORT_API Result job_stop

(

SOCKETFD

socketFd

)

停止作业文件(不会下电)

job_stop_robot()

EXPORT_API Result job_stop_robot	(	SOCKETFD	socketFd,
		int	robotNum )

job_sync_job_file()

EXPORT_API Result job_sync_job_file

(

SOCKETFD

socketFd

)

上传作业文件同步刷新示教器

job_upload_by_directory()

EXPORT_API Result job_upload_by_directory	(	SOCKETFD	socketFd,
		const std::string &	directoryPath )

根据文件夹上传一整个文件夹的作业文件

Parameters

directoryPath

目录的完整路径

job_upload_by_file()

EXPORT_API Result job_upload_by_file	(	SOCKETFD	socketFd,
		const std::string &	filePath )

根据文件名上传一个作业文件

Parameters

filePath

文件的完整路径

log_download_by_quantity()

EXPORT_API Result log_download_by_quantity	(	SOCKETFD	socketFd,
		int	counts,
		const std::string &	directoryPath )

下载指定数量的日志文件到指定文件夹

Parameters

counts	文件数量
directoryPath	目录的完整路径