nrc_job_operate.h

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#ifndef INCLUDE_API_NRC_JOB_OPERATE_H_
#define INCLUDE_API_NRC_JOB_OPERATE_H_
 
#include "parameter/nrc_define.h"
#include <string>
 
EXPORT_API Result job_upload_by_directory(SOCKETFD socketFd, const std::string& directoryPath);
 
EXPORT_API Result job_upload_by_file(SOCKETFD socketFd, const std::string& filePath);
 
EXPORT_API Result job_sync_job_file(SOCKETFD socketFd);
 
EXPORT_API Result job_download_by_directory(SOCKETFD socketFd, const std::string& directoryPath, bool isCover);
 
EXPORT_API Result log_download_by_quantity(SOCKETFD socketFd, int counts, const std::string& directoryPath);
 
EXPORT_API Result backup_system(SOCKETFD socketFd);
 
EXPORT_API Result job_create(SOCKETFD socketFd, const std::string& jobName);
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);
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);
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);
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);
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);
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);
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);
EXPORT_API Result job_step_robot(SOCKETFD socketFd, int robotNum, const std::string& jobName, int line);
 
EXPORT_API Result job_pause(SOCKETFD socketFd);
EXPORT_API Result job_pause_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result job_continue(SOCKETFD socketFd);
EXPORT_API Result job_continue_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result job_stop(SOCKETFD socketFd);
EXPORT_API Result job_stop_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result job_run_times(SOCKETFD socketFd, int index);
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);
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);
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);
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);
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);
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);
EXPORT_API Result job_set_local_position_robot(SOCKETFD socketFd, int robotNum, const std::string& posName, std::vector<double> posInfo);
 
//====================================================================
//========================向作业文件插入运动指令==========================
//====================================================================
EXPORT_API Result job_insert_moveJ(SOCKETFD socketFd, int line, MoveCmd moveCmd);
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);
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);
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);
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);
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);
EXPORT_API Result job_insert_samov_command_robot(SOCKETFD socketFd, int robotNum, int line, MoveCmd moveCmd, PositionData posData);
 
//====================================================================
//========================向作业文件插入延迟指令==========================
//====================================================================
EXPORT_API Result job_insert_timer_command(SOCKETFD socketFd, int line, double time);
EXPORT_API Result job_insert_timer_command_robot(SOCKETFD socketFd, int robotNum, int line, double time);
 
//====================================================================
//========================向作业文件插入IO指令===========================
//====================================================================
EXPORT_API Result job_insert_io_out_command(SOCKETFD socketFd, int line, IOCommandParams params);
EXPORT_API Result job_insert_io_out_command_robot(SOCKETFD socketFd, int robotNum, int line, IOCommandParams params);
 
//==================================================================
//========================向作业文件插入逻辑控制指令=====================
//==================================================================
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);
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);
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);
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);
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);
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);
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);
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);
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);
 
//====================================================================
//========================向作业文件插入视觉工艺指令=======================
//====================================================================
EXPORT_API Result job_insert_vision_craft_start(SOCKETFD socketFd, int line, int id);
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);
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);
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);
EXPORT_API Result job_insert_vision_craft_visual_end_robot(SOCKETFD socketFd, int robotNum, int line, int id);
 
//====================================================================
//========================向作业文件插入传送带工艺指令=====================
//====================================================================
EXPORT_API Result job_insert_conveyor_check_pos(SOCKETFD socketFd, int line, int id);
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);
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);
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);
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);
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);
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);
EXPORT_API Result job_insert_cil_robot(SOCKETFD socketFd, int robotNum, int line, MoveCmd moveCmd, int id);
 
#endif /* INCLUDE_API_NRC_JOB_OPERATE_H_ */