nrc_queue_operate.h

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#ifndef INCLUDE_API_NRC_QUEUE_OPERATE_H_
#define INCLUDE_API_NRC_QUEUE_OPERATE_H_
 
#include "parameter/nrc_define.h"
 
EXPORT_API Result queue_motion_set_status(SOCKETFD socketFd, bool status);
EXPORT_API Result queue_motion_set_status_robot(SOCKETFD socketFd, int robotNum, bool status);
 
EXPORT_API Result queue_motion_get_status(SOCKETFD socketFd, bool& status);
EXPORT_API Result queue_motion_get_status_robot(SOCKETFD socketFd, int robotNum, bool& status);
 
EXPORT_API Result queue_motion_clear_Data(SOCKETFD socketFd);
EXPORT_API Result queue_motion_clear_Data_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result queue_motion_size(SOCKETFD socketFd, int& size);
EXPORT_API Result queue_motion_size_robot(SOCKETFD socketFd, int robotNum, int& size);
 
EXPORT_API Result queue_motion_get_queuelen(SOCKETFD socketFd, int& len);
EXPORT_API Result queue_motion_get_queuelen_robot(SOCKETFD socketFd, int robotNum, int& len);
 
EXPORT_API Result queue_motion_send_to_controller(SOCKETFD socketFd,int size);
EXPORT_API Result queue_motion_send_to_controller_robot(SOCKETFD socketFd, int robotNum, int size);
 
EXPORT_API Result queue_motion_suspend(SOCKETFD socketFd);
EXPORT_API Result queue_motion_suspend_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result queue_motion_restart(SOCKETFD socketFd);
EXPORT_API Result queue_motion_restart_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result queue_motion_stop(SOCKETFD socketFd);
EXPORT_API Result queue_motion_stop_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result queue_motion_stop_not_power_off(SOCKETFD socketFd);
EXPORT_API Result queue_motion_stop_not_power_off_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result queue_motion_push_back_moveJ(SOCKETFD socketFd, MoveCmd moveCmd);
EXPORT_API Result queue_motion_push_back_moveJ_robot(SOCKETFD socketFd, int robotNum, MoveCmd moveCmd);
 
EXPORT_API Result queue_motion_push_back_moveL(SOCKETFD socketFd, MoveCmd moveCmd);
EXPORT_API Result queue_motion_push_back_moveL_robot(SOCKETFD socketFd, int robotNum, MoveCmd moveCmd);
 
EXPORT_API Result queue_motion_push_back_moveC(SOCKETFD socketFd, MoveCmd moveCmd);
EXPORT_API Result queue_motion_push_back_moveC_robot(SOCKETFD socketFd, int robotNum, MoveCmd moveCmd);
 
EXPORT_API Result queue_motion_push_back_moveCA(SOCKETFD socketFd, MoveCmd moveCmd);
EXPORT_API Result queue_motion_push_back_moveCA_robot(SOCKETFD socketFd, int robotNum, MoveCmd moveCmd);
 
EXPORT_API Result queue_motion_push_back_moveS(SOCKETFD socketFd, MoveCmd moveCmd);
EXPORT_API Result queue_motion_push_back_moveS_robot(SOCKETFD socketFd, int robotNum, MoveCmd moveCmd);
 
EXPORT_API Result queue_motion_push_back_moveJ_extra(SOCKETFD socketFd, MoveCmd moveCmd);
EXPORT_API Result queue_motion_push_back_moveJ_extra_robot(SOCKETFD socketFd, int robotNum, MoveCmd moveCmd);
 
EXPORT_API Result queue_motion_push_back_moveL_extra(SOCKETFD socketFd, MoveCmd moveCmd);
EXPORT_API Result queue_motion_push_back_moveL_extra_robot(SOCKETFD socketFd, int robotNum, MoveCmd moveCmd);
 
EXPORT_API Result queue_motion_push_back_imove(SOCKETFD socketFd, MoveCmd moveCmd);
EXPORT_API Result queue_motion_push_back_imove_rbobt(SOCKETFD socketFd, int robotNum, MoveCmd moveCmd);
 
EXPORT_API Result queue_motion_push_back_timer(SOCKETFD socketFd, double time);
EXPORT_API Result queue_motion_push_back_timer_robot(SOCKETFD socketFd, int robotNum, double time);
 
EXPORT_API Result queue_motion_push_back_dout(SOCKETFD socketFd, int port, bool value);
EXPORT_API Result queue_motion_push_back_dout_robot(SOCKETFD socketFd, int robotNum, int port, bool value);
 
EXPORT_API Result queue_motion_push_back_conveyor_check_pos(SOCKETFD socketFd,int id);
EXPORT_API Result queue_motion_push_back_conveyor_check_pos_robot(SOCKETFD socketFd, int robotNum,int id);
 
EXPORT_API Result queue_motion_push_back_conveyor_check_end(SOCKETFD socketFd, int id);
EXPORT_API Result queue_motion_push_back_conveyor_check_end_robot(SOCKETFD socketFd, int robotNum, int id);
 
EXPORT_API Result queue_motion_push_back_conveyor_on(SOCKETFD socketFd,int id, int postype, std::vector<double> pos, int vel, int acc);
EXPORT_API Result queue_motion_push_back_conveyor_on_robot(SOCKETFD socketFd, int robotNum,int id, int postype, std::vector<double> pos, int vel, int acc);
 
EXPORT_API Result queue_motion_push_back_conveyor_off(SOCKETFD socketFd, int id);
EXPORT_API Result queue_motion_push_back_conveyor_off_robot(SOCKETFD socketFd, int robotNum, int id);
 
EXPORT_API Result queue_motion_push_back_conveyor_pos(SOCKETFD socketFd, int id, const std::string posName);
EXPORT_API Result queue_motion_push_back_conveyor_pos_robot(SOCKETFD socketFd, int robotNum, int id, const std::string posName);
 
EXPORT_API Result queue_motion_push_back_conveyor_clear(SOCKETFD socketFd, int id, int removeType);
EXPORT_API Result queue_motion_push_back_conveyor_clear_robot(SOCKETFD socketFd, int robotNum, int id, int removeType);
 
EXPORT_API Result queue_motion_push_back_arc_on(SOCKETFD socketFd, int id);
EXPORT_API Result queue_motion_push_back_arc_on_robot(SOCKETFD socketFd, int robotNum, int id);
 
EXPORT_API Result queue_motion_push_back_arc_off(SOCKETFD socketFd, int id);
EXPORT_API Result queue_motion_push_back_arc_off_robot(SOCKETFD socketFd, int robotNum, int id);
 
EXPORT_API Result queue_motion_push_back_wave_on(SOCKETFD socketFd, int id);
EXPORT_API Result queue_motion_push_back_wave_on_robot(SOCKETFD socketFd, int robotNum, int id);
 
EXPORT_API Result queue_motion_push_back_wave_off(SOCKETFD socketFd, int id);
EXPORT_API Result queue_motion_push_back_wave_off_robot(SOCKETFD socketFd, int robotNum, int id);
 
EXPORT_API Result queue_motion_push_back_tigweld_on(SOCKETFD socketFd, int type, double l1, double l2);
EXPORT_API Result queue_motion_push_back_tigweld_on_robot(SOCKETFD socketFd, int robotNum, int type, double l1, double l2);
 
EXPORT_API Result queue_motion_push_back_tigweld_off(SOCKETFD socketFd);
EXPORT_API Result queue_motion_push_back_tigweld_off_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result queue_motion_push_back_spot_weld(SOCKETFD socketFd, int id, double time);
EXPORT_API Result queue_motion_push_back_spot_weld_robot(SOCKETFD socketFd, int robotNum, int id, double time);
 
EXPORT_API Result queue_motion_push_back_vision_craft_start(SOCKETFD socketFd, int id);
EXPORT_API Result queue_motion_push_back_vision_craft_start_robot(SOCKETFD socketFd, int robotNum, int id);
 
EXPORT_API Result queue_motion_push_back_vision_craft_get_pos(SOCKETFD socketFd, int id, const std::string posName);
EXPORT_API Result queue_motion_push_back_vision_craft_get_pos_robot(SOCKETFD socketFd, int robotNum, int id, const std::string posName);
 
EXPORT_API Result queue_motion_push_back_vision_craft_visual_trigger(SOCKETFD socketFd, int id);
EXPORT_API Result queue_motion_push_back_vision_craft_visual_trigger_robot(SOCKETFD socketFd, int robotNum, int id);
 
EXPORT_API Result queue_motion_push_back_vision_craft_visual_end(SOCKETFD socketFd, int id);
EXPORT_API Result queue_motion_push_back_vision_craft_visual_end_robot(SOCKETFD socketFd, int robotNum, int id);
 
EXPORT_API Result queue_motion_push_back_until(SOCKETFD socketFd, const std::vector<std::vector<Condition>>& conditionGroups,const std::vector<int>& logic,const std::vector<std::vector<int>>& logicGroup);
EXPORT_API Result queue_motion_push_back_until_robot(SOCKETFD socketFd, int robotNum, const std::vector<std::vector<Condition>>& conditionGroups,const std::vector<int>& logic,const std::vector<std::vector<int>>& logicGroup);
 
EXPORT_API Result queue_motion_push_back_end_until(SOCKETFD socketFd);
EXPORT_API Result queue_motion_push_back_end_until_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result queue_motion_push_back_while(SOCKETFD socketFd, const std::vector<std::vector<Condition>>& conditionGroups,const std::vector<int>& logic,const std::vector<std::vector<int>>& logicGroup);
EXPORT_API Result queue_motion_push_back_while_robot(SOCKETFD socketFd, int robotNum, const std::vector<std::vector<Condition>>& conditionGroups,const std::vector<int>& logic,const std::vector<std::vector<int>>& logicGroup);
 
EXPORT_API Result queue_motion_push_back_end_while(SOCKETFD socketFd);
EXPORT_API Result queue_motion_push_back_end_while_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result queue_motion_push_back_if(SOCKETFD socketFd, const std::vector<std::vector<Condition>>& conditionGroups,const std::vector<int>& logic,const std::vector<std::vector<int>>& logicGroup);
EXPORT_API Result queue_motion_push_back_if_robot(SOCKETFD socketFd, int robotNum, const std::vector<std::vector<Condition>>& conditionGroups,const std::vector<int>& logic,const std::vector<std::vector<int>>& logicGroup);
 
EXPORT_API Result queue_motion_push_back_end_if(SOCKETFD socketFd);
EXPORT_API Result queue_motion_push_back_end_if_robot(SOCKETFD socketFd, int robotNum);
 
EXPORT_API Result queue_motion_push_back_label(SOCKETFD socketFd, const std::string &label);
EXPORT_API Result queue_motion_push_back_label_robot(SOCKETFD socketFd, int robotNum, const std::string &label);
 
EXPORT_API Result queue_motion_push_back_jump(SOCKETFD socketFd, 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 queue_motion_push_back_jump_robot(SOCKETFD socketFd, int robotNum, 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 queue_motion_push_back_samov(SOCKETFD socketFd, MoveCmd moveCmd,PositionData posData);
EXPORT_API Result queue_motion_push_back_samov_robot(SOCKETFD socketFd, int robotNum, MoveCmd moveCmd,PositionData posData);
 
EXPORT_API Result queue_motion_push_back_cil(SOCKETFD socketFd, MoveCmd moveCmd,int id);
EXPORT_API Result queue_motion_push_back_cil_robot(SOCKETFD socketFd, int robotNum, MoveCmd moveCmd,int id);
 
EXPORT_API Result queue_motion_push_back_TOFFSETON(SOCKETFD socketFd, OffsetCommandParam params);
EXPORT_API Result queue_motion_push_back_TOFFSETON_robot(SOCKETFD socketFd, int robotNum, OffsetCommandParam params);
 
EXPORT_API Result queue_motion_push_back_TOFFSETOFF(SOCKETFD socketFd);
EXPORT_API Result queue_motion_push_back_TOFFSETOFF_robot(SOCKETFD socketFd, int robotNum);
 
#endif /* INCLUDE_API_NRC_QUEUE_OPERATE_H_ */