MovePlan.h

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#ifndef MOVEPLAN_H_
#define MOVEPLAN_H_
 
/*---------------------------- Includes ------------------------------------*/
#include "Base/robotStruct.h"
 
 
 
#ifdef __cplusplus
namespace HYYRobotBase
{
extern "C" {
#endif
 
void setMoveThread(int isthread);
 
int wait_move_finish(int robot_index);
 
int get_robot_move_state(int robot_index);
 
void Rsleep(int millisecond);
 
extern void AccSet(double acc, double jerk, int robot_index);
 
extern void move_start(void);
 
extern void move_stop(void);
 
extern int moveA(robjoint *rjoint, speed *rspeed, zone *rzone, tool *rtool, wobj *rwobj);
 
extern int dual_moveA(robjoint *rjoint1, robjoint *rjoint2, speed *rspeed1, speed *rspeed2, zone *rzone1, zone *rzone2, tool *rtool1, tool *rtool2, wobj *rwobj1, wobj *rwobj2);
 
extern int multi_moveA(robjoint *rjoint, speed *rspeed, zone *rzone, tool *rtool, wobj *rwobj, int _index);
 
extern int moveJ(robpose *rpose, speed *rspeed, zone *rzone, tool *rtool, wobj *rwobj);
 
extern int dual_moveJ(robpose *rpose1, robpose *rpose2, speed *rspeed1, speed *rspeed2, zone *rzone1, zone *rzone2, tool *rtool1, tool *rtool2, wobj *rwobj1, wobj *rwobj2);
 
extern int multi_moveJ(robpose *rpose, speed *rspeed, zone *rzone, tool *rtool, wobj *rwobj, int _index);
 
extern int moveL(robpose *rpose, speed *rspeed, zone *rzone, tool *rtool, wobj *rwobj);
 
extern int dual_moveL(robpose *rpose1, robpose *rpose2, speed *rspeed1, speed *rspeed2, zone *rzone1, zone *rzone2, tool *rtool1, tool *rtool2, wobj *rwobj1, wobj *rwobj2);
 
extern int multi_moveL(robpose *rpose, speed *rspeed, zone *rzone, tool *rtool, wobj *rwobj, int _index);
 
extern int moveC(robpose *rpose, robpose *rpose_mid, speed *rspeed, zone *rzone, tool *rtool, wobj *rwobj);
 
extern int dual_moveC(robpose *rpose1, robpose *rpose2, robpose *rpose_mid1, robpose *rpose_mid2, speed *rspeed1, speed *rspeed2, zone *rzone1, zone *rzone2, tool *rtool1, tool *rtool2, wobj *rwobj1, wobj *rwobj2);
 
extern int multi_moveC(robpose *rpose, robpose *rpose_mid, speed *rspeed, zone *rzone, tool *rtool, wobj *rwobj, int _index);
 
extern int moveH(robpose* rpose, robpose* rpose_mid, robpose* pose_line, double screw, speed* rspeed, zone* rzone, tool* rtool, wobj* rwobj);
 
extern int dual_moveH(robpose* rpose1, robpose* rpose2, robpose* rpose_mid1, robpose* rpose_mid2, robpose* pose_line1,robpose* pose_line2, double screw1,double screw2,speed* rspeed1, speed* rspeed2, zone* rzone1, zone* rzone2, tool* rtool1, tool* rtool2, wobj* rwobj1, wobj* rwobj2);
 
extern int multi_moveH(robpose* rpose, robpose* rpose_mid, robpose* pose_line, double screw, speed* rspeed, zone* rzone, tool* rtool, wobj* rwobj, int _index);
 
extern int moveS(char *filename, speed *rspeed, tool *rtool, wobj *rwobj);
 
extern int dual_moveS(char *filename1, char *filename2, speed *rspeed1, speed *rspeed2, tool *rtool1, tool *rtool2, wobj *rwobj1, wobj *rwobj2);
 
extern int multi_moveS(char *filename, speed *rspeed, tool *rtool, wobj *rwobj, int _index);
 
extern robpose Offs(const robpose* rpose, double x, double y, double z, double k, double p, double s);
 
extern robpose OffsRel(const robpose* rpose, double x, double y, double z, double k, double p, double s);
 
 
 
extern void robot_getJoint(double* joint, int _index);
 
extern int robot_getCartesian(tool* rtool,wobj* rwobj, double* pospose, int _index);
 
extern void SetDo(int id, int flag);
 
extern int GetDi(int id);
 
extern void WaitDi(int id, int value);
 
extern void SetAo(int id, double flag);
 
extern double GetAi(int id);
 
 
 
extern int robot_getDOF(int _index);
 
extern int additionaxis_getDOF(int _index);
 
extern int robot_getNUM();
 
extern int additionaxis_getNUM();
 
//----------------------------------------------------------------------------------------communication interface--------------------------------------------------------------------------
 
extern int SocketCreate(const char *ip, int port, const char *sName);
 
extern int ClientCreate(const char *ip, int port, const char *sName);
 
 
extern int SocketClose(const char *sName);
 
extern int SocketSendByteI(byte *data, int len, const char *sName);
 
extern int SocketRecvByteI(byte *data, int len, const char *sName);
 
 
extern int SocketSendByteII(int *header, int (*header_format)[2], int hf_len,
                            int *data_int, float *data_float, int (*data_format)[2], int df_len, const char *sName);
 
extern int SocketRecvByteII(int *header, int (*header_format)[2], int hf_len,
                            int *data_int, float *data_float, int (*data_format)[2], int df_len, const char *sName);
 
 
extern int SocketSendByte(byte data, const char *sName);
 
extern int SocketRecvByte(byte *data, const char *sName);
 
extern int SocketSendString(char *data, const char *sName);
 
extern int SocketRecvString(char *data, const char *sName);
 
extern int SocketSendDouble(double data, const char *sName);
 
extern int SocketRecvDouble(double *data, const char *sName);
 
extern int SocketSendInt(int data, const char *sName);
 
extern int SocketRecvInt(int *data, const char *sName);
 
extern int SocketSendByteArray(byte *data, int n, const char *sName);
 
extern int SocketRecvByteArray(byte *data, const char *sName);
 
extern int SocketSendDoubleArray(double *data, int n, const char *sName);
 
extern int SocketRecvDoubleArray(double *data, const char *sName);
 
extern int SocketSendIntArray(int *data, int n, const char *sName);
 
extern int SocketRecvIntArray(int *data, const char *sName);
 
extern int UDPSendByteI(byte *data, int len, const char *sName);
 
extern int UDPRecvByteI(byte *data, int len, const char *sName);
 
extern int UDPSendByteII(int *header, int (*header_format)[2], int hf_len,
                         int *data_int, float *data_float, int (*data_format)[2], int df_len, const char *sName);
 
extern int UDPRecvByteII(int *header, int (*header_format)[2], int hf_len,
                         int *data_int, float *data_float, int (*data_format)[2], int df_len, const char *sName);
 
extern int UDPSendByte(byte data, const char *sName);
 
extern int UDPRecvByte(byte *data, const char *sName);
 
extern int UDPSendString(char *data, const char *sName);
 
extern int UDPRecvString(char *data, const char *sName);
 
extern int UDPSendDouble(double data, const char *sName);
 
extern int UDPRecvDouble(double *data, const char *sName);
 
extern int UDPSendInt(int data, const char *sName);
 
extern int UDPRecvInt(int *data, const char *sName);
 
extern int UDPSendByteArray(int *data, int n, const char *sName);
 
extern int UDPRecvByteArray(int *data, const char *sName);
 
extern int UDPSendDoubleArray(double *data, int n, const char *sName);
 
extern int UDPRecvDoubleArray(double *data, const char *sName);
 
extern int UDPSendIntArray(int *data, int n, const char *sName);
 
extern int UDPRecvIntArray(int *data, const char *sName);
 
//----------------------------------------------------------------------------------------thread interface--------------------------------------------------------------------------
extern int ThreadCreat(void *(*fun)(void *), void *arg, const char *name, int detached_flag);
 
extern int ThreadDataFree(const char *name);
 
 
extern int ThreadWait(const char *name);
 
 
#ifdef __cplusplus
}
}
#endif
 
 
#endif /* MOVEPLAN_H_ */