device_interface.h

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#ifndef DEVICE_INTERFACE_H_
#define DEVICE_INTERFACE_H_
 
 
 
#ifdef __cplusplus
namespace HYYRobotBase
{
extern "C" {
#endif
 
const char* get_deviceName(int index,char* name);
 
int device_describe_printf(const char* device_name);
 
double get_control_cycle(const char* device_name);
 
int hasNumber_dio_device(const char* device_name);
 
int hasNumber_aio_device(const char* device_name);
 
int hasNumber_additionaxis_device(const char* device_name);
 
int hasNumber_robot_device(const char* device_name);
 
const char* get_name_dio_device(const char* device_name);
 
const char* get_name_aio_device(const char* device_name);
 
const char* get_name_lio_device(const char* device_name);
 
const char* get_name_additionaxis_device(const char* device_name, int index);
 
int get_index_additionaxis_device(const char* subdevice_name);
 
const char* get_name_robot_device(const char* device_name, int index);
 
int get_index_robot_device(const char* subdevice_name);
 
int is_dio_device(const char* subdevice_name);
 
int is_aio_device(const char* subdevice_name);
 
 
int is_lio_device(const char* subdevice_name);
 
int is_additionaxis_device(const char* subdevice_name);
 
int is_robot_device(const char* subdevice_name);
 
int axis_power_on(const char* subdevice_name,int axis_ID);
 
int axis_power_off(const char* subdevice_name,int axis_ID);
 
int set_axis_mode(const char* subdevice_name,signed char mode,int axis_ID);
 
int set_axis_control(const char* subdevice_name,unsigned short control,int axis_ID);
 
unsigned short get_axis_status(const char* subdevice_name,int axis_ID);
 
int get_axis_position(const char* subdevice_name,int axis_ID);
 
int get_axis_target_position(const char* subdevice_name,int axis_ID);
 
int get_axis_velocity(const char* subdevice_name,int axis_ID);
 
int get_axis_target_velocity(const char* subdevice_name,int axis_ID);
 
short get_axis_torque(const char* subdevice_name,int axis_ID);
 
int get_axis_position2(const char* subdevice_name,int axis_ID);
 
int get_axis_velocity2(const char* subdevice_name,int axis_ID);
 
short get_axis_sensor_torque(const char* subdevice_name,int axis_ID);
 
signed char get_axis_mode(const char* subdevice_name,int axis_ID);
 
short get_axis_ErrorCode(const char* subdevice_name,int axis_ID);
 
int get_axis_FollowingErrorActualValue(const char* subdevice_name,int axis_ID);
 
int set_axis_position(const char* subdevice_name,int pos,int axis_ID);
 
int set_axis_velocity(const char* subdevice_name,int vel,int axis_ID);
 
int set_axis_torque(const char* subdevice_name,short tor,int axis_ID);
 
int set_axis_velocityOffset(const char* subdevice_name,int veloffset,int axis_ID);
 
int set_axis_torqueOffset(const char* subdevice_name,short toroffset,int axis_ID);
 
int set_axis_torqueMaxLimit(const char* subdevice_name,short torlimit,int axis_ID);
 
int set_axis_torqueMinLimit(const char* subdevice_name,short torlimit,int axis_ID);
 
int set_do(const char* subdevice_name, int id_index,int flag);
 
int set_lo(const char* subdevice_name, int id_index,int flag);
 
int get_di(const char* subdevice_name,int id_index);
 
int get_li(const char* subdevice_name,int id_index);
 
int set_ao(const char* subdevice_name, int id_index, short ao);
 
short get_ai(const char* subdevice_name,int id_index);
 
int get_ao_num(const char* subdevice_name);
 
int get_ai_num(const char* subdevice_name);
 
int get_group_dof(const char* subdevice_name);
 
int group_power_on(const char* subdevice_name);
 
int group_power_off(const char* subdevice_name);
 
int set_group_mode(const char* subdevice_name, signed char* mode);
 
int get_group_mode(const char* subdevice_name,signed char* mode);
 
int get_group_position(const char* subdevice_name,int* pos);
 
int get_group_target_position(const char* subdevice_name,int* pos);
 
int get_group_velocity(const char* subdevice_name,int* vel);
 
int get_group_target_velocity(const char* subdevice_name,int* vel);
 
int get_group_torque(const char* subdevice_name,short* tor);
 
int get_group_position2(const char* subdevice_name,int* pos);
 
int get_group_velocity2(const char* subdevice_name,int* vel);
 
int get_group_sensor_torque(const char* subdevice_name,short* tor);
 
int get_group_ErrorCode(const char* subdevice_name, short* err);
 
int get_group_FollowingErrorActualValue(const char* subdevice_name, int* err);
 
int set_group_position(const char* subdevice_name,int* pos);
 
int set_group_velocity(const char* subdevice_name,int* vel);
 
int set_group_torque(const char* subdevice_name,short* tor);
 
int set_group_velocityOffset(const char* subdevice_name,int* veloffset);
 
int set_group_torqueOffset(const char* subdevice_name,short* toroffset);
 
int set_group_torqueMaxLimit(const char* subdevice_name,short* torlimit);
 
int set_group_torqueMinLimit(const char* subdevice_name,short* torlimit);
 
double GetAxisPosition(const char* subdevice_name,int axis_ID);
 
double GetAxisTargetPosition(const char* subdevice_name,int axis_ID);
 
double GetAxisVelocity(const char* subdevice_name,int axis_ID);
 
double GetAxisTargetVelocity(const char* subdevice_name,int axis_ID);
 
double GetAxisTorque(const char* subdevice_name,int axis_ID);
 
double GetAxisPosition2(const char* subdevice_name,int axis_ID);
 
int SetAxisPosition(const char* subdevice_name, double position, int axis_ID);
 
int SetAxisVelocity(const char* subdevice_name, double velocity, int axis_ID);
 
int SetAxisTorque(const char* subdevice_name, double torque, int axis_ID);
 
double GetAI(const char* subdevice_name,int id_index);
 
int SetAO(const char* subdevice_name, double ao, int id_index);
 
int GetGroupPosition(const char* subdevice_name, double* position);
 
int GetGroupTargetPosition(const char* subdevice_name, double* position);
 
int GetGroupVelocity(const char* subdevice_name, double* velocity);
 
int GetGroupTargetVelocity(const char* subdevice_name, double* velocity);
 
int GetGroupTorque(const char* subdevice_name, double* torque);
 
int GetGroupPosition2(const char* subdevice_name, double* position);
 
int SetGroupPosition(const char* subdevice_name, double* position);
 
int SetGroupVelocity(const char* subdevice_name, double* velocity);
 
int SetGroupTorque(const char* subdevice_name, double* torque);
 
int SetGroupCtrlTarget(const char* subdevice_name, double* position, double* velocity, double* acceleration);
 
int GetGroupCtrlTarget(const char* subdevice_name, double* position, double* velocity, double* acceleration);
 
int SetGroupCtrlTargetPosition(const char* subdevice_name, double* position);
 
int GetGroupCtrlTargetPosition(const char* subdevice_name, double* position);
 
 
#ifdef __cplusplus
}
}
#endif
 
 
#endif /* DEVICE_INTERFACE_H_ */