AuboStudio SDK 0.6.3

system_api.h
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1 #ifndef AUBO_SCOPE_SYSTEM_API_H
2 #define AUBO_SCOPE_SYSTEM_API_H
3
4 #include <string>
5 #include <vector>
6 #include <unordered_map>
7 #include <aubo_caps/class_forward.h>
8
9 namespace arcs {
10 namespace aubo_scope {
11
12 enum class UnitType
13 {
14 METRIC, ///< 公制 mm Kg
15 IMPERIAL ///< 英制
16 };
17
18 struct IoConfigure
19 {
20 std::string label;
21 int num;
22 std::vector<std::string> names;
23 std::vector<int> sequences;
24 std::vector<int> functions;
25 std::vector<int> safety_functions;
26 std::vector<int> safety_functions_fixed;
27 bool function_lock{ false };
28 std::vector<int> types;
29 std::vector<double> mins;
30 std::vector<double> maxs;
31 };
32
33 ARCS_CLASS_FORWARD(SystemApi);
34
35 /**
36 * @defgroup SystemApi SystemApi
37 */
38
39 class ARCS_ABI_EXPORT SystemApi
40 {
41 public:
42 SystemApi(SystemApi &f);
43 SystemApi(SystemApi &&f);
44 virtual ~SystemApi();
45
46 /**
47 * @ingroup SystemApi
48 * @return the major version of Software.
49 */
50 int getMajorVersion();
51
52 /**
53 * @ingroup SystemApi
54 * @return the minor version of Software.
55 */
56 int getMinorVersion();
57
58 /**
59 * @ingroup SystemApi
60 * @return the bug fix version of Software.
61 */
62 int getBugfixVersion();
63
64 /**
65 * @ingroup SystemApi
66 * @return the build number of Software.
67 */
68 int getBuildNumber();
69
70 /**
71 * @ingroup SystemApi
72 * Returns the {@link Locale} for the system.
73 *
74 * @return Locale.
75 */
76 std::string getLocale();
77
78 /**
79 * @ingroup SystemApi
80 * Returns the {@link Locale} for the programming language used in the
81 * system.
82 *
83 * @return Locale.
84 */
85 std::string getLocaleForProgrammingLanguage();
86
87 /**
88 * @ingroup SystemApi
89 * Returns the UnitType of the system as an enum.
90 *
91 * @return UnitType.
92 */
93 UnitType getUnitType();
94
95 /**
96 * @ingroup SystemApi
97 *
98 * @return the serial number of the robot
99 */
100 std::string getSerialNumber();
101
102 /**
103 * @ingroup SystemApi
104 * @return <code>true</code> if controlling the real, physical robot and
105 * <code>false</code> if in simulation mode.
106 */
107 bool isRealRobot();
108
109 /**
110 * @ingroup SystemApi
111 * @return Max Positions of robot joints in radian
112 */
113 std::vector<double> getJointMaxPositions();
114
115 /**
116 * @ingroup SystemApi
117 * @brief getJointMinPositions
118 * @return
119 */
120 std::vector<double> getJointMinPositions();
121
122 /**
123 * @ingroup SystemApi
124 * @brief getJointDefaultVelocity
125 * @return
126 */
127 double getJointDefaultVelocity();
128
129 /**
130 * @ingroup SystemApi
131 * @brief getJointDefaultAcceleration
132 * @return
133 */
134 double getJointDefaultAcceleration();
135
136 /**
137 * @ingroup SystemApi
138 * @brief getJointMaxVelocity
139 * @return
140 */
141 std::vector<double> getJointMaxVelocity();
142
143 /**
144 * @ingroup SystemApi
145 * @brief getJointMaxAcceleration
146 * @return
147 */
148 std::vector<double> getJointMaxAcceleration();
149
150 /**
151 * @ingroup SystemApi
152 * @brief getTcpDefaultVelocity
153 * @return
154 */
155 double getTcpDefaultVelocity();
156
157 /**
158 * @ingroup SystemApi
159 * @brief getTcpDefaultAcceleration
160 * @return
161 */
162 double getTcpDefaultAcceleration();
163
164 /**
165 * @ingroup SystemApi
166 * @brief getTcpMaxVelocity
167 * @return
168 */
169 double getTcpMaxVelocity();
170
171 /**
172 * @ingroup SystemApi
173 * @brief getTcpMaxAcceleration
174 * @return
175 */
176 double getTcpMaxAcceleration();
177
178 /**
179 * @ingroup SystemApi
180 * @brief getTcpMaxDistance
181 * @return
182 */
183 double getTcpMaxDistance();
184
185 /**
186 * @ingroup SystemApi
187 * @brief getMaxPayloadMass
188 * @return
189 */
190 double getMaxPayloadMass();
191
192 /**
193 * @ingroup SystemApi
194 * @brief getMaxPayloadDistance
195 * @return
196 */
197 double getMaxPayloadDistance();
198
199 /**
200 * @ingroup SystemApi
201 * @brief getHomeDefaultPosition
202 * @return
203 */
204 std::vector<double> getHomeDefaultPosition();
205
206 /**
207 * @ingroup SystemApi
208 * @brief getHomePackagePosition
209 * @return
210 */
211 std::vector<double> getHomePackagePosition();
212
213 /**
214 * @ingroup SystemApi
215 * @brief getRobotDhParams
216 * @param is_real
217 * @return
218 */
219 std::unordered_map<std::string, std::vector<double>> getRobotDhParams(
220 bool is_real);
221
222 /**
223 * @ingroup SystemApi
224 * @brief getToolDigitalIOConfigure
225 * @return
226 */
227 IoConfigure getToolDigitalIOConfigure();
228
229 /**
230 * @ingroup SystemApi
231 * @brief getStandardDigitalInputConfigure
232 * @return
233 */
234 IoConfigure getStandardDigitalInputConfigure();
235
236 /**
237 * @ingroup SystemApi
238 * @brief getConfigurableDigitalInputConfigure
239 * @return
240 */
241 IoConfigure getConfigurableDigitalInputConfigure();
242
243 /**
244 * @ingroup SystemApi
245 * @brief getStandardDigitalOutputConfigure
246 * @return
247 */
248 IoConfigure getStandardDigitalOutputConfigure();
249
250 /**
251 * @ingroup SystemApi
252 * @brief getConfigurableDigitalOutputConfigure
253 * @return
254 */
255 IoConfigure getConfigurableDigitalOutputConfigure();
256
257 /**
258 * @ingroup SystemApi
259 * @brief getStandardAnalogInputConfigure
260 * @return
261 */
262 IoConfigure getStandardAnalogInputConfigure();
263
264 /**
265 * @ingroup SystemApi
266 * @brief getToolAnalogInputConfigure
267 * @return
268 */
269 IoConfigure getToolAnalogInputConfigure();
270
271 /**
272 * @ingroup SystemApi
273 * @brief getStandardAnalogOutputConfigure
274 * @return
275 */
276 IoConfigure getStandardAnalogOutputConfigure();
277
278 /**
279 * @ingroup SystemApi
280 * @brief getToolAnalogOutputConfigure
281 * @return
282 */
283 IoConfigure getToolAnalogOutputConfigure();
284
285 /**
286 * @ingroup SystemApi
287 * @brief getStaticLinkInputConfigure
288 * @return
289 */
290 IoConfigure getStaticLinkInputConfigure();
291
292 /**
293 * @ingroup SystemApi
294 * @brief getStaticLinkOutputConfigure
295 * @return
296 */
297 IoConfigure getStaticLinkOutputConfigure();
298
299 /**
300 * @ingroup SystemApi
301 * @brief getENCConfigure
302 * @return
303 */
304 IoConfigure getENCConfigure();
305
306 private:
307 friend class DataSwitch;
308 SystemApi();
309 void *d_{ nullptr };
310 };
311
312 } // namespace aubo_scope
313 } // namespace arcs
314
315 #endif // SYSTEMAPI_H
class_forward.h
ARCS_ABI_EXPORT
#define ARCS_ABI_EXPORT
Definition: class_forward.h:16
arcs::aubo_scope::SystemApi
Definition: system_api.h:40
arcs::aubo_scope::SystemApi::SystemApi
SystemApi(SystemApi &f)
arcs::aubo_scope::SystemApi::~SystemApi
virtual ~SystemApi()
arcs::aubo_scope::SystemApi::SystemApi
SystemApi(SystemApi &&f)
arcs::aubo_scope::SystemApi::SystemApi
SystemApi()
arcs::aubo_scope::SystemApi::getToolAnalogOutputConfigure
IoConfigure getToolAnalogOutputConfigure()
getToolAnalogOutputConfigure
arcs::aubo_scope::SystemApi::getStaticLinkInputConfigure
IoConfigure getStaticLinkInputConfigure()
getStaticLinkInputConfigure
arcs::aubo_scope::SystemApi::getToolDigitalIOConfigure
IoConfigure getToolDigitalIOConfigure()
getToolDigitalIOConfigure
arcs::aubo_scope::SystemApi::getENCConfigure
IoConfigure getENCConfigure()
getENCConfigure
arcs::aubo_scope::SystemApi::getUnitType
UnitType getUnitType()
Returns the UnitType of the system as an enum.
arcs::aubo_scope::SystemApi::getStaticLinkOutputConfigure
IoConfigure getStaticLinkOutputConfigure()
getStaticLinkOutputConfigure
arcs::aubo_scope::SystemApi::getMaxPayloadDistance
double getMaxPayloadDistance()
getMaxPayloadDistance
arcs::aubo_scope::SystemApi::getMinorVersion
int getMinorVersion()
arcs::aubo_scope::SystemApi::getMaxPayloadMass
double getMaxPayloadMass()
getMaxPayloadMass
arcs::aubo_scope::SystemApi::getConfigurableDigitalInputConfigure
IoConfigure getConfigurableDigitalInputConfigure()
getConfigurableDigitalInputConfigure
arcs::aubo_scope::SystemApi::getBuildNumber
int getBuildNumber()
arcs::aubo_scope::SystemApi::getTcpDefaultAcceleration
double getTcpDefaultAcceleration()
getTcpDefaultAcceleration
arcs::aubo_scope::SystemApi::getToolAnalogInputConfigure
IoConfigure getToolAnalogInputConfigure()
getToolAnalogInputConfigure
arcs::aubo_scope::SystemApi::getTcpMaxAcceleration
double getTcpMaxAcceleration()
getTcpMaxAcceleration
arcs::aubo_scope::SystemApi::getJointDefaultVelocity
double getJointDefaultVelocity()
getJointDefaultVelocity
arcs::aubo_scope::SystemApi::getStandardAnalogInputConfigure
IoConfigure getStandardAnalogInputConfigure()
getStandardAnalogInputConfigure
arcs::aubo_scope::SystemApi::getBugfixVersion
int getBugfixVersion()
arcs::aubo_scope::SystemApi::getSerialNumber
std::string getSerialNumber()
arcs::aubo_scope::SystemApi::isRealRobot
bool isRealRobot()
arcs::aubo_scope::SystemApi::getJointMaxAcceleration
std::vector< double > getJointMaxAcceleration()
getJointMaxAcceleration
arcs::aubo_scope::SystemApi::getLocale
std::string getLocale()
Returns the Locale for the system.
arcs::aubo_scope::SystemApi::getConfigurableDigitalOutputConfigure
IoConfigure getConfigurableDigitalOutputConfigure()
getConfigurableDigitalOutputConfigure
arcs::aubo_scope::SystemApi::getStandardDigitalInputConfigure
IoConfigure getStandardDigitalInputConfigure()
getStandardDigitalInputConfigure
arcs::aubo_scope::SystemApi::getRobotDhParams
std::unordered_map< std::string, std::vector< double > > getRobotDhParams(bool is_real)
getRobotDhParams
arcs::aubo_scope::SystemApi::getStandardDigitalOutputConfigure
IoConfigure getStandardDigitalOutputConfigure()
getStandardDigitalOutputConfigure
arcs::aubo_scope::SystemApi::getJointDefaultAcceleration
double getJointDefaultAcceleration()
getJointDefaultAcceleration
arcs::aubo_scope::SystemApi::getStandardAnalogOutputConfigure
IoConfigure getStandardAnalogOutputConfigure()
getStandardAnalogOutputConfigure
arcs::aubo_scope::SystemApi::getTcpDefaultVelocity
double getTcpDefaultVelocity()
getTcpDefaultVelocity
arcs::aubo_scope::SystemApi::getTcpMaxVelocity
double getTcpMaxVelocity()
getTcpMaxVelocity
arcs::aubo_scope::SystemApi::getJointMaxVelocity
std::vector< double > getJointMaxVelocity()
getJointMaxVelocity
arcs::aubo_scope::SystemApi::getMajorVersion
int getMajorVersion()
arcs::aubo_scope::SystemApi::getJointMaxPositions
std::vector< double > getJointMaxPositions()
arcs::aubo_scope::SystemApi::getTcpMaxDistance
double getTcpMaxDistance()
getTcpMaxDistance
arcs::aubo_scope::SystemApi::getHomeDefaultPosition
std::vector< double > getHomeDefaultPosition()
getHomeDefaultPosition
arcs::aubo_scope::SystemApi::getJointMinPositions
std::vector< double > getJointMinPositions()
getJointMinPositions
arcs::aubo_scope::SystemApi::getHomePackagePosition
std::vector< double > getHomePackagePosition()
getHomePackagePosition
arcs::aubo_scope::SystemApi::getLocaleForProgrammingLanguage
std::string getLocaleForProgrammingLanguage()
Returns the Locale for the programming language used in the system.
arcs::aubo_scope::UnitType
UnitType
Definition: system_api.h:13
arcs::aubo_scope::UnitType::METRIC
@ METRIC
公制 mm Kg
arcs::aubo_scope::UnitType::IMPERIAL
@ IMPERIAL
英制
arcs::aubo_scope::ARCS_CLASS_FORWARD
ARCS_CLASS_FORWARD(GripForceCapability)
arcs
Definition: contribution_provider.h:7
arcs::aubo_scope::IoConfigure
Definition: system_api.h:19
arcs::aubo_scope::IoConfigure::safety_functions_fixed
std::vector< int > safety_functions_fixed
Definition: system_api.h:26
arcs::aubo_scope::IoConfigure::safety_functions
std::vector< int > safety_functions
Definition: system_api.h:25
arcs::aubo_scope::IoConfigure::function_lock
bool function_lock
Definition: system_api.h:27
arcs::aubo_scope::IoConfigure::types
std::vector< int > types
Definition: system_api.h:28
arcs::aubo_scope::IoConfigure::maxs
std::vector< double > maxs
Definition: system_api.h:30
arcs::aubo_scope::IoConfigure::sequences
std::vector< int > sequences
Definition: system_api.h:23
arcs::aubo_scope::IoConfigure::functions
std::vector< int > functions
Definition: system_api.h:24
arcs::aubo_scope::IoConfigure::label
std::string label
Definition: system_api.h:20
arcs::aubo_scope::IoConfigure::mins
std::vector< double > mins
Definition: system_api.h:29
arcs::aubo_scope::IoConfigure::names
std::vector< std::string > names
Definition: system_api.h:22
arcs::aubo_scope::IoConfigure::num
int num
Definition: system_api.h:21