| xCore-SDK 0.5.1 xCore SDK C# API

data_types_cli.hpp
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1
8#pragma once
9#ifndef XCORESDK_SRC_CLI_DATA_TYPES_CLI_HPP_
10#define XCORESDK_SRC_CLI_DATA_TYPES_CLI_HPP_
11
12#include <unordered_map>
13#include <any>
14
15 using namespace System;
16 using namespace System::Collections::Generic;
17
18 namespace rokae::clr {
19
23 public ref class ErrorCode {
24 private:
25 int value_;
26 String^ message_;
27 public:
28
29 ErrorCode(int v, String^ m) : value_(v), message_(m) {};
33 property String^ message {
34 String^ get() {
35 return message_;
36 }
37 }
41 property int value {
42 int get() {
43 return value_;
44 }
45 }
46 };
47
51 public enum class PowerState {
53 on = 0,
55 off = 1,
57 estop = 2,
59 gstop = 3,
61 unknown = -1
62 };
63
67 public enum class OperateMode {
69 manual = 0,
71 automatic = 1,
73 unknown = -1
74 };
75
79 public enum class OperationState {
81 idle = 0,
83 jog = 1,
85 rtControlling = 2,
87 drag = 3,
89 rlProgram = 4,
91 demo = 5,
93 dynamicIdentify = 6,
95 frictionIdentify = 7,
97 loadIdentify = 8,
99 moving = 9,
101 jogging = 10,
103 unknown = -1
104 };
105
109 public enum class CoordinateType {
111 flangeInBase,
113 endInRef
114 };
115
119 public enum class StopLevel {
121 stop0,
123 stop1,
125 stop2,
127 suppleStop
128 };
129
133 public enum class MotionControlMode {
135 Idle,
137 NrtCommand,
139 NrtRLTask,
141 RtCommand,
142 };
143
147 public enum class JogSpace {
149 world = 0,
151 flange,
153 baseFrame,
155 toolFrame,
157 wobjFrame,
159 jointSpace,
161 singularityAvoidMode,
163 baseParallelMode
164 };
165
169 public enum class FrameType {
171 world = 0,
173 baseFrame = 1,
175 flange = 2,
177 tool = 3,
179 wobj = 4,
181 path = 5,
183 rail = 6
184 };
185
189 public value struct DragOpt {
190 public:
191 enum class Space {
193 jointSpace = 0,
195 cartesianSpace = 1
196 };
197 enum class Type {
199 translationOnly = 0,
201 rotationOnly = 1,
203 freely = 2
204 };
205 };
206
210 public value struct xPanelOpt {
214 enum class Vout {
216 off,
218 reserve,
220 supply12v,
222 supply24v
223 };
224 };
225
229 public enum class AvoidSingularityMethod {
231 lockAxis4,
233 wrist,
235 jointWay
236 };
237
238 typedef System::Collections::Generic::Dictionary<String^, System::Object^>^ EventInfo;
239 public delegate void EventCallbackDelegate(EventInfo);
240 public delegate void EventCallbackNativeDelegate(const std::unordered_map<std::string, std::any>&);
241 typedef void(__stdcall * EventCallbackPtr)(const std::unordered_map<std::string, std::any> &);
242
246 public enum class Event {
248 moveExecution,
250 safety,
252 rlExecution
253 };
254
258 public value struct Info {
260 String^ id;
262 String^ version;
264 String^ type;
266 Int32 joint_num;
267 };
268
272 public ref class Frame {
273 public:
279 Frame(array<double>^ _trans, array<double>^ _rpy) : trans(_trans), rpy(_rpy) {}
280
285 Frame(array<double>^ _frame) : trans(gcnew array<double>(3)), rpy(gcnew array<double>(3)) {
286 if (_frame->Length < 6) {
287 throw gcnew System::IndexOutOfRangeException();
288 }
289 trans[0] = _frame[0];
290 trans[1] = _frame[1];
291 trans[2] = _frame[2];
292 rpy[0] = _frame[3];
293 rpy[1] = _frame[4];
294 rpy[2] = _frame[5];
295 }
296
300 Frame(): trans(gcnew array<double>(3)), rpy(gcnew array<double>(3)){}
302 array<double>^ trans;
304 array<double>^ rpy;
305 };
306
310 public ref class CartesianPosition : public Frame {
311 public:
315 ref class Offset {
316 public:
318 enum class Type {
320 none,
322 offs,
324 relTool
325 };
326 Offset(): type(Type::none), frame(gcnew Frame()) {};
327 Type type;
328 Frame^ frame;
329 };
330 CartesianPosition(): Frame(), elbow(0), confData(gcnew List<int>), external(gcnew List<double>) {};
331
333 double elbow;
335 List<int>^ confData;
337 List<double>^ external;
338 };
339
343 public ref class JointPosition {
344 public:
345 JointPosition() : joints(gcnew List<double>()), external(gcnew List<double>()) {};
347 List<double>^ joints;
349 List<double>^ external;
350 };
351
355 public ref class MoveCommand {
356 public:
360 enum class Type {
362 MoveL,
364 MoveJ,
366 MoveAbsJ,
368 MoveC,
370 MoveCF,
372 MoveSP,
374 MoveWait
375
376 };
377
379 CartesianPosition^ cartTarget;
381 JointPosition^ jointTarget;
383 CartesianPosition^ auxPoint;
385 CartesianPosition::Offset^ cartTargetOffset;
387 CartesianPosition::Offset^ auxPointOffset;
389 int speed;
393 double jointSpeed;
396 double rotSpeed;
398 int zone;
400 String^ customInfo;
401
412 List<double>^ args;
413
414 MoveCommand() : cartTarget(gcnew CartesianPosition()),
415 jointTarget(gcnew JointPosition()),
416 auxPoint(gcnew CartesianPosition()),
417 cartTargetOffset(gcnew CartesianPosition::Offset()),
418 auxPointOffset(gcnew CartesianPosition::Offset()),
419 speed(-1), jointSpeed(-1), rotSpeed(-1), zone(-1), customInfo(gcnew String("")), args(gcnew List<double>()) {};
420 };
421
425 public ref class Load {
426 public:
427 Load(): mass(0.0), cog(gcnew array<double>(3)), inertia(gcnew array<double>(3)){}
428 Load(double m, array<double>^ c, array<double>^ i): mass(m), cog(c), inertia(i) {}
430 double mass;
432 array<double>^ cog;
434 array<double>^ inertia;
435 };
436
440 public value struct StateList {
444 array<double>^ joint_pos;
445
449 CartesianPosition^ cart_pos;
450
454 array<System::Tuple<String^, Boolean>^>^ digital_signals;
458 array<System::Tuple<String^, Double>^>^ analog_signals;
462 OperateMode operation_mode;
466 double speed_override;
467 };
468
469
474 public ref class Toolset {
475 public:
476 Toolset() : load(gcnew Load()), end(gcnew Frame()), reference(gcnew Frame()) {}
478 Load^ load;
480 Frame^ end;
482 Frame^ reference;
483 };
484
488 public ref class FrameCalibrationResult {
489 public:
490 FrameCalibrationResult() : frame(gcnew Frame()), errors(gcnew array<double>(3)) {}
491 FrameCalibrationResult(Frame^ f, array<double>^ e): frame(f), errors(e){}
493 Frame^ frame;
495 array<double>^ errors{};
496 };
497
501 public ref class LogInfo {
502 public:
504 enum class Level {
506 info,
508 warning,
510 error
511 };
512 LogInfo(int _id, String^ ts, String^ ct, String^ r): id(_id),
513 timestamp(ts), content(ct), repair(r) {}
515 const int id;
517 String^ timestamp;
519 String^ content;
521 String^ repair;
522 };
523
527 public ref class RLProjectInfo {
528 public:
529 RLProjectInfo(String^ n): name(n), taskList(gcnew List<String^>()){}
531 String^ name;
533 List<String^>^ taskList;
534 };
535
539 public ref class WorkToolInfo {
540 public:
541 WorkToolInfo(): name(gcnew String("")), alias(gcnew String("")),
542 robotHeld(false), pos(gcnew Frame()), load(gcnew Load()) {}
543 WorkToolInfo(String^ n, String^ a, bool isHeld, Frame^ p, Load^ l):
544 name(n), alias(a), robotHeld(isHeld), pos(p), load(l) {}
545
547 String^ name;
549 String^ alias;
551 bool robotHeld;
553 Frame^ pos;
555 Load^ load;
556 };
557
558}
559#endif // XCORESDK_SRC_CLI_DATA_TYPES_CLI_HPP_
rokae::clr::CartesianPosition::Offset
偏移
Definition: data_types_cli.hpp:315
rokae::clr::CartesianPosition::Offset::Type
Type
偏移类型
Definition: data_types_cli.hpp:318
rokae::clr::CartesianPosition::Offset::type
Type type
偏移类型
Definition: data_types_cli.hpp:327
rokae::clr::CartesianPosition::Offset::frame
Frame frame
相对于指定工具/工件坐标系的偏移
Definition: data_types_cli.hpp:328
rokae::clr::CartesianPosition
笛卡尔点位
Definition: data_types_cli.hpp:310
rokae::clr::CartesianPosition::external
List< double > external
外部关节数值,单位:弧度|米。导轨单位米
Definition: data_types_cli.hpp:337
rokae::clr::CartesianPosition::elbow
double elbow
臂角, 适用于7轴机器人, 单位：弧度
Definition: data_types_cli.hpp:333
rokae::clr::CartesianPosition::confData
List< int > confData
轴配置数据，[cf1, cf2, cf3, cf4, cf5, cf6, cf7, cfx]
Definition: data_types_cli.hpp:335
rokae::clr::ErrorCode
xCoreSDK错误码
Definition: data_types_cli.hpp:23
rokae::clr::FrameCalibrationResult
坐标系标定结果
Definition: data_types_cli.hpp:488
rokae::clr::FrameCalibrationResult::errors
array< double > errors
样本点与TCP标定值的偏差, 依次为最小值,平均值,最大值, 单位m
Definition: data_types_cli.hpp:495
rokae::clr::FrameCalibrationResult::frame
Frame frame
标定结果坐标系
Definition: data_types_cli.hpp:493
rokae::clr::Frame
坐标系
Definition: data_types_cli.hpp:272
rokae::clr::Frame::rpy
array< double > rpy
欧拉角 [Rx, Ry, Rz], 单位:弧度
Definition: data_types_cli.hpp:304
rokae::clr::Frame::Frame
Frame(array< double >^ _trans, array< double >^ _rpy)
Constructor
Definition: data_types_cli.hpp:279
rokae::clr::Frame::Frame
Frame()
Constructor.
Definition: data_types_cli.hpp:300
rokae::clr::Frame::trans
array< double > trans
平移量 [X, Y, Z], 单位:米
Definition: data_types_cli.hpp:302
rokae::clr::Frame::Frame
Frame(array< double >^ _frame)
Constructor
Definition: data_types_cli.hpp:285
rokae::clr::JointPosition
关节点位
Definition: data_types_cli.hpp:343
rokae::clr::JointPosition::joints
List< double > joints
关节角度值, 单位:弧度
Definition: data_types_cli.hpp:347
rokae::clr::JointPosition::external
List< double > external
外部关节数值, 单位:弧度|米。导轨单位米
Definition: data_types_cli.hpp:349
rokae::clr::Load
负载信息
Definition: data_types_cli.hpp:425
rokae::clr::Load::mass
double mass
负载质量, 单位:千克
Definition: data_types_cli.hpp:430
rokae::clr::Load::inertia
array< double > inertia
惯量 [ix, iy, iz], 单位:千克·平方米
Definition: data_types_cli.hpp:434
rokae::clr::Load::cog
array< double > cog
质心 [x, y, z], 单位:米
Definition: data_types_cli.hpp:432
rokae::clr::LogInfo
控制器日志信息
Definition: data_types_cli.hpp:501
rokae::clr::LogInfo::timestamp
String timestamp
日期及时间
Definition: data_types_cli.hpp:517
rokae::clr::LogInfo::repair
String repair
修复办法
Definition: data_types_cli.hpp:521
rokae::clr::LogInfo::content
String content
日志内容
Definition: data_types_cli.hpp:519
rokae::clr::LogInfo::Level
Level
日志等级
Definition: data_types_cli.hpp:504
rokae::clr::LogInfo::id
const int id
日志ID号
Definition: data_types_cli.hpp:515
rokae::clr::MoveCommand
非实时运动指令
Definition: data_types_cli.hpp:355
rokae::clr::MoveCommand::customInfo
String customInfo
自定义信息，可在运动信息反馈中返回出来
Definition: data_types_cli.hpp:400
rokae::clr::MoveCommand::cartTargetOffset
CartesianPosition::Offset cartTargetOffset
笛卡尔目标点偏移选项
Definition: data_types_cli.hpp:385
rokae::clr::MoveCommand::rotSpeed
double rotSpeed
空间旋转速度，用于末端类型指令，单位rad/s。 大于等于0时生效；小于0时旋转速度默认为200°/s
Definition: data_types_cli.hpp:396
rokae::clr::MoveCommand::speed
int speed
机器人末端最大线速度, 单位mm/s。见setDefaultSpeed
Definition: data_types_cli.hpp:389
rokae::clr::MoveCommand::jointSpeed
double jointSpeed
关节速度百分比，用于关节类型指令，范围[0, 1]。 大于等于0时生效；小于0时仍使用speed计算出的关节速度
Definition: data_types_cli.hpp:393
rokae::clr::MoveCommand::args
List< double > args
运动指令其它参数 Type::MoveCF接受长度为2参数，依次为: 全圆执行角度[弧度]; 旋转姿态类型, 0不变姿态|1动轴旋转|2定轴旋转 Type::MoveSP接受长度为4参数，依次为:初始半...
Definition: data_types_cli.hpp:412
rokae::clr::MoveCommand::auxPointOffset
CartesianPosition::Offset auxPointOffset
辅助点偏移选项
Definition: data_types_cli.hpp:387
rokae::clr::MoveCommand::cartTarget
CartesianPosition cartTarget
目标笛卡尔点位
Definition: data_types_cli.hpp:379
rokae::clr::MoveCommand::zone
int zone
转弯区半径大小，单位mm。见setDefaultZone
Definition: data_types_cli.hpp:398
rokae::clr::MoveCommand::jointTarget
JointPosition jointTarget
目标关节点位
Definition: data_types_cli.hpp:381
rokae::clr::MoveCommand::Type
Type
指令类型
Definition: data_types_cli.hpp:360
rokae::clr::MoveCommand::auxPoint
CartesianPosition auxPoint
辅助点
Definition: data_types_cli.hpp:383
rokae::clr::RLProjectInfo
RL工程信息
Definition: data_types_cli.hpp:527
rokae::clr::RLProjectInfo::taskList
List< String^> taskList
任务名称列表
Definition: data_types_cli.hpp:533
rokae::clr::RLProjectInfo::name
String name
工程名称
Definition: data_types_cli.hpp:531
rokae::clr::Toolset
工具工件组信息, 根据一对工具工件的坐标、负载、机器人手持设置计算得出
Definition: data_types_cli.hpp:474
rokae::clr::Toolset::end
Frame end
机器人末端坐标系相对法兰坐标系转换
Definition: data_types_cli.hpp:480
rokae::clr::Toolset::load
Load load
机器人末端手持负载
Definition: data_types_cli.hpp:478
rokae::clr::Toolset::reference
Frame reference
机器人参考坐标系相对世界坐标系转换
Definition: data_types_cli.hpp:482
rokae::clr::WorkToolInfo
工具/工件信息。工件的坐标系已相对其用户坐标系变换
Definition: data_types_cli.hpp:539
rokae::clr::WorkToolInfo::load
Load load
负载
Definition: data_types_cli.hpp:555
rokae::clr::WorkToolInfo::alias
String alias
别名, 暂未使用
Definition: data_types_cli.hpp:549
rokae::clr::WorkToolInfo::robotHeld
bool robotHeld
是否机器人手持
Definition: data_types_cli.hpp:551
rokae::clr::WorkToolInfo::pos
Frame pos
位姿
Definition: data_types_cli.hpp:553
rokae::clr::WorkToolInfo::name
String name
名称
Definition: data_types_cli.hpp:547
rokae::clr::OperationState
OperationState
机器人工作状态
Definition: data_types_cli.hpp:79
rokae::clr::OperationState::frictionIdentify
@ frictionIdentify
摩擦力辨识中
rokae::clr::OperationState::jogging
@ jogging
Jog运动中
rokae::clr::OperationState::rtControlling
@ rtControlling
实时模式控制中
rokae::clr::OperationState::moving
@ moving
机器人运动中
rokae::clr::OperationState::dynamicIdentify
@ dynamicIdentify
动力学辨识中
rokae::clr::OperationState::drag
@ drag
拖动已开启
rokae::clr::OperationState::rlProgram
@ rlProgram
RL工程运行中
rokae::clr::OperationState::jog
@ jog
jog状态(未运动)
rokae::clr::OperationState::loadIdentify
@ loadIdentify
负载辨识中
rokae::clr::OperationState::idle
@ idle
机器人静止
rokae::clr::OperationState::demo
@ demo
Demo演示中
rokae::clr::FrameType
FrameType
笛卡尔空间坐标系类型
Definition: data_types_cli.hpp:169
rokae::clr::FrameType::wobj
@ wobj
工件坐标系
rokae::clr::FrameType::tool
@ tool
工具坐标系
rokae::clr::FrameType::rail
@ rail
导轨基坐标系
rokae::clr::FrameType::path
@ path
路径坐标系
rokae::clr::StopLevel
StopLevel
机器人停止运动等级
Definition: data_types_cli.hpp:119
rokae::clr::StopLevel::stop0
@ stop0
快速停止机器人运动后断电
rokae::clr::StopLevel::suppleStop
@ suppleStop
柔顺停止，仅适用于协作机型
rokae::clr::StopLevel::stop1
@ stop1
规划停止机器人运动后断电, 停在原始路径上
rokae::clr::StopLevel::stop2
@ stop2
规划停止机器人运动后不断电, 停在原始路径上
rokae::clr::CoordinateType
CoordinateType
位姿坐标系类型
Definition: data_types_cli.hpp:109
rokae::clr::CoordinateType::flangeInBase
@ flangeInBase
法兰相对于基坐标系
rokae::clr::CoordinateType::endInRef
@ endInRef
末端相对于外部坐标系
rokae::clr::JogSpace
JogSpace
Jog选项: 坐标系
Definition: data_types_cli.hpp:147
rokae::clr::JogSpace::singularityAvoidMode
@ singularityAvoidMode
奇异规避模式，适用于工业六轴, xMateCR和xMateSR机型，规避方法是锁定4轴
rokae::clr::JogSpace::jointSpace
@ jointSpace
轴空间
rokae::clr::JogSpace::baseParallelMode
@ baseParallelMode
平行基座模式，仅适用于xMateCR和xMateSR机型
rokae::clr::JogSpace::world
@ world
世界坐标系
rokae::clr::JogSpace::baseFrame
@ baseFrame
基坐标系
rokae::clr::JogSpace::wobjFrame
@ wobjFrame
工件坐标系
rokae::clr::JogSpace::flange
@ flange
法兰坐标系
rokae::clr::JogSpace::toolFrame
@ toolFrame
工具坐标系
rokae::clr::MotionControlMode
MotionControlMode
SDK运动控制模式
Definition: data_types_cli.hpp:133
rokae::clr::MotionControlMode::RtCommand
@ RtCommand
实时模式控制
rokae::clr::MotionControlMode::NrtRLTask
@ NrtRLTask
非实时模式运行RL工程
rokae::clr::MotionControlMode::NrtCommand
@ NrtCommand
非实时模式执行运动指令
rokae::clr::MotionControlMode::Idle
@ Idle
空闲
rokae::clr::AvoidSingularityMethod
AvoidSingularityMethod
奇异规避方式
Definition: data_types_cli.hpp:229
rokae::clr::AvoidSingularityMethod::jointWay
@ jointWay
轴空间短轨迹插补
rokae::clr::AvoidSingularityMethod::wrist
@ wrist
牺牲姿态
rokae::clr::AvoidSingularityMethod::lockAxis4
@ lockAxis4
四轴锁定
rokae::clr::PowerState
PowerState
机器人上下电及急停状态
Definition: data_types_cli.hpp:51
rokae::clr::PowerState::off
@ off
下电
rokae::clr::PowerState::gstop
@ gstop
安全门打开
rokae::clr::PowerState::unknown
@ unknown
未知(发生异常)
rokae::clr::PowerState::on
@ on
上电
rokae::clr::PowerState::estop
@ estop
急停被按下
rokae::clr::OperateMode
OperateMode
机器人操作模式
Definition: data_types_cli.hpp:67
rokae::clr::OperateMode::automatic
@ automatic
自动
rokae::clr::OperateMode::manual
@ manual
手动
rokae::clr::Event
Event
事件类型
Definition: data_types_cli.hpp:246
rokae::clr::Event::safety
@ safety
安全 (是否碰撞)
rokae::clr::Event::rlExecution
@ rlExecution
RL执行信息
rokae::clr::Event::moveExecution
@ moveExecution
非实时运动指令执行信息
rokae::clr::DragOpt
机器人拖动模式参数, 包括拖动类型和空间
Definition: data_types_cli.hpp:189
rokae::clr::DragOpt::Space
Space
Definition: data_types_cli.hpp:191
rokae::clr::DragOpt::Type
Type
Definition: data_types_cli.hpp:197
rokae::clr::Info
机器人基本信息，在与建立机器人连接后加载
Definition: data_types_cli.hpp:258
rokae::clr::Info::version
String version
控制器版本
Definition: data_types_cli.hpp:262
rokae::clr::Info::joint_num
Int32 joint_num
轴数
Definition: data_types_cli.hpp:266
rokae::clr::Info::id
String id
机器人uid, 可用于区分连接的机器人
Definition: data_types_cli.hpp:260
rokae::clr::Info::type
String type
机器人机型名称
Definition: data_types_cli.hpp:264
rokae::clr::StateList
状态列表
Definition: data_types_cli.hpp:440
rokae::clr::StateList::cart_pos
CartesianPosition cart_pos
笛卡尔位姿
Definition: data_types_cli.hpp:449
rokae::clr::StateList::analog_signals
array< System::Tuple< String^, Double >^> analog_signals
模拟量IO, 信号名称及数值
Definition: data_types_cli.hpp:458
rokae::clr::StateList::speed_override
double speed_override
程序速度比例
Definition: data_types_cli.hpp:466
rokae::clr::StateList::joint_pos
array< double > joint_pos
轴角，单位弧度
Definition: data_types_cli.hpp:444
rokae::clr::StateList::operation_mode
OperateMode operation_mode
操作模式
Definition: data_types_cli.hpp:462
rokae::clr::StateList::digital_signals
array< System::Tuple< String^, Boolean >^> digital_signals
数字量IO, 信号名称及数值
Definition: data_types_cli.hpp:454
rokae::clr::xPanelOpt
xPanel配置
Definition: data_types_cli.hpp:210
rokae::clr::xPanelOpt::Vout
Vout
xPanel对外供电模式
Definition: data_types_cli.hpp:214