robot_cli.hpp

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#pragma once
#ifndef XCORESDK_SRC_CLI_ROBOT_CLI_HPP_
#define XCORESDK_SRC_CLI_ROBOT_CLI_HPP_
 
#include <unordered_map>
#include <any>
#include "robot.h"
#include "data_types_cli.hpp"
#include "exception_cli.hpp"
#include "force_control_cli.hpp"
#include "ethercat_cli.hpp"
 
using namespace System;
using namespace System::Collections::Generic;
using namespace System::Runtime::InteropServices;
 
namespace rokae {
 
    class BaseRobot;
    class BaseCobot;
    template<unsigned short DoF>
    class Model_T;
    class StandardRobot;
    class xMateRobot;
    class xMateCr5Robot;
    class xMateErProRobot;
    class ArRobot;
    class PCB3Robot;
    class PCB4Robot;
    template<unsigned short DoF>
    class Cobot;
    
}
 
namespace rokae::clr {
 
    public ref class BaseRobot {
    protected:
 
        rokae::BaseRobot* robot;
        rokae::StandardRobot* ir6;
        rokae::PCB3Robot* ir3;
        rokae::PCB4Robot* ir4;
        rokae::xMateCr5Robot* cobot5;
        rokae::xMateRobot* cobot6;
        rokae::Cobot<7>* cobot7;
        rokae::Model_T<3>* model3;
        rokae::Model_T<4>* model4;
        rokae::Model_T<5>* model5;
        rokae::Model_T<6>* model6;
        rokae::Model_T<7>* model7;
 
 
        void _moveEventCallback(const std::unordered_map<std::string, std::any>& info);
        void _safetyEventCallback(const std::unordered_map<std::string, std::any>& info);
        void _rlExecutionEventCallback(const std::unordered_map<std::string, std::any>& info);
        void _logReporterEventCallback(const std::unordered_map<std::string, std::any>& info);
        EventCallbackNativeDelegate^ _moveNativeDelegate;
        static EventCallbackDelegate^ _moveManagedDelegate;
        EventCallbackNativeDelegate^ _safetyNativeDelegate;
        static EventCallbackDelegate^ _safetyManagedDelegate;
        EventCallbackNativeDelegate^ _rlExecutionNativeDelegate;
        static EventCallbackDelegate^ _rlExecutionManagedDelegate;
        EventCallbackNativeDelegate^ _logReporterNativeDelegate;
        static EventCallbackDelegate^ _logReporterManagedDelegate;
 
        ConnectionHandlerDelegate^ _connectionHandlerDelegate;
 
    public:
        virtual ~BaseRobot();
 
        void connectToRobot([Out] ErrorCode^% ec);
 
        void connectToRobot(String^ remoteIP);
 
        void connectToRobot(String^ remoteIP, String^ localIP);
 
        void disconnectFromRobot([Out] ErrorCode^% ec);
 
        void setConnectionHandler(ConnectionHandlerDelegate^ handler);
 
        Info robotInfo([Out] ErrorCode^% ec);
 
        String^ sdkVersion();
 
        PowerState powerState([Out] ErrorCode^% ec);
 
        void setPowerState(Boolean on, [Out] ErrorCode^% ec);
 
        OperateMode operateMode([Out] ErrorCode^% ec);
 
        void setOperateMode(OperateMode mode, [Out] ErrorCode^% ec);
 
        void rebootSystem([Out] ErrorCode^% ec);
 
        void shutdownSystem([Out] ErrorCode^% ec);
 
        OperationState operationState([Out] ErrorCode^% ec);
 
        array<double>^ jointPos([Out] ErrorCode^% ec);
 
        array<double>^ jointVel([Out] ErrorCode^% ec);
 
        array<double>^ jointTorque([Out] ErrorCode^% ec);
 
        array<double>^ posture(CoordinateType ct, [Out] ErrorCode^% ec);
 
        CartesianPosition^ cartPosture(CoordinateType ct, [Out] ErrorCode^% ec);
 
        array<double>^ baseFrame([Out] ErrorCode^% ec);
 
        StateList getStateList([Out] ErrorCode^% ec);
 
        Toolset^ toolset([Out] ErrorCode^% ec);
 
        void setToolset(Toolset^ toolset, [Out] ErrorCode^% ec);
 
        void setToolset(System::String^ toolName, System::String^ wobjName, [Out] ErrorCode^% ec);
 
        BaseEthercat^ ethercat();
 
        void setBaseFrame(Frame^ frame, [Out] ErrorCode^% ec);
 
        void setMotionControlMode(MotionControlMode mode, [Out] ErrorCode^% ec);
 
        void moveReset([Out] ErrorCode^% ec);
 
        void stop([Out] ErrorCode^% ec);
 
        void executeCommand(MoveCommand::Type type, List<MoveCommand^>^ cmd, [Out] ErrorCode^% ec);
 
        void moveAppend(MoveCommand::Type type, List<MoveCommand^>^ cmd, System::String^% cmdId, [Out] ErrorCode^% ec);
 
        void moveAppend(MoveCommand::Type type, MoveCommand^ cmd, System::String^% cmdId, [Out] ErrorCode^% ec);
 
        void setDefaultSpeed(double speed, [Out] ErrorCode^% ec);
 
        void setDefaultZone(double zone, [Out] ErrorCode^% ec);
 
        void setDefaultConfOpt(bool forced, [Out] ErrorCode^% ec);
 
        void setAutoIgnoreZone(bool enable, [Out] ErrorCode^% ec);
 
        void moveStart([Out] ErrorCode^% ec);
 
        void setMaxCacheSize(int number, [Out] ErrorCode^% ec);
        
        void adjustSpeedOnline(double scale, [Out] ErrorCode^% ec);
 
        void getAcceleration(double% acc, double% jerk, [Out] ErrorCode^% ec);
 
        void adjustAcceleration(double acc, double jerk, [Out] ErrorCode^% ec);
 
        EventInfo queryEventInfo(Event eventType, [Out] ErrorCode^% ec);
 
        void setEventWatcher(Event eventType, EventCallbackDelegate^ callback, [Out] ErrorCode^% ec);
 
        void startJog(JogSpace space, double rate, double step, unsigned index, bool direction, [Out] ErrorCode^% ec);
 
        void startJogWithExt(JogSpace space, double rate, double step, unsigned index, bool direction,
            String^ fixed_name, bool is_ext, [Out] ErrorCode^% ec);
 
        void clearServoAlarm([Out] ErrorCode^% ec);
        
        List<LogInfo^>^ queryControllerLog(unsigned count, LogInfoLevel level, [Out] ErrorCode^% ec);
 
        List<LogInfo^>^ queryControllerLog(unsigned count, array<LogInfoLevel>^ levels, unsigned offset, [Out] ErrorCode^% ec);
        
        void setDI(unsigned int board, unsigned int port, bool state, [Out] ErrorCode^% ec);
        
        bool getDI(unsigned int board, unsigned int port, [Out] ErrorCode^% ec);
        
        void setDO(unsigned int board, unsigned int port, bool state, [Out] ErrorCode^% ec);
        
        bool getDO(unsigned int board, unsigned int port, [Out] ErrorCode^% ec);
        
        double getAI(unsigned board, unsigned port, [Out] ErrorCode^% ec);
        
        void setAO(unsigned board, unsigned port, double value, [Out] ErrorCode^% ec);
 
        void setSimulationMode(bool state, [Out] ErrorCode^% ec);
 
        void readRegister(System::String^ name, List<bool>^% value, [Out] ErrorCode^% ec);
 
        void readRegister(System::String^ name, List<int>^% value, [Out] ErrorCode^% ec);
 
        void readRegister(System::String^ name, List<float>^% value, [Out] ErrorCode^% ec);
 
        void readRegister(System::String^ name, unsigned index, bool% value, [Out] ErrorCode^% ec);
 
        void readRegister(System::String^ name, unsigned index, int% value, [Out] ErrorCode^% ec);
 
        void readRegister(System::String^ name, unsigned index, float% value, [Out] ErrorCode^% ec);
 
        void writeRegister(System::String^ name, unsigned index, bool value, [Out] ErrorCode^% ec);
 
        void writeRegister(System::String^ name, unsigned index, Int32 value, [Out] ErrorCode^% ec);
 
        void writeRegister(System::String^ name, unsigned index, float value, [Out] ErrorCode^% ec);
 
        void writeRegister(System::String^ name, unsigned index, array<bool>^ value, [Out] ErrorCode^% ec);
 
        void writeRegister(System::String^ name, unsigned index, array<int>^ value, [Out] ErrorCode^% ec);
 
        void writeRegister(System::String^ name, unsigned index, array<float>^ value, [Out] ErrorCode^% ec);
 
        List<RLProjectInfo^>^ projectsInfo([Out] ErrorCode^% ec);
        
        void loadProject(String^ name, System::Collections::Generic::List<System::String^>^ tasks, [Out] ErrorCode^% ec);
        
        void ppToMain([Out] ErrorCode^% ec);
 
        void runProject([Out] ErrorCode^% ec);
 
        void pauseProject([Out] ErrorCode^% ec);
 
        void setProjectRunningOpt(double rate, bool loop, [Out] ErrorCode^% ec);
 
        String^ importProject(String^ file_path, bool overwrite, [Out] ErrorCode^% ec);
 
        void removeProject(String^ project_name, bool remove_all, [Out] ErrorCode^% ec);
 
        String^ importFile(String^ src_file_path, String^ dest, bool overwrite, [Out] ErrorCode^% ec);
 
        void removeFiles(array<String^>^ file_path_list, [Out] ErrorCode^% ec);
 
        void setToolInfo(WorkToolInfo^ tool_info, [Out] ErrorCode^% ec);
 
        void setWobjInfo(WorkToolInfo^ wobj_info, [Out] ErrorCode^% ec);
 
        List<WorkToolInfo^>^ toolsInfo([Out] ErrorCode^% ec);
        
        List<WorkToolInfo^>^ wobjsInfo([Out] ErrorCode^% ec);
 
        void setRailParameter(System::String^ name, Frame^ value, [Out] ErrorCode^% ec);
 
        void setRailParameter(System::String^ name, System::String^ value, [Out] ErrorCode^% ec);
 
        void setRailParameter(System::String^ name, double value, [Out] ErrorCode^% ec);
 
        void setRailParameter(System::String^ name, bool value, [Out] ErrorCode^% ec);
 
        void setRailParameter(System::String^ name, array<double>^ value, [Out] ErrorCode^% ec);
 
        void setRailParameter(System::String^ name, int value, [Out] ErrorCode^% ec);
 
        void getRailParameter(System::String^ name, bool% value, [Out] ErrorCode^% ec);
 
        void getRailParameter(System::String^ name, String^% value, [Out] ErrorCode^% ec);
 
        void getRailParameter(System::String^ name, Frame^% value, [Out] ErrorCode^% ec);
 
        void getRailParameter(System::String^ name, int% value, [Out] ErrorCode^% ec);
 
        void getRailParameter(System::String^ name, double% value, [Out] ErrorCode^% ec);
 
        void getRailParameter(System::String^ name, array<double>^% value, [Out] ErrorCode^% ec);
 
        void getMechUnit(String^ name, String^ info, bool% value, [Out] ErrorCode^% ec);
 
        void getMechUnit(String^ name, String^ info, int% value, [Out] ErrorCode^% ec);
 
        void getMechUnit(String^ name, String^ info, array<String^>^% value, [Out] ErrorCode^% ec);
 
 
        void getExtAxisInfo(String^ name, String^ info, bool% value, [Out] ErrorCode^% ec);
 
        void getExtAxisInfo(String^ name, String^ info, int% value, [Out] ErrorCode^% ec);
 
        void getExtAxisInfo(String^ name, String^ info, double% value, [Out] ErrorCode^% ec);
 
        void getExtAxisInfo(String^ name, String^ info, String^% value, [Out] ErrorCode^% ec);
 
        void getExtAxisInfo(String^ name, String^ info, array<String^>^% value, [Out] ErrorCode^% ec);
 
 
        int getStateData(String^ name, array<double>^% data);
 
        int getStateData(String^ name, UInt64% data);
 
        int getStateData(String^ name, double% data);
 
        void stopReceiveRobotState();
 
        unsigned updateRobotState(int timeout_ms);
 
        void configNtp(System::String^ server_ip, [Out] ErrorCode^% ec);
 
        void syncTimeWithServer([Out] ErrorCode^% ec);
 
        array<double>^ checkPath(CartesianPosition^ start, array<double>^ start_joint,
                                CartesianPosition^ target, [Out] ErrorCode^% ec);
 
        int checkPath(array<double>^ start_joint,
            array<CartesianPosition^>^ targets,
            array<double>^% target_joint_calculated,
            [Out] ErrorCode^% ec);
 
        array<double>^ checkPath(CartesianPosition^ start, array<double>^ start_joint,
                                CartesianPosition^ aux, CartesianPosition^ target,
                                [Out] ErrorCode^% ec);
 
        array<double>^ checkPath(CartesianPosition^ start, array<double>^ start_joint,
                                CartesianPosition^ aux1, CartesianPosition^ aux2,
                                double angle, double rot_type, [Out] ErrorCode^% ec);
 
        void recoverState(int item, [Out] ErrorCode^% ec);
 
        array<double>^ calcIk(CartesianPosition^ posture, [Out] ErrorCode^% ec);
 
        array<double>^ calcIk(CartesianPosition^ posture, Toolset^ toolset, [Out] ErrorCode^% ec);
 
        CartesianPosition^ calcFk(array<double>^ joints, [Out] ErrorCode^% ec);
 
        CartesianPosition^ calcFk(array<double>^ joints, Toolset^ toolset, [Out] ErrorCode^% ec);
 
        void setTcpCoor(array<double>^ f_t_ee, array<double>^ ee_t_k);
 
        void setGravityDirection(double gx, double gy, double gz);
 
        array<double>^ jacobian(array<double>^ jntPos, SegmentFrame nr);
 
        array<double>^ jacobianDot(array<double>^ jntPos, array<double>^ jntVel, SegmentFrame nr);
 
        array<double>^ getMassMatrix(array<double>^ jntPos);
 
        array<double>^ getCoriolisVector(array<double>^ jntPos, array<double>^ jntVel);
 
        void getTorqueNoFriction(array<double>^ jntPos, array<double>^ jntVel, array<double>^ jntAcc,
            array<double>^% trq_full, array<double>^% trq_inertia,
            array<double>^% trq_coriolis, array<double>^% trq_gravity);
 
        FrameCalibrationResult^ calibrateFrame(FrameType type, List<array<double>^>^ points, bool is_held,
            array<double>^ base_aux, [Out] ErrorCode^% ec);
 
        bool getSoftLimit(array<double, 2>^% limits, [Out] ErrorCode^% ec);
 
        void setSoftLimit(bool enable, array<double, 2>^ limits, [Out] ErrorCode^% ec);
 
        void startReceiveRobotState(int interval, array<System::String^>^ fields);
 
        array<double>^ getRobotCfg_DHparam(bool get_nominal, [Out] ErrorCode^% ec);
 
        void setTeachPendantMode(bool enable, [Out] ErrorCode^% ec);
 
        array<array<double>^>^ calcAllIkSolutions(CartesianPosition^ posture, array<array<int>^>^% confs, [Out] ErrorCode^% ec);
 
 };
 
    public ref class StandardRobot : public BaseRobot {
    public:
        StandardRobot();
 
        StandardRobot(String^ remoteIP);
 
        StandardRobot(String^ remoteIP, String^ localIP);
        ~StandardRobot(){};
 
        void enableCollisionDetection(array<double>^ sensitivity, double fallback, [Out] ErrorCode^% ec);
 
        void disableCollisionDetection([Out] ErrorCode^% ec);
 
        void setAvoidSingularity(AvoidSingularityMethod method, bool enable, double limit, [Out] ErrorCode^% ec);
 
        bool getAvoidSingularity(AvoidSingularityMethod method, [Out] ErrorCode^% ec);
 
    };
    
    public ref class Cobot : public BaseRobot {
    protected:
        rokae::BaseCobot* robot;
    public:
 
        void enableDrag(DragOpt::Space space, DragOpt::Type type, [Out] ErrorCode^% ec);
 
        void enableDrag(DragOpt::Space space, DragOpt::Type type, bool enable_drag_button, [Out] ErrorCode^% ec);
 
        void disableDrag([Out] ErrorCode^% ec);
 
        void enableCollisionDetection(array<double>^ sensitivity, StopLevel behaviour, double fallback_compliance, [Out] ErrorCode^% ec);
 
        void disableCollisionDetection([Out] ErrorCode^% ec);
 
        void calibrateForceSensor(bool all_axes, int axis_index, [Out] ErrorCode^% ec);
 
        void startRecordPath([Out] ErrorCode^% ec);
 
        void stopRecordPath([Out] ErrorCode^% ec);
 
        void cancelRecordPath([Out] ErrorCode^% ec);
 
        void saveRecordPath(String^ name, String^ saveAs, [Out] ErrorCode^% ec);
 
        void replayPath(String^ name, double rate, [Out] ErrorCode^% ec);
        
        void removePath(String^ name, bool removeAll, [Out] ErrorCode^% ec);
        
        List<String^>^ queryPathLists([Out] ErrorCode^% ec);
 
        void setxPanelVout(xPanelOpt::Vout opt, [Out] ErrorCode^% ec);
 
        void setxPanelRS485(xPanelOpt::Vout opt, bool if_rs485, [Out] ErrorCode^% ec);
 
        void XPRWModbusRTUReg(int slave_addr, int fun_cmd, int reg_addr, String^ data_type, int num,
                              array<int>^% data_array, bool if_crc_reverse, [Out] ErrorCode^% ec);
 
        void XPRWModbusRTUCoil(int slave_addr, int fun_cmd, int coil_addr, int num, array<bool>^% data_array,
                               bool if_crc_reverse, [Out] ErrorCode^% ec) ;
 
        void XPRS485SendData(int send_byte, int rev_byte, array<Byte>^ send_data, array<Byte>^% recv_data, [Out] ErrorCode^% ec);
 
        void CANReceiveData(int timeout_ms, String^ data_type, [Out] CANFrame^% recv_frame, [Out] ErrorCode^% ec);
 
        void CANSendData(String^ data_type, array<CANFrame^>^ send_frame, [Out] ErrorCode^% ec);
 
        KeyPadState getKeypadState([Out] ErrorCode^% ec);
 
        array<bool>^ getKeypadStateArray([Out] ErrorCode^% ec);
 
        void useRciClient(bool use, [Out] ErrorCode^% ec);
 
        ForceControl^ forceControl();
 };
 
    public ref class xMateRobot : public Cobot {
    public:
        xMateRobot();
 
        xMateRobot(String^ remoteIP);
 
        xMateRobot(String^ remoteIP, String^ localIP);
 
        ~xMateRobot() {};
 
        void setAvoidSingularity(AvoidSingularityMethod method, bool enable, double limit, [Out] ErrorCode^% ec);
 
        bool getAvoidSingularity(AvoidSingularityMethod method, [Out] ErrorCode^% ec);
    };
 
    public ref class xMateCr5Robot : public Cobot {
    public:
        xMateCr5Robot();
 
        xMateCr5Robot(String^ remoteIP);
 
        xMateCr5Robot(String^ remoteIP, String^ localIP);
 
        void enableCompletePostureLerp(Boolean enable, [Out] ErrorCode^% ec);
 
        ~xMateCr5Robot() {};
    };
 
    public ref class PCB3Robot : public BaseRobot {
    public:
        PCB3Robot();
 
        PCB3Robot(String^ remoteIP);
 
        ~PCB3Robot() {};
 
    };
    
    public ref class PCB4Robot : public BaseRobot {
    public:
        PCB4Robot();
 
        PCB4Robot(String^ remoteIP);
 
        ~PCB4Robot() {};
    };
 
    public ref class xMateErProRobot : public Cobot {
    public:
        xMateErProRobot();
 
        xMateErProRobot(String^ remoteIP);
 
        xMateErProRobot(String^ remoteIP, String^ localIP);
 
        ~xMateErProRobot() {};
    };
 
    public ref class ArRobot : public Cobot {
    public:
        ArRobot();
 
        ArRobot(String^ remoteIP);
 
        ArRobot(String^ remoteIP, String^ localIP);
 
        ~ArRobot() {};
    };
 
}
 
 
#endif //XCORESDK_SRC_CLI_ROBOT_CLI_HPP_