welding_cli.hpp

#ifndef XCORESDK_SRC_MANAGED_WELDING_CLI_HPP_
#define XCORESDK_SRC_MANAGED_WELDING_CLI_HPP_
 
#include <unordered_map>
#include "data_types_cli.hpp"
#include "exception_cli.hpp"
 
using namespace System;
using namespace System::Collections::Generic;
using namespace System::Runtime::InteropServices;
 
namespace rokae {
 class BaseWelding;
}
 
namespace rokae::clr {
 
 public value struct LaserTrackParams {
  static LaserTrackParams Default = {
       0.01,   // vel_max
       0.2,    // acc_max
       2.0,    // jerk_max
       5.0,    // filter_window_size
       0.2,    // filter_data
       0.2,    // filter_track
       0.06,   // delay_time
       0.05,   // cycle_time
       true,   // dir_y_enable
       0.02,   // dir_y_max
       true,   // dir_z_enable
       0.02,   // dir_z_max
       "xz"    // coord_feature
  };
 
  Double vel_max;
  Double acc_max;
  Double jerk_max;
  Double filter_window_size;
  Double filter_data;
  Double filter_track;
  Double delay_time;
  Double cycle_time;
  Boolean dir_y_enable;
  Double dir_y_max;
  Boolean dir_z_enable;
  Double dir_z_max;
  String^ coord_feature;
 };
 
public enum class WeavingType {
   ZIGZAG = 0,
   SINE = 1,
   CIRCULAR = 2
 };
 
public enum class DwellType {
   ROBOT_STAY = 0,
   WEAVE_STOP = 1
 };
 
public value struct WeaveParams {
   static WeaveParams Default() {
     WeaveParams dp;
     dp.frequency = 0.1;
     dp.amplitude = gcnew array<double>(2){0.0001, 0.0001};
     dp.weaveing_type = WeavingType::ZIGZAG;
     dp.dwell_type = DwellType::ROBOT_STAY;
     dp.dwell_time = gcnew array<double>(3){0.0, 0.0, 0.0};
     dp.inclination_angle = 0;
     dp.elevation_angle = gcnew array<double>(2){0, 0};
     dp.radius = 0.001;
     dp.phase_invert = false;
     return dp;
   };
   Double frequency;
   array<Double> ^ amplitude;
   WeavingType weaveing_type;
   DwellType dwell_type;
   array<Double> ^ dwell_time;
   Double inclination_angle;
   array<Double> ^ elevation_angle;
   Double radius;
   Boolean phase_invert;
 };
 
 public ref class Welding {
 
  protected:
   rokae::BaseWelding* ptr;
 
  public:
 
   Welding(rokae::BaseWelding*);
 
   virtual ~Welding();
 
   void setWeave(bool enable, double frequency, double amplitude, array<double>^ dwell_time, [Out] ErrorCode ^ %ec);
 
   void setSwingMotion(double acceleration, double jerk, [Out] ErrorCode^% ec);
   void setWeaveParameters(double frequency, double amplitude, array<double>^ dwell_time, [Out] ErrorCode^% ec);
 
   void setWeaveParameters(WeaveParams weaveParams, [Out] ErrorCode^% ec);
 
   void calcWeldOffset(Frame^% start, Frame^ start_offs, Frame^% target, Frame^ target_offs, [Out] ErrorCode^% ec);
 
   void calcWeldOffset(Frame^% start, Frame^ start_offs, Frame^% target, Frame^ target_offs, Frame^% aux, Frame^ aux_offs, [Out] ErrorCode^% ec);
 
   void calcWeldOffsetCalculatedZ(Frame^% start, Frame^ start_offs, Frame^% target, Frame^ target_offs, [Out] ErrorCode^% ec);
 
   void calcWeldOffsetCalculatedZ(Frame^% start, Frame^ start_offs, Frame^% target, Frame^ target_offs, Frame^% aux, Frame^ aux_offs, [Out] ErrorCode^% ec);
 
   void transformOffsetByTeaching(Frame^ start, Frame^ target,
     Frame^ teach_point_1, double offset_1,
     Frame^ teach_point_2, double offset_2,
     array<double>^% offset_start, array<double>^% offset_target,
     [Out] ErrorCode^% ec);
 
   List<List<Frame^>^>^ calcWeldOffset_Multi(List<Frame^>^ way_points, List<Frame^>^ teach_points, List<array<double>^>^ offsets, int% error_index, [Out] ErrorCode^% ec);
 
   void adjustTrackOffset(array<double>^ offset, [Out] ErrorCode^% ec);
 
   void bindWeaveDo(String^ signal,String^ action, bool value, [Out] ErrorCode^% ec);
 
   void unbindWeaveDo(String^ signal, [Out] ErrorCode^% ec) ;
 
   void startTracking([Out] ErrorCode^% ec);
 
   void stopTracking([Out] ErrorCode^% ec);
 
   void addLaserTrackOffset(double x, double z, Boolean valid, [Out] ErrorCode^% ec);
 
   void addLaserTrackOffset(double x, double y, double z, Boolean valid, [Out] ErrorCode^% ec);
 
   void setSensorFrame(Frame^ sensor_frame, [Out] ErrorCode^% ec);
 
   void setLaserTrackParameters(LaserTrackParams params, [Out] ErrorCode^% ec);
 
};
 
}
 
#endif //XCORESDK_SRC_MANAGED_WELDING_CLI_HPP_