API Reference

Access patterns:

Data and robot: xplugin::xPluginInterface() -> InterfaceManager
Events: xplugin::xPluginEvent() -> XPluginEventSystem
RL instructions: stack or member xplugin::RLManager

1. Base Library

1.1 Registration and Lifecycle

Symbol	Description
XPLUGIN_REGISTER(KEY, CLASS_NAME)	Plugin registration; KEY must match PLUGIN_NAME and deployment directory name
xPluginFactory()	Global PluginRegister singleton
PluginBase	User plugin base class; override init / afterInit / render / idle / detach
setDefaultGlobalSheet(bool)	Set whether to use global stylesheet in constructor
setPluginLabel(const QString &)	Set plugin display label in constructor

1.2 Enumerations

Enum	Values	Purpose
enLanguage	English=0, Chinese=1, OtherLanguage=0xFF	Language type (translation via Qt .qm; no RegistLanguage export API)
enThrowLogLevel	Info, Warning, Error, NoneLogType	ThrowLog popup level

2. Global Functions

Function	Return	Description
GetPluginVersion()	QString	Four-part version; current 1.0.2.6
CreateCenterWidget(pluginName, widget)	int	Register center main view; 0 success, -1 plugin name, -2 not initialized
CreateStatusBar(pluginName, widget, index=1)	int	Bottom status bar slot
CreateRightExpandWidgte(pluginName, widget, name="")	int	Right-side persistent expand panel
SwitchRightExpandWidgte(pluginName="", name="")	int	Switch expand panel; empty name closes
CreatePhyButtonList(pluginName, type, left, right, center_texts)	int	Physical key layout
ChangePhyButtonStatus(pluginName, type, enable)	int	Enable/disable physical keys
ChangeModelWindowStatus(pluginName, status)	int	Modal state; controls whether physical keys respond
ChangeFullScreen(pluginName, isFull)	int	Fullscreen
GetRightExpandSideBar(QWidget **out)	int	Get right expand sidebar pointer
ThrowLog(pluginName, level, msg)	int	Bottom-right notification
GetPluginDataPath(dataPath, pluginName)	int	Get plugin data storage path

PhysicalButton

Field	Type	Description
text	QString	Display text
touched_icon / untouched_icon	QString	Pressed/released icon paths
exec_function	std::function<void(bool)>	Press callback; true = pressed

3. Interface Functions

Obtained via xPluginInterface(). Unless noted, call on the UI thread.

3.1 Signals

Signal	Description
sigNetworkConnect()	Controller network connected
sigNetworkDisConnect(bool status)	Controller network disconnected; status: true = active disconnect

3.2 commandCustomData (Controller Plugin Communication)

/*
 * Description: Communicate with controller plugin (get custom data key)
 * Parameter 1 obj: QObject performing the operation
 * Parameter 2 pluginName: Controller plugin name
 * Parameter 3 key: Controller plugin data key
 * Return QJsonArray: Controller plugin data structure
 */
 QJsonArray commandCustomData(QObject *obj, const QString &pluginName, const QString &key, const QString &val);

/*
 * Description: Communicate with controller plugin (set custom data key)
 * Parameter 1 obj: QObject performing the operation
 * Parameter 2 pluginName: Controller plugin name
 * Parameter 3 key: Controller plugin data key
 * Parameter 4 val: Target value for key
 * Return QJsonArray: Controller plugin data structure
 */
 QJsonArray commandCustomData(QObject *obj, const QString &pluginName, const QString &key, const QString &val);

/*
 * Description: Communicate with controller plugin (custom data structure)
 * Parameter 1 obj: QObject performing the operation
 * Parameter 2 pluginName: Plugin name
 * Parameter 3 json: Custom data structure
 * Return QJsonArray: Controller plugin data structure
 */
 QJsonArray commandCustomData(QObject *obj, const QString &pluginName, const QJsonObject& json);

/*
 * Description: Communicate with controller plugin (custom data structure)
 * Parameter 1 obj: QObject performing the operation
 * Parameter 2 json: Custom data structure (with plugin name)
 * Return QJsonArray: Controller plugin data structure
 */
 QJsonArray commandCustomData(QObject *obj, const QJsonObject& json);

/*
 * Description: Communicate with controller plugin (custom data structure)
 * Parameter 1 obj: QObject performing the operation
 * Parameter 2 arr: Json array of custom data structures
 * Return QJsonArray: Controller plugin data structure
 */
 QJsonArray commandCustomData(QObject *obj, const QJsonArray& arr);

3.3 xservice

Method	Return	Description
getNodeData(key)	QJsonValue	Get node data
getXServiceData(key)	QJsonValue	Read node data
getXServiceData(key, subKey)	QJsonValue	Read node data
setXServiceData(key, var)	bool	Set data (sync)
setXServiceData(key, subKey, var)	bool	Set data (sync)
commandXServiceData(key, var)	bool	Set data (async command)
execCommandXServiceData(key, var)	QJsonValue	Set data (sync command)
connectXServiceData(pluginName, serviceKey, callback, key="")	bool	Subscribe to changes
disconnectXServiceData(pluginName, serviceKey, key="")	bool	Unsubscribe

3.4 RC

Method	Description
rcRequest(module, command, data, timeout=4800)	Async request; default timeout 4800 ms
rcRequestFullCommand(full_command, request_val, timeout=4800)	Async request with full node path
rcExecRequest(module, command, true, timeout=1600)	Sync request; default timeout 1600 ms
rcExecRequestFullCommand(full_command, request_val, true, timeout=4800)	Sync full command

3.5 Network Status

Method	Description
connectNetworkStatus(isConnect, pluginName, obj, callback, id="")	Register connect/disconnect callback; returns id
disconnectNetworkStatus(isConnect, pluginName, id="")	Unregister by id

3.6 Robot and HMI Status

Method	Return	Description
getRobotConnected()	bool	Whether robot is connected
getRobotID()	QString	Robot ID
getRobotEleStatus()	bool	Power-on state
getRobotOperateIsHand()	bool	Whether in manual mode
getRobotPhyStatus()	QString	Current run state description
getUserOperateLevel()	int	Permission level 1~5
getRobotIP()	QString	Current controller IP
getRobotType()	QString	Current model
getRobotModelType()	int	Kinematics/device enum
changeRobotPowerStatue(status, isRsync=true)	bool	Change power state; isRsync defaults to sync call
changeRobotModelStatue(isHand, isRsync=true)	bool	Change manual/auto; isRsync defaults to sync call

3.7 Program Run Filters and Start/Stop

Method	Description
startRunningFilter(doOpen)	Install start filter; call startRunning() manually after setup
stopRunningFilter(doOpen)	Install stop filter; call stopRunning() manually after setup
startRunning() / stopRunning()	Start/stop current program

3.8 Tool, Workobject, Speed, Zone

Method	Description
getCurTool() / getCurWobj()	Current tool and workobject
getToolList() / getWobjList()	Lists
getSpeedList() / getZoneList()	Speed and zone lists

3.9 Variables

Method	Description
getVarDataList(type="")	List variable names by type
addVarData(name, value, isPers=false)	Create variable
delVarData(name) / delVarData(names)	Delete variable(s)
updateVarData(name, value)	Update variable
getVarObjDataByName(name)	Structure as JSON
getValuesOfPERSVars(names)	Read PERS variables
setValuesOfPERSVars(names, values)	Set PERS variables
registPERSVars(names)	Register PERS variables for continuous refresh
getRegistedPERSVars()	Read current values of registered PERS

3.10 Points

Method	Description
getPointNameList()	Point name list
getPointObjDataByName(pointName)	Point structure
getPointDataByName(pointName)	Joint-space coordinates
getCurrentPointData(toolName="", wobjName="")	Current position
addCurrentPoint(pointName, isJoint, toolName, wobjName)	Create point from current pose; isJoint = joint point
changeCartPoint(pointName, xyz_abc)	Modify Cartesian point
checkPointMoveTo(from, to)	Reachability check; 0 ok, 1 same point, -2 singularity, etc.
checkPointSame(from, to)	Consistency check
moveToStart(errCode, pointTo, speed, isMoveJ)	Move to point; speed 1~100
moveToStart(errCode, pointTo, speed, confCheck, isMoveJ)	Move with configuration check
moveToStop()	Stop motion

3.11 Projects

Method	Description
getProjectList()	Project list
createProject(name, desc="", isUsed=false)	Create project; 0 = success
changeProject(name)	Switch project
removeProject(name)	Delete project

3.12 IO and Registers

Method	Description
getIOHash()	IO values
getIOByType(sigType)	sigType: "DI/DO/GI/GO/AI/AO" or integer
setIOValue(name, sigType, value)	Set IO
getIOValue(name)	Get IO
getRegisterHash()	Register names and enum values
getRegisterValue()	All register values as JSON

4. Auxiliary Programming

Method	Description
createGroups(lab, groupName)	Create instruction group (UI label, internal name)
createTypeKey(type)	Create instruction type
createTypeToGroup(groupName, type) / (groupName, typeList)	Add instruction(s) to group
createSkeleton(type, str)	Parser match string
createInsDescribe(type, str)	Description text
createInsDefault(type, strDef)	Default output text
createPattern(type, str)	Regex for reverse parsing
createInsertWidget(type, func)	Edit window; returns RLContentBase subclass
createPropertyWidget(type, func)	Property window; returns RLContentBase subclass
createData(groupName, type, desc, func1, func2)	Quick-create standard instruction (insert + property factories)

RLContentBase: FillWith / ToString / CheckInsert / CheckReplace and related methods

5. Events (event/)

5.1 Event Type Ranges

Range	Meaning
0x0000~0x0FFF	System events
0x1000~0x1FFF	Hardware events
0x2000~0x2FFF	Network events
0x3000~0x3FFF	XService events
0x4000~0x4FFF	RC events
0x5000~0x5FFF	UI events
0x8000~0xFFFF	User-defined events

5.2 Event APIs

API	Description
subscribe(type, handler, pluginName, context=nullptr)	Subscribe; returns subscription ID
subscribeFiltered	Subscribe with filter; returns subscription ID
subscribeOnce	One-shot subscription (auto-unsubscribe after first delivery)
unsubscribe(id)	Cancel subscription by ID
unsubscribeByPlugin	Cancel all subscriptions for plugin
unsubscribeByType	Cancel all subscriptions for event type
unsubscribeByTypeAndPlugin	Cancel subscriptions for plugin + type
publish(event) / publish(type, data, source)	Publish synchronously
publish(type, data, source)	Quick synchronous publish
publishAsync(type, data, source)	Publish asynchronously
registerCustomEventType(name)	Register user-defined event type
registerAllEvents()	Register all built-in listeners (host side)

See Event System.

6. Logging

After defining PLUGIN_NAME in .pro:

Macro	Level
DLOG / ILOG / WLOG / ELOG / SLOG	Debug / Info / Warning / Error / Sudo
DSLOG / ISLOG / WSLOG / ESLOG / SSLOG	Insert spaces between output characters

Default log directory: ./log/xplugin/<PLUGIN_NAME>/.

7. Sync Tool

Method	Description
SyncTool::instance()	Sync tool singleton
pushFile(from, to_module="hmi")	Push directory data to controller module
pushOneFile(from, to_module="hmi")	Push single file to controller module
pullFile(from_module="hmi", to_path="", has_dialog=true)	Pull data from controller module at path

1. Base Library​

1.1 Registration and Lifecycle​

1.2 Enumerations​

2. Global Functions​

PhysicalButton​

3. Interface Functions​

3.1 Signals​

3.2 commandCustomData (Controller Plugin Communication)​

3.3 xservice​

3.4 RC​

3.5 Network Status​

3.6 Robot and HMI Status​

3.7 Program Run Filters and Start/Stop​

3.8 Tool, Workobject, Speed, Zone​

3.9 Variables​

3.10 Points​

3.11 Projects​

3.12 IO and Registers​

4. Auxiliary Programming​

5. Events (event/)​

5.1 Event Type Ranges​

5.2 Event APIs​

6. Logging​

7. Sync Tool​

Related Reading​

1. Base Library

1.1 Registration and Lifecycle

1.2 Enumerations

2. Global Functions

PhysicalButton

3. Interface Functions

3.1 Signals

3.2 commandCustomData (Controller Plugin Communication)

3.3 xservice

3.4 RC

3.5 Network Status

3.6 Robot and HMI Status

3.7 Program Run Filters and Start/Stop

3.8 Tool, Workobject, Speed, Zone

3.9 Variables

3.10 Points

3.11 Projects

3.12 IO and Registers

4. Auxiliary Programming

5. Events (event/)

5.1 Event Type Ranges

5.2 Event APIs

6. Logging

7. Sync Tool

Related Reading