API Reference

UI Interface

/*
 * Description: Register a center form that can be displayed in the HMI interface, controlled by the menu bar. 
 * Parameter1 pluginName: Plugin name
 * Parameter2 widget: User custom form
 * Return value int: Registration result 0 Success -1 Plugin name error -2 Plugin initialization error
 */
 int CreateCenterWidget(const QString &pluginName, QWidget *widget);

/*
 * Description: Register a bottom status bar that can be displayed in the HMI interface
 * Parameter1 pluginName: Plugin name
 * Parameter2 widget: User custom bottom status bar
 * Parameter3 index: Insert index
 * Return value int: Registration result 0 Success -1 Plugin name error -2 Plugin initialization error
 */
 int CreateStatusBar(const QString &pluginName, QWidget *widget, int index = -1);

/*
 * Description: Pop up a window in the lower right corner of the interface to prompt some log text 
 * Parameter1 pluginName: Plugin name
 * Parameter2 level: Popup window level
 * Parameter3 msg: Text 
 * Return value int: Prompt result 0 Success -1 Plugin name error -2 Plugin initialization error
 */
 int ThrowLog(const QString &pluginName, enThrowLogLevel level, const QString &msg);

/*
 * Description: Create physical buttons 
 * Parameter1 pluginName: Plugin name
 * Parameter2 type: Physical button type
 * Parameter3 left_buttons: Left physical button list 
 * Parameter4 right_buttons: Right physical button list  
 * Parameter5 center_texts: Center display text 
 * Return value int: Create success 0 Success -1 Plugin name error -2 Plugin initialization error
 */
 int XPLUGIN_EXPORT CreatePhyButtonList(const QString &pluginName, const QString& type, const QList<PhysicalButton>& left_buttons, const QList<PhysicalButton>& right_buttons, QStringList center_texts = QStringList(""));

/*
 * Description: Enable/Disable physical buttons 
 * Parameter1 pluginName: Plugin name
 * Parameter2 type: Physical button type
 * Parameter3 enable: Physical button enable status
 * Return value int: Change status 0 Success -1 Plugin name error -2 Plugin initialization error
 */
 int ChangePhyButtonStatus(const QString &pluginName, const QString& type, bool enable);

/*
 * Description: Register language pack 
 * Parameter1 pluginName: Plugin name
 * Parameter2 type: Language pack type
 * Parameter3 qmPath: Language pack path
 * Return value int: Registration result 0 Success -1 Plugin name error -2 Plugin initialization error
 */
 int RegistLanguage(const QString &pluginName, enLanguage type, const QString &qmPath);

Auxiliary Programming Interface

/*
 * Description: Create a command type, command actions can be added according to the created command type, must be created first. Required
 * Parameter1 type: Command type
 */
 void createTypeKey(const QString &type);

/*
 * Description: Create a command group, required
 * Parameter1 lab: Content displayed by the command group in the interface
 * Parameter2 groupName: Command group name
 */
 void createGroups(const QString &lab, const QString &groupName);

/*
 * Description: Insert the created command into the command group, required
 * Parameter1 groupName: Command group
 * Parameter2 type: Command type
 */
 void createTypeToGroup(const QString &groupName, const QString &type);
 
 /*
 * Description: Insert the created command into the command group, required
 * Parameter1 groupName: Command group
 * Parameter2 typeList: Command type list
 */
 void createTypeToGroup(const QString &groupName, const QStringList &typeList);

/*
 * Description: Add parser matching string to the command, used for echoing interface data, optional 
 * Parameter1 type: Command type
 * Parameter2 str: Parser string
 */
 void createSkeleton(const QString &type, const QString &str);

/*
 * Description: Customize the default inserted command statement when there is no interface or no parameter input, optional 
 * Parameter1 type: Command type
 * Parameter2 strDef: Default command statement
 */
 void createInsDefault(const QString &type, const QString &strDef);

/*
 * Description: Participate in regex matching command string, for command reverse parsing, optional 
 * Parameter1 type: Command type
 * Parameter2 str: String
 */
 void createPattern (const QString &type, const QString &str);

/*
 * Description: Command introduction text, optional 
 * Parameter1 type: Command type
 * Parameter2 str: Introduction text
 */
 void createInsDescribe(const QString &type, const QString &str);

/*
 * Description: Create a custom form, used as the insert interface for the command, optional 
 * Parameter1 type: Command type
 * Parameter2 func: Create function, return a subclass of RLContentBase class
 */
 void createInsertWidget(const QString &type, std::function<RLContentBase* ()> func = []{return nullptr;});

/*
 * Description: Create a custom form, used as the property parsing interface for the command, optional 
 * Parameter1 type: Command type
 * Parameter2 func: Create function, return a subclass of RLContentBase class
 */
 void createPropertyWidget(const QString &type, std::function<RLContentBase* ()> func = []{return nullptr;});

Communication Interface

/*
 * Description: Data communication interface with Controller Plugin (get custom data key value)
 * Parameter1 obj: QObject that executes the control
 * Parameter2 pluginName: Controller Plugin name
 * Parameter3 key: Controller Plugin data
 * Return value QJsonArray: Controller Plugin data structure
 */
 QJsonArray commandCustomData(QObject *obj, const QString &pluginName, const QString &key);

/*
 * Description: Data communication interface with Controller Plugin (set custom data key value)
 * Parameter1 obj: QObject that executes the control
 * Parameter2 pluginName: Controller Plugin name
 * Parameter3 key: Controller Plugin data key
 * Parameter4 val: Target value of Controller Plugin data key
 * Return value QJsonArray: Controller Plugin data structure
 */
 QJsonArray commandCustomData(QObject *obj, const QString &pluginName, const QString &key, const QString &val);

/*
 * Description: Data communication interface with Controller Plugin (custom data structure)
 * Parameter1 obj: QObject that executes the control
 * Parameter2 pluginName: Plugin name
 * Parameter3 json: Custom data structure
 * Return value QJsonArray: Controller Plugin data structure
 */
 QJsonArray commandCustomData(QObject *obj, const QString &pluginName, const QJsonObject& json);

/*
 * Description: Data communication interface with Controller Plugin (custom data structure)
 * Parameter1 obj: QObject that executes the control
 * Parameter2 json: Custom data structure (with plugin name)
 * Return value QJsonArray: Controller Plugin data structure
 */
 QJsonArray commandCustomData(QObject *obj, const QJsonObject& json);

/*
 * Description: Data communication interface with Controller Plugin (custom data structure)
 * Parameter1 obj: QObject that executes the control
 * Parameter2 arr: Json array composed of custom data structures
 * Return value QJsonArray: Controller Plugin data structure
 */
 QJsonArray commandCustomData(QObject *obj, const QJsonArray& arr);

Data Interface

/*
 * Description: General node data acquisition interface
 * key: Node full name
 * Return value QJsonValue: Node data
 */
 QJsonValue getNodeData(const QString &key);

/*
 * Description: Get robot network connection status
 * Return value bool: true connected false not connected
 */
 bool getRobotConnected();

/*
 * Description: Get current user permission level
 * Return value int: Level 1~5
 */
 int getUserOperateLevel();

/*
 * Description: Get Robot ID
 * Return value QString: Robot ID
 */
 QString getRobotID();

/*
 * Description: Get Robot status
 * Return value QString: Robot status
 */
 QString getRobotPhyStatus();

/*
 * Description: Get current tool
 * Return value QString: Tool name
 */
 QString getCurTool();

/*
 * Description: Get current workpiece
 * Return value QString: Workpiece name
 */
 QString getCurWobj();

/*
 * Description: Get tool list
 * Return value QStringList: Tool list
 */
 QStringList getToolList();

/*
 * Description: Get workpiece list
 * Return value QStringList: Workpiece list
 */
 QStringList getWobjList();

/*
 * Description: Get speed list
 * Return value QStringList: Speed list
 */
 QStringList getSpeedList();

/*
 * Description: Get zone list
 * Return value QStringList: Zone list
 */
 QStringList getZoneList();

/*
 * Description: Get variable name list by variable type
 * Parameter1 type: Variable type
 * Return value QStringList: Variable name list
 */
 QStringList getVarDataList(const QString &type = "");

/*
 * Description: Create basic variable by variable name and value
 * Parameter1 name: Variable name
 * Parameter2 value: Variable value
 * Return value bool: Create result
 */
 bool addVarData(const QString &name, QVariant value);

/*
 * Description: Delete basic variable by variable name
 * Parameter1 name: Variable name
 * Return value bool: Delete result
 */
 bool delVarData(const QString &name);

/*
 * Description: Update basic variable by variable name and value
 * Parameter1 name: Variable name
 * Parameter2 value: Variable value
 * Return value bool: Update result
 */
 bool updateVarData(const QString &name, QVariant value);

/*
 * Description: Get variable structure value
 * Parameter1 name: Variable name
 * Return value QJsonObject: Variable structure value
 */
 QJsonObject getVarObjDataByName(const QString &name);

/*
 * Description: Get point name list
 * Return value QStringList: Point name list
 */
 QStringList getPointNameList();

/*
* Description: Get point full structure data
* Parameter1 pointName: Point name
* Return value QJsonObject: Point full structure data
*/
QJsonObject getPointObjDataByName(const QString &pointName);

/*
 * Description: Get point data
 * Parameter1 pointName: Point name
 * Return value QVector<double>: Point data
 */
 QVector<double> getPointDataByName(const QString &pointName);

/*
 * Description: Create Cartesian point variable from current point
 * Parameter1 pointName: Point name
 * Parameter2 toolName: Tool name
 * Parameter3 wobjName: Workpiece name
 * Return value bool: Create result
 */
 bool addCurrentCartPoint(const QString& pointName, const QString& toolName, const QString& wobjName);

/*
 * Description: Modify Cartesian point value
 * Parameter1 pointName: Point name
 * Parameter2 xyz_abc: Point value
 */
 void changeCartPoint(const QString& name, const QVector<double>& xyz_abc);

/*
 * Description: Point reachability check  
 * Parameter1 pointFrom: Start point
 * Parameter2 pointTo: Target point
 * Return value int Error code 0 Success 1 Same point -2 Singularity
 */
 int checkPointMoveTo(const QString & pointFrom, const QString &pointTo);

/*
 * Description: Point consistency check  
 * Parameter1 pointFrom: Start point
 * Parameter2 pointTo: Target point
 * Return value int Error code 0 Success 1 Same point -2 Singularity
 */
 int checkPointSame (const QString & pointFrom, const QString &pointTo);

/*
 * Description: Point motion to start   
 * Parameter1 errCode: Error code -1 Target point not found
 * Parameter2 pointNameTo: Target point
 * Parameter3 speed: Speed (1~100)
 * Parameter4 isMoveJ: Whether to move with MoveJ
 */
 void moveToStart(int &errCode, const QString &pointNameTo, int speed, bool isMoveJ);
 
/*
 * Description: Point motion to start  
 * Parameter1 errCode: Error code -1 Target point not found
 * Parameter2 pointNameTo: Target point
 * Parameter3 speed: Speed (1~100)
 * Parameter4 confCheck: Whether to enable configuration check 
 * Parameter5 isMoveJ: Whether to move with MoveJ
 */
 void moveToStart(int &errCode, const QString &pointNameTo, int speed, bool confCheck, bool isMoveJ);

/*
 * Description: Point motion to stop  
 */
 void moveToStop();

/*
 * Description: Get IO name list and values
 * Return value QHash<QString, bool>: IO name list and values
 */
 QHash<QString, bool> getIOHash();

/*
 * Description: Get all register name list and values
 * Return value QHash<QString, QStringList>: Register name list and values
 */
 QHash<QString, QStringList> getRegisterHash();

/*
 * Description: Create new project
 * Parameter1 projectName: Project name
 * Parameter2 desc: Project description
 * Parameter3 isUsed: Whether to switch project
 * Return value int: Create result 0 Success -1 Project name error
 */
 int createProject(const QString& projectName, const QString &desc = "", bool isUsed = false); 

/*
 * Description: Query project list 
 * Return value QStringList: Project list
 */
 QStringList getProjectList();

/*
 * Description: Switch project
 * Parameter1 projectName: Project name
 * Return value int: Switch result 0 Success -1 Project name error
 */
 int changeProject(const QString& projectName);

/*
* Description: Delete project
* Parameter1 projectName: Project name
* Return value int: Delete result 0 Success -1 Project name error
*/
int removeProject (const QString& projectName);