iitem.h

#ifndef IITEM_H
#define IITEM_H
 
#include <QString>
#include "robodktypes.h"
#include "irobodk.h"
 
 
class IItem {
public:
 
    enum {
        ITEM_TYPE_ANY = -1,
 
        ITEM_TYPE_STATION = 1,
 
        ITEM_TYPE_ROBOT = 2,
 
        ITEM_TYPE_FRAME = 3,
 
        ITEM_TYPE_TOOL = 4,
 
        ITEM_TYPE_OBJECT = 5,
 
        ITEM_TYPE_TARGET = 6,
 
        ITEM_TYPE_PROGRAM = 8,
 
        ITEM_TYPE_INSTRUCTION = 9,
 
        ITEM_TYPE_PROGRAM_PYTHON = 10,
 
        ITEM_TYPE_MACHINING = 11,
 
        ITEM_TYPE_BALLBARVALIDATION = 12,
 
        ITEM_TYPE_CALIBPROJECT = 13,
 
        ITEM_TYPE_VALID_ISO9283 = 14,
 
        ITEM_TYPE_FOLDER=17,
 
        ITEM_TYPE_ROBOT_ARM=18,
 
        ITEM_TYPE_CAMERA=19,
 
        ITEM_TYPE_GENERIC=20,
 
        ITEM_TYPE_ROBOT_AXES=21
    };
 
public:
 
    virtual ~IItem(){}
 
    virtual int Type()=0;
 
    virtual bool Save(const QString &filename)=0;
 
    virtual void Delete()=0;
 
    virtual void setParent(Item parent)=0;
 
    virtual void setParentStatic(Item parent)=0;
 
    virtual Item Parent()=0;
 
    virtual QList<Item> Childs()=0;
 
    virtual bool Visible()=0;
 
    virtual void setVisible(bool visible, int visible_frame = -1)=0;
 
    virtual QString Name()=0;
 
    virtual void setName(const QString &name)=0;
 
    // Do not use this function. Just check if the item is nullptr (for example, using ItemValid())
    //virtual bool Valid()=0;
 
    virtual QString Command(const QString &cmd, const QString &value="")=0;
 
    virtual bool setPose(const Mat pose)=0;
 
    virtual Mat Pose()=0;
 
    virtual void setGeometryPose(Mat pose, bool apply_transf=false)=0;
 
    virtual Mat GeometryPose()=0;
 
    virtual Mat PoseTool()=0;
 
    virtual Mat PoseFrame()=0;
 
    virtual void setPoseFrame(const Mat frame_pose)=0;
 
    virtual void setPoseFrame(const Item frame_item)=0;
 
    virtual void setPoseTool(const Mat tool_pose)=0;
 
    virtual void setPoseTool(const Item tool_item)=0;
 
 
    virtual void setPoseAbs(const Mat pose)=0;
 
    virtual Mat PoseAbs()=0;
 
    virtual void setColor(const tColor &clr)=0;
 
//---------- add more
 
 
    virtual void Scale(double scale)=0;    
 
    virtual void Scale(double scale_xyz[3])=0;
 
    virtual void setAsCartesianTarget()=0;
 
    virtual void setAsJointTarget()=0;
 
    virtual bool isJointTarget()=0;
 
    virtual tJoints Joints()=0;
 
    virtual tJoints JointsHome()=0;
 
    virtual void setJointsHome(const tJoints &jnts)=0;
 
    virtual Item ObjectLink(int link_id = 0)=0;    
 
    virtual Item getLink(int type_linked = ITEM_TYPE_ROBOT)=0;
 
    virtual void setJoints(const tJoints &jnts)=0;
 
    virtual int JointLimits(tJoints *lower_limits, tJoints *upper_limits)=0;
 
    virtual int setJointLimits(const tJoints &lower_limits, const tJoints &upper_limits)=0;
 
    virtual void setRobot(const Item &robot)=0;
 
    virtual Item AddTool(const Mat &tool_pose, const QString &tool_name = "New TCP")=0;
 
    virtual Mat SolveFK(const tJoints &joints, const Mat *tool_pose=nullptr, const Mat *reference_pose=nullptr)=0;
 
    virtual void JointsConfig(const tJoints &joints, tConfig config)=0;
 
    virtual tJoints SolveIK(const Mat &pose, const tJoints *joints_close=nullptr, const Mat *tool_pose=nullptr, const Mat *reference_pose=nullptr)=0;
 
    virtual QList<tJoints> SolveIK_All(const Mat &pose, const Mat *tool_pose=nullptr, const Mat *reference_pose=nullptr)=0;
 
    virtual bool Connect(const QString &robot_ip = "")=0;
 
    virtual bool Disconnect()=0;
 
 
    virtual bool MoveJ(const Item &itemtarget)=0;
 
    virtual bool MoveJ(const tJoints &joints)=0;
 
    virtual bool MoveJ(const Mat &target)=0;
 
    virtual bool MoveL(const Item &itemtarget)=0;
 
    virtual bool MoveL(const tJoints &joints)=0;
 
    virtual bool MoveL(const Mat &target)=0;
 
    virtual bool MoveC(const Item &itemtarget1, const Item &itemtarget2)=0;
 
    virtual bool MoveC(const tJoints &joints1, const tJoints &joints2)=0;
 
    virtual bool MoveC(const Mat &target1, const Mat &target2)=0;
 
    virtual int MoveJ_Test(const tJoints &j1, const tJoints &j2, double minstep_deg = -1)=0;
 
    virtual int MoveL_Test(const tJoints &joints1, const Mat &pose2, double minstep_mm = -1)=0;
 
    virtual void setSpeed(double speed_linear, double accel_linear = -1, double speed_joints = -1, double accel_joints = -1)=0;
 
    virtual void setRounding(double zonedata)=0;
 
    virtual void ShowSequence(tMatrix2D *sequence)=0;
 
    virtual bool Busy()=0;
 
    virtual void Stop()=0;
 
    virtual bool MakeProgram(const QString &filename)=0;
 
 
    virtual void setRunType(int program_run_type)=0;
 
    virtual bool RunProgram(const QString &params = "")=0;
 
    virtual int RunInstruction(const QString &code, int run_type = RoboDK::INSTRUCTION_CALL_PROGRAM)=0;
 
    virtual void Pause(double time_ms = -1)=0;
 
 
    virtual void setDO(const QString &io_var, const QString &io_value)=0;
 
    virtual void waitDI(const QString &io_var, const QString &io_value, double timeout_ms = -1)=0;
 
    virtual void customInstruction(const QString &name, const QString &path_run, const QString &path_icon = "", bool blocking = true, const QString &cmd_run_on_robot = "")=0;
 
    virtual void ShowInstructions(bool visible=true)=0;
 
    virtual void ShowTargets(bool visible=true)=0;
 
    virtual int InstructionCount()=0;
 
    virtual void InstructionAt(int ins_id, QString &name, int &instype, int &movetype, bool &isjointtarget, Mat &target, tJoints &joints)=0;
 
    virtual void setInstruction(int ins_id, const QString &name, int instype, int movetype, bool isjointtarget, const Mat &target, const tJoints &joints)=0;
 
    virtual int InstructionList(tMatrix2D *instructions)=0;
 
    virtual double Update(double out_nins_time_dist[4], int collision_check = RoboDK::COLLISION_OFF, double mm_step = -1, double deg_step = -1)=0;
 
    virtual Item setMachiningParameters(const QString &ncfile="", Item part_obj=nullptr, const QString &options="")=0;
 
    virtual int ConnectedState(QString *msg=nullptr)=0;
 
    virtual bool Selected()=0;
 
    virtual bool Collided(int *id=nullptr)=0;
 
    virtual bool JointsValid(const tJoints &jnts)=0;    
 
    virtual int RunType()=0;
 
    virtual bool Scale(const double scalexyz[3], const Mat *tr_pre_scale, const Mat *tr_post_scale=nullptr)=0;
 
    virtual Item InstructionTargetAt(int ins_id)=0;
 
    // added with RoboDK 4.2.1 on 2020-01-31
 
    virtual Item AttachClosest()=0;
 
    virtual Item DetachClosest(Item parent=nullptr)=0;
 
    virtual void DetachAll(Item parent=nullptr)=0;
 
    virtual int InstructionListJoints(QString &error_msg, tMatrix2D *matrix, double step_mm=1, double step_deg=1, int check_collisions=IRoboDK::COLLISION_OFF, int flags=0, double time_step=0.1)=0;
 
    virtual void Copy()=0;
 
    virtual Item Paste()=0;
 
    // added with RoboDK 4.2.2 on 2020-02-07
 
    virtual QString setParam(const QString &param, const QString &value="", QList<Item> *itemlist=nullptr, double *values=nullptr, tMatrix2D *matrix=nullptr)=0;
 
    virtual bool setParam(const QString &name, const QByteArray &value)=0;
 
    virtual bool getParam(const QString &name, QByteArray &value)=0;
 
 
    //-----------------------------------------------------
    // added after 2020-08-21 with version RoboDK 5.1.0
 
    virtual void setAccuracyActive(bool accurate=true)=0;
 
    virtual tJoints SimulatorJoints()=0;
 
    virtual int InstructionSelect(int ins_id=-1)=0;
 
    virtual int InstructionDelete(int ins_id=0)=0;
 
    virtual void setAO(const QString &io_var, const QString &io_value)=0;
 
    virtual QString getDI(const QString &io_var)=0;
 
    virtual void ConnectionParams(QString &robotIP, int &port, QString &remote_path, QString &FTP_user, QString &FTP_pass)=0;
 
    virtual void setConnectionParams(const QString &robotIP, const int &port=2000, const QString &remote_path="/", const QString &FTP_user="", const QString &FTP_pass="")=0;
 
    virtual void Color(tColor &clr_out)=0;
 
    virtual void SelectedFeature(bool &is_selected, int feature_type, int &feature_id)=0;
 
 
    //-----------------------------------------------------
    // added after 2021-09-17 with version RoboDK 5.3.0
 
    virtual QList<Mat> JointPoses(const tJoints &jnts)=0;
 
 
 
};
 
 
//inline QDebug operator<<(QDebug dbg, const IItem *itm){ return dbg.noquote() << (itm == nullptr ? "Item(null)" : itm); }
 
// Allows us to use Item as a QVariant. Example:
// QVariant::fromValue<Item>(item)
Q_DECLARE_METATYPE (Item);
 
//Q_DECLARE_INTERFACE(IAppRoboDK, "RoboDK.IItem")
 
 
#endif // IITEM_H