irobodk.h

#ifndef IROBODK_H
#define IROBODK_H
 
 
#include "robodktypes.h"
#include <QString>
 
 
class IRoboDK {
 
public:
 
    virtual ~IRoboDK(){}
 
public:
 
    enum {
        INS_TYPE_INVALID = -1,
 
        INS_TYPE_MOVE = 0,
 
        INS_TYPE_MOVEC = 1,
 
        INS_TYPE_CHANGESPEED = 2,
 
        INS_TYPE_CHANGEFRAME = 3,
 
        INS_TYPE_CHANGETOOL = 4,
 
        INS_TYPE_CHANGEROBOT = 5,
 
        INS_TYPE_PAUSE = 6,
 
        INS_TYPE_EVENT = 7,
 
        INS_TYPE_CODE = 8,
 
        INS_TYPE_PRINT = 9
    };
 
    enum {
        MOVE_TYPE_INVALID = -1,
 
        MOVE_TYPE_JOINT = 1,
 
        MOVE_TYPE_LINEAR = 2,
 
        MOVE_TYPE_CIRCULAR = 3,
 
        MOVE_TYPE_LINEARSEARCH = 4
    };
 
    enum {
        RUNMODE_SIMULATE = 1,
 
        RUNMODE_QUICKVALIDATE = 2,
 
        RUNMODE_MAKE_ROBOTPROG = 3,
 
        RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD = 4,
 
        RUNMODE_MAKE_ROBOTPROG_AND_START = 5,
 
        RUNMODE_RUN_ROBOT = 6
    };
 
    enum {
        PROGRAM_RUN_ON_SIMULATOR = 1,
 
        PROGRAM_RUN_ON_ROBOT = 2
    };
 
    enum {
 
        CALIBRATE_TCP_BY_POINT = 0,
 
        CALIBRATE_TCP_BY_PLANE = 1
    };
 
    enum {
        CALIBRATE_FRAME_3P_P1_ON_X = 0,
 
        CALIBRATE_FRAME_3P_P1_ORIGIN = 1,
 
        CALIBRATE_FRAME_6P = 2,
 
        CALIBRATE_TURNTABLE = 3,
 
        CALIBRATE_TURNTABLE_2X = 4
    };
 
    enum {
        PROJECTION_NONE                = 0,
 
        PROJECTION_CLOSEST             = 1,
 
        PROJECTION_ALONG_NORMAL        = 2,
 
        PROJECTION_ALONG_NORMAL_RECALC = 3,
 
        PROJECTION_CLOSEST_RECALC      = 4,
 
        PROJECTION_RECALC              = 5
    };
 
    enum {
 
        JOINT_FORMAT      = -1,
 
        EULER_RX_RYp_RZpp = 0,
 
        EULER_RZ_RYp_RXpp = 1,
 
        EULER_RZ_RYp_RZpp = 2,
 
        EULER_RZ_RXp_RZpp = 3,
 
        EULER_RX_RY_RZ    = 4,
 
        EULER_RZ_RY_RX    = 5,
 
        EULER_QUEATERNION = 6
    };
 
    enum {
 
        WINDOWSTATE_HIDDEN = -1,
 
        WINDOWSTATE_SHOW = 0,
 
        WINDOWSTATE_MINIMIZED = 1,
 
        WINDOWSTATE_NORMAL = 2,
 
        WINDOWSTATE_MAXIMIZED = 3,
 
        WINDOWSTATE_FULLSCREEN = 4,
 
        WINDOWSTATE_CINEMA = 5,
 
        WINDOWSTATE_FULLSCREEN_CINEMA = 6,
 
        WINDOWSTATE_VIDEO = 7
    };
 
    enum {
        INSTRUCTION_CALL_PROGRAM = 0,
 
        INSTRUCTION_INSERT_CODE = 1,
 
        INSTRUCTION_START_THREAD = 2,
 
        INSTRUCTION_COMMENT = 3,
 
        INSTRUCTION_SHOW_MESSAGE = 4
    };
 
    enum {
        FEATURE_NONE = 0,
 
        FEATURE_SURFACE = 1,
 
        FEATURE_CURVE = 2,
 
        FEATURE_POINT = 3
    };
 
    enum {
        SPRAY_OFF = 0,
        SPRAY_ON = 1
    };
 
    enum {
        COLLISION_OFF = 0,
 
        COLLISION_ON = 1
    };
 
    enum {
        FLAG_ROBODK_TREE_ACTIVE = 1,
 
        FLAG_ROBODK_3DVIEW_ACTIVE = 2,
 
        FLAG_ROBODK_LEFT_CLICK = 4,
 
        FLAG_ROBODK_RIGHT_CLICK = 8,
 
        FLAG_ROBODK_DOUBLE_CLICK = 16,
 
        FLAG_ROBODK_MENU_ACTIVE = 32,
 
        FLAG_ROBODK_MENUFILE_ACTIVE = 64,
 
        FLAG_ROBODK_MENUEDIT_ACTIVE = 128,
 
        FLAG_ROBODK_MENUPROGRAM_ACTIVE = 256,
 
        FLAG_ROBODK_MENUTOOLS_ACTIVE = 512,
 
        FLAG_ROBODK_MENUUTILITIES_ACTIVE = 1024,
 
        FLAG_ROBODK_MENUCONNECT_ACTIVE = 2048,
 
        FLAG_ROBODK_WINDOWKEYS_ACTIVE = 4096,
 
        FLAG_ROBODK_TREE_VISIBLE = 8192,
 
        FLAG_ROBODK_REFERENCES_VISIBLE = 16384,
 
        FLAG_ROBODK_STATUSBAR_VISIBLE = 32768,
 
        FLAG_ROBODK_NONE = 0,
 
        FLAG_ROBODK_ALL = 0xFFFF,
 
        FLAG_ROBODK_MENU_ACTIVE_ALL = FLAG_ROBODK_MENU_ACTIVE | FLAG_ROBODK_MENUFILE_ACTIVE | FLAG_ROBODK_MENUEDIT_ACTIVE | FLAG_ROBODK_MENUPROGRAM_ACTIVE | FLAG_ROBODK_MENUTOOLS_ACTIVE | FLAG_ROBODK_MENUUTILITIES_ACTIVE | FLAG_ROBODK_MENUCONNECT_ACTIVE
    };
 
    enum {
        FLAG_ITEM_SELECTABLE = 1,
 
        FLAG_ITEM_EDITABLE = 2,
 
        FLAG_ITEM_DRAGALLOWED = 4,
 
        FLAG_ITEM_DROPALLOWED = 8,
 
        FLAG_ITEM_ENABLED = 32,
 
        FLAG_ITEM_AUTOTRISTATE = 64,
 
        FLAG_ITEM_NOCHILDREN = 128,
        FLAG_ITEM_USERTRISTATE = 256,
 
        FLAG_ITEM_NONE = 0,
 
        FLAG_ITEM_ALL = 64 + 32 + 8 + 4 + 2 + 1
    };
 
    enum {
        RenderNone = 0,
 
        RenderScreen = 1,
 
        RenderUpdateOnly = 2,
 
        RenderComplete = 0xff
    };
 
    enum {
        DrawTriangles = 1,
 
        DrawLines = 2,
 
        DrawPoints = 3,
 
        DrawSpheres = 4
    };
 
 
public:
 
    virtual Item getItem(const QString &name, int itemtype = -1)=0;
 
    virtual QStringList getItemListNames(int filter = -1)=0;
 
    virtual QList<Item> getItemList(int filter = -1)=0;
 
    virtual bool Valid(const Item item_check)=0;
 
    virtual Item ItemUserPick(const QString &message = "Pick one item", int itemtype = -1)=0;
 
    virtual Item ItemUserPick(const QString &message, const QList<Item> &list_choices, int id_selected=-1)=0;
 
    virtual void ShowRoboDK()=0;
 
    virtual void HideRoboDK()=0;
 
    virtual void CloseRoboDK()=0;
 
    virtual QString Version()=0;
 
    virtual void setWindowState(int windowstate = WINDOWSTATE_NORMAL)=0;
 
    virtual void setFlagsRoboDK(int flags = FLAG_ROBODK_ALL)=0;
 
    virtual void setFlagsItem(int flags = FLAG_ITEM_ALL, Item item=nullptr)=0;
 
    virtual int getFlagsItem(Item item)=0;
 
 
    virtual void ShowMessage(const QString &message, bool popup = true)=0;
 
    virtual Item AddFile(const QString &filename, const Item parent=nullptr)=0;
 
    virtual void Save(const QString &filename, const Item itemsave=nullptr)=0;
 
    virtual Item AddShape(const tMatrix2D *trianglePoints, Item addTo = nullptr, bool shapeOverride = false, tColor *color = nullptr)=0;
 
 
    virtual Item AddCurve(const tMatrix2D *curvePoints, Item referenceObject = nullptr,bool addToRef = false,int ProjectionType = PROJECTION_ALONG_NORMAL_RECALC)=0;
 
 
    virtual Item AddPoints(const tMatrix2D *points, Item referenceObject = nullptr, bool addToRef = false, int ProjectionType =  PROJECTION_ALONG_NORMAL_RECALC)=0;
 
    virtual bool ProjectPoints(tMatrix2D *points, Item objectProject, int ProjectionType = PROJECTION_ALONG_NORMAL_RECALC)=0;
 
    virtual void CloseStation()=0;
 
    virtual Item AddTarget(const QString &name, Item itemparent = nullptr, Item itemrobot = nullptr)=0;
 
    virtual Item AddFrame(const QString &name, Item itemparent = nullptr)=0;
 
    virtual Item AddProgram(const QString &name, Item itemrobot = nullptr)=0;
 
    virtual Item AddStation(QString name)=0;
 
    virtual Item AddMachiningProject(QString name = "Curve follow settings", Item itemrobot = nullptr)=0;
 
    virtual QList<Item> getOpenStations()=0;
 
    virtual void setActiveStation(Item stn)=0;
 
    virtual Item getActiveStation()=0;
 
    virtual int RunProgram(const QString &function_w_params)=0;
 
    virtual int RunCode(const QString &code, bool code_is_fcn_call = false)=0;
 
    virtual void RunMessage(const QString &message, bool message_is_comment = false)=0;
 
    virtual void Render(int flags=RenderComplete)=0;
 
    virtual bool IsInside(Item object_inside, Item object_parent)=0;
 
    virtual int setCollisionActive(int check_state = COLLISION_ON)=0;
 
    virtual bool setCollisionActivePair(int check_state, Item item1, Item item2, int id1 = 0, int id2 = 0)=0;
 
    virtual int Collisions()=0;
 
    virtual int Collision(Item item1, Item item2)=0;
 
    virtual QList<Item> getCollisionItems(QList<int> *link_id_list=nullptr)=0;
 
    virtual void setSimulationSpeed(double speed)=0;
 
    virtual double SimulationSpeed()=0;
 
    virtual void setRunMode(int run_mode = 1)=0;
 
    virtual int RunMode()=0;
 
    virtual QList<QPair<QString, QString> > getParams()=0;
 
    virtual QString getParam(const QString &param)=0;
 
 
    virtual void setParam(const QString &param, const QString &value)=0;
 
    virtual QString Command(const QString &cmd, const QString &value="")=0;
 
 
    // --- add calibrate reference, calibrate tool, measure tracker, etc...
 
 
    virtual bool LaserTrackerMeasure(tXYZ xyz, const tXYZ estimate, bool search = false)=0;
 
    virtual bool MeasurePose(Mat *pose, double data[10], int target=-1, int time_avg_ms=0, const tXYZ tool_tip=nullptr)=0;
 
    virtual bool CollisionLine(const tXYZ p1, const tXYZ p2)=0;
 
    virtual void CalibrateTool(const tMatrix2D *poses_joints, tXYZ tcp_xyz, int format=EULER_RX_RY_RZ, int algorithm=CALIBRATE_TCP_BY_POINT, Item robot=nullptr, double *error_stats=nullptr)=0;
 
    virtual Mat CalibrateReference(const tMatrix2D *poses_joints, int method = CALIBRATE_FRAME_3P_P1_ON_X, bool use_joints = false, Item robot = nullptr)=0;
 
    virtual bool ProgramStart(const QString &progname, const QString &defaultfolder = "", const QString &postprocessor = "", Item robot = nullptr)=0;
 
 
    virtual void setViewPose(const Mat &pose)=0;
 
    virtual Mat ViewPose()=0;
 
    virtual bool SetRobotParams(Item robot,tMatrix2D dhm, Mat poseBase, Mat poseTool)=0;
 
    virtual Item getCursorXYZ(int x = -1, int y = -1, tXYZ xyzStation = nullptr)=0;
 
    virtual QString License()=0;
 
    virtual QList<Item> Selection()=0;
 
    virtual Item Popup_ISO9283_CubeProgram(Item robot=nullptr, tXYZ center=nullptr, double side=-1)=0;
 
 
    virtual QByteArray getData(const QString &param)=0;
 
 
    virtual void setData(const QString &param, const QByteArray &value)=0;
 
 
    virtual int CollisionActive()=0;
 
    virtual bool DrawGeometry(int drawtype, float *vtx_pointer, int vtx_size, float color[4], float geo_size=2.0, float *vtx_normals=nullptr)=0;
 
    virtual bool DrawTexture(const QImage *image, const float *vtx_pointer, const float *texture_coords, int num_triangles, float *vtx_normals=nullptr)=0;
 
 
    //-----------------------------------------------------
    // added after 2020-08-21 with version RoboDK 5.1.0
 
    virtual void setSelection(const QList<Item> &listitems)=0;
 
    virtual void setInteractiveMode(int mode_type, int default_ref_flags, const QList<Item> *custom_object=nullptr, int custom_ref_flags=0)=0;
 
    virtual void PluginLoad(const QString &plugin_name="", int load=1)=0;
 
    virtual QString PluginCommand(const QString &plugin_name="", const QString &plugin_command="", const QString &value="")=0;
 
    virtual QByteArray getParamBytes(const QString &param)=0;
 
 
    virtual void setParamBytes(const QString &param, const QByteArray &value)=0;
 
    virtual int StereoCamera_Measure(Mat pose1, Mat pose2, int &npoints1, int &npoints2, double *data=nullptr, float time_avg=0, const tXYZ tip_xyz=nullptr)=0;
 
    virtual Item BuildMechanism(int type, const QList<Item> &list_obj, const double *parameters, const tJoints &joints_build, const tJoints &joints_home, const tJoints &joints_senses, const tJoints &joints_lim_low, const tJoints &joints_lim_high, const Mat base, const Mat tool, const QString &name, Item robot=nullptr)=0;
 
 
    //-----------------------------------------------------
    // added after 2021-09-17 with version RoboDK 5.3.0
 
 
    virtual Item Cam2D_Add(const Item attach_to, const QString &params="")=0;
 
    virtual QImage Cam2D_Snapshot(const QString &file, const Item camera=nullptr, const QString &params="")=0;
 
 
 
    virtual Item MergeItems(const QList<Item> &listitems)=0;
 
    /*
 
    SprayAdd
    */
 
};
 
 
//Q_DECLARE_INTERFACE(IRoboDK, "RoboDK.IRoboDK")
 
#endif // IROBODK_H