382 lines
7.6 KiB
C++
382 lines
7.6 KiB
C++
/** @file axes.h
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* @brief 外部轴接口
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*/
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#ifndef AUBO_SDK_AXIS_INTERFACE_H
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#define AUBO_SDK_AXIS_INTERFACE_H
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#include <aubo/sync_move.h>
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#include <aubo/trace.h>
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namespace arcs {
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namespace common_interface {
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/**
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* \~chinese 外部轴API接口
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* \~english External axis API interface
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*/
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class ARCS_ABI_EXPORT AxisInterface
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{
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public:
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AxisInterface();
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virtual ~AxisInterface();
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/**
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* \~chinese 通电
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* \~english Power on
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* @return
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*/
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int poweronExtAxis();
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/**
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* \~chinese 断电
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* \~english Power off
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* @return
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*/
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int poweroffExtAxis();
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/**
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* \~chinese 使能
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* \~english Enable
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* @return
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*/
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int enableExtAxis();
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/**
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* \~chinese 设置外部轴的安装位姿(相对于世界坐标系)
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* \~chinese @param pose
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* \~english Set mounting pose of external axis (wrt world frame)
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* \~english @param pose
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* @return
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*/
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int setExtAxisMountingPose(const std::vector<double> &pose);
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/**
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* \chinese 运动到指定点， 旋转或者平移
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*
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* @param pos
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* @param v
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* @param a
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* @param duration
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* @return
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* \endchinese
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*
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* \english move to pos, rotation or linear
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*
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* @param pos
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* @param v
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* @param a
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* @param duration
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* @return
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* \endenglish
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*/
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int moveExtJoint(double pos, double v, double a, double duration);
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/**
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* \chinese
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* 制定目标运动速度
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*
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* @param v
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* @param a
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* @param duration
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* @return
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* \endchinese
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*
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* \english
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* Set target speed, acceleration and duration
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* @param v
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* @param a
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* @param duration
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* @return
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* \endenglish
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*/
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int speedExtJoint(double v, double a, double duration);
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int stopExtJoint(double a);
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/**
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* \~chinese 获取外部轴的类型 0代表是旋转 1代表平移
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* \~english Get external axis type: 0 for rotation, 1 for linear
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* @return
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*/
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int getExtAxisType();
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/**
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* \chinese
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* 获取当前外部轴的状态
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*
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* @return 当前外部轴的状态
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* \endchinese
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*
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* \english
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* Get external axis status
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*
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* @return Current exteral axis status
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* \endenglish
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*/
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AxisModeType getAxisModeType();
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/**
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* \chinese
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* 获取外部轴安装位姿
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*
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* @return 外部轴安装位姿
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* \endchinese
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*
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* \english
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* Get external axis mounting pose
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*
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* @return External axis pose
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* \endenglish
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*/
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std::vector<double> getExtAxisMountingPose();
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/**
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* \chinese
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* 获取相对于安装坐标系的位姿，外部轴可能为变位机或者导轨
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*
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* @return 相对于安装坐标系的位姿
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* \endchinese
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*
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* \english
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* Get pose wrt mounting coordinate system, axis can be positioner or linear rail
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*
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* @return Pose wrt mounting coordinate system
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* \endenglish
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*/
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std::vector<double> getExtAxisPose();
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/**
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* \chinese
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* 获取外部轴位置
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*
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* @return 外部轴位置
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* \endchinese
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*
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* \english
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* Get external axis position
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*
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* @return External axis position
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* \endenglish
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*/
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double getExtAxisPosition();
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/**
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* \chinese
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* 获取外部轴运行速度
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*
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* @return 外部轴运行速度
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* \endchinese
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*
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* \english
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* Get external axis speed
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*
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* @return External axis speed
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* \endenglish
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*/
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double getExtAxisVelocity();
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/**
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* \chinese
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* 获取外部轴运行加速度
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*
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* @return 外部轴运行加速度
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* \endchinese
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*
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* \english
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* Get external axis acceleration
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*
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* @return External axis acceleration
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* \endenglish
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*/
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double getExtAxisAcceleration();
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/**
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* \chinese
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* 获取外部轴电流
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*
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* @return 外部轴电流
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* \endchinese
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*
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* \english
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* Get external axis current
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*
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* @return External axis current
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* \endenglish
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*/
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double getExtAxisCurrent();
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/**
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* \chinese
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* 获取外部轴温度
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*
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* @return 外部轴温度
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* \endchinese
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*
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* \english
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* Get external axis temperature
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*
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* @return External axis temperature
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* \endenglish
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*/
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double getExtAxisTemperature();
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/**
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* \chinese
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* 获取外部轴电压
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*
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* @return 外部轴电压
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* \endchinese
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*
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* \english
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* Get external axis voltage
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*
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* @return External axis voltage
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* \endenglish
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*/
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double getExtAxisBusVoltage();
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/**
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* \chinese
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* 获取外部轴电流
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*
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* @return 外部轴电流
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* \endchinese
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*
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* \english
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* Get external axis current
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*
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* @return external axis current
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* \endenglish
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*/
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double getExtAxisBusCurrent();
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/**
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* \chinese
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* 获取外部轴最大位置
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*
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* @return 外部轴最大位置
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* \endchinese
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*
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* \english
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* Get external axis max position
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*
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* @return External axis max position
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* \endenglish
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*/
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double getExtAxisMaxPosition();
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/**
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* \chinese
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* 获取外部轴最小位置
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*
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* @return 外部轴最小位置
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* \endchinese
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*
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* \english
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* Get external axis min position
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*
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* @return External axis min position
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* \endenglish
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*/
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double getExtMinPosition();
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/**
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* \chinese
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* 获取外部轴最大速度
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*
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* @return 外部轴最大速度
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* \endchinese
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*
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* \english
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* Get external axis max speed
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*
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* @return External axis max speed
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* \endenglish
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*/
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double getExtAxisMaxVelocity();
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/**
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* \chinese
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* 获取外部轴最大加速度
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*
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* @return 外部轴最大加速度
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* \endchinese
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*
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* \english
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* Get external axis max acceleration
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*
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* @return External axis max acceleration
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* \endenglish
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*/
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double getExtAxisMaxAcceleration();
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/**
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* \chinese
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* 跟踪另一个外部轴的运动(禁止运动过程中使用)
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*
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* @param target_name 目标的外部轴名字
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* @param phase 相位差
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* @param err 跟踪运行的最大误差
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* @return
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* \endchinese
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*
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* \english
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* Follow motion of another external axis （not to be used during motion）
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*
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* @param target_name name of target axis
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* @param phase phase difference
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* @param err max error when following motion
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* @return
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* \endenglish
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*/
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int followAnotherAxis(const std::string &target_name, double phase,
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double err);
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/**
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* \~chinese @brief stopFollowAnotherAxis(禁止运动过程中使用)
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* \~english @brief stopFollowAnotherAxis(not to be used during motion)
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* @return
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*/
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int stopFollowAnotherAxis();
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/**
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* \chinese
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* 获取外部轴错误码
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*
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* @return 外部轴错误码
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* \endchinese
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*
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* \english
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* Get external axis error code
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*
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* @return External axis error code
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* \endenglish
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*/
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int getErrorCode();
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/**
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* \chinese
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* 重置外部轴错误
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*
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* @return
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* \endchinese
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*
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* \english
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* Reset axis error
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*
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* @return
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* \endenglish
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*/
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int clearAxisError();
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protected:
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void *d_;
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};
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using AxisInterfacePtr = std::shared_ptr<AxisInterface>;
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} // namespace common_interface
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} // namespace arcs
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#endif // AUBO_SDK_AXIS_INTERFACE_H
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