4 #ifndef AUBO_SDK_IO_CONTROL_INTERFACE_H 5 #define AUBO_SDK_IO_CONTROL_INTERFACE_H 10 #include <aubo/global_config.h> 14 namespace common_interface {
48 int getStandardDigitalInputNum();
64 int getToolDigitalInputNum();
80 int getConfigurableDigitalInputNum();
96 int getStandardDigitalOutputNum();
112 int getToolDigitalOutputNum();
138 int setToolIoInput(
int index,
bool input);
156 bool isToolIoInput(
int index);
172 int getConfigurableDigitalOutputNum();
188 int getStandardAnalogInputNum();
204 int getToolAnalogInputNum();
220 int getStandardAnalogOutputNum();
236 int getToolAnalogOutputNum();
258 int setDigitalInputActionDefault();
355 int setConfigurableDigitalInputAction(
int index,
434 int setDigitalOutputRunstateDefault();
468 int setStandardDigitalOutputRunstate(
int index,
503 int setToolDigitalOutputRunstate(
int index,
531 int setConfigurableDigitalOutputRunstate(
int index,
623 int setStandardAnalogOutputRunstate(
int index,
713 int setStandardAnalogInputDomain(
int index,
int domain);
738 int setToolAnalogInputDomain(
int index,
int domain);
757 int getStandardAnalogInputDomain(
int index);
775 int getToolAnalogInputDomain(
int index);
801 int setStandardAnalogOutputDomain(
int index,
int domain);
827 int setToolAnalogOutputDomain(
int index,
int domain);
846 int getStandardAnalogOutputDomain(
int index);
864 int getToolAnalogOutputDomain(
int index);
888 int setToolVoltageOutputDomain(
int domain);
904 int getToolVoltageOutputDomain();
929 int setStandardDigitalOutput(
int index,
bool value);
956 int setStandardDigitalOutputPulse(
int index,
bool value,
double duration);
982 int setToolDigitalOutput(
int index,
bool value);
1009 int setToolDigitalOutputPulse(
int index,
bool value,
double duration);
1035 int setConfigurableDigitalOutput(
int index,
bool value);
1062 int setConfigurableDigitalOutputPulse(
int index,
bool value,
1089 int setStandardAnalogOutput(
int index,
double value);
1115 int setToolAnalogOutput(
int index,
double value);
1134 bool getStandardDigitalInput(
int index);
1154 uint32_t getStandardDigitalInputs();
1173 bool getToolDigitalInput(
int index);
1189 uint32_t getToolDigitalInputs();
1211 bool getConfigurableDigitalInput(
int index);
1233 uint32_t getConfigurableDigitalInputs();
1252 bool getStandardDigitalOutput(
int index);
1272 uint32_t getStandardDigitalOutputs();
1291 bool getToolDigitalOutput(
int index);
1307 uint32_t getToolDigitalOutputs();
1329 bool getConfigurableDigitalOutput(
int index);
1351 uint32_t getConfigurableDigitalOutputs();
1370 double getStandardAnalogInput(
int index);
1389 double getToolAnalogInput(
int index);
1408 double getStandardAnalogOutput(
int index);
1427 double getToolAnalogOutput(
int index);
1443 int getStaticLinkInputNum();
1459 int getStaticLinkOutputNum();
1479 uint32_t getStaticLinkInputs();
1499 uint32_t getStaticLinkOutputs();
1509 bool hasEncoderSensor();
1532 int setEncDecoderType(
int type,
int range_id);
1549 int setEncTickCount(
int tick);
1563 int getEncDecoderType();
1577 int getEncTickCount();
1593 int unwindEncDeltaTickCount(
int delta_count);
1609 bool getToolButtonStatus();
1617 #define IoControl_DECLARES \ 1618 _FUNC(IoControl, 0, getStandardDigitalInputNum) \ 1619 _FUNC(IoControl, 0, getToolDigitalInputNum) \ 1620 _FUNC(IoControl, 0, getConfigurableDigitalInputNum) \ 1621 _FUNC(IoControl, 0, getStandardDigitalOutputNum) \ 1622 _FUNC(IoControl, 0, getToolDigitalOutputNum) \ 1623 _INST(IoControl, 2, setToolIoInput, index, input) \ 1624 _FUNC(IoControl, 1, isToolIoInput, index) \ 1625 _FUNC(IoControl, 0, getConfigurableDigitalOutputNum) \ 1626 _FUNC(IoControl, 0, getStandardAnalogInputNum) \ 1627 _FUNC(IoControl, 0, getToolAnalogInputNum) \ 1628 _FUNC(IoControl, 0, getStandardAnalogOutputNum) \ 1629 _FUNC(IoControl, 0, getToolAnalogOutputNum) \ 1630 _INST(IoControl, 0, setDigitalInputActionDefault) \ 1631 _INST(IoControl, 2, setStandardDigitalInputAction, index, action) \ 1632 _INST(IoControl, 2, setToolDigitalInputAction, index, action) \ 1633 _INST(IoControl, 2, setConfigurableDigitalInputAction, index, action) \ 1634 _FUNC(IoControl, 1, getStandardDigitalInputAction, index) \ 1635 _FUNC(IoControl, 1, getToolDigitalInputAction, index) \ 1636 _FUNC(IoControl, 1, getConfigurableDigitalInputAction, index) \ 1637 _INST(IoControl, 0, setDigitalOutputRunstateDefault) \ 1638 _INST(IoControl, 2, setStandardDigitalOutputRunstate, index, runstate) \ 1639 _INST(IoControl, 2, setToolDigitalOutputRunstate, index, runstate) \ 1640 _INST(IoControl, 2, setConfigurableDigitalOutputRunstate, index, runstate) \ 1641 _FUNC(IoControl, 1, getStandardDigitalOutputRunstate, index) \ 1642 _FUNC(IoControl, 1, getToolDigitalOutputRunstate, index) \ 1643 _FUNC(IoControl, 1, getConfigurableDigitalOutputRunstate, index) \ 1644 _INST(IoControl, 2, setStandardAnalogOutputRunstate, index, runstate) \ 1645 _INST(IoControl, 2, setToolAnalogOutputRunstate, index, runstate) \ 1646 _FUNC(IoControl, 1, getStandardAnalogOutputRunstate, index) \ 1647 _FUNC(IoControl, 1, getToolAnalogOutputRunstate, index) \ 1648 _INST(IoControl, 2, setStandardAnalogInputDomain, index, domain) \ 1649 _INST(IoControl, 2, setToolAnalogInputDomain, index, domain) \ 1650 _FUNC(IoControl, 1, getStandardAnalogInputDomain, index) \ 1651 _FUNC(IoControl, 1, getToolAnalogInputDomain, index) \ 1652 _INST(IoControl, 2, setStandardAnalogOutputDomain, index, domain) \ 1653 _INST(IoControl, 2, setToolAnalogOutputDomain, index, domain) \ 1654 _INST(IoControl, 1, setToolVoltageOutputDomain, domain) \ 1655 _FUNC(IoControl, 0, getToolVoltageOutputDomain) \ 1656 _FUNC(IoControl, 1, getStandardAnalogOutputDomain, index) \ 1657 _FUNC(IoControl, 1, getToolAnalogOutputDomain, index) \ 1658 _INST(IoControl, 2, setStandardDigitalOutput, index, value) \ 1659 _INST(IoControl, 3, setStandardDigitalOutputPulse, index, value, duration) \ 1660 _INST(IoControl, 2, setToolDigitalOutput, index, value) \ 1661 _INST(IoControl, 3, setToolDigitalOutputPulse, index, value, duration) \ 1662 _INST(IoControl, 2, setConfigurableDigitalOutput, index, value) \ 1663 _INST(IoControl, 3, setConfigurableDigitalOutputPulse, index, value, duration) \ 1664 _INST(IoControl, 2, setStandardAnalogOutput, index, value) \ 1665 _INST(IoControl, 2, setToolAnalogOutput, index, value) \ 1666 _FUNC(IoControl, 1, getStandardDigitalInput, index) \ 1667 _FUNC(IoControl, 0, getStandardDigitalInputs) \ 1668 _FUNC(IoControl, 1, getToolDigitalInput, index) \ 1669 _FUNC(IoControl, 0, getToolDigitalInputs) \ 1670 _FUNC(IoControl, 1, getConfigurableDigitalInput, index) \ 1671 _FUNC(IoControl, 0, getConfigurableDigitalInputs) \ 1672 _FUNC(IoControl, 1, getStandardAnalogInput, index) \ 1673 _FUNC(IoControl, 1, getToolAnalogInput, index) \ 1674 _FUNC(IoControl, 1, getStandardDigitalOutput, index) \ 1675 _FUNC(IoControl, 0, getStandardDigitalOutputs) \ 1676 _FUNC(IoControl, 1, getToolDigitalOutput, index) \ 1677 _FUNC(IoControl, 0, getToolDigitalOutputs) \ 1678 _FUNC(IoControl, 1, getConfigurableDigitalOutput, index) \ 1679 _FUNC(IoControl, 0, getConfigurableDigitalOutputs) \ 1680 _FUNC(IoControl, 1, getStandardAnalogOutput, index) \ 1681 _FUNC(IoControl, 1, getToolAnalogOutput, index) \ 1682 _FUNC(IoControl, 0, getStaticLinkInputNum) \ 1683 _FUNC(IoControl, 0, getStaticLinkOutputNum) \ 1684 _FUNC(IoControl, 0, getStaticLinkInputs) \ 1685 _FUNC(IoControl, 0, getStaticLinkOutputs) \ 1686 _FUNC(IoControl, 0, hasEncoderSensor) \ 1687 _FUNC(IoControl, 2, setEncDecoderType, type, range_id) \ 1688 _FUNC(IoControl, 1, setEncTickCount, tick) \ 1689 _FUNC(IoControl, 0, getEncDecoderType) \ 1690 _FUNC(IoControl, 0, getEncTickCount) \ 1691 _FUNC(IoControl, 1, unwindEncDeltaTickCount, delta_count) \ 1692 _FUNC(IoControl, 0, getToolButtonStatus) 1698 #endif // AUBO_SDK_IO_CONTROL_INTERFACE_H
StandardOutputRunState
标准输出运行状态
IoControl类提供了一系列的接口对机器人标配的一些数字、模拟IO进行配置,输出状态设置、读取 ...
StandardInputAction
The StandardInputAction enum.
std::shared_ptr< IoControl > IoControlPtr