system_api.h

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#ifndef AUBO_SCOPE_SYSTEM_API_H
#define AUBO_SCOPE_SYSTEM_API_H
 
#include <string>
#include <vector>
#include <unordered_map>
#include <aubo_caps/class_forward.h>
 
namespace arcs {
namespace aubo_scope {
 
enum class UnitType
{
    METRIC,  ///< 公制 mm Kg
    IMPERIAL ///< 英制
};
 
struct IoConfigure
{
    std::string label;
    int num;
    std::vector<std::string> names;
    std::vector<int> sequences;
    std::vector<int> functions;
    std::vector<int> safety_functions;
    std::vector<int> safety_functions_fixed;
    bool function_lock{ false };
    std::vector<int> types;
    std::vector<double> mins;
    std::vector<double> maxs;
};
 
ARCS_CLASS_FORWARD(SystemApi);
class ARCS_ABI_EXPORT SystemApi
{
public:
    SystemApi(SystemApi &f);
    SystemApi(SystemApi &&f);
    virtual ~SystemApi();
 
    /**
     *
     * @return the major version of Software.
     */
    int getMajorVersion();
 
    /**
     *
     * @return the minor version of Software.
     */
    int getMinorVersion();
 
    /**
     *
     * @return the bug fix version of Software.
     */
    int getBugfixVersion();
 
    /**
     *
     * @return the build number of Software.
     */
    int getBuildNumber();
 
    /**
     * Returns the {@link Locale} for the system.
     *
     * @return Locale.
     */
    std::string getLocale();
 
    /**
     * Returns the {@link Locale} for the programming language used in the
     * system.
     *
     * @return Locale.
     */
    std::string getLocaleForProgrammingLanguage();
 
    /**
     * Returns the UnitType of the system as an enum.
     *
     * @return UnitType.
     */
    UnitType getUnitType();
 
    /**
     *
     * @return the serial number of the robot
     */
    std::string getSerialNumber();
 
    /**
     * @return <code>true</code> if controlling the real, physical robot and
     * <code>false</code> if in simulation mode.
     */
    bool isRealRobot();
 
    /**
     * @return Max Positions of robot joints in radian
     */
    std::vector<double> getJointMaxPositions();
    std::vector<double> getJointMinPositions();
    double getJointDefaultVelocity();
    double getJointDefaultAcceleration();
    std::vector<double> getJointMaxVelocity();
    std::vector<double> getJointMaxAcceleration();
 
    double getTcpDefaultVelocity();
    double getTcpDefaultAcceleration();
    double getTcpMaxVelocity();
    double getTcpMaxAcceleration();
    double getTcpMaxDistance();
 
    double getMaxPayloadMass();
    double getMaxPayloadDistance();
 
    std::vector<double> getHomeDefaultPosition();
    std::vector<double> getHomePackagePosition();
 
    std::unordered_map<std::string, std::vector<double>> getRobotDhParams(
        bool is_real);
 
    IoConfigure getToolDigitalIOConfigure();
 
    IoConfigure getStandardDigitalInputConfigure();
    IoConfigure getConfigurableDigitalInputConfigure();
 
    IoConfigure getStandardDigitalOutputConfigure();
    IoConfigure getConfigurableDigitalOutputConfigure();
 
    IoConfigure getStandardAnalogInputConfigure();
    IoConfigure getToolAnalogInputConfigure();
 
    IoConfigure getStandardAnalogOutputConfigure();
    IoConfigure getToolAnalogOutputConfigure();
 
    IoConfigure getStaticLinkInputConfigure();
    IoConfigure getStaticLinkOutputConfigure();
 
    IoConfigure getENCConfigure();
 
private:
    friend class DataSwitch;
    SystemApi();
    void *d_{ nullptr };
};
 
} // namespace aubo_scope
} // namespace arcs
 
#endif // SYSTEMAPI_H