IGroupInfo.idl

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// -----------------------------------------------------------------------
// MLPI - <IGroupInfo.idl>
// -----------------------------------------------------------------------
// Copyright (c) 2012 Bosch Rexroth. All rights reserved.
// Redistribution and use in source and binary forms of this MLPI software
// (SW) provided to you, with or without modification, are permitted
// without prior approval provided that the following conditions are met:
//
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// connection with the SW ("names") by virtue of this License and waives
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// 5. The SW may only be used in connection with a Bosch Rexroth product.
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// -----------------------------------------------------------------------
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// -----------------------------------------------------------------------


[
  object,
  uuid(37DC9FCA-AE18-4705-B948-3AE7E63DB8D0),
  dual,
  nonextensible,
  helpstring("IGroupInfo Interface"),
  pointer_default(unique)
]
interface IGroupInfo : IDispatch{
#if defined(WIN32) || defined(WIN64)
  [id(1), helpstring("Method MovePoint")] HRESULT MovePoint([in, out] IRobotPoint* point);

  [id(2), helpstring("Method SetPerformanceEnable")] HRESULT SetPerformanceEnable([in] enum RobotPerformance type);

  [id(3), helpstring("Method GetPerformanceResult")] HRESULT GetPerformanceResult([out, retval]  SAFEARRAY(struct RobotPerformanceResult) *performanceResult);

  [id(4), helpstring("Method GetMechanicData")] HRESULT GetMechanicData([in] BOOL updateOnly, [out, retval]  SAFEARRAY(struct RobotMechanicData) *mechanicData);

  [id(5), helpstring("Method GetActualPosition")] HRESULT GetActualPosition([in] enum RobotCoordinateSystem cs, [out, retval] IRobotPoint** position);

  [id(6), helpstring("Method GetName")] HRESULT GetName([out, retval] BSTR* name);

  [id(7), helpstring("Method GetType")] HRESULT GetType([out, retval] enum RobotTypes* type);

  [id(8), helpstring("Method GetTransform")] HRESULT GetTransform([in] enum RobotCoordinateSystem coordSys, [out] struct RobotTrafoParameter *trafoParam);
  
  [id(9), helpstring("Method GetBeltConfiguration")] HRESULT GetBeltConfiguration([in] struct AxisRef belt, [out] struct RobotBeltConfigValues *beltValues);

  [id(10), helpstring("Method GetBeltErrorReaction")] HRESULT GetBeltErrorReaction([in] struct AxisRef belt, [out] struct RobotBeltErrorReactionValues *beltErrorReactParam);


  [id(11), helpstring("Method GetKinematicValues")] HRESULT GetKinematicValues([out, retval] struct KinematicsValues *kinematicsValues);

  [id(12), helpstring("Method GetKinematicUnits")] HRESULT GetKinematicUnits([out, retval] struct KinematicsUnits *kinematicsUnits);
    
  [id(13), helpstring("Method GetDiagnosisText")] HRESULT GetDiagnosisText([out, retval] BSTR *diagnosisText);

  [id(14), helpstring("Method TransformPoint")] HRESULT TransformPoint( [in] enum RobotCoordinateSystem csOut, [in, out] IRobotPoint* point);

  //[id(15), helpstring("Method GetCoordinateSystemInfo")] HRESULT GetCoordinateSystemInfo([out, retval]  SAFEARRAY(struct CoordinateSystemInfo) *csInfo);
#endif
};



// -----------------------------------------------------------------------
// HISTORY
// -----------------------------------------------------------------------
// 01-Jan-2012
//   - first release
// 07-Aug-2012 DOS Subject: getTransform implementation for commlpi
//   - added GetTransform(), GetBeltConfiguration()
// 24-Okt-2012 JUR Subject: WP-00028141 MLPI4RCF
//   - GetBeltErrorReaction added
// 10-Dez-2012 JUR Subject: WP-00028141 MLPI4RCF
//   - interface adaption and docu update due to MLPI release
// 04-Jan-2013 STR Subject: docu update
//   - updated docu
// 09-Dec-2013 DED Subject: MLPI Robot Information functions
//   - getCoordinateSystemInfo implementation