IRobot.idl

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// -----------------------------------------------------------------------
// MLPI - <IRobot.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:
//
// 1. Redistributions of source code of SW must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form of SW must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// 3. User recognizes and acknowledges that it acquires no right,
// title or interest in or to any of the names or trademarks used in
// connection with the SW ("names") by virtue of this License and waives
// any right to or interest in the names. User recognizes and acknowledges
// that names of companies or names or products of companies displayed
// in the documentation of SW to indicate the interoperability of products
// with the SW are the names of their respective owners. The use of such
// names in the documentation of SW does not imply any sponsorship,
// approval, or endorsement by such companies of this product.
//
// 4. Modified code versions, i.e. any addition to or deletion from
// the substance or structure of the original code of the SW running
// the MLPI must be plainly marked as such and must not be misrepresented
// as being original SW.
//
// 5. The SW may only be used in connection with a Bosch Rexroth product.
//
// THIS INFORMATION IS PROVIDED BY BOSCH REXROTH CORPORATION "AS IS"
// AND WITHOUT WARRANTY OF ANY KIND, EXPRESSED OR IMPLIED, INCLUDING
// (BUT NOTLIMITED TO) ANY IMPLIED WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR ANY PARTICULAR PURPOSE, OR NON-INFRINGEMENT. WHILE THE
// INFORMATION PROVIDED IS BELIEVED TO BE ACCURATE, IT MAY INCLUDE
// ERRORS OR INACCURACIES.
// SUBJECT TO COMPULSORY STATUTORY PROVISIONS OF THE GERMAN LAW AS
// THE APPLICABLE LAW FOR THIS LICENSE BOSCH REXROTH CORPORATION WILL
// NOT BE LIABLE FOR ANY DAMAGES OF ANY KIND ARISING FROM THE USE OF
// THE  SOFTWARE  DISTRIBUTED HEREUNDER, INCLUDING BUT NOT LIMITED TO
// DIRECT, INDIRECT, INCIDENTAL, PUNITIVE, AND CONSEQUENTIAL DAMAGES.
// -----------------------------------------------------------------------
//
//
// -----------------------------------------------------------------------


[
  object,
  uuid(4DBD0495-77C9-4F00-A0BA-42EB3B5F1666),
  dual,
  nonextensible,
  helpstring("IRobot Interface"),
  pointer_default(unique)
]
interface IRobot : IDispatch{

  typedef [v1_enum] enum RobotAxisTypes
  {
    ROBOT_AXISTYPE_NONE         = 0,  
    ROBOT_AXISTYPE_POSITIONING  = 8,  
    ROBOT_AXISTYPE_ORIENTATION  = 16, 
    ROBOT_AXISTYPE_BELT         = 32, 
  }RobotAxisTypes;

  typedef [v1_enum] enum RobotTypes
  {
    ROBOT_TYPE_RHO       = 1,   
    ROBOT_TYPE_RCF       = 2,   
  }RobotTypes;

  typedef [v1_enum] enum RobotSetMode
  {
    ROBOT_SETMODE_TO = 0,  
    ROBOT_SETMODE_VIA = 1, 
  }RobotSetMode;

  typedef [v1_enum] enum RobotPerformance
  {
    ROBOT_PERFORMANCE_ENABLE  = 0,  
    ROBOT_PERFORMANCE_DISABLE = 1,  
  }RobotPerformance;

  typedef [v1_enum] enum RobotCoordinateSystem
  {
    ROBOT_CS_MCS   = 0x0000,  
    ROBOT_CS_ACS   = 0x0001,  
    ROBOT_CS_BCS   = 0x0002,  
    ROBOT_CS_PCS1  = 0x0003,  
    ROBOT_CS_PCS2  = 0x0103,  
    ROBOT_CS_PCS3  = 0x0203,  
    ROBOT_CS_PCS4  = 0x0303,  
    ROBOT_CS_PCS5  = 0x0403,  
    ROBOT_CS_PCS6  = 0x0503,  
    ROBOT_CS_PCS7  = 0x0603,  
    ROBOT_CS_PCS8  = 0x0703,  
    ROBOT_CS_PCS9  = 0x0803,  
    ROBOT_CS_PCS10 = 0x0903,  
    ROBOT_CS_PCS11 = 0x0A03,  
    ROBOT_CS_PCS12 = 0x0B03,  
    ROBOT_CS_PCS13 = 0x0C03,  
    ROBOT_CS_PCS14 = 0x0D03,  
    ROBOT_CS_PCS15 = 0x0E03,  
    ROBOT_CS_PCS16 = 0x0F03,  
  }RobotCoordinateSystem;

  typedef [v1_enum] enum RobotSlopeType
  {
    ROBOT_SLOPETYPE_BLOCK_SLOPE = 0,  
    ROBOT_SLOPETYPE_PROGR_SLOPE = 1,  
    ROBOT_SLOPETYPE_CONT_SLOPE  = 2,  
  }RobotSlopeType;

  typedef [v1_enum] enum RobotSyncErrorReactionMode
  {
    ROBOT_BELT_ERROR_NO_SPECIFIC_REACTION = 0, 
    ROBOT_BELT_ERROR_DESYNC_OVER_TIME = 1,     
    ROBOT_BELT_ERROR_DESYNC_WITH_LIMITS = 2,   
  }RobotSyncErrorReactionMode;

  typedef [v1_enum] enum RobotMechCmd
  {
    ROBOT_MECH_CREATE_ROD       = 0,  
    ROBOT_MECH_CREATE_SPHERE    = 1,  
    ROBOT_MECH_POSITION         = 2,  
    ROBOT_MECH_DIRECTION        = 3,  
    ROBOT_MECH_SIZE             = 4,  
  }RobotMechDataCmd;

  typedef [v1_enum] enum RobotCSType
  {
    ROBOT_CS_CARTESIAN = 0,   
    ROBOT_CS_CYLINDRIC = 1,   
  }RobotCSType;

  typedef [v1_enum] enum RobotSafeZoneType
  {
    ROBOT_SAFE_ZONE_TYPE_DEACTIVATED = 0,  
    ROBOT_SAFE_ZONE_TYPE_INSIDE_OK   = 1,  
    ROBOT_SAFE_ZONE_TYPE_OUTSIDE_OK  = 2,  
  }RobotSafeZoneType;

#if defined(WIN32) || defined(WIN64)

  [
    uuid(365b3b47-8905-4af4-b4a9-41af8b5f82a4)
  ]
  struct GroupRef
  {
    SHORT   controlNo;    
    SHORT   groupNo;      
  };

  [
    uuid(8c76385d-ca52-4612-adb6-e942c972e61d)
  ]
  struct RobotInformation
  {
    struct GroupRef   group;          
    RobotTypes        robotType;      
    BSTR              name;           
  };

  [
    uuid(9E1D0DE9-ED04-4f74-A7D7-2383E7625609)
  ]
  struct RobotPerformanceResult
  {
    BSTR name;        
    LONG count;       
    DOUBLE min;       
    DOUBLE max;       
    DOUBLE avg;       
  };


  [
    uuid(AB6FEE1B-33F0-47ab-9CBC-88B7DBCFDCF7)
  ]
  struct RobotMechanicData
  {
    RobotMechDataCmd cmd;  
    BSTR object;           
    DOUBLE x;              
    DOUBLE y;              
    DOUBLE z;              
  };

  [
    uuid(219BD4DA-1143-472d-8815-154320414D2B)
  ]
  struct RobotAxisConfiguration
  {
    RobotAxisTypes axisConfiguration; 
    USHORT controlNumber;     
    USHORT axisNumber;        
  };

  [
    uuid(46846C9F-70F1-4a96-B799-C4690921D30B)
  ]
  struct RobotTrafoParameter
  {
    RobotCoordinateSystem coordSys;
    DOUBLE posX;
    DOUBLE posY;
    DOUBLE posZ;
    DOUBLE rotA;
    DOUBLE rotB;
    DOUBLE rotC;
    RobotCSType csType;
  };

  [
    uuid(F59E1B72-FED4-42a8-B108-96B4213CAD77)
  ]
  struct RobotBeltConfigValues
  {
    AxisRef belt;
    DOUBLE posX;
    DOUBLE posY;
    DOUBLE posZ;
    DOUBLE rotA;
    DOUBLE rotB;
    DOUBLE rotC;
    DOUBLE begin;
    DOUBLE total;
    RobotCSType csType;
  };

  [
    uuid(542CDAAB-E4DF-4f6d-9213-C9307651A83D)
  ]
  struct RobotBeltErrorReactionValues
  {
    AxisRef belt;
    RobotSyncErrorReactionMode errorType;
    DOUBLE time;
    DOUBLE deceleration;
    DOUBLE jerk;
  };
  [
    uuid(C731C998-9654-4ac4-90AC-2959AAC1AF39)
  ]
  struct KinematicsValues
  {
  ULONG            state;                       
  ULONG            stateExtended;               
  ULONG            diagnosisNumber;             
  IRobotPoint*     actualPosition;              
  FLOAT            actualVelocity;              
  FLOAT            actualAcceleration;          
  };

  [
    uuid(1F4D34EB-A640-4657-AD41-40773DE5B56F)
  ]
  struct KinematicsUnits
  {
    BSTR position;              
    BSTR velocity;              
    BSTR acceleration;          
  };



/*  // NEW FUNCTIONS _ START HERE - just remove this two lines

  [
    uuid(371CF017-0617-43f0-BDDF-A27FAF8071AB)
  ]
  struct CoordinateSystemInfo
  {
    ULONG                         cs;                     //!< Reference to CoordinateSystem.
    USHORT                        dimension;              //!< Dimension of Kinematic.
    BSTR                          name;                   //!< Name of Kinematic.
    BSTR                          posunits;               //!< Unit of Vel, Acc and Jrk.
  };
  
  [
    uuid(FC9B0408-D5BD-47ae-95E7-7B031477A635)
  ]
  struct StatusSummary
  {
    struct GroupRef               group;                  //!< Reference to the group. 
    ULONG                         CoordSys;               //!< Coordinate System.
    ULONG                         state;                  //!< Kinematics state of the kinematics.
    ULONG                         stateExtended;          //!< Extended kinematics state of the kinematics.
    ULONG                         diagnosisNumber;        //!< DiagnosisNumber of the kinematics.
    USHORT                        dimension;              //!< Dimension of Kinematic.
    IRobotPoint*                  actualPosition;         //!< Actual position of the kinematics.
    BSTR                          actualPosUnit;          //!< Unit of actual position.
    FLOAT                         actualVelocity;         //!< Actual velocity of the kinematics.
    FLOAT                         actualAcceleration;     //!< Actual acceleration of the kinematics.
    FLOAT                         actualJerk;             //!< Actual jerk of the kinematics.
    BSTR                          pathUnit;               //!< Unit of Vel, Acc and Jrk.
    BSTR                          timeBase;               //!< Unit of time.
  };

  //NEW FUNCTIONS _ END HERE - just remove this two lines  */


#endif

  [propget, id(1), helpstring("Property Groups")] HRESULT Groups([out, retval] IGroups** Groups);

#if defined(WIN32) || defined(WIN64)
  [id(2), helpstring("Method GetConfiguredGroups")] HRESULT GetConfiguredGroups([out,retval] SAFEARRAY(struct RobotInformation) *robotsInfo);

  [id(3), helpstring("Method CreatePoint")] HRESULT CreatePoint( [in] SAFEARRAY(DOUBLE) point, [in, defaultvalue(ROBOT_CS_MCS)] enum RobotCoordinateSystem type, [out,retval] IRobotPoint** retPoint);

  [id(4), helpstring("Method GetKinematicsValues")] HRESULT GetKinematicsValues([in]SAFEARRAY(struct GroupRef) Groups, [out,retval] SAFEARRAY(struct KinematicsValues) *kinematicsValues);

  [id(5), helpstring("Method GetKinematicsUnits")] HRESULT GetKinematicsUnits([in]SAFEARRAY(struct GroupRef) Groups, [out,retval] SAFEARRAY(struct KinematicsUnits) *kinematicsUnits);



/*  // NEW FUNCTIONS _ START HERE - just remove this two lines
 
  [id(6), helpstring("Method GetStatusSummary")] HRESULT GetStatusSummary([in] SAFEARRAY(struct StatusSummary) statusSummary_in, [out,retval] SAFEARRAY(struct StatusSummary) *statusSummary_out);

  
   //NEW FUNCTIONS _ END HERE - just remove this two lines  */
  
  #endif
};


// -----------------------------------------------------------------------
// HISTORY
// -----------------------------------------------------------------------
// 01-Jan-2012
//   - first release
// 07-Aug-2012 DOS Subject: getTransform implementation for commlpi
//   - added structs, enum
// 24-Okt-2012 JUR Subject: MLPI4RCF
//   - struct 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
// 21-May-2013 GB
//   - added RobotSafeZoneType
// 09-Dec-2013 DED Subject: MLPI Robot Information functions
//   - getStatusSummary implementation