mlpiRobotLib.h

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#ifndef __MLPIROBOTLIB_H__
#define __MLPIROBOTLIB_H__

// -----------------------------------------------------------------------
// MLPI - <mlpiRobotLib.h>
// -----------------------------------------------------------------------
// Copyright (c) 2013 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.
// -----------------------------------------------------------------------
//
//
// -----------------------------------------------------------------------











// -----------------------------------------------------------------------
// GLOBAL INCLUDES
// -----------------------------------------------------------------------
#include "mlpiGlobal.h"

#include "mlpiMotionLib.h"   // robot lib needs the motion functionality


// -----------------------------------------------------------------------
// GLOBAL CONSTANTS
// -----------------------------------------------------------------------
#define MLPI_ROBOT_COORDINATES_IN_POINT           (16) 
#define MLPI_ROBOT_MAX_POS_AXIS                   (3)  
#define MLPI_ROBOT_AXIS_COUNT                     (16) 
#define MLPI_ROBOT_MAX_UNIT_LEN                   (12) 
#define MLPI_ROBOT_MAX_CSNAME_LEN                 (30) 
#define MLPI_ROBOT_MAX_COORDINATE_SYSTEMS         (19) 
#define MLPI_ROBOT_MAX_UNITS_LEN                  (MLPI_ROBOT_MAX_UNIT_LEN * MLPI_ROBOT_AXIS_COUNT)
#define MLPI_ROBOT_MAX_SAFEZONES                  (32) 
#define MLPI_ROBOT_MAX_TEACH_NAME_LEN             (21) 

//-----------------------------------------------------------------------
//GLOBAL CONSTANTS
//-----------------------------------------------------------------------

typedef enum MlpiRobotAxisTypes
{
  MLPI_ROBOT_AXISTYPE_NONE         = 0,  
  MLPI_ROBOT_AXISTYPE_POSITIONING  = 8,  
  MLPI_ROBOT_AXISTYPE_ORIENTATION  = 16, 
  MLPI_ROBOT_AXISTYPE_BELT         = 32, 
}MlpiRobotAxisTypes;

typedef enum MlpiRobotSetMode
{
  MLPI_ROBOT_SETMODE_TO      = 0,  
  MLPI_ROBOT_SETMODE_VIA     = 1,  
}MlpiRobotSetMode;

typedef enum MlpiRobotCoordinateSystem
{
  MLPI_ROBOT_CS_MCS       = 0x0000,  
  MLPI_ROBOT_CS_ACS       = 0x0001,  
  MLPI_ROBOT_CS_BCS       = 0x0002,  
  MLPI_ROBOT_CS_PCS1      = 0x0003,  
  MLPI_ROBOT_CS_PCS2      = 0x0103,  
  MLPI_ROBOT_CS_PCS3      = 0x0203,  
  MLPI_ROBOT_CS_PCS4      = 0x0303,  
  MLPI_ROBOT_CS_PCS5      = 0x0403,  
  MLPI_ROBOT_CS_PCS6      = 0x0503,  
  MLPI_ROBOT_CS_PCS7      = 0x0603,  
  MLPI_ROBOT_CS_PCS8      = 0x0703,  
  MLPI_ROBOT_CS_PCS9      = 0x0803,  
  MLPI_ROBOT_CS_PCS10     = 0x0903,  
  MLPI_ROBOT_CS_PCS11     = 0x0A03,  
  MLPI_ROBOT_CS_PCS12     = 0x0B03,  
  MLPI_ROBOT_CS_PCS13     = 0x0C03,  
  MLPI_ROBOT_CS_PCS14     = 0x0D03,  
  MLPI_ROBOT_CS_PCS15     = 0x0E03,  
  MLPI_ROBOT_CS_PCS16     = 0x0F03,  
  MLPI_ROBOT_CS_FCS       = 0x0004,  
}MlpiRobotCoordinateSystem;

typedef enum MlpiRobotCSType
{
  MLPI_ROBOT_CARTESIAN = 0,  
  MLPI_ROBOT_CYLINDRIC = 1,  
}MlpiRobotCSType;



typedef enum MlpiRobotPointType
{
  MLPI_ROBOT_POINT_TYPE_PREP  = 0,   
  MLPI_ROBOT_POINT_TYPE_EXEC  = 1,   
}MlpiRobotPointType;


typedef enum MlpiRobotSlopeType
{
  MLPI_ROBOT_SLOPETYPE_BLOCK_SLOPE = 0,  
  MLPI_ROBOT_SLOPETYPE_PROGR_SLOPE = 1,  
  MLPI_ROBOT_SLOPETYPE_CONT_SLOPE  = 2,  
}MlpiRobotSlopeType;

typedef enum MlpiRobotSyncErrorReactionMode
{
  MLPI_ROBOT_BELT_ERROR_NO_SPECIFIC_REACTION = 0, 
  MLPI_ROBOT_BELT_ERROR_DESYNC_OVER_TIME     = 1, 
  MLPI_ROBOT_BELT_ERROR_DESYNC_WITH_LIMITS   = 2, 
}MlpiRobotSyncErrorReactionMode;

typedef enum MlpiRobotCyclicMode
{
  MLPI_ROBOT_CYCLIC_MODE_POS_ABS       = 0, 
  MLPI_ROBOT_CYCLIC_MODE_POS_REL       = 1, 
  MLPI_ROBOT_CYCLIC_MODE_VEL           = 2, 
}MlpiRobotCyclicMode;

typedef enum MlpiRobotMechCmd
{
  MLPI_ROBOT_MECH_CREATE_ROD       = 0,  
  MLPI_ROBOT_MECH_CREATE_SPHERE    = 1,  
  MLPI_ROBOT_MECH_POSITION         = 2,  
  MLPI_ROBOT_MECH_DIRECTION        = 3,  
  MLPI_ROBOT_MECH_SIZE             = 4,  
  MLPI_ROBOT_MECH_CREATE_CUBOID    = 5,  
  MLPI_ROBOT_MECH_SET_MCS          = 6,  
  MLPI_ROBOT_MECH_ROTATE           = 7,  
}MlpiRobotMechCmd;

typedef enum MlpiRobotSafeZoneType
{
  MLPI_ROBOT_SAFE_ZONE_TYPE_DEACTIVATED = 0,  
  MLPI_ROBOT_SAFE_ZONE_TYPE_INSIDE_OK   = 1,  
  MLPI_ROBOT_SAFE_ZONE_TYPE_OUTSIDE_OK  = 2,  
}MlpiRobotSafeZoneType;

typedef enum MlpiRobotTeachInWriteOption
{
  MLPI_ROBOT_TEACH_IN_WRITE_POINT_SIMPLE       = 0x000,
  MLPI_ROBOT_TEACH_IN_WRITE_POINT_OVERWRITE    = 0x001,
  MLPI_ROBOT_TEACH_IN_WRITE_POINT_BELT_VALUES  = 0x002,
}MlpiRobotTeachInWriteOption;

typedef enum MlpiRobotTeachInPointFileOption
{
  MLPI_ROBOT_TEACH_IN_NEW = 0,
  MLPI_ROBOT_TEACH_IN_APPEND,
  MLPI_ROBOT_TEACH_IN_APPEND_OVERWRITE,
}MlpiRobotTeachInPointFileOption;

typedef enum MlpiRobotCmdInfoType
{
  MLPI_ROBOT_CMD_INFO_TYPE_ALL            = 0,  
  MLPI_ROBOT_CMD_DATA_TYPE_PROGRESS       = 1,  
  MLPI_ROBOT_CMD_DATA_TYPE_TOTAL_DISTANCE = 2,  
  MLPI_ROBOT_CMD_DATA_TYPE_UID            = 3,  
  MLPI_ROBOT_CMD_DATA_TYPE_STATE          = 4,  
}MlpiRobotCmdInfoType;


// -----------------------------------------------------------------------
// GLOBAL TYPEDEFS
// -----------------------------------------------------------------------

// message packing follows 8 byte natural alignment
#if !defined(TARGET_OS_VXWORKS)
#pragma pack(push,8)
#endif


typedef struct MlpiRobotMotionStatus
{
  BOOL8  MLPI_STRUCT_ALIGN_BOOL8            done;             
  BOOL8  MLPI_STRUCT_ALIGN_BOOL8            active;           
  BOOL8  MLPI_STRUCT_ALIGN_BOOL8            inbuffer;         
  BOOL8  MLPI_STRUCT_ALIGN_BOOL8            commandaborted;   
  BOOL8  MLPI_STRUCT_ALIGN_BOOL8            error;            
  USHORT MLPI_STRUCT_ALIGN_USHORT           errorID;          
  USHORT MLPI_STRUCT_ALIGN_USHORT           table;            
  ULONG  MLPI_STRUCT_ALIGN_ULONG            additional1;      
  ULONG  MLPI_STRUCT_ALIGN_ULONG            additional2;      
}MlpiRobotMotionStatus;


typedef struct MlpiRobotPoint
{
  DOUBLE MLPI_STRUCT_ALIGN_DOUBLE coordinate[MLPI_ROBOT_COORDINATES_IN_POINT]; // Array of coordinates of a point with MLPI_ROBOT_COORDINATES_IN_POINT elements
}MlpiRobotPoint;

typedef struct MlpiRobotMoveLinearAbsolute
{
  MlpiRobotPoint            MLPI_STRUCT_ALIGN_STRUCT point;                    
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE velocity;                 
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE acceleration;             
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE deceleration;             
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE jerk;                     
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE blendingRadius;           
  MlpiRobotSetMode          MLPI_STRUCT_ALIGN_ENUM   setMode;                  
  MlpiRobotCoordinateSystem MLPI_STRUCT_ALIGN_ENUM   coordSystem;              
  MlpiRobotSlopeType        MLPI_STRUCT_ALIGN_ENUM   slopeType;                
} MlpiRobotMoveLinearAbsolute;

typedef struct MlpiRobotMoveLinearRelative
{
  MlpiRobotPoint            MLPI_STRUCT_ALIGN_STRUCT distance;         
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE velocity;         
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE acceleration;     
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE deceleration;     
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE jerk;             
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE blendingRadius;   
  MlpiRobotSetMode          MLPI_STRUCT_ALIGN_ENUM   setMode;          
  MlpiRobotCoordinateSystem MLPI_STRUCT_ALIGN_ENUM   coordSystem;      
  MlpiRobotSlopeType        MLPI_STRUCT_ALIGN_ENUM   slopeType;        
} MlpiRobotMoveLinearRelative;

typedef struct MlpiRobotMoveDirectAbsolute
{
  MlpiRobotPoint            MLPI_STRUCT_ALIGN_STRUCT point;            
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE velocity;         
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE acceleration;     
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE deceleration;     
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE jerk;             
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE blendingRadius;   
  MlpiRobotSetMode          MLPI_STRUCT_ALIGN_ENUM   setMode;          
  MlpiRobotCoordinateSystem MLPI_STRUCT_ALIGN_ENUM   coordSystem;      
  MlpiRobotSlopeType        MLPI_STRUCT_ALIGN_ENUM   slopeType;        
} MlpiRobotMoveDirectAbsolute;

typedef struct MlpiRobotMoveDirectRelative
{
  MlpiRobotPoint             MLPI_STRUCT_ALIGN_STRUCT distance;         
  DOUBLE                     MLPI_STRUCT_ALIGN_DOUBLE velocity;         
  DOUBLE                     MLPI_STRUCT_ALIGN_DOUBLE acceleration;     
  DOUBLE                     MLPI_STRUCT_ALIGN_DOUBLE deceleration;     
  DOUBLE                     MLPI_STRUCT_ALIGN_DOUBLE jerk;             
  DOUBLE                     MLPI_STRUCT_ALIGN_DOUBLE blendingRadius;   
  MlpiRobotSetMode           MLPI_STRUCT_ALIGN_ENUM   setMode;          
  MlpiRobotCoordinateSystem  MLPI_STRUCT_ALIGN_ENUM   coordSystem;      
  MlpiRobotSlopeType         MLPI_STRUCT_ALIGN_ENUM   slopeType;        
} MlpiRobotMoveDirectRelative;

typedef struct MlpiRobotMoveCircularAbsolute
{
  MlpiRobotPoint            MLPI_STRUCT_ALIGN_STRUCT auxPoint;          
  MlpiRobotPoint            MLPI_STRUCT_ALIGN_STRUCT endPoint;          
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE velocity;          
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE acceleration;      
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE deceleration;      
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE jerk;              
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE blendingRadius;    
  MlpiRobotSetMode          MLPI_STRUCT_ALIGN_ENUM   setMode;           
  MlpiRobotCoordinateSystem MLPI_STRUCT_ALIGN_ENUM   coordSystem;       
  MlpiRobotSlopeType        MLPI_STRUCT_ALIGN_ENUM   slopeType;         
} MlpiRobotMoveCircularAbsolute;

typedef struct MlpiRobotMoveCircularRelative
{
  MlpiRobotPoint             MLPI_STRUCT_ALIGN_STRUCT auxPoint;          
  MlpiRobotPoint             MLPI_STRUCT_ALIGN_STRUCT endPoint;          
  DOUBLE                     MLPI_STRUCT_ALIGN_DOUBLE velocity;          
  DOUBLE                     MLPI_STRUCT_ALIGN_DOUBLE acceleration;      
  DOUBLE                     MLPI_STRUCT_ALIGN_DOUBLE deceleration;      
  DOUBLE                     MLPI_STRUCT_ALIGN_DOUBLE jerk;              
  DOUBLE                     MLPI_STRUCT_ALIGN_DOUBLE blendingRadius;    
  MlpiRobotSetMode           MLPI_STRUCT_ALIGN_ENUM   setMode;           
  MlpiRobotCoordinateSystem  MLPI_STRUCT_ALIGN_ENUM   coordSystem;       
  MlpiRobotSlopeType         MLPI_STRUCT_ALIGN_ENUM   slopeType;         
} MlpiRobotMoveCircularRelative;

typedef struct MlpiRobotMoveJumpAbsolute
{
  MlpiRobotPoint            MLPI_STRUCT_ALIGN_STRUCT point;                    
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE velocity;                 
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE acceleration;             
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE deceleration;             
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE jerk;                     
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE blendingRadius;           
  MlpiRobotSetMode          MLPI_STRUCT_ALIGN_ENUM   setMode;                  
  MlpiRobotCoordinateSystem MLPI_STRUCT_ALIGN_ENUM   coordSystem;              
  MlpiRobotSlopeType        MLPI_STRUCT_ALIGN_ENUM   slopeType;                
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE startHeight;              
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE maxHeight;                
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE endHeight;                
} MlpiRobotMoveJumpAbsolute;

typedef struct MlpiRobotSetBeltConfiguration
{
  MlpiAxisRef          MLPI_STRUCT_ALIGN_STRUCT belt;          
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE posX;          
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE posY;          
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE posZ;          
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE rotA;          
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE rotB;          
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE rotC;          
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE begin;         
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE total;         
}MlpiRobotSetBeltConfiguration;

typedef struct MlpiRobotGetBeltConfiguration
{
  MlpiAxisRef          MLPI_STRUCT_ALIGN_STRUCT belt;          
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE posX;          
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE posY;          
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE posZ;          
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE rotA;          
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE rotB;          
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE rotC;          
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE begin;         
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE total;         
  MlpiRobotCSType      MLPI_STRUCT_ALIGN_ENUM   csType;        
}MlpiRobotGetBeltConfiguration;

typedef struct MlpiRobotSetBeltErrorReaction
{
  MlpiAxisRef                    MLPI_STRUCT_ALIGN_STRUCT belt;          
  DOUBLE                         MLPI_STRUCT_ALIGN_DOUBLE time;          
  DOUBLE                         MLPI_STRUCT_ALIGN_DOUBLE decelaration;  
  DOUBLE                         MLPI_STRUCT_ALIGN_DOUBLE jerk;          
  MlpiRobotSyncErrorReactionMode MLPI_STRUCT_ALIGN_ENUM   errorType;     
}MlpiRobotSetBeltErrorReaction;

typedef struct MlpiRobotGetBeltErrorReaction
{
  MlpiAxisRef                    MLPI_STRUCT_ALIGN_STRUCT belt;          
  DOUBLE                         MLPI_STRUCT_ALIGN_DOUBLE time;          
  DOUBLE                         MLPI_STRUCT_ALIGN_DOUBLE deceleration;  
  DOUBLE                         MLPI_STRUCT_ALIGN_DOUBLE jerk;          
  MlpiRobotSyncErrorReactionMode MLPI_STRUCT_ALIGN_ENUM   errorType;     
}MlpiRobotGetBeltErrorReaction;

typedef struct MlpiRobotSyncOffWithLimits
{
  MlpiAxisRef                    MLPI_STRUCT_ALIGN_STRUCT belt;          
  DOUBLE                         MLPI_STRUCT_ALIGN_DOUBLE deceleration;  
  DOUBLE                         MLPI_STRUCT_ALIGN_DOUBLE jerk;          
  DOUBLE                         MLPI_STRUCT_ALIGN_DOUBLE blendingRadius;
  MlpiRobotSetMode               MLPI_STRUCT_ALIGN_ENUM   setMode;       
}MlpiRobotSyncOffWithLimits;

typedef struct MlpiRobotSyncOnWithLimits
{
  MlpiAxisRef                   MLPI_STRUCT_ALIGN_STRUCT belt;        
  DOUBLE                        MLPI_STRUCT_ALIGN_DOUBLE acceleration;
  DOUBLE                        MLPI_STRUCT_ALIGN_DOUBLE jerk;        
}MlpiRobotSyncOnWithLimits;

typedef struct MlpiRobotSetTrafoParameter
{
  MlpiRobotCoordinateSystem MLPI_STRUCT_ALIGN_ENUM     coordSystem;   
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE   posX;          
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE   posY;          
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE   posZ;          
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE   rotA;          
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE   rotB;          
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE   rotC;          
}MlpiRobotSetTrafoParameter;


typedef struct MlpiRobotGetTrafoParameter
{
  MlpiRobotCoordinateSystem   MLPI_STRUCT_ALIGN_ENUM      coordSystem;   
  DOUBLE                      MLPI_STRUCT_ALIGN_DOUBLE    posX;          
  DOUBLE                      MLPI_STRUCT_ALIGN_DOUBLE    posY;          
  DOUBLE                      MLPI_STRUCT_ALIGN_DOUBLE    posZ;          
  DOUBLE                      MLPI_STRUCT_ALIGN_DOUBLE    rotA;          
  DOUBLE                      MLPI_STRUCT_ALIGN_DOUBLE    rotB;          
  DOUBLE                      MLPI_STRUCT_ALIGN_DOUBLE    rotC;          
  MlpiRobotCSType             MLPI_STRUCT_ALIGN_ENUM      csType;        
}MlpiRobotGetTrafoParameter;

typedef struct MlpiRobotOpenCyclicChannel
{
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE deceleration;     
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE jerk;             
  DOUBLE               MLPI_STRUCT_ALIGN_DOUBLE blendingRadius;   
  MlpiRobotSetMode     MLPI_STRUCT_ALIGN_ENUM   setMode;          
}MlpiRobotOpenCyclicChannel;

typedef struct MlpiRobotCyclicChannel
{
  MlpiRobotCoordinateSystem MLPI_STRUCT_ALIGN_ENUM      coordSystem; 
  MlpiRobotPoint            MLPI_STRUCT_ALIGN_STRUCT    point;       
  MlpiRobotCyclicMode       MLPI_STRUCT_ALIGN_ENUM      cyclicMode;  
}MlpiRobotCyclicChannel;

typedef struct MlpiRobotPerformanceResult
{
  WCHAR16 MLPI_STRUCT_ALIGN_WCHAR16 name[16];    
  ULONG   MLPI_STRUCT_ALIGN_ULONG   count;       
  DOUBLE  MLPI_STRUCT_ALIGN_DOUBLE  min;         
  DOUBLE  MLPI_STRUCT_ALIGN_DOUBLE  max;         
  DOUBLE  MLPI_STRUCT_ALIGN_DOUBLE  avg;         
}MlpiRobotPerformanceResult;

typedef struct MlpiRobotMechanicData
{
  MlpiRobotMechCmd  MLPI_STRUCT_ALIGN_ENUM          cmd;                  
  WCHAR16           MLPI_STRUCT_ALIGN_WCHAR16       object[8];            
  DOUBLE            MLPI_STRUCT_ALIGN_DOUBLE        x;                    
  DOUBLE            MLPI_STRUCT_ALIGN_DOUBLE        y;                    
  DOUBLE            MLPI_STRUCT_ALIGN_DOUBLE        z;                    
}MlpiRobotMechanicData;

typedef struct MlpiKinematicsValues
{
  // Output Parameters:
  ULONG     MLPI_STRUCT_ALIGN_ULONG state;                                              
  ULONG     MLPI_STRUCT_ALIGN_ULONG stateExtended;                                      
  ULONG     MLPI_STRUCT_ALIGN_ULONG diagnosisNumber;                                    
  FLOAT     MLPI_STRUCT_ALIGN_FLOAT actualPosition[MLPI_ROBOT_COORDINATES_IN_POINT];    
  FLOAT     MLPI_STRUCT_ALIGN_FLOAT actualVelocity;                                     
  FLOAT     MLPI_STRUCT_ALIGN_FLOAT actualAcceleration;                                 
}MlpiKinematicsValues;

typedef struct MlpiKinematicsUnits
{
  WCHAR16 MLPI_STRUCT_ALIGN_WCHAR16 position[MLPI_ROBOT_MAX_UNITS_LEN];        
  WCHAR16 MLPI_STRUCT_ALIGN_WCHAR16 velocity[MLPI_ROBOT_MAX_UNITS_LEN];        
  WCHAR16 MLPI_STRUCT_ALIGN_WCHAR16 acceleration[MLPI_ROBOT_MAX_UNITS_LEN];    
}MlpiKinematicsUnits;

typedef struct MlpiRobotStop
{
  DOUBLE        MLPI_STRUCT_ALIGN_DOUBLE deceleration;     
  DOUBLE        MLPI_STRUCT_ALIGN_DOUBLE jerk;             
  BOOL8         MLPI_STRUCT_ALIGN_BOOL8  stop;             
}MlpiRobotStop;

typedef struct MlpiRobotInterrupt
{
  DOUBLE        MLPI_STRUCT_ALIGN_DOUBLE deceleration;     
  DOUBLE        MLPI_STRUCT_ALIGN_DOUBLE jerk;             
}MlpiRobotInterrupt;

typedef struct MlpiRobotSafeZoneData
{
  USHORT                MLPI_STRUCT_ALIGN_USHORT zoneNumber;                             
  MlpiRobotSafeZoneType MLPI_STRUCT_ALIGN_ENUM   zoneType;                               
  DOUBLE                MLPI_STRUCT_ALIGN_DOUBLE pointPos[MLPI_ROBOT_MAX_POS_AXIS];      
  DOUBLE                MLPI_STRUCT_ALIGN_DOUBLE pointNeg[MLPI_ROBOT_MAX_POS_AXIS];      
}MlpiRobotSafeZoneData;

typedef struct MlpiRobotJogStepData
{
  MlpiRobotPoint               MLPI_STRUCT_ALIGN_STRUCT distance;         
  DOUBLE                       MLPI_STRUCT_ALIGN_DOUBLE velocity;         
  DOUBLE                       MLPI_STRUCT_ALIGN_DOUBLE acceleration;     
  DOUBLE                       MLPI_STRUCT_ALIGN_DOUBLE deceleration;     
  DOUBLE                       MLPI_STRUCT_ALIGN_DOUBLE jerk;             
  MlpiRobotCoordinateSystem    MLPI_STRUCT_ALIGN_ENUM   coordSystem;      
} MlpiRobotJogStepData;

typedef struct MlpiRobotJogContData
{
  MlpiRobotPoint               MLPI_STRUCT_ALIGN_STRUCT direction;        
  DOUBLE                       MLPI_STRUCT_ALIGN_DOUBLE velocity;         
  DOUBLE                       MLPI_STRUCT_ALIGN_DOUBLE acceleration;     
  DOUBLE                       MLPI_STRUCT_ALIGN_DOUBLE deceleration;     
  DOUBLE                       MLPI_STRUCT_ALIGN_DOUBLE jerk;             
  MlpiRobotCoordinateSystem    MLPI_STRUCT_ALIGN_ENUM   coordSystem;      
} MlpiRobotJogContData;

typedef struct MlpiRobotStopCmdData
{
  MLPIMOTIONHANDLE               MLPI_STRUCT_ALIGN_ULLONG cmdID;         
} MlpiRobotStopCmdData;

typedef struct MlpiRobotBeltDesyncRelData
{
  MlpiAxisRef                    MLPI_STRUCT_ALIGN_STRUCT belt;        
  DOUBLE                         MLPI_STRUCT_ALIGN_DOUBLE startPercent;
  DOUBLE                         MLPI_STRUCT_ALIGN_DOUBLE endPercent;  
}MlpiRobotBeltDesyncRelData;


typedef struct MlpiRobotTeachInDataWrite
{
  WCHAR16                       MLPI_STRUCT_ALIGN_WCHAR16 pointName[MLPI_ROBOT_MAX_TEACH_NAME_LEN];
  MlpiRobotPoint                MLPI_STRUCT_ALIGN_STRUCT  teachPoint;
  MlpiRobotCoordinateSystem     MLPI_STRUCT_ALIGN_ENUM    coordSys;
  USHORT                        MLPI_STRUCT_ALIGN_USHORT  options;
} MlpiRobotTeachInDataWrite;

typedef struct MlpiRobotTeachInDataRead
{
  //in
  WCHAR16                       MLPI_STRUCT_ALIGN_WCHAR16 pointName[MLPI_ROBOT_MAX_TEACH_NAME_LEN];
  //out
  MlpiRobotPoint                MLPI_STRUCT_ALIGN_STRUCT  teachPoint;
  MlpiRobotCoordinateSystem     MLPI_STRUCT_ALIGN_ENUM    coordSys;

} MlpiRobotTeachInDataRead;

typedef struct MlpiRobotTeachInDataReadNext
{
  // in
  WCHAR16                       MLPI_STRUCT_ALIGN_WCHAR16 pointNameInput[MLPI_ROBOT_MAX_TEACH_NAME_LEN];
  // out
  WCHAR16                       MLPI_STRUCT_ALIGN_WCHAR16 pointNameOutput[MLPI_ROBOT_MAX_TEACH_NAME_LEN];
  MlpiRobotPoint                MLPI_STRUCT_ALIGN_STRUCT  teachPoint;
  MlpiRobotCoordinateSystem     MLPI_STRUCT_ALIGN_ENUM    coordSys;
} MlpiRobotTeachInDataReadNext;

typedef struct MlpiRobotTeachInDataDeletePoints
{
  WCHAR16                           MLPI_STRUCT_ALIGN_WCHAR16 pointName[MLPI_ROBOT_MAX_TEACH_NAME_LEN];
} MlpiRobotTeachInDataDeletePoints;

typedef struct MlpiRobotTeachInDataFileData
{
  WCHAR16                           MLPI_STRUCT_ALIGN_WCHAR16 fileName[MLPI_ROBOT_MAX_TEACH_NAME_LEN];
  MlpiRobotTeachInPointFileOption   MLPI_STRUCT_ALIGN_ENUM    fileOptions;
} MlpiRobotTeachInDataFileData;

typedef struct MlpiRobotTeachInDataDeleteFileData
{
  WCHAR16                           MLPI_STRUCT_ALIGN_WCHAR16 fileName[MLPI_ROBOT_MAX_TEACH_NAME_LEN];
} MlpiRobotTeachInDataDeleteFileData;

typedef struct MlpiRobotGetStatusSummary
{
  // in
  MlpiGroupRef          MLPI_STRUCT_ALIGN_STRUCT  group;                                            
  ULONG                 MLPI_STRUCT_ALIGN_ULONG   coordSys;                                         
  //outs
  ULONG                 MLPI_STRUCT_ALIGN_ULONG   state;                                            
  ULONG                 MLPI_STRUCT_ALIGN_ULONG   stateExtended;                                    
  ULONG                 MLPI_STRUCT_ALIGN_ULONG   diagnosisNumber;                                  
  USHORT                MLPI_STRUCT_ALIGN_USHORT  dimension;                                        
  MlpiRobotPoint        MLPI_STRUCT_ALIGN_STRUCT  actualPosition;                                   
  WCHAR16               MLPI_STRUCT_ALIGN_WCHAR16 actualPosUnit[MLPI_ROBOT_MAX_UNITS_LEN];          
  FLOAT                 MLPI_STRUCT_ALIGN_FLOAT   actualVelocity;                                   
  FLOAT                 MLPI_STRUCT_ALIGN_FLOAT   actualAcceleration;                               
  FLOAT                 MLPI_STRUCT_ALIGN_FLOAT   actualJerk;                                       
  WCHAR16               MLPI_STRUCT_ALIGN_WCHAR16 pathUnit[MLPI_ROBOT_MAX_UNIT_LEN];                
  WCHAR16               MLPI_STRUCT_ALIGN_WCHAR16 timeBase[MLPI_ROBOT_MAX_UNIT_LEN];                
} MlpiRobotGetStatusSummary;

typedef struct MlpiRobotCoordinateSystemInfo
{
  //out
  ULONG                           MLPI_STRUCT_ALIGN_ULONG   cs;                                     
  USHORT                          MLPI_STRUCT_ALIGN_USHORT  dimension;                              
  WCHAR16                         MLPI_STRUCT_ALIGN_WCHAR16 name[MLPI_ROBOT_MAX_CSNAME_LEN];        
  WCHAR16                         MLPI_STRUCT_ALIGN_WCHAR16 posunits[MLPI_ROBOT_MAX_UNITS_LEN];     
} MlpiRobotCoordinateSystemInfo;

typedef struct MlpiRobotCmdInfo
{
  ULONG                 MLPI_STRUCT_ALIGN_ULONG  commandID;    
  MlpiRobotCmdInfoType  MLPI_STRUCT_ALIGN_ENUM   infoType;     
  DOUBLE                MLPI_STRUCT_ALIGN_DOUBLE value;        
}MlpiRobotCmdInfo;

typedef struct MlpiRobotChangeToolParameter
{
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE   posX;          
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE   posY;          
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE   posZ;          
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE   rotA;          
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE   rotB;          
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE   rotC;          
}MlpiRobotChangeToolParameter;


#if !defined(TARGET_OS_VXWORKS)
#pragma pack(pop)
#endif




// -----------------------------------------------------------------------
// GLOBAL EXPORTS
// -----------------------------------------------------------------------
#ifdef MLPI_API
  #undef MLPI_API
#endif

#if defined(TARGET_OS_WINNT)
  #if defined(MLPI_EXPORTS)
    #define MLPI_API __declspec(dllexport)
  #elif defined(MLPI_IMPORTS)
    #define MLPI_API __declspec(dllimport)
  #else
    #define MLPI_API
  #endif
#else
  #if defined(MLPI_EXPORTS)
    #define MLPI_API __attribute__ ((visibility("default")))
  #elif defined(MLPI_IMPORTS)
    #define MLPI_API
  #else
    #define MLPI_API
  #endif
#endif

#ifdef __cplusplus
extern "C" {
#endif

MLPI_API MLPIRESULT mlpiRobotMoveLinearAbs(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveLinearAbsolute* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotMoveLinearRel(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveLinearRelative* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotMoveDirectAbs(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveDirectAbsolute* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotMoveDirectRel(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveDirectRelative* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotMoveCircularAbs(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveCircularAbsolute* paramSet, MLPIMOTIONHANDLE* motionHandle);

MLPI_API MLPIRESULT mlpiRobotMoveCircularRel(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveCircularRelative* paramSet, MLPIMOTIONHANDLE* motionHandle);

MLPI_API MLPIRESULT mlpiRobotMoveJumpAbs(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotMoveJumpAbsolute* paramSet, MLPIMOTIONHANDLE* motionHandle);

MLPI_API MLPIRESULT mlpiRobotSetBeltConfiguration(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetBeltConfiguration* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotSetRotaryTableConfiguration(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetBeltConfiguration* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotSyncOnWithLimits(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSyncOnWithLimits* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotSyncOffWithLimits(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSyncOffWithLimits* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotOpenCyclicChannel(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotOpenCyclicChannel* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotWriteCyclicChannel(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotCyclicChannel* paramSet);


MLPI_API MLPIRESULT mlpiRobotStop(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotStop* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotInterrupt(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotInterrupt* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotContinue(const MLPIHANDLE connection, const MlpiGroupRef group, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotReadCyclicChannel(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotCyclicChannel* paramSet);


MLPI_API MLPIRESULT mlpiRobotReadPos(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotCoordinateSystem coordSystem, const MlpiRobotPointType pointType, MlpiRobotPoint *position);


MLPI_API MLPIRESULT mlpiRobotMovePoint(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotCoordinateSystem coordSystem, MlpiRobotPoint *position);


MLPI_API MLPIRESULT mlpiRobotTransformPoint(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotCoordinateSystem coordSystemIn, const MlpiRobotCoordinateSystem coordSystemOut, MlpiRobotPoint *position);


MLPI_API MLPIRESULT mlpiRobotSetBeltErrorReaction(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetBeltErrorReaction* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotGetBeltErrorReaction(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotGetBeltErrorReaction* paramSet);


MLPI_API MLPIRESULT mlpiRobotSetCartesianTransform(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetTrafoParameter* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotSetCylindricTransform(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotSetTrafoParameter* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotGetTransform(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotGetTrafoParameter* trafoValues);


MLPI_API MLPIRESULT mlpiRobotWait(const MLPIHANDLE connection, const MlpiGroupRef group, const DOUBLE time, MLPIMOTIONHANDLE* motionHandle);

MLPI_API MLPIRESULT mlpiRobotGetBeltConfiguration(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotGetBeltConfiguration* trafoValues);


MLPI_API MLPIRESULT mlpiRobotReset(const MLPIHANDLE connection, const MlpiGroupRef group, MLPIMOTIONHANDLE* motionHandle);

MLPI_API MLPIRESULT mlpiRobotMotionGetStatus(const MLPIHANDLE connection, const MlpiGroupRef group, const MLPIMOTIONHANDLE motionHandle, MlpiRobotMotionStatus* status);


MLPI_API MLPIRESULT mlpiRobotSetPerformanceEnable(const MLPIHANDLE connection, const MlpiGroupRef group, const BOOL8 enable);


MLPI_API MLPIRESULT mlpiRobotGetPerfomanceResult(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotPerformanceResult* performanceResult, const ULONG numElements, ULONG *numElementsRet);


MLPI_API MLPIRESULT mlpiRobotGetMechanicData(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotMechanicData* mechanicData, const ULONG numElements, ULONG *numElementsRet, BOOL8 updateOnly);


MLPI_API MLPIRESULT mlpiRobotAddAllAxisToGroup(const MLPIHANDLE connection, const MlpiGroupRef group);


MLPI_API MLPIRESULT mlpiRobotRemAllAxisFromGroup(const MLPIHANDLE connection, const MlpiGroupRef group);


MLPI_API MLPIRESULT mlpiRobotGetKinematicsValues(const MLPIHANDLE connection, MlpiGroupRef* groups, MlpiKinematicsValues* kinematicsValues, const ULONG numElements);


MLPI_API MLPIRESULT mlpiRobotGetDiagnosisText(const MLPIHANDLE connection, const MlpiGroupRef group, WCHAR16 *buffer, const ULONG numElements);


MLPI_API MLPIRESULT mlpiRobotGetKinematicsUnits(const MLPIHANDLE connection, MlpiGroupRef* groups, MlpiKinematicsUnits* kinematicsUnits, const ULONG numElements);


MLPI_API MLPIRESULT mlpiRobotSetSafeZone(const MLPIHANDLE connection, MlpiGroupRef group, MlpiRobotSafeZoneData* safeZoneData, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotGetSafeZones(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotSafeZoneData* safeZoneData, const ULONG numElements,  ULONG* numElementsRet);


MLPI_API MLPIRESULT mlpiRobotJogStep(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotJogStepData* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotJogCont(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotJogContData* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotStopCmd(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotStopCmdData* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotSetBeltDesyncRelConfig(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotBeltDesyncRelData* paramSet);


MLPI_API MLPIRESULT mlpiRobotGetBeltDesyncRelConfig(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotBeltDesyncRelData* paramSet);


MLPI_API MLPIRESULT mlpiRobotTeachInWritePoint(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotTeachInDataWrite* paramSet);

MLPI_API MLPIRESULT mlpiRobotTeachInReadPoint(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotTeachInDataRead *paramSet);


MLPI_API MLPIRESULT mlpiRobotTeachInReadNextPoint(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotTeachInDataReadNext *paramSet);


MLPI_API MLPIRESULT mlpiRobotTeachInDeletePoints(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotTeachInDataDeletePoints *paramSet);


MLPI_API MLPIRESULT mlpiRobotTeachInSavePointFile(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotTeachInDataFileData* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotTeachInLoadPointFile(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotTeachInDataFileData* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotTeachInDeletePointFile(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotTeachInDataDeleteFileData* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiRobotGetCoordinateSystemInfo(const MLPIHANDLE connection, const MlpiGroupRef group, MlpiRobotCoordinateSystemInfo *csInfo, const ULONG numElements, ULONG *numElementsRet);


MLPI_API MLPIRESULT mlpiRobotGetStatusSummary(const MLPIHANDLE connection, MlpiRobotGetStatusSummary *statusSummary, const ULONG numElements);

MLPI_API MLPIRESULT mlpiRobotGetMoveId(const MLPIHANDLE connection, const MlpiGroupRef group, DOUBLE* moveId);

MLPI_API MLPIRESULT mlpiRobotSetMoveId(const MLPIHANDLE connection, const MlpiGroupRef group, const ULONG moveId);

MLPI_API MLPIRESULT mlpiRobotGetCmdInfo(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotCmdInfoType infoType, MlpiRobotCmdInfo* cmdInfo, const ULONG numElements, ULONG *numElementsRet);

MLPI_API MLPIRESULT mlpiRobotChangeTool(const MLPIHANDLE connection, const MlpiGroupRef group, const MlpiRobotChangeToolParameter *paramSet, MLPIMOTIONHANDLE *motionHandle);


#ifdef __cplusplus
}
#endif



#endif // endof: #ifndef __MLPIROBOTLIB_H__