Method class for unloading objects (work cells, robots, tools, programs, etc.) simulation status. More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_SYS_STATUS:

Static Public Member Functions
static ER_DllExport char *	EasyRobProduct (void)
	EASY-ROB Product. More...

static ER_DllExport char *	EasyRobPlatform (void)
	EASY-ROB Platform, x86 or x64. More...

static ER_DllExport char *	EasyRobVer (void)
	EASY-ROB Product Version. More...

static ER_DllExport int	check_license (int opt_id)
	Check Licenses for options and modules Parameter `opt_id` is one of ER_LIC_STD_BASIC .. ER_LIC_STD_COLL .. ER_LIC_STD_ROBMOD .. ER_LIC_API_UDLL. More...

static ER_DllExport int	get_license_priority ()
	Get license priority As valid license priority is one of ER_LIC_PRIORITY_UNDEF, ER_LIC_PRIORITY_LMNGR, ER_LIC_PRIORITY_LOCAL or ER_LIC_PRIORITY_DEFAULT The license priority is defined in the config.dat file with the key "LICENSE_PRIORITY". More...

static ER_DllExport int	get_hardware_id (char *hw_id)
	Supplies unique HardwareID or DongleID. More...

static ER_DllExport int	Init_ER_DLL_Window (int InitOptions)
	Initialize EASY-ROB DLL Window Parameter `InitOptions` is currently not used. More...

static ER_DllExport char *	get_system_folder_file (int request_idx=SYS_SYSTEM_FOLDER_DIRECTORY_UNDEF)
	Supplies requested system path or file. Parameter `request_idx` is one of SYS_SYSTEM_FOLDER_DIRECTORY_UNDEF, SYS_SYSTEM_FOLDER_DIRECTORY_LIST, SYS_SYSTEM_FOLDER_DIRECTORY_CONIFG_FILE, SYS_SYSTEM_FOLDER_DIRECTORY_LICENSE_FILE, SYS_SYSTEM_FOLDER_DIRECTORY_MONITORING_FILE, SYS_SYSTEM_FOLDER_DIRECTORY_ENVIRONMENT_FILE, SYS_SYSTEM_FOLDER_DIRECTORY_WORKING_PATHES_FILE, SYS_SYSTEM_FOLDER_DIRECTORY_LOADFROMLIB_FILE, SYS_SYSTEM_FOLDER_DIRECTORY_LOADFROMLIB_PREFERRED_FILE, SYS_SYSTEM_FOLDER_DIRECTORY_APPLICATION_DIR, SYS_SYSTEM_FOLDER_DIRECTORY_WORKING_DIR, SYS_SYSTEM_FOLDER_DIRECTORY_USR_DIR,. More...

static ER_DllExport int *	inq_modified_cell (void)
	Flag if cell file is modified. More...

static ER_DllExport int	set_commandline (char *cmdline)
	Set the command line The given command will be executed immediatly See also EASY-ROB-ShortKeys-eng.pdf Example "-message". More...

static ER_DllExport char *	get_commandline (void)
	Get the command line when EASY-ROB was started See also EASY-ROB-ShortKeys-eng.pdf. More...

static ER_DllExport int	CloseApplication (int confirm=0)
	Close EASY-ROB application If paramter `confirm` is set to 1, the user will be prompted to confirm this operation. More...

static ER_DllExport int	SetWindowPos (void *pWndInsertAfter, int x, int y, int cx, int cy, UINT nFlags)
	Set the position and size of EASY-ROB's OpenGL window. More...

static ER_DllExport int	GetWindowPos (int x, int y, int cx, int cy)
	Get the position and size of EASY-ROB's OpenGL window. More...

static ER_DllExport int	UnloadCell (int confirm=1)
	Unload current loaded work cell If paramter `confirm` is set to 1, the user will be prompted to confirm this operation. More...

static ER_DllExport int	UnloadRobot (int confirm=1)
	Unload current Robot If paramter `confirm` is set to 1, the user will be prompted to confirm this operation. More...

static ER_DllExport int	UnloadTool (int confirm=1)
	Unload current Tool If paramter `confirm` is set to 1, the user will be prompted to confirm this operation. More...

static ER_DllExport int	UnloadProgram (int confirm=1)
	Unload current robot Program If paramter `confirm` is set to 1, the user will be prompted to confirm this operation. More...

static ER_DllExport int	UnloadMimic (int confirm=1)
	Unload current robot Mimic file If paramter `confirm` is set to 1, the user will be prompted to confirm this operation. More...

static ER_DllExport int	UnloadBody (int confirm=1)
	Unload Body group If paramter `confirm` is set to 1, the user will be prompted to confirm this operation. More...

static ER_DllExport int	UnloadTag (int confirm=1)
	Unload current Tag If paramter `confirm` is set to 1, the user will be prompted to confirm this operation. More...

static ER_DllExport int	UnloadPath (int confirm=1)
	Unload current Path If paramter `confirm` is set to 1, the user will be prompted to confirm this operation. More...

static ER_DllExport int	UnloadPathAll (int confirm=1)
	Unload all Pathes If paramter `confirm` is set to 1, the user will be prompted to confirm this operation. More...

static ER_DllExport int	ChkRobotCellLoaded (int confirm=0)
	Check if cell is loaded or at if least one robot is available If paramter `confirm` is set to 1, the user will be prompted to confirm upcoming messages. More...

static ER_DllExport int	ChkBodysCellLoaded (int confirm=0)
	Check if Bodies are loaded If paramter `confirm` is set to 1, the user will be prompted to confirm upcoming messages. More...

static ER_DllExport int	ChkToolRobotLoaded (int confirm=0)
	Check if robot Tool is loaded If paramter `confirm` is set to 1, the user will be prompted to confirm upcoming messages. More...

static ER_DllExport int	ChkTagsLoaded (int confirm=0)
	Check if Tags are loaded If paramter `confirm` is set to 1, the user will be prompted to confirm upcoming messages. More...

static ER_DllExport int	ChkPrgLoaded (int confirm=0, int set_prg_dev=0)
	Check if a robot Program file is loaded If paramter `confirm` is set to 1, the user will be prompted to confirm upcoming messages If Parameter `set_prg_dev` is set to 1, the first device with a loaded program will be used. Otherwise it will be checked if the current device has a program loaded. More...

static ER_DllExport int	ChkPrgMimicLoaded (int confirm=0)
	Check if a robot Mimic file is loaded If paramter `confirm` is set to 1, the user will be prompted to confirm upcoming messages. More...

static ER_DllExport char *	GetCellfile (void)
	Returns name of current loaded cell file. More...

static ER_DllExport char *	inq_config_workdir (void)
	Returns folder string for current working directory. More...

static ER_DllExport char *	GetSystemPath (void)
	EasyEdit SystemPath obsolete. More...

static ER_DllExport int *	inq_EasyRobDll_Active (void)
	Check if EASY-ROB Application is still active. More...

static ER_DllExport int *	inq_EasyRobDll_Activ (void)
	Obsolete use inq_EasyRobDll_Active() More...

static ER_DllExport void *	inq_EasyRobDll_Hwnd (void)
	Get EASY-ROB Handle from CWnd class. More...

static ER_DllExport ER_UID	inq_EasyRobDll_Hwnd_ex (void)
	Get EASY-ROB Handle from HWND, GetSafeHwnd() More...

static ER_DllExport int	ShellExecuteOpen (char prg, char parameter=NULL, int nShowCmd=SW_SHOWNORMAL)
	Performs an 'open' operation on a specified program file. More...

static ER_DllExport int	ShellExecuteEdit (char *fln)
	Opens the specified file with the assigned editor See configuration file `config.dat`. More...

Additional Inherited Members
Static Public Attributes inherited from ER_CAPI_SYS
static ER_CAPI_SYS_UTILITIES	er_capi_sys_utilities
	Method class for helping functions, color conversion, etc. More...

static ER_CAPI_SYS_MATHEMATICS	er_capi_sys_mathematics
	Method class for mathematical calculations, multiplications of homogeneous matrices, conversion Euler angle, triangle calculations, formula parser, etc. More...

static ER_CAPI_SYS_VIEW	er_capi_sys_view
	Method class for graphical update of the 3D scene, refreshing dialogs, etc. More...

static ER_CAPI_SYS_PREVIEW	er_capi_sys_preview
	Method class for the CAD-Preview. More...

static ER_CAPI_SYS_STATUS	er_capi_sys_status
	Method class for unloading objects (work cells, robots, tools, programs, etc.) simulation status. More...

static ER_CAPI_SYS_UNITS	er_capi_sys_units
	Method class for setting and calculating units. More...

static ER_CAPI_SYS_USERDLL	er_capi_sys_userdll
	Method class to access API UserDll. More...

static ER_CAPI_SYS_APIDLL	er_capi_sys_apidll
	Method class to access API Dll for inverse kinematics, robot trajectory planner and robot dynamics. More...

Static Public Attributes inherited from ER_CAPI
static ER_CAPI_USER_IO	er_capi_user_io
	Method class for interaction with EASY-ROB. More...

static ER_CAPI_DEVICES	er_capi_devices
	Method class to create, attach, update devices, for kinematics calculations and for trajectory planning and -execution. More...

static ER_CAPI_SIM	er_capi_sim
	Method class for simulation settings. More...

static ER_CAPI_TARGETS	er_capi_targets
	Method class for paths and tags. More...

static ER_CAPI_CAD	er_capi_cad
	Method class for for 3D CAD Data import and -export, changing attributes and positions. More...

static ER_CAPI_SYS	er_capi_sys
	Method class for mathematical calculations, simulation status, units. More...

Detailed Description

Method class for unloading objects (work cells, robots, tools, programs, etc.) simulation status.

Member Function Documentation

◆ check_license()

static ER_DllExport int ER_CAPI_SYS_STATUS::check_license ( int opt_id )

static

Check Licenses for options and modules Parameter opt_id is one of ER_LIC_STD_BASIC .. ER_LIC_STD_COLL .. ER_LIC_STD_ROBMOD .. ER_LIC_API_UDLL.

Parameters

[in] opt_id

Return values

1	- Option or module is licensed
0	- Option or module is NOT available or NOT licensed

◆ ChkBodysCellLoaded()

static ER_DllExport int ER_CAPI_SYS_STATUS::ChkBodysCellLoaded ( int confirm = 0 )

static

Check if Bodies are loaded
If paramter confirm is set to 1, the user will be prompted to confirm upcoming messages.

Parameters

[in] confirm

Return values

0	- ER_OK
1	- No Body or Cell loaded

◆ ChkPrgLoaded()

static ER_DllExport int ER_CAPI_SYS_STATUS::ChkPrgLoaded	(	int	confirm = `0`,
		int	set_prg_dev = `0`
	)

static

Check if a robot Program file is loaded
If paramter confirm is set to 1, the user will be prompted to confirm upcoming messages
If Parameter set_prg_dev is set to 1, the first device with a loaded program will be used.
Otherwise it will be checked if the current device has a program loaded.

Parameters

[in]	confirm
[in]	set_prg_dev

Return values

0	- ER_OK
1	- No program loaded

◆ ChkPrgMimicLoaded()

static ER_DllExport int ER_CAPI_SYS_STATUS::ChkPrgMimicLoaded ( int confirm = 0 )

static

Check if a robot Mimic file is loaded
If paramter confirm is set to 1, the user will be prompted to confirm upcoming messages.

Parameters

[in] confirm

Return values

0	- ER_OK
1	- No Mimic loaded

◆ ChkRobotCellLoaded()

static ER_DllExport int ER_CAPI_SYS_STATUS::ChkRobotCellLoaded ( int confirm = 0 )

static

Check if cell is loaded or at if least one robot is available
If paramter confirm is set to 1, the user will be prompted to confirm upcoming messages.

Parameters

[in] confirm

Return values

0	- ER_OK
1	- No Robot or Cell loaded

◆ ChkTagsLoaded()

static ER_DllExport int ER_CAPI_SYS_STATUS::ChkTagsLoaded ( int confirm = 0 )

static

Check if Tags are loaded
If paramter confirm is set to 1, the user will be prompted to confirm upcoming messages.

Parameters

[in] confirm

Return values

0	- ER_OK
1	- No Tags loaded

◆ ChkToolRobotLoaded()

static ER_DllExport int ER_CAPI_SYS_STATUS::ChkToolRobotLoaded ( int confirm = 0 )

static

Check if robot Tool is loaded
If paramter confirm is set to 1, the user will be prompted to confirm upcoming messages.

Parameters

[in] confirm

Return values

0	- ER_OK
1	- No Tool or Robot loaded

◆ CloseApplication()

static ER_DllExport int ER_CAPI_SYS_STATUS::CloseApplication ( int confirm = 0 )

static

Close EASY-ROB application
If paramter confirm is set to 1, the user will be prompted to confirm this operation.

Parameters

[in] confirm

Return values

0 - ER_OK

◆ EasyRobPlatform()

static ER_DllExport char* ER_CAPI_SYS_STATUS::EasyRobPlatform ( void )

static

EASY-ROB Platform, x86 or x64.

Return values

version EASY-ROB Platform

◆ EasyRobProduct()

static ER_DllExport char* ER_CAPI_SYS_STATUS::EasyRobProduct ( void )

static

EASY-ROB Product.

Return values

version EASY-ROB Product

◆ EasyRobVer()

static ER_DllExport char* ER_CAPI_SYS_STATUS::EasyRobVer ( void )

static

EASY-ROB Product Version.

Return values

version EASY-ROB Product version number

◆ get_commandline()

static ER_DllExport char* ER_CAPI_SYS_STATUS::get_commandline ( void )

static

Get the command line when EASY-ROB was started
See also EASY-ROB-ShortKeys-eng.pdf.

Return values

pointer to commandline string MAXSTR

◆ get_hardware_id()

static ER_DllExport int ER_CAPI_SYS_STATUS::get_hardware_id ( char * hw_id )

static

Supplies unique HardwareID or DongleID.

Parameters

[out] hw_id string, maximum lengths MAXSTR

Return values

0	- OK
1	- Error no Hardware ID or Dongle ID available

◆ get_license_priority()

static ER_DllExport int ER_CAPI_SYS_STATUS::get_license_priority ( )

static

Get license priority As valid license priority is one of ER_LIC_PRIORITY_UNDEF, ER_LIC_PRIORITY_LMNGR, ER_LIC_PRIORITY_LOCAL or ER_LIC_PRIORITY_DEFAULT
The license priority is defined in the config.dat file with the key "LICENSE_PRIORITY".

Return values

license priority

◆ get_system_folder_file()

static ER_DllExport char* ER_CAPI_SYS_STATUS::get_system_folder_file ( int request_idx = SYS_SYSTEM_FOLDER_DIRECTORY_UNDEF )

static

SYS_SYSTEM_FOLDER_DIRECTORY_TMP_DIR, SYS_SYSTEM_FOLDER_DIRECTORY_KERNEL_IO_DIR, SYS_SYSTEM_FOLDER_DIRECTORY_EDIT_PRG

Parameters

[in] request_idx

Return values

NULL	- in valid request
else	- pointer to requested string of path or file name

◆ GetCellfile()

static ER_DllExport char* ER_CAPI_SYS_STATUS::GetCellfile ( void )

static

Returns name of current loaded cell file.

Return values

name	of current loaded cell file

◆ GetSystemPath()

static ER_DllExport char* ER_CAPI_SYS_STATUS::GetSystemPath ( void )

static

EasyEdit SystemPath
obsolete.

Return values

system path

◆ GetWindowPos()

static ER_DllExport int ER_CAPI_SYS_STATUS::GetWindowPos	(	int *	x,
		int *	y,
		int *	cx,
		int *	cy
	)

static

Get the position and size of EASY-ROB's OpenGL window.

Parameters

[out]	x	position of the left side of the window
[out]	y	position of the top of the window
[out]	cx	width of the window
[out]	cy	height of the window

Return values

0 - ER_OK

◆ Init_ER_DLL_Window()

static ER_DllExport int ER_CAPI_SYS_STATUS::Init_ER_DLL_Window ( int InitOptions )

static

Initialize EASY-ROB DLL Window Parameter InitOptions is currently not used.

Parameters

[in] InitOptions

Return values

1	- EASY-ROB DLL Window initialized
0	- Error initializing EASY-ROB DLL Window

◆ inq_config_workdir()

static ER_DllExport char* ER_CAPI_SYS_STATUS::inq_config_workdir ( void )

static

Returns folder string for current working directory.

Return values

folder string for current working directory

◆ inq_EasyRobDll_Activ()

static ER_DllExport int* ER_CAPI_SYS_STATUS::inq_EasyRobDll_Activ ( void )

static

Obsolete use inq_EasyRobDll_Active()

Return values

0	- EASY-ROB Application not available
1	- EASY-ROB available

◆ inq_EasyRobDll_Active()

static ER_DllExport int* ER_CAPI_SYS_STATUS::inq_EasyRobDll_Active ( void )

static

Check if EASY-ROB Application is still active.

Return values

0	- EASY-ROB Application not available
1	- EASY-ROB available

◆ inq_EasyRobDll_Hwnd()

static ER_DllExport void* ER_CAPI_SYS_STATUS::inq_EasyRobDll_Hwnd ( void )

static

Get EASY-ROB Handle from CWnd class.

Return values

Handle from CWnd class

◆ inq_EasyRobDll_Hwnd_ex()

static ER_DllExport ER_UID ER_CAPI_SYS_STATUS::inq_EasyRobDll_Hwnd_ex ( void )

static

Get EASY-ROB Handle from HWND, GetSafeHwnd()

Return values

Handle from CWnd class

◆ inq_modified_cell()

static ER_DllExport int* ER_CAPI_SYS_STATUS::inq_modified_cell ( void )

static

Flag if cell file is modified.

Return values

0	- cell file modified
1	- cell file modified

◆ set_commandline()

static ER_DllExport int ER_CAPI_SYS_STATUS::set_commandline ( char * cmdline )

static

Set the command line
The given command will be executed immediatly
See also EASY-ROB-ShortKeys-eng.pdf
Example "-message".

Parameters

[in] cmdline

Return values

0 - ER_OK

◆ SetWindowPos()

static ER_DllExport int ER_CAPI_SYS_STATUS::SetWindowPos	(	void *	pWndInsertAfter,
		int	x,
		int	y,
		int	cx,
		int	cy,
		UINT	nFlags
	)

static

Set the position and size of EASY-ROB's OpenGL window.

// Example:
void *pWndInsertAfter;
pWndInsertAfter = NULL;
pWndInsertAfter = (void *)&wndTop; // wndBottom wndTop wndNoTopMost wndTopMost
int x = 10; // left
int y = x; // top
int cx = 800; // width
int cy = (int)(cx*3.0f/4.0f); // height ... ratio 3:4
UINT nFlags = SWP_SHOWWINDOW; // Displays the window
er_sys_status.SetWindowPos(pWndInsertAfter,x,y,cx,cy,nFlags);
...

Parameters

[in]	pWndInsertAfter
[in]	x	position of the left side of the window
[in]	y	position of the top of the window
[in]	cx	width of the window
[in]	cy	height of the window
[in]	nFlags	specifies size and position options. For more information, see CWnd::SetWindowPos

Return values

Nonzero if the function is successful; otherwise, 0

◆ ShellExecuteEdit()

static ER_DllExport int ER_CAPI_SYS_STATUS::ShellExecuteEdit ( char * fln )

static

Opens the specified file with the assigned editor
See configuration file config.dat.

Parameters

[in] fln file to open with assigned editor

Return values

0	- ER_OK
1	- ER_ERROR

◆ ShellExecuteOpen()

static ER_DllExport int ER_CAPI_SYS_STATUS::ShellExecuteOpen	(	char *	prg,
		char *	parameter = `NULL`,
		int	nShowCmd = `SW_SHOWNORMAL`
	)

static

Performs an 'open' operation on a specified program file.

Parameters

[in]	prg	program to execute
[in]	parameter	to be passed to the application
[in]	nShowCmd	a flag that specify how an application is to be displayed

Return values

0	- ER_OK
1	- ER_ERROR

◆ UnloadBody()

static ER_DllExport int ER_CAPI_SYS_STATUS::UnloadBody ( int confirm = 1 )

static

Unload Body group
If paramter confirm is set to 1, the user will be prompted to confirm this operation.

Parameters

[in] confirm

Return values

0	- ER_OK
1	- No Bodies unloaded

◆ UnloadCell()

static ER_DllExport int ER_CAPI_SYS_STATUS::UnloadCell ( int confirm = 1 )

static

Unload current loaded work cell
If paramter confirm is set to 1, the user will be prompted to confirm this operation.

Parameters

[in] confirm

Return values

0	- ER_OK
1	- No Cell unloaded

◆ UnloadMimic()

static ER_DllExport int ER_CAPI_SYS_STATUS::UnloadMimic ( int confirm = 1 )

static

Unload current robot Mimic file
If paramter confirm is set to 1, the user will be prompted to confirm this operation.

Parameters

[in] confirm

Return values

0	- ER_OK
1	- No Mimic unloaded

◆ UnloadPath()

static ER_DllExport int ER_CAPI_SYS_STATUS::UnloadPath ( int confirm = 1 )

static

Unload current Path
If paramter confirm is set to 1, the user will be prompted to confirm this operation.

Parameters

[in] confirm

Return values

0	- ER_OK
1	- No Path unloaded

◆ UnloadPathAll()

static ER_DllExport int ER_CAPI_SYS_STATUS::UnloadPathAll ( int confirm = 1 )

static

Unload all Pathes
If paramter confirm is set to 1, the user will be prompted to confirm this operation.

Parameters

[in] confirm

Return values

0	- ER_OK
1	- Cannot unloed all Pathes

◆ UnloadProgram()

static ER_DllExport int ER_CAPI_SYS_STATUS::UnloadProgram ( int confirm = 1 )

static

Unload current robot Program
If paramter confirm is set to 1, the user will be prompted to confirm this operation.

Parameters

[in] confirm

Return values

0	- ER_OK
1	- No Program unloaded

◆ UnloadRobot()

static ER_DllExport int ER_CAPI_SYS_STATUS::UnloadRobot ( int confirm = 1 )

static

Unload current Robot
If paramter confirm is set to 1, the user will be prompted to confirm this operation.

Parameters

[in] confirm

Return values

0	- ER_OK
1	- No Robot unloaded

◆ UnloadTag()

static ER_DllExport int ER_CAPI_SYS_STATUS::UnloadTag ( int confirm = 1 )

static

Unload current Tag
If paramter confirm is set to 1, the user will be prompted to confirm this operation.

Parameters

[in] confirm

Return values

0	- ER_OK
1	- No Tag unloaded

◆ UnloadTool()

static ER_DllExport int ER_CAPI_SYS_STATUS::UnloadTool ( int confirm = 1 )

static

Unload current Tool
If paramter confirm is set to 1, the user will be prompted to confirm this operation.

Parameters

[in] confirm

Return values

0	- ER_OK
1	- No Tool unloaded

The documentation for this class was generated from the following file:

ER_CAPI.H

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ check_license()

◆ ChkBodysCellLoaded()

◆ ChkPrgLoaded()

◆ ChkPrgMimicLoaded()

◆ ChkRobotCellLoaded()

◆ ChkTagsLoaded()

◆ ChkToolRobotLoaded()

◆ CloseApplication()

◆ EasyRobPlatform()

◆ EasyRobProduct()

◆ EasyRobVer()

◆ get_commandline()

◆ get_hardware_id()

◆ get_license_priority()

◆ get_system_folder_file()

◆ GetCellfile()

◆ GetSystemPath()

◆ GetWindowPos()

◆ Init_ER_DLL_Window()

◆ inq_config_workdir()

◆ inq_EasyRobDll_Activ()

◆ inq_EasyRobDll_Active()

◆ inq_EasyRobDll_Hwnd()

◆ inq_EasyRobDll_Hwnd_ex()

◆ inq_modified_cell()

◆ set_commandline()

◆ SetWindowPos()

◆ ShellExecuteEdit()

◆ ShellExecuteOpen()

◆ UnloadBody()

◆ UnloadCell()

◆ UnloadMimic()

◆ UnloadPath()

◆ UnloadPathAll()

◆ UnloadProgram()

◆ UnloadRobot()

◆ UnloadTag()

◆ UnloadTool()