Method class to access API UserDll
Option API UserDll allows the user to develop user defined dlls.
Each UserDll must be defined in the configuration file config.dat , see also inq_UserDll_number() and is loaded dynamically when EASY-ROB™ starts.
The UserDll must export the following three functions (OpenDialog(), ProglineUpdate(), AuxUpdate()), to allow EASY-ROB™ to communicate with the UserDll.
More...

#include <ER_CAPI.H>

Inheritance diagram for ER_CAPI_SYS_USERDLL:

Static Public Member Functions
static ER_DllExport int	inq_UserDll_number ()
	Get number of loaded API UserDlls Each API UserDll is defined in the configuration file `config.dat` LIBRARY_PATH= .\ path of UserDlls USER_DLL= dll_name dll_start user_name USER_DLL= ... dll_name contains the dll file name The dll_start is 0 is the dll should be startet manually by the user or 1 if the dll starts immediatly with EASY-ROB user_name contains an explanation string for the dll, appearing in the dialogs. More...

static ER_DllExport char *	inq_UserDll_dll_name (int userdll_idx)
	Access dll name for API UserDlls The number of currently loaded UserDll can be retrieved with inq_UserDll_number() See configuration file `config.dat`. More...

static ER_DllExport char *	inq_UserDll_user_name (int userdll_idx)
	Access user name for API UserDlls The number of currently loaded UserDll can be retrieved with inq_UserDll_number() See configuration file `config.dat`. More...

static ER_DllExport int	inq_UserDll_dll_status (int userdll_idx)
	Get dll_status for API UserDlls The number of currently loaded UserDll can be retrieved with inq_UserDll_number() The dll_status is one of DLL_STATUS_INVALID=0, DLL_STATUS_OPEN=1, DLL_STATUS_CLOSE=2, DLL_STATUS_STRT_AUTO=3 . More...

static ER_DllExport void **	inq_UserDll_usr_ptr (int userdll_idx)
	access user pointer for API UserDlls The number of currently loaded UserDll can be retrieved with inq_UserDll_number() More...

static ER_DllExport int	set_callback_AuxUpdate (int callback_fct_id, int(*callback_AuxUpdate)(int idx, int sub_idx))
	Defines callback fct pointer array for AuxUpdate Parameter `callback_fct_id` is zero based in [0..USER_DLL_CALLBACK_AUXUPDATE_MAX-1] Parameter `callback_AuxUpdate` points to callback function. Prototype: int MyAuxUpdate_fct (int idx, int sub_idx) To unset the callback fct, set callback_AuxUpdate = NULL. More...

static ER_DllExport int	set_callback_ProglineUpdate (int callback_fct_id, int(callback_ProglineUpdate)(char progline))
	Defines callback fct pointer array for ProglineUpdate Parameter `callback_fct_id` is zero based in [0..USER_DLL_CALLBACK_PROGLINEUPDATE_MAX-1] Parameter `callback_ProglineUpdate` points to callback function. Prototype: int MyProglineUpdate_fct (char *progline) To unset the callback fct, set callback_ProglineUpdate = NULL. 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 to access API UserDll
Option API UserDll allows the user to develop user defined dlls.
Each UserDll must be defined in the configuration file config.dat , see also inq_UserDll_number() and is loaded dynamically when EASY-ROB™ starts.
The UserDll must export the following three functions (OpenDialog(), ProglineUpdate(), AuxUpdate()), to allow EASY-ROB™ to communicate with the UserDll.

EXPORT_C int OpenDialog( CWnd *pParent )
OpenDialog is called once and allows the user to allocate memory and open a non modal dialog inside the EASY-ROB™ window
If the dialog is closed and (re)opened, OpenDialog() is called again.
Even if this function does nothing, it must return 0 for OK.

// Example:
static CErVadDialog *pDlg=NULL; // local UserDll dialog address, needs to be allocated here and destructed when closing the dialog
#define EXPORT_C extern "C" __declspec( dllexport )
EXPORT_C int OpenDialog(CWnd *pParent)
// Return 0 - OK, 1 - failed
// Note: Make sure, your Dialogs 'visibilty' is enabled
{
AFX_MANAGE_STATE(AfxGetStaticModuleState());
if (pDlg==NULL)
{
pDlg = new CErVadDialog(pParent);
if (pDlg==NULL) {
AfxMessageBox("Cannot open Dialog",MB_OK);
return 1; // Fail
}
// Start modless Dialog
if (pDlg->Create(pDlg->m_nID,pDlg->m_pParent)==0)
return 1; // Fail
return 0; // Success
}
else {
AfxMessageBox("Dialog already opened",MB_OK);
return 1; // Fail
}
...
}

Parameters

[in] pParent contains the handle from the parent window

Return values

0 - OK

1 - failed
EXPORT_C int ProglineUpdate( char *progline )
ProglineUpdate is called at every new executed program line

// Example:
EXPORT_C int ProglineUpdate(char *progline)
// Return 0 - OK, 1 - failed
// ProglineUpdate is called at every new executed program line
{
AFX_MANAGE_STATE(AfxGetStaticModuleState());
if (pDlg==NULL) {
_info_line_msg(0,"ProglineUpdate() failed");
return 1; // Fail
}
pDlg->SetDlgItemText(IDC_STATIC_PROLINEUPDATE,progline);
return 0; // Success
...
}

Parameters

[in] progline contains the current executed program command

Return values

0 - OK

1 - failed

EXPORT_C int AuxUpdate( int idx, int sub_id )
AuxUpdate will be called for different reasons.

// Example:
static int this_dgl_idx = 0; // local UserDll dialog index [1.. number of loaded UserDlls], AUX_UPDATE_IDX_UDLL_DLG_IDX
EXPORT_C int AuxUpdate(int idx,int sub_idx)
// Return 0 - OK, 1 - failed
// Note: Make sure, your Dialogs 'visibilty' is enabled
{
        AFX_MANAGE_STATE(AfxGetStaticModuleState());
        if (pDlg==NULL) {
                _info_line_msg(0,"AuxUpdate() failed");
                return 1; // Fail
        }
        static int cnt=0;
        char b[::MAXSTR];
        switch (idx) {
        case AUX_UPDATE_IDX_LICENSE_ERROR:
                break;
        case AUX_UPDATE_IDX_EXIT:
                sprintf(b,"%d AuxUpdate Idx = %d Exit Application",++cnt,idx);
                pDlg->SetDlgItemText(IDC_STATIC_AUXUPDATE,b);
                break;
        case AUX_UPDATE_IDX_SIMUPDATE:
                //sprintf(b,"%d AuxUpdate Idx = %d -> SimUpdate",++cnt,idx);
                //pDlg->SetDlgItemText(IDC_STATIC_AUXUPDATE,b);
                break;
        case AUX_UPDATE_IDX_LOAD_CELL:
        case AUX_UPDATE_IDX_LOAD_ROBOT:
        case AUX_UPDATE_IDX_LOAD_ROBOT_ASM:
        case AUX_UPDATE_IDX_LOAD_TOOL:
        case AUX_UPDATE_IDX_LOAD_PROGRAM:
        case AUX_UPDATE_IDX_LOAD_MIMIC:
        case AUX_UPDATE_IDX_LOAD_BODY:
        case AUX_UPDATE_IDX_TAGUPDATE:
        case AUX_UPDATE_IDX_SWE_EXCEEDED:
        case AUX_UPDATE_IDX_SPEED_EXCEEDED:
        case AUX_UPDATE_IDX_ACCEL_EXCEEDED:
        case AUX_UPDATE_IDX_UNREACH:
        case AUX_UPDATE_IDX_COLLISION:
        case AUX_UPDATE_IDX_PRG_RUN:
        case AUX_UPDATE_IDX_PRG_STOP:
        case AUX_UPDATE_IDX_PRG_CONT:
        case AUX_UPDATE_IDX_PRG_ABORT_POST:
        case AUX_UPDATE_IDX_IPO_UPDATE:
        case AUX_UPDATE_IDX_CNTRL_UPDATE:
        case AUX_UPDATE_IDX_SYS_UPDATE:
        case AUX_UPDATE_IDX_UNLOAD_CELL:
        case AUX_UPDATE_IDX_UNLOAD_ROBOT:
        case AUX_UPDATE_IDX_UNLOAD_TOOL:
        case AUX_UPDATE_IDX_UNLOAD_PROGRAM:
        case AUX_UPDATE_IDX_UNLOAD_MIMIC:
        case AUX_UPDATE_IDX_UNLOAD_BODY:
        case AUX_UPDATE_IDX_LOAD_PATHES:
        case AUX_UPDATE_IDX_UNLOAD_TAG:
        case AUX_UPDATE_IDX_UNLOAD_PATH:
        case AUX_UPDATE_IDX_UNLOAD_PATHES:
        case AUX_UPDATE_IDX_OPENGL:
        case AUX_UPDATE_IDX_OPENGL_POST:
        case AUX_UPDATE_IDX_SELECTION_NOHIT:
        case AUX_UPDATE_IDX_SELECTION_HIT:
        case AUX_UPDATE_IDX_SET_NEXT_TARGET:
        case AUX_UPDATE_IDX_NEED_MORE_DATA:
        case AUX_UPDATE_IDX_TARGET_REACHED:
        case AUX_UPDATE_IDX_IPO_ERROR:
        case AUX_UPDATE_IDX_SAVE_CELL:
        case AUX_UPDATE_IDX_SAVE_ROBOT:
        case AUX_UPDATE_IDX_SAVE_ROBOT_ASM:
        case AUX_UPDATE_IDX_SAVE_TOOL:
        case AUX_UPDATE_IDX_SAVE_PROGRAM:
        case AUX_UPDATE_IDX_SAVE_MIMIC:
        case AUX_UPDATE_IDX_SAVE_BODY:
        case AUX_UPDATE_IDX_SAVE_CPATH:
        case AUX_UPDATE_IDX_SAVE_PATHES:
        case AUX_UPDATE_IDX_SET_FOCUS:
        case AUX_UPDATE_IDX_AUTOPATH:
        case AUX_UPDATE_IDX_S3DM_EVENT:
        //case AUX_UPDATE_IDX_UDLL_DLG_IDX:
        //case AUX_UPDATE_IDX_CART_SPACE_EXCEEDED:
        //case AUX_UPDATE_IDX_LOAD_GEO_ERROR:
        case AUX_UPDATE_IDX_SCC:
        case AUX_UPDATE_IDX_LOAD_ROBOT_ASM:
        case AUX_UPDATE_IDX_SAVE_ROBOT_ASM:
        case AUX_UPDATE_IDX_SWE_PASSIVE_EXCEEDED:
                break;
        case AUX_UPDATE_IDX_UDLL_DLG_IDX:
                sprintf(b,"%d AuxUpdate Idx = %d Dlg Idx %d",++cnt,idx,sub_idx);
                this_dgl_idx = sub_idx; // store this UserDll dialog index [1.. number of loaded UserDlls]
                pDlg->SetDlgItemText(IDC_STATIC_AUXUPDATE,b);
                break;
        case AUX_UPDATE_IDX_CART_SPACE_EXCEEDED:
                break;
        case AUX_UPDATE_IDX_LOAD_GEO_ERROR:
                break;
        default:
                sprintf(b,"%d AuxUpdate Idx = %d ?",++cnt,idx);
                pDlg->SimUpdateDlg(b);
                break;
        }
        ...
        return 0; // Success
}

Parameters

[in]	idx	allows to switch and decide what to do. `idx` is one of AUX_UPDATE_IDX_EXIT, AUX_UPDATE_IDX_SIMUPDATE, AUX_UPDATE_IDX_LOAD_CELL ... AUX_UPDATE_IDX_UDLL_DLG_IDX
[in]	sub_idx	contains additional information for each idx, in most cases it is 0.

Return values

0	- OK
1	- failed

Member Function Documentation

◆ inq_UserDll_dll_name()

static ER_DllExport char* ER_CAPI_SYS_USERDLL::inq_UserDll_dll_name ( int userdll_idx )

static

Access dll name for API UserDlls
The number of currently loaded UserDll can be retrieved with inq_UserDll_number()
See configuration file config.dat.

Parameters

[in] userdll_idx UserDll index [1.. number of loaded UserDlls]

Return values

pointer	to dll file name with path
NULL	if failed

◆ inq_UserDll_dll_status()

static ER_DllExport int ER_CAPI_SYS_USERDLL::inq_UserDll_dll_status ( int userdll_idx )

static

Get dll_status for API UserDlls
The number of currently loaded UserDll can be retrieved with inq_UserDll_number()
The dll_status is one of DLL_STATUS_INVALID=0, DLL_STATUS_OPEN=1, DLL_STATUS_CLOSE=2, DLL_STATUS_STRT_AUTO=3
.

Parameters

[in] userdll_idx UserDll index [1.. number of loaded UserDlls]

Return values

0	- DLL_STATUS_INVALID
1	- DLL_STATUS_OPEN
2	- DLL_STATUS_CLOSE
3	- DLL_STATUS_STRT_AUTO

◆ inq_UserDll_number()

static ER_DllExport int ER_CAPI_SYS_USERDLL::inq_UserDll_number ( )

static

Get number of loaded API UserDlls
Each API UserDll is defined in the configuration file config.dat
LIBRARY_PATH= .\ path of UserDlls
USER_DLL= dll_name dll_start user_name
USER_DLL= ...
dll_name contains the dll file name
The dll_start is 0 is the dll should be startet manually by the user or 1 if the dll starts immediatly with EASY-ROB
user_name contains an explanation string for the dll, appearing in the dialogs.

Return values

number of loaded API UserDlls

◆ inq_UserDll_user_name()

static ER_DllExport char* ER_CAPI_SYS_USERDLL::inq_UserDll_user_name ( int userdll_idx )

static

Access user name for API UserDlls
The number of currently loaded UserDll can be retrieved with inq_UserDll_number()
See configuration file config.dat.

// Example:
int i,n = er_sys_userdll.inq_UserDll_number(); // get number of loaded API UserDlls
for (i=1;i<=n;i++)
{
        void **udll_usr_ptr = er_sys_userdll.inq_UserDll_usr_ptr(i);    // access user pointer for UserDll
        MY_STRUCT *udll_usr = (MY_STRUCT *)*udll_usr_ptr;       // cast void pointer to own data type, to access the content
        er_user_io_dialog._info_line_msg(0,"API UserDlls [%d]: dll_name ='%s'  user_name ='%s'  dll_status %d  usr_ptr ='%s'",
                i,
                er_sys_userdll.inq_UserDll_dll_name(i),
                er_sys_userdll.inq_UserDll_user_name(i),
                er_sys_userdll.inq_UserDll_dll_status(i),
                udll_usr==NULL?"NULL":"not NULL"
                );
}
...

Parameters

[in] userdll_idx UserDll index [1.. number of loaded UserDlls]

Return values

pointer	to user_name
NULL	if failed

◆ inq_UserDll_usr_ptr()

static ER_DllExport void** ER_CAPI_SYS_USERDLL::inq_UserDll_usr_ptr ( int userdll_idx )

static

access user pointer for API UserDlls
The number of currently loaded UserDll can be retrieved with inq_UserDll_number()

// Example:
int userdll_idx = 1;
void **udll_usr_ptr = er_sys_userdll.inq_UserDll_usr_ptr(userdll_idx);  // access user pointer for UserDll
MY_STRUCT *udll_usr = (MY_STRUCT *)*udll_usr_ptr;       // cast void pointer to own data type, to access the content
if (udll_usr==NULL) 
{
        udll_usr = new MY_STRUCT;
         *udll_usr_ptr = (void *)udll_usr; // copy new address
}
else
{
        // use content of udll_usr
        // or 
        // delete memory if done
        if (udll_usr) {
                delete udll_usr;
                udll_usr=NULL;
                 *udll_usr_ptr = (void *)udll_usr; // copy new address
        }
}
...

Parameters

[in] userdll_idx UserDll index [1.. number of loaded UserDlls]

Return values

pointer	to user pointer
NULL	if failed

◆ set_callback_AuxUpdate()

static ER_DllExport int ER_CAPI_SYS_USERDLL::set_callback_AuxUpdate	(	int	callback_fct_id,
		int(*)(int idx, int sub_idx)	callback_AuxUpdate
	)

static

Defines callback fct pointer array for AuxUpdate
Parameter callback_fct_id is zero based in [0..USER_DLL_CALLBACK_AUXUPDATE_MAX-1]
Parameter callback_AuxUpdate points to callback function.
Prototype: int MyAuxUpdate_fct (int idx, int sub_idx)
To unset the callback fct, set callback_AuxUpdate = NULL.

Parameters

[in]	callback_fct_id	in [0..USER_DLL_CALLBACK_AUXUPDATE_MAX-1]
[in]	callback_AuxUpdate	(int, int) callback function pointer

Return values

0	- Ok
1	- Error

◆ set_callback_ProglineUpdate()

static ER_DllExport int ER_CAPI_SYS_USERDLL::set_callback_ProglineUpdate	(	int	callback_fct_id,
		int()(char progline)	callback_ProglineUpdate
	)

static

Defines callback fct pointer array for ProglineUpdate
Parameter callback_fct_id is zero based in [0..USER_DLL_CALLBACK_PROGLINEUPDATE_MAX-1]
Parameter callback_ProglineUpdate points to callback function.
Prototype: int MyProglineUpdate_fct (char *progline)
To unset the callback fct, set callback_ProglineUpdate = NULL.

Parameters

[in]	callback_fct_id	in [0..USER_DLL_CALLBACK_PROGLINEUPDATE_MAX-1]
[in]	callback_ProglineUpdate	(char *) callback function pointer

Return values

0	- Ok
1	- Error

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

◆ inq_UserDll_dll_name()

◆ inq_UserDll_dll_status()

◆ inq_UserDll_number()

◆ inq_UserDll_user_name()

◆ inq_UserDll_usr_ptr()

◆ set_callback_AuxUpdate()

◆ set_callback_ProglineUpdate()