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Inheritance diagram for realvirtual.DensoInterface:
realvirtual.InterfaceThreadedBaseClass realvirtual.InterfaceBaseClass realvirtual.realvirtualBehavior


struct  RobotArea

Public Types

enum  ControllerType
- Public Types inherited from realvirtual.realvirtualBehavior
enum  ActiveOnly

Public Member Functions

override void OpenInterface ()
void SetGridSize (int gridSize)
override void CloseInterface ()
object GetIOValue (InterfaceSignal interfacesignal)
void SetIOValue (InterfaceSignal interfacesignal, object value)
void SyncIOs ()
void SyncFromRobot ()
void SyncToRobot ()
void GetRobotDrives ()
void CloseConnection ()
void OpenConnection ()
void OnGUI ()
string[] UpdateSafetyAreas (bool readSafetyModel)
double[] GetRobotTool (int toolNumber, bool forceRead=false)
double[] GetRobotWork (int workNumber, bool forceRead=false)
double[] GetRobotArea (int areaNumber, bool forceRead=false)
void Connect ()
void Disconnect ()
void SelectController ()
void SelectProject ()
bool IsPrefab ()
- Public Member Functions inherited from realvirtual.InterfaceThreadedBaseClass
override void OpenInterface ()
override void CloseInterface ()
- Public Member Functions inherited from realvirtual.InterfaceBaseClass
void UpdateInterfaceSignals (ref int inputs, ref int outputs)
 Creates a new List of InterfaceSignals based on the Components under this Interface GameObject.
Signal CreateSignalObject (string name, SIGNALTYPE type, SIGNALDIRECTION direction)
 Create a signal object as sub gameobject.
Signal AddSignal (InterfaceSignal interfacesignal)
void RemoveSignal (InterfaceSignal interfacesignal)
virtual GameObject GetSignal (string name)
 Gets a signal with a name. More...
virtual void OpenInterface ()
virtual void CloseInterface ()
void SetAllSignalStatus (bool connected)
void DestroyAllSignals ()
void DeleteSignals ()
- Public Member Functions inherited from realvirtual.realvirtualBehavior
void SetForceStop (bool forcestop)
Vector3 DirectionToVector (DIRECTION direction)
 Transfers the direction enumeration to a vector.
DIRECTION VectorToDirection (bool torotatoin, Vector3 vector)
 Transfers a vector to the direction enumeration.
float GetLocalScale (Transform thetransform, DIRECTION direction)
List< BehaviorInterfaceConnectionUpdateConnectionInfo ()
List< SignalGetConnectedSignals ()
void SetVisibility (bool visibility)
 Sets the visibility of this object including all subobjects.
List< BehaviorInterfaceConnectionGetConnections ()
List< SignalGetSignals ()
GameObject GetChildByName (string name)
 Gets a child by name.
List< GameObject > GetChildsByName (string name)
 Gets all child by name.
GameObject GetChildByNameAlsoHidden (string name)
List< GameObject > GetAllMeshesWithGroup (string group)
List< GameObject > GetAllWithGroup (string group)
List< GameObject > GetAllWithGroups (List< string > groups)
List< GameObject > GetAllMeshesWithGroups (List< string > groups)
List< string > GetMyGroups ()
List< GameObject > GetMeshesWithSameGroups ()
List< GameObject > GetAllWithSameGroups ()
MeshRenderer GetMeshRenderer ()
 Gets the mesh renderers in the childrens.
void SetCollider (bool enabled)
 sets the collider in all child objects
void ErrorMessage (string message)
 Displays an error message.
void ChangeConnectionMode (bool isconnected)
void Log (string message)
 Logs a message.
void Log (string message, object obj)
 Logs a message with a relation to an object.
void Warning (string message, object obj)
 Logs a warinng with a relation to an object.
void Error (string message, object obj)
 Logs an error with a relation to an object.
void Error (string message)
 Logs an error.
GameObject DebugPosition (string debugname, Vector3 position, Quaternion quaternation, float scale)
 Displays a gizmo for debugging positions.
void SetFreezePosition (bool enabled)
 Freezes all child components to the current poosition.
virtual void AwakeAlsoDeactivated ()

Public Attributes

bool ShowGrid = false
int GridSize = 10
bool ShowSafetyAreas = false
string SafetyArea
bool ShowAreas = false
int AreaNumber
bool ShowTool = false
int ToolNumber = -1
bool ShowWork = false
int WorkNumber = -1
RobotArea Area = new RobotArea(-1)
string ControllerName =""
ControllerType RobotControllerType
IPAddress ipAdress
string WincapsProject
bool ConnectRealRobot = false
bool DebugMode = false
bool RoundSyncPositions = true
int SafetyAreaNumber
GameObject RobotFlange
List< realvirtual.DriveRobotAxis
int NumberInputs
int NumberOutputs
List< RobotSafetyAreaSafetyAreasList = new List<RobotSafetyArea>()
List< RobotSafetyAreaSafetyFencesList = new List<RobotSafetyArea>()
Matrix4x4 _toolFrame = Matrix4x4.identity
Matrix4x4 _workFrame = Matrix4x4.identity
Pose _robotWork
Pose _robotTool
- Public Attributes inherited from realvirtual.InterfaceThreadedBaseClass
int MinUpdateCycle = 8
int CommCycleMeasures = 1000
int CommCycleNr
int CommTimeMs
int CommTimeMin
float CommTimeMed
int CommTimeMax
int CommCycleMeasureNum
int UpdateCycleMs
string ThreadStatus
int MinUpdateCycle2 = 8
int CommCycleNr2
int CommTimeMs2
int CommTimeMin2
float CommTimeMed2
int CommTimeMax2
int CommCycleMeasureNum2
int UpdateCycleMs2
string ThreadStatus2
bool NoThreading = false
bool TwoThreads = false
- Public Attributes inherited from realvirtual.InterfaceBaseClass
bool IsConnected =false
List< InterfaceSignalInterfaceSignals = new List<InterfaceSignal>()
- Public Attributes inherited from realvirtual.realvirtualBehavior
string Name
 The name of the component if it should be different from the GameObject name.
ActiveOnly Active
GameObject FromTemplate
realvirtualController realvirtualController
bool HideNonG44Components
bool SceneIsAdditive
bool ForceStop = false

Static Public Attributes

static Color _colorGrid = Color.grey

Protected Member Functions

override void CommunicationThreadUpdate ()
override void SecondCommunicationThreadUpdate ()
void OnPreRender ()
void CreateLineMaterial ()
void OnPostRenderCallback (Camera cam)
- Protected Member Functions inherited from realvirtual.InterfaceThreadedBaseClass
virtual void CommunicationThreadUpdate ()
virtual void CommunicationThreadClose ()
virtual void SecondCommunicationThreadUpdate ()
virtual void SecondCommunicationThreadClose ()
- Protected Member Functions inherited from realvirtual.InterfaceBaseClass
void OnConnected ()
void OnDisconnected ()
- Protected Member Functions inherited from realvirtual.realvirtualBehavior
bool hidename ()
bool hideactiveonly ()
virtual void OnStop ()
virtual void OnStart ()
MU GetTopOfMu (GameObject obj)
 Gets the top of an MU component (the first MU script going up in the hierarchy)
void InitGame4Automation ()
 Initialiates the components and gets the reference to the realvirtualController in the scene.
virtual void AfterAwake ()
void Awake ()

Protected Attributes

double[] _curJnt = new double[NUM_JOINTS]
double[] _curPos = new double[NUM_JOINTS]
bCAPClient _clientVRC = null
int _ctrlVRCDrives = 0
int _ctrlVRCIOs = 0
int _robVRC = 0
bCAPClient _clientRobot = null
int _ctrlDrives = 0
int _ctrlIOs = 0
int _rob = 0

Static Protected Attributes

static Color _colorSafetyAreas = new Color(0.98f, 0.82f, 0.56f, 1.0f)
static Color _colorRobotAreas = new Color(0.58f, 0.87f, 0.56f, 1.0f)
static Color _colorXAxis = Color.red
static Color _colorYAxis = Color.green
static Color _colorZAxis = Color.blue

Additional Inherited Members

- Static Public Member Functions inherited from realvirtual.realvirtualBehavior
static bool DirectionIsLinear (DIRECTION direction)
 Gets back if the direction is linear or a rotation.

Member Function Documentation

◆ CloseInterface()

override void realvirtual.DensoInterface.CloseInterface ( )

Reimplemented from realvirtual.InterfaceBaseClass.

◆ CommunicationThreadUpdate()

override void realvirtual.DensoInterface.CommunicationThreadUpdate ( )

◆ OpenInterface()

override void realvirtual.DensoInterface.OpenInterface ( )

Reimplemented from realvirtual.InterfaceBaseClass.

◆ SecondCommunicationThreadUpdate()

override void realvirtual.DensoInterface.SecondCommunicationThreadUpdate ( )