This is the first version of the RoboDK integration. More...

Inheritance diagram for realvirtual.RoboDKInterface:

Public Member Functions
void	GetTargets ()

Quaternion	GetRotationQuaternion (Mat mat)

Matrix4x4	GetTRSFlipped (Mat rdkmat)

Vector3	GetPosition (Mat rdkmat)

void	GetParams ()

void	InitSignals ()

void	StartProgramm ()

void	StopProgramm ()

void	StartProgramm (string programm)

void	SetSpeed ()

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< BehaviorInterfaceConnection >	UpdateConnectionInfo ()

List< Signal >	GetConnectedSignals ()

void	SetVisibility (bool visibility)
	Sets the visibility of this object including all subobjects.

List< BehaviorInterfaceConnection >	GetConnections ()

List< Signal >	GetSignals ()

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 ()

Static Public Member Functions
static Vector3	GetAngles (Mat source)

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

Public Attributes
string	RoboDKApplication = "C:/RoboDK/bin/RoboDK.exe"

string	RobotDKFile

string	RobotName

string	RobotDKIP = "localhost"

bool	OpenRDKOnStart = true

float	RDKSimulationSpeed = 1f

string	RobotProgramm

bool	RunProgrammOnStart

bool	LoopProgramm

bool	ProgrammIsRunning

bool	StopProgrammOnUnityStop

GameObject	TargetPrefab

GameObject	DebugEndEffector

Vector3	EffectorPos

Vector3	EffectorRot

Vector3	OrigRot

List< Drive >	Axis

List< float >	CurrentAxisPosition

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< InterfaceSignal >	InterfaceSignals = 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

Protected Member Functions
override void	CommunicationThreadUpdate ()

override void	CommunicationThreadClose ()

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 ()

Additional Inherited Members
Public Types inherited from realvirtual.realvirtualBehavior
enum	ActiveOnly

Detailed Description

Still in Beta and some interactions from Unity side like showing Targets, following in Editmode... are missing.

Member Function Documentation

◆ CommunicationThreadClose()

override void realvirtual.RoboDKInterface.CommunicationThreadClose ( )

protectedvirtual

Reimplemented from realvirtual.InterfaceThreadedBaseClass.

◆ CommunicationThreadUpdate()

override void realvirtual.RoboDKInterface.CommunicationThreadUpdate ( )

protectedvirtual

Reimplemented from realvirtual.InterfaceThreadedBaseClass.

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ CommunicationThreadClose()

◆ CommunicationThreadUpdate()