realvirtual.UniversalRobotsInterface Class Reference

Inheritance diagram for realvirtual.UniversalRobotsInterface:

Public Member Functions
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.
void	SetAllSignalStatus (bool connected)
void	DestroyAllSignals ()
void	DeleteSignals ()
void	PostAllScenesLoaded ()
Public Member Functions inherited from realvirtual.realvirtualBehavior
void	PreStartSim ()
	Is called by the realvirtualController before the component is started.
void	StartSim ()
	Is called by the realvirtualController to start or stop the component.
void	StopSim ()
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.
void	SetRbConstraints (RigidbodyConstraints constraints)
virtual void	AwakeAlsoDeactivated ()

Static Public Member Functions
static byte	SetBit (byte b, int BitNumber)
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	UrIpAdress
	URSIM IP Adress.
int	OutputFrequency
	Frequency per second in which the outputs of URSIM are read.
List< Drive >	Axis
	The axis of the robot.
List< PLCOutputBool >	DigitalOutputs
	The Digital outputs of the robot, PLCOutputBool.
List< PLCOutputBool >	ConfigurableOutputs
	The configurable outputs of the robot, PLCOutputBool.
List< PLCInputBool >	DigitalInputs
	The inputs of the robot, PLCInputBool.
List< PLCInputBool >	ConfigurableInputs
	The configurable inputs of the robot, PLCInputtBool.
UInt64	RobotDigitalInputs
UInt64	RobotDigitalOutputs
UInt32	RobotStatusBits
UInt32	RobotProgramState
Public Attributes inherited from realvirtual.InterfaceThreadedBaseClass
int	MinUpdateCycle
int	CommCycleMeasures
int	CommCycleNr
int	CommTimeMs
int	CommTimeMin
float	CommTimeMed
int	CommTimeMax
int	CommCycleMeasureNum
int	UpdateCycleMs
string	ThreadStatus
int	MinUpdateCycle2
int	CommCycleNr2
int	CommTimeMs2
int	CommTimeMin2
float	CommTimeMed2
int	CommTimeMax2
int	CommCycleMeasureNum2
int	UpdateCycleMs2
string	ThreadStatus2
bool	NoThreading
bool	TwoThreads
Public Attributes inherited from realvirtual.InterfaceBaseClass
bool	IsConnected
List< InterfaceSignal >	InterfaceSignals
Hashtable	SignalNamesOutputs
Hashtable	SignalNamesInputs
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

Protected Member Functions
override void	CommunicationThreadUpdate ()
Protected Member Functions inherited from realvirtual.InterfaceThreadedBaseClass
virtual void	CommunicationThreadClose ()
virtual void	SecondCommunicationThreadUpdate ()
virtual void	SecondCommunicationThreadClose ()
Protected Member Functions inherited from realvirtual.InterfaceBaseClass
void	OnConnected ()
void	OnDisconnected ()
void	OnEnable ()
void	OnDisable ()
Protected Member Functions inherited from realvirtual.realvirtualBehavior
bool	hidename ()
bool	hideactiveonly ()
virtual void	OnStopSim ()
virtual void	OnPreStartSim ()
virtual void	OnStartSim ()
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 {   Always , Connected , Disconnected , Never ,   DontChange }

Member Function Documentation

CloseInterface()

override void realvirtual.UniversalRobotsInterface.CloseInterface ( )

virtual

Reimplemented from realvirtual.InterfaceThreadedBaseClass.

CommunicationThreadUpdate()

override void realvirtual.UniversalRobotsInterface.CommunicationThreadUpdate ( )

protectedvirtual

Reimplemented from realvirtual.InterfaceThreadedBaseClass.

OpenInterface()

override void realvirtual.UniversalRobotsInterface.OpenInterface ( )

virtual

Reimplemented from realvirtual.InterfaceThreadedBaseClass.

Member Data Documentation

Axis

List<Drive> realvirtual.UniversalRobotsInterface.Axis

The axis of the robot.

ConfigurableInputs

List<PLCInputBool> realvirtual.UniversalRobotsInterface.ConfigurableInputs

The configurable inputs of the robot, PLCInputtBool.

ConfigurableOutputs

List<PLCOutputBool> realvirtual.UniversalRobotsInterface.ConfigurableOutputs

The configurable outputs of the robot, PLCOutputBool.

DigitalInputs

List<PLCInputBool> realvirtual.UniversalRobotsInterface.DigitalInputs

The inputs of the robot, PLCInputBool.

DigitalOutputs

List<PLCOutputBool> realvirtual.UniversalRobotsInterface.DigitalOutputs

The Digital outputs of the robot, PLCOutputBool.

OutputFrequency

int realvirtual.UniversalRobotsInterface.OutputFrequency

Frequency per second in which the outputs of URSIM are read.

UrIpAdress

string realvirtual.UniversalRobotsInterface.UrIpAdress

URSIM IP Adress.