feat: add new instruction types and CollisionActivePairList method (PR #185)

Author: vdm-dev

C#/API/IRoboDk.cs

@@ -554,9 +554,16 @@ IItem AddCurve(Mat curvePoints, IItem referenceObject = null, bool addToRef = fa
         /// <summary>
         /// Returns the list of pairs of items that are in a collision state. This call will run a check for collisions if collision checking is not activated (if SetCollisionActive is set to Off).
         /// </summary>
-        /// <returns></returns>
+        /// <returns>List of items that are in a collision state</returns>
         List<CollisionPair> GetCollisionPairs();
 
+        /// <summary>
+        /// Returns the list of pairs of items that are in the collision map.
+        /// Items that are not visible will still be included, regardless of the "Include hidden objects" option.
+        /// </summary>
+        /// <returns>List of items that are in the collision map</returns>
+        List<CollisionPair> CollisionActivePairList();
+
         /// <summary>
         /// Set the simulation speed. A simulation speed of 5 (default) means that 1 second of simulation 
         /// time equals to 5 seconds in a real application. The slowest speed ratio allowed is 0.001. 

C#/API/Model/InstructionType.cs

@@ -40,22 +40,27 @@
 
 
 
+using System;
+
 namespace RoboDk.API.Model
 {
     // Instruction types
     public enum InstructionType
     {
         Invalid = -1,
         Move = 0,
-        Movec = 1,
-        Changespeed = 2,
-        Changeframe = 3,
-        Changetool = 4,
-        Changerobot = 5,
+        MoveC = 1,
+        ChangeSpeed = 2,
+        ChangeFrame = 3,
+        ChangeTool = 4,
+        ChangeRobot = 5,
         Pause = 6,
         Event = 7,
         Code = 8,
-        Print = 9
+        Print = 9,
+        Rounding = 10,
+        IO = 11,
+        Custom = 12
     }
 }
 

C#/API/RoboDK.cs

@@ -1296,6 +1296,25 @@ public List<CollisionPair> GetCollisionPairs()
             return list_items;
         }
 
+        /// <inheritdoc />
+        public List<CollisionPair> CollisionActivePairList()
+        {
+            check_connection();
+            send_line("Collision_GetPairList");
+            int nitems = rec_int();
+            List<CollisionPair> list_items = new List<CollisionPair>(nitems);
+            for (int i = 0; i < nitems; i++)
+            {
+                IItem item1 = rec_item();
+                int id1 = rec_int();
+                IItem item2 = rec_item();
+                int id2 = rec_int();
+                CollisionPair collisionPair = new CollisionPair(item1, id1, item2, id2);
+                list_items.Add(collisionPair);
+            }
+            check_status();
+            return list_items;
+        }
 
         /// <inheritdoc />
         public void SetSimulationSpeed(double speed)

C#/Example/RoboDKSampleProject/RoboDK.cs

@@ -1715,6 +1715,9 @@ public RDKException(string Message)
     public const int INS_TYPE_EVENT = 7;
     public const int INS_TYPE_CODE = 8;
     public const int INS_TYPE_PRINT = 9;
+    public const int INS_TYPE_ROUNDING = 10;
+    public const int INS_TYPE_IO = 11;
+    public const int INS_TYPE_CUSTOM = 12;
 
     // Move types
     public const int MOVE_TYPE_INVALID = -1;
@@ -3934,6 +3937,28 @@ public List<Item> CollisionItems(List<int> link_id_list = null)
         return item_list;
     }
 
+    /// <summary>
+    /// Returns the list of pairs of items that are in the collision map.
+    /// Items that are not visible will still be included, regardless of the "Include hidden objects" option.
+    /// </summary>
+    /// <returns>List of items that are in the collision map</returns>
+    public List<Tuple<Item, Item, int, int>> CollisionActivePairList()
+    {
+        _check_connection();
+        _send_Line("Collision_GetPairList");
+        int nitems = _recv_Int();
+        List<Tuple<Item, Item, int, int>> list_items = new List<Tuple<Item, Item, int, int>>(nitems);
+        for (int i = 0; i < nitems; i++)
+        {
+            Item item1 = _recv_Item();
+            int id1 = _recv_Int();
+            Item item2 = _recv_Item();
+            int id2 = _recv_Int();
+            list_items.Add(new Tuple<Item, Item, int, int>(item1, item2, id1, id2));
+        }
+        _check_status();
+        return list_items;
+    }
 
     /// <summary>
     /// Sets the current simulation speed. Set the speed to 1 for a real-time simulation. The slowest speed allowed is 0.001 times the real speed. Set to a high value (>100) for fast simulation results.

C++/robodk_api.cpp

@@ -3196,6 +3196,45 @@ int RoboDK::Collision(Item item1, Item item2)
     return ncollisions;
 }
 
+/// <summary>
+/// Returns the pairs of objects that are currently in a collision state.
+/// </summary>
+/// <param name="item1">List of the first colliding objects</param>
+/// <param name="item2">List of the second colliding objects</param>
+/// <param name="id1">List of Joint IDs for the first colliding objects</param>
+/// <param name="id2">List of Joint IDs for the second colliding objects</param>
+void RoboDK::CollisionActivePairList(QList<Item>& item1, QList<Item>& item2, QList<int>& id1, QList<int>& id2)
+{
+    _check_connection();
+    _send_Line("Collision_GetPairList");
+    int nitems = _recv_Int();
+
+    item1.clear();
+    item2.clear();
+    id1.clear();
+    id2.clear();
+
+    item1.reserve(nitems);
+    item2.reserve(nitems);
+    id1.reserve(nitems);
+    id2.reserve(nitems);
+
+    for (int i = 0; i < nitems; ++i)
+    {
+        item1.append(_recv_Item());
+        id1.append(_recv_Int());
+        item2.append(_recv_Item());
+        id2.append(_recv_Int());
+    }
+
+    _check_status();
+}
+
+/// <summary>
+/// Return the list of items that are in a collision state. This function can be used after calling Collisions() to retrieve the items that are in a collision state.
+/// </summary>
+/// <param name="link_id_list">List of robot link IDs that are in collision (0 for objects and tools).</param>
+/// <returns>List of items that are in a collision state.</returns>
 QList<Item> RoboDK::getCollisionItems(QList<int>& link_id_list)
 {
     link_id_list.clear();

C++/robodk_api.h

@@ -1068,6 +1068,16 @@ class ROBODK RoboDK {
     /// <returns>0 if no collisions are found.</returns>
     int Collision(Item item1, Item item2);
 
+    /// <summary>
+    /// Returns the pairs of objects that are currently in the collision map.
+    /// Items that are not visible will still be included, regardless of the "Include hidden objects" option.
+    /// </summary>
+    /// <param name="item1">List of the first colliding objects</param>
+    /// <param name="item2">List of the second colliding objects</param>
+    /// <param name="id1">List of Joint IDs for the first colliding objects</param>
+    /// <param name="id2">List of Joint IDs for the second colliding objects</param>
+    void CollisionActivePairList(QList<Item>& item1, QList<Item>& item2, QList<int>& id1, QList<int>& id2);
+
     /// <summary>
     /// Return the list of items that are in a collision state. This function can be used after calling Collisions() to retrieve the items that are in a collision state.
     /// </summary>
@@ -1406,7 +1416,16 @@ class ROBODK RoboDK {
         INS_TYPE_CODE = 8,
 
         /// Display message on the teach pendant.
-        INS_TYPE_PRINT = 9
+        INS_TYPE_PRINT = 9,
+
+        /// Rounding instruction.
+        INS_TYPE_ROUNDING = 10,
+
+        /// Set or Wait I/O instruction.
+        INS_TYPE_IO = 11,
+
+        /// Custom instruction.
+        INS_TYPE_CUSTOM = 12
     };
 
     /// Movement types