uf_sim_commands.html

/*

uf_sim_commands.h
* File description:
* This file contains the prototypes for the Simulation and Verification
* (S&V) commands. Those commands create simulation events that control
* the simulation of the machine tool.
*
* One of the applications for those commands is an NC-Controller
* plugin that could call those commands to simulate the machine
* tool behavior (motion, mounting, feedback,...) according
* the NC-program code (e.g. G codes).
*
* The functions in this file allow the following:
* o Move machine tool linear and rotary axis
* o Mount/unmount tool
* o Mount/unmount kinematics component
* o Set machine tool parameter
* o Issue feedback
*
******************************************************************************/

#ifndef UF_SIM_COMMANDS_H_INCLUDED
#define UF_SIM_COMMANDS_H_INCLUDED

/*************************** Include Files ************************************/
#include <uf.h>
#include <uf_defs.h>
#include <uf_sim.h>
#include <uf_mom.h>
#include <uf_obj_types.h>
#include <libufun_cam_exports.h>

/******************************** Defines *************************************/

/***************************** Public Typedefs ********************************/

/************************* Public Function Definitions ************************/

/*******************************************************************************
* Returns the object id of the simulation engine that is linked to MOM object.
*
* Environment: Internal and External
* See Also:
* History: Originally released in NX2
*******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_sim_engine
(
UF_MOM_id_t mom_id, /* - the MOM object ID */
UF_SIM_engine_p_t *engine_id /* <O> - the simulation engine */
);

/*******************************************************************************
* Mount a specified component (source component) with a given coordinate
* system (source junction) of the machine tool KIM model at a specified
* location (destination component and destination junction).
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_mount_kim_comp
(
UF_SIM_engine_p_t engine, /* - the simulation engine object */
char* source_comp, /* - the name of the source component */
char* source_jct, /* - the name of the source junction */
char* destination_comp, /* - the name of the destination cmp */
char* destination_jct, /* - the name of the destination jct */
double duration /* - the time in seconds to complete
this mount on the machine tool */
);

/*******************************************************************************
* Un-mount a specified component (source component).
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_unmount_kim_comp
(
UF_SIM_engine_p_t engine, /* - the simulation engine object */
char* component, /* - the name of the component to un-mount*/
double duration /* - the time in seconds to complete
this un-mount on the machine tool */
);

/*******************************************************************************
* Mount a specified tool by its tool_id on a specified component (destination
* component and destination junction). The tool can be specified by different
* classification types.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_mount_tool
(
UF_SIM_engine_p_t engine, /* - the simulation engine object */
UF_SIM_tool_class_t tool_class, /* - tool classification identifier*/
char* tool_id, /* - the tool_id of the tool */
char* destination_comp, /* - the name of the destin. cmp */
char* destination_jct, /* - the name of the destin. jct */
double duration, /* - time in seconds to complete
this mount on the machine tool */
char tool_name[UF_OBJ_NAME_BUFSIZE] /* <O> - name of the tool */
);

/*******************************************************************************
* Un-mount the tool.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_unmount_tool
(
UF_SIM_engine_p_t engine, /* - the simulation engine object */
char* tool_name, /* - the name of the tool to un-mount */
double duration /* - the time in seconds to complete
this un-mount on the machine tool */
);

/*******************************************************************************
* Move the specified linear axis by the specified amount.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_move_linear_axis
(
UF_SIM_engine_p_t engine_id, /* - the simulation engine object */
char* axis, /* - the name of the linear NC-axis */
double value, /* - the new position of the axis */
double duration /* - the time in seconds to complete
this move on the machine. This
value is effected by the current
feed rate. */
);

/*******************************************************************************
* Move the specified rotary axis by the specified amount.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_move_rotary_axis
(
UF_SIM_engine_p_t engine_id, /* - the simulation engine object */
char* axis, /* - the name of the linear NC-axis */
double value, /* - the new position of the axis */
double duration /* - the time in seconds to complete
this move on the machine. This
value is effected by the current
feed rate. */
);

/*******************************************************************************
* Set the given parameter and store the data into the model.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_set_parameter
(
UF_SIM_engine_p_t engine, /* - the simulation engine object */
char* label, /* - the type of the parameter */
char* text, /* - the value of the parameter */
UF_SIM_unit_type_t unit, /* - the unit of the parameter */
double duration /* - the duration in seconds to complete
this action of the parameter setting */
);

/*******************************************************************************
* Issue the specified feedback message.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_feedback_message
(
UF_SIM_engine_p_t engine, /* - the simulation engine object */
char* label, /* - the type of the feedback message */
char* message /* - the information of the feedback message */
);

/*******************************************************************************
* Send an update command, which indicates the end of a movement.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_update
(
UF_SIM_engine_p_t engine, /* - the simulation engine object */
const char* label /* - name of event */
);

/*******************************************************************************
* Create a sub-step event, which indicates the end of an intermediate action.
* Similar to a step event, all events prior to sub-step event are executed
* simultaneously.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_step
(
UF_SIM_engine_p_t engine, /* - the simulation engine object */
const char* label /* - name of event */
);

/*******************************************************************************
* Set the active channel. All following commands write their data into the
* chosen channel.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_set_channel
(
UF_SIM_engine_p_t engine, /* - the simulation engine object */
int channel_number /* - the number of the active channel */
);

/*******************************************************************************
* Initialize the MTD.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_mtd_init
(
UF_SIM_engine_p_t engine /* - the simulation engine object */
);

/*******************************************************************************
* Reset the MTD of the simulation engine.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_mtd_reset
(
UF_SIM_engine_p_t engine /* - the simulation engine object */
);

/*******************************************************************************
* Activate a mounted tool.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_activate_tool
(
UF_SIM_engine_p_t engine, /* - the simulation engine object */
char* tool_name /* - the name of the tool to activate */
);

/*******************************************************************************
* Set the feed rate in the simulation scenario for multiple purposes
* e.g., display.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_set_feed
(
UF_SIM_engine_p_t engine, /* - the simulation engine object */
double value, /* - the feed rate value */
UF_SIM_unit_type_t unit, /* - the unit of the feed rate */
double duration /* - the duration in seconds to complete
setting the feed rate */
);

/*******************************************************************************
* Set the speed in the simulation scenario for multiple purposes e.g., display.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_set_speed
(
UF_SIM_engine_p_t engine, /* - the simulation engine object */
double value, /* - the speed value */
UF_SIM_unit_type_t unit, /* - the unit of the speed */
double duration /* - the duration in seconds to complete
setting the speed */
);

/*******************************************************************************
* Set the coolant mode in the simulation scenario for multiple purposes
* e.g., display.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_set_coolant
(
UF_SIM_engine_p_t engine, /* - the simulation engine object */
int value, /* - the value of coolant status
0 is OFF 1 is ON */
double duration /* - the duration in seconds to complete
setting the speed */
);

/*******************************************************************************
* Set the cutting mode in the simulation scenario.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_set_cutting_mode
(
UF_SIM_engine_p_t engine, /* - the simulation engine object */
UF_SIM_cutting_mode_t mode /* - the cutting mode */
);

/*******************************************************************************
* Request the offset between the two coordinates ACS and MTCS.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_transform_offset_acs_to_mtcs
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
double acs_vector[3], /* - vector of a c-system */
double* xval, /* <O> - offset value in x direction */
double* yval, /* <O> - offset value in y direction */
double* zval /* <O> - offset value in z direction */
);

/*******************************************************************************
* Request the matrix between the two coordinates ACS and MTCS.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_transform_matrix_acs_to_mtcs
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
double acs_matrix[9], /* - matrix of a c-system */
double* matrix /* <O> - matrix between ZCS and MTCS */
);

/*******************************************************************************
* Request the name of a component of the KIM structure by a given id.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_kim_comp_name_by_id
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
int system_class, /* - system class of the searched comp */
char* comp_id, /* - the id of the component */
char comp_name[UF_OBJ_NAME_BUFSIZE] /* <O> - name of the component */
);

/*******************************************************************************
* Request the offset values for a given tool.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_tool_offsets
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
char* tool_name, /* - the name of the tool */
double* xval, /* <O> - value in x direction from tool offset*/
double* yval, /* <O> - value in y direction from tool offset*/
double* zval /* <O> - value in z direction from tool offset*/
);

/*******************************************************************************
* Issue command messages mainly to the feedback processor to act according
* to the command message. SIM_msg_nc_command is a message to the feedback
* processor about the NC command that has been executed. The action field
* contains the 'G codes'.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_msg_nc_command
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* action /* - NC command */
);

/*******************************************************************************
* Issue command messages mainly to the feedback processor to act according
* to the command message. SIM_msg_user_feedback is a message to the feedback
* processor to invoke the TCL procedure specified as the 'proc' argument.
* Note: That the prefix MOM_ will be added to the procedure before invocation.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_msg_user_feedback
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* proc /* - name of the a TCL procedure */
);

/*******************************************************************************
* Indicate start of simulation.
*
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_start_of_simulation
(
UF_SIM_engine_p_t engine /* - simulation engine object */
);

/*******************************************************************************
* Indicate end of simulation.
*
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_end_of_simulation
(
UF_SIM_engine_p_t engine /* - simulation engine object */
);

/*******************************************************************************
* Request and return the specified junction offset and transformation.
* To be compatible with csys and msys structure an array with three vectors
* (X,Y and Z) of the junction with respect to the ABS coordinate system is
* returned. This means the matrix first has to be tranformed first.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_junction_xform
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* jct_name, /* - the name of the junction */
double* xval, /* <O> - offset value in x direction */
double* yval, /* <O> - offset value in y direction */
double* zval, /* <O> - offset value in z direction */
double* matrix /* <O> - matrix between ZCS and MTCS */
);

/*******************************************************************************
* Add new junction and attach it to specified component. Unlike some other
* S&V commands, the creation is done right away. No events are created or
* triggered to perform this action.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_create_junction
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* jct_name, /* - the name of the junction */
const char* destination_comp, /* - the name of the dest. cmp */
double origin[3], /* - the vector of the origin */
double matrix[9] /* - the matrix of the junction */
);

/*******************************************************************************
* Delete a junction. Unlike some other S&V commands, the deletion is done
* right away. No events are created or triggered to perform this action.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_delete_junction
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* jct_name /* - the name of the junction */
);

/*******************************************************************************
* Return whether the specified junction exists or not.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_is_junction_exist
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* jct_name, /* - the name of the junction */
logical* jct_exists /* <O> - existence of the junction */
);

/*******************************************************************************
* Set the current ZCS junction.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_set_current_zcs_junction
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
char* junction_name /* - the name of the junction */
);

/*******************************************************************************
* Return the specified junction offset and transformation. To be compatible
* with csys and msys structure an array with three vectors (X,Y and Z) of the
* junction with respect to the ABS coordinate system is returned.
* This means the matrix has to be transformed first. This is the INITIAL
* transformation of the junction before the machine tool starts moving.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_init_junction_xform
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* jct_name, /* - name of the junction */
double* xval, /* <O> - offset in x direction */
double* yval, /* <O> - offset in y direction */
double* zval, /* <O> - offset in z direction */
double* matrix /* <O> - matrix */
);

/*******************************************************************************
* Set the machine tool driver units. Those will be the units to input/output
* data from S&V commands.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_set_mtd_units
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
UF_SIM_unit_type_t units /* - units to set */
);

/*******************************************************************************
* Return the machine tool driver units. Those will be the units to input/output
* data from S&V commands.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_mtd_units
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
UF_SIM_unit_type_t *units /* <O> - units */
);

/*******************************************************************************
* Return the current axis position. Axis can be linear or rotary. The
* current position is the position of the axis after all input events prior
* to this event have been processed. Coordinates are returned in axis
* coordinates.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_axis_position
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char *axis, /* - the name of the axis */
double *position /* <O> - the current axis position */
);

/*******************************************************************************
* Create an event to set a dialog item attributes. The item identifier is a
* unique identifier of dialog item. The attributes defines the keyword that
* identifies the attribute followed by the attribute value according to dialog
* item attribute syntax. E.g. LABEL=<UGT0201_013> LIST=<X,Y,Z>.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_dialog_set_item
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* item_id, /* - the name of the item */
const char* attributes /* - the value of the attribute */
);

/*******************************************************************************
* Returns the junction name that represents the machine tool coordinate system.
* The jct_name character array has to be of length UF_OBJ_NAME_BUFSIZE.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_mtcs_junction
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
char jct_name[UF_OBJ_NAME_BUFSIZE] /* <O> - the name of the queried junction */
);

/*******************************************************************************
* Returns the full junction name (= <comp_name>@<junction_name> of the axis
* that defines the degree of freedom.
* Also, returns the direction of the degree of freedom axis. The jct_name
* character array has to be of length 2*UF_OBJ_NAME_BUFSIZE.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_axis_dof_junction
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* axis, /* - the name of the axis */
char jct_name[2*(UF_OBJ_NAME_BUFSIZE)], /* <O> - the name of the
corresponding junction */
UF_SV_KIM_degof_direction_t* direction /* <O> - the direction of the axis */
);

/*******************************************************************************
* Returns the axis limits.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_axis_limits
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* axis, /* - the name of the axis */
double* min, /* <O> - the minimum limit of the axis */
double* max /* <O> - the maximum limit of the axis */
);

/*******************************************************************************
* Cause the system to dwell and stop event execution for specified duration.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_delay
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* label, /* - label to identify the action */
double duration /* - the duration to stop in sec */
);

/*******************************************************************************
* Query and return the chordal tolerance.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_cording_tol
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
double* cording_tol /* <O> - the cording tolerance */
);

/*******************************************************************************
* Initialize S&V commands debugging tools. It also opens a listing device
* where output debug messages are written.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_dbg_start
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* title /* - titel of the debug listing window */
);

/*******************************************************************************
* End S&V commands debugging tools. It also closes the output listing device.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_dbg_end
(
UF_SIM_engine_p_t engine /* - simulation engine object */
);

/*******************************************************************************
* Write message in the debugging output listing. If debugging is not active,
* no message will be written.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_dbg_write_message
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* msg /* - the message string, which goes to the
debug output window */
);

/*******************************************************************************
* Activate or deactivate one of the following debugging tokens that controls
* the output of the corresponding data to the listing device. If token not
* specified then debugging is turned on or off according to on_off value.
*
* UF_SIM_DBG_OUTPUT_ERROR output warnings/errors
* UF_SIM_DBG_OUTPUT_NC_CMD output the NC program (i.e. G codes )
* UF_SIM_DBG_OUTPUT_CEVENT output CEvents (i.e. post events)
* UF_SIM_DBG_OUTPUT_INPUT_SV_EVENT output S&V input events
* UF_SIM_DBG_OUTPUT_OUTPUT_SV_EVENT output S&V output events
* UF_SIM_DBG_OUTPUT_PROCESSED_SV_EVENT output S&V processed events
* those includes the output events
* and those events created by the
* S&V processors
* UF_SIM_DBG_OUTPUT_SV_CMD output ALL S&V commands that are
* called
* UF_SIM_DBG_OUTPUT_ALL output all the above data
*
* All tokens must be specified in upper case.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_dbg_set_output
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
logical on_off, /* - switch to set the output on or off */
const char* token /* - name of the token to switch on or off */
);

/*******************************************************************************
* Returns TRUE or FALSE whether the specified junction is dependent on
* specified NC axis.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_is_junction_dependent
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* jct_name, /* - name of the junction */
const char* axis_name, /* - name of the axis */
char dependent[256] /* <O> - dependency of the junction */
);

/*******************************************************************************
* Set the setting for sending NC command message to the feedback processor.
* By default it is issued automatically by the system.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_set_status_send_nc_command_msg
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
logical status /* - switch to set the status */
);

/*******************************************************************************
* Return the setting for sending NC command message to the feedback processor.
* By default it is issued automatically by the system.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_status_send_nc_command_msg
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
logical *status /* <O> - the status */
);

/*******************************************************************************
* Set the direction of rotation mode for the specified NC axis. This setting
* controls the path (CW or CCW) a rotary axis will follow when it goes to
* target position. The possible rotation modes are:
*
* UF_SIM_AXIS_ROT_MAGNITUDE_DETERMINES_DIRECTION
* The rotary axis behaves like a linear axis where if target position > 0
* then it rotate in CCW. If < 0 then it rotates CW. For example if current
* position is 355 and target position is 370 then it rotates in CCW 15
* degrees. If target position is 10 then it rotates in CW 345 degrees.
*
* UF_SIM_AXIS_ROT_ALWAYS_SHORTEST
* Moves to the target position in shortest path where possible. This is the
* default behavior.
*
* UF_SIM_AXIS_ROT_SIGN_DETERMINES_DIRECTION
* For positive target position the axis rotates CCW if negative it rotates CW.
*
* UF_SIM_AXIS_ROT_ALWAYS_CLW
* Rotates in CW direction only.
*
* UF_SIM_AXIS_ROT_ALWAYS_CCLW
* Rotates in CCW direction only.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_set_axis_rotary_dir_mode
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* axis_name, /* - name of the axis */
UF_SIM_axis_rot_dir_type_t rot_mode /* - rot mode to set for axis */
);

/*******************************************************************************
* Return the direction of rotation mode for the specified NC axis. This
* setting controls the path (CW or CCW) a rotary axis will follow when it
* goes to target position. The possible rotation modes are:
*
* UF_SIM_AXIS_ROT_MAGNITUDE_DETERMINES_DIRECTION
* The rotary axis behaves like a linear axis where if target position > 0
* then it rotate in CCW. If < 0 then it rotates CW. For example if current
* position is 355 and target position is 370 then it rotates in CCW 15
* degrees. If target position is 10 then it rotates in CW 345 degrees.
*
* UF_SIM_AXIS_ROT_ALWAYS_SHORTEST
* Moves to the target position in shortest path where possible. This is the
* default behavior.
*
* UF_SIM_AXIS_ROT_SIGN_DETERMINES_DIRECTION
* For positive target position the axis rotates CCW if negative it rotates CW.
*
* UF_SIM_AXIS_ROT_ALWAYS_CLW
* Rotates in CW direction only.
*
* UF_SIM_AXIS_ROT_ALWAYS_CCLW
* Rotates in CCW direction only.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_axis_rotary_dir_mode
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* axis_name, /* - name of the axis */
UF_SIM_axis_rot_dir_type_t *rot_mode /* <O> - rot mode of the axis */
);

/*******************************************************************************
* Allow reversal mode for the given NC axis.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_set_axis_allow_reversal
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* axis_name, /* - name of the NC axis */
logical allow_reversal /* - switch to set the mode */
);

/*******************************************************************************
* Ask if the reversal mode for the given NC axis is allowed.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_axis_is_reversal_allowed
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* axis_name, /* - name of the NC axis */
logical *allow_reversal /* <O> - switch of axis */
);

/*******************************************************************************
* Returns TRUE or FALSE whether the specified degree of freedom exists in the
* KIM model.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_if_degof_exists
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* degof_name, /* - name of the degree of freedom */
logical* degof_exists /* <O> - existence of the degree of freedom */
);

/*******************************************************************************
* Query the data for a given degree of freedom.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_degof_data
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* degof_name, /* - name of the d. of freedom */
UF_SIM_KIM_degof_types_t* degof_type, /* <O> - type of the d. of freedom */
double* lower_limit,/* <O> - lower limit */
double* upper_limit /* <O> - upper limit */
);

/*******************************************************************************
* Return the name of the KIM component where the given degree of freedom is
* designed to.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_comp_from_dof
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
char* degof_name, /* - name of the degree of freedom */
char comp_name[UF_OBJ_NAME_BUFSIZE] /* <O> - the name of the component */
);

/*******************************************************************************
* Return true if the given component name is found in the KIM tree hierachy.
* Started by the given component name, false if the given name isn't found.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_find_comp_by_name
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
char* start_comp, /* - name of the base component */
char* search_comp, /* - name of the component to search */
logical* is_found /* <O> - result of searching */
);

/*******************************************************************************
* Return the list of NC axes of the machine tool in the KIM structure.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_nc_axes_of_mtool
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
int* no_of_axes, /* <O> - Number of NC axes */
char axis_name_list[4096] /* <O> - list of NC axis names */
);

/*******************************************************************************
* Sets whether the processing the events that are put in the input buffer is
* done right away or they are put in buffer for later processing. By default
* this mode is control by the simulation engine and should be used very
* carefully. When this is set to True some of the simulation functions such as
* simulation speed control and stepping creteria control may not function the
* same. This functionality is provided for cases where there is a need to
* process the events as they are created with no delay of buffering. So, on
* every call to UF_SIM_update all events will be processed.
*
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
*
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_set_immediate_update
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
logical immediate_update /* - whether to process events as
they are put in buffer */
);

/*******************************************************************************
* Returns the immediate update setting. See UF_SIM_set_immediate_update for
* details.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
*
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_ask_immediate_update
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
logical* immediate_update/* <O> - return immediate update setting */
);

/*******************************************************************************
* Send program mark message to message window. Next/Previous operation steps
* to this mark.
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
*
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_msg_program_mark
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
const char* program_mark /* - name of the program mark */
);

/*******************************************************************************
* Calculates based on the given parameters for NURBS an array of end-points of
* linear segments. Based on the existing documentation of NURBS (Post) it
* is expected, that points are 3 dimensional and knots are one dimensional.
* Therefore knots has to have the length of knot_count and cntr_pnts has to
* have the length of 3*cntr_pnt_count.
*
* Output
* point_count: number of returned points in the array
* positions: list of points
* size of array is positions(point_count*3)
* The order is point after point,
* position(0) -> point-1-X
* position(1) -> point-1-Y
* position(2) -> point-1-Z
* position(3) -> point-2-X
* position(4) -> point-2-Y
* ...
* Memory of positions is allocated inside this function and
* must be freed from the caller of this function
*
* Environment: Internal and External
* See Also:
* History: Released in NX2
*
******************************************************************************/
extern UFUN_CAMEXPORT int UF_SIM_convert_nurbs_to_position_data
(
UF_SIM_engine_p_t engine, /* - simulation engine object */
int cntr_point_count, /* - number of control points */
int order, /* - order of the nurbs */
int knot_count, /* - number of knot vectors */
double* knots, /* - array of knot vectors */
double* cntr_points, /* - array of control points */
int* point_count, /* <O> - number of points in the array */
double** positions /* <OF> - return array of points */
);

#undef EXPORTLIBRARY

#endif /* UF_SIM_COMMANDS_H_INCLUDED */