ORiN2.1 Specifications. Part 2: CAO. Version 2.1.8

Transcription

1 1 ORiN2.1 Specifications Part 2: CAO Version July 3, 2012 Remarks

2 2 Revision history Date Rev. Content 2005/08/ First edition. 2011/04/ option. 2012/07/ option

3 3 Contents 1. Outline Object model of CAO of CAO CAO component configuration CAO engine CAO provider Implementation of common interface Structure of CAO object Structure of CAO engine Structure of CAO provider Relation between CAO engine and CAO provider Details of CAO engine List of class and interface List of method and property CaoEngine Object-engine CaoWorkspace(s Object-workspace CaoController(s Object-controller CaoVariable(s Object-variable CaoRobot(s Object-robot CaoFile(s Object-file CaoTask(s Object-task CaoCommand(s Object-command CaoExtension(s Object-enhancing board CaoMessage Object-message CaoEngineStatus Object-engine status List of event CaoController Object-controller CaoCommands Object-command specifications ICaoEngine ICaoWorkspaces ICaoWorkspace ICaoControllers ICaoController ICaoVariables ICaoVariable ICaoRobots... 75

4 ICaoRobot ICaoFiles ICaoFile ICaoTasks ICaoTask ICaoCommands ICaoCommand ICaoExtensions ICaoExtension ICaoMessage ICaoEngineStatus _ICaoControllerEvents _ICaoCommandsEvents Details of CAO provider Class and list of interface List of method and property CaoProvController Object-controller CaoProvVariable Object-variable CaoProvRobot Object-robot CaoProvFile Object-file CaoProvTask Object-task CaoProvCommand Object-command CaoProvExtension Object-extension board CaoProvMessage Object-message specifications ICaoProvController ICaoProvVariable ICaoProvRobot ICaoProvFile ICaoProvTask ICaoProvCommand ICaoProvExtension ICaoProvMessage _ICaoProvControllerEvents Generation of CAO object Connection parameter of CaoWorkspace::AddController method CAO system variable CaoController object CaoRobot object

5 7.3. CaoTask object CaoExtension object CAO event message Option character string of CAO option option option option option option Appendix A. DCOM-CAO Engine IDL Appendix B. DCOM-CAO Provider IDL Appendix C. CORBA-CAO Engine IDL Appendix D. CORBA-CAO Provider IDL

6 6 1. Outline CAO (Controller Access Object is a specification that becomes the nucleus of ORiN and defines a standard program interface. CAO is based on the distributed object technology. CAO consists of two parts, the engine part and the provider part. The engine part defines the sole application program interface. The aim of the engine part is to offer a generalized function that does not depend on each FA device. Oppositely, the provider part is a module that absorbs the differences between the CAO abstraction device and the actual FA device. The provider part defines the sole interface to the engine part. This is called as device interface. (Figure 1-1 DC Application App. X App. Y App. Z OPC UPnP Internet FDML Engine Abstract Device Dev. B CAO Engine Interface for Applications Interface for Devices Provider A Co. B Co. C Co. D Co. Figure 1-1 Outline of CAO Because of the structure of CAO, application program developers can develop applications that do not so much depend on the devices, and device manufactures can open device functions to the public without depending on the type of the applications using the devices. Moreover, by dividing the engine part and the provider part, development of the essential function of device dependence absorption becomes easy. Following is the framework of the CAO application. 1 A CAO application operates the device object abstracted by the CAO engine. 2 Based on the operation demand, the CAO engine executes the part of the process that doesn't depend on an actual device. 3 The CAO provider executes the part of the process that depends on the actual device and could not be processed by the CAO engine.

7 7 In general, "Program = algorithm + data", and CAO is designed to unify the algorithm of the programs. Unifying application program strictly limits the program specifications, but unifying algorithm enables both generality and diversity of the program. In this way, resource data expression can be defined for each manufactures and models. However, if the data expression is too much different, sharing the program becomes difficult. Therefore, ORiN introduced two ideas. One idea is system variables. Data generality can be improved by defining system variables whose meaning and purpose are laxly defined. Another idea is CAO model description language. Using the expression, a group of object necessary in assumed situations can be defined, and it is helpful to separate program algorithm and data Object model of CAO Figure 1-2 shows the object tree of CAO. Because the architecture of CAO is separated to two layers (the engine part and the provider part, the object model is also separated in two. The model of the provider part is a simple declaration model, and each object corresponds to the resource in controllers almost one by one. CAO Engine CaoEngine CaoWorkspaces CaoWorkspace CaoControllers CaoController CaoVariables CaoVariable CaoFiles CaoFile CaoTasks CaoTask CaoRobots CaoRobot CaoExtensions CaoExtension CaoCommands CaoCommand CaoMessage CaoEngineStatus CAO Provider CaoProvController CaoProvVariable CaoProvFile CaoProvTask CaoProvRobot CaoProvExtension CaoProvCommand CaoProvMessage Legend Object Collection Simple model corresponding to controller resources Figure 1-2 Object model of CAO Both the engine part and the provider part only includes declaration model, and operation model is minimized. Following is the reason why ORiN was designed in this way. For example, suppose resources like digital I/O. Its current value or attribute of input / output is included in declaration model. However, for the actual application

8 8 programs, the model is not sufficient and various data acquisition method is necessary, like synchronous / asynchronous acquisition, or event generation when its value is changed. These methods and data processing are included in operation model. On ORiN, these operational functions are designed to be provided on various gateway applications running on CAO. ORiN is designed in this way because required operational functions so much depends on developed applications, and their variety is also very wide. Therefore, it is difficult that CAO engine include all necessary operational functions necessary in all types of applications. However, CAO engine exceptionally prepares asynchronous processing functions for CaoCommand class, because the class is naturally operational class for function expansion. In addition, in controller abstraction for CAO, not all of the actual resources are mapped, but only their subset is mapped on the model. CAO collection is a subset of actual resources. In this way, even if the controller has so many numbers of resources, application program can access to it with realistic number of instances of CAO The CAO engine has general functions like object collection management, access limitation, message management, and log management, etc. These functions are separated from interface specifications to some extent, and it is possible to expand these functions in the future as long as they conform the CAO interface specifications. Therefore, it is possible to implement the engine with different functions. Because CAO is based on the distributed object technology, the module of CAO can be freely placed on the network. As a result, the object placement can be freely changed depending on the hardware configuration, software configuration, or CPU load, etc. Currently available base technologies for distributed CAO module placement are DCOM of Microsoft, CORBA of OMG, and SOAP of W3C. They can be selected according to the demanded performance and security.

9 9 PC Application Process PC Application CAO Engine CAO Provider Application Process CAO Proxy Application Process CAO Engine Process CAO Provider Provider Proxy Proprietary Protocol DCOM,CORBA,CAP,e-CAP Surrogate Process Resources CAO Provider Resources Device Device Figure 1-3 Arrangement form of CAO module

10 10 2. CAO component configuration shows the configuration of CAO components. Figure 2-1 Component composition of CAO The component of CAO has two-layer structure with the engine (kernel part and the provider part. The engine offers the function of a common interface to client applications, and the provider offers the function to the engine to absorb the device dependent part. As a result, the device manufacture can open the function of the device to the public without depending on the client application. Application venders also can develop client applications without depending on the devices. The engine part component of CAO is called as CAO engine, and the provider part is called CAO provider. The application that uses the functions of CAO is called as CAO client application CAO engine The CAO engine is a component that becomes the kernel of CAO. The CAO engine exists between the CAO client application and the CAO provider, and intermediates between them to exchange data and commands. Client applications is always linked with CAO engine, the engine is linked to the necessary CAO providers depending on the request from the client applications. The link between client application CAO engine CAO providers is realized based on the specifications of DCOM or CORBA, a distributed object technology. Therefore, these links can be extended beyond the process, the PC machine, or the Internet. Using the function, client applications can easily realize remote access or load balancing. CAO engine has following functions. CAO provider management Object collection management

11 11 Asynchronous message processing with message pool (event processing Message context management by handling messages as objects. Transfer function between providers of message Early registration of object (CAO model Dynamic API change by dynamic binding Static information mergence using CRD file Connection to remote engine 2.2. CAO provider The CAO provider is a component to absorb the difference between FA devices. The CAO provider exists between the CAO engine and the FA device, and intermediates between them to exchange data and commands. CAO provider has following functions. Absorption of the difference between the abstract device and the real device Access to the real device 2.3. Implementation of common interface Interface defines the rule of component implementation, but component function code is not implemented in interface class. In a word, interface is "skeleton of the class. " Implemented interface can show that classes without class hierarchy relation have common methods and properties. When ORiN target FA devices were modeled for CAO, objects corresponding to each resource in the device and its prototype class is assigned, and interface class defines common access procedure to these objects. In CAO, C++ language processing system is used to implement the common interface, and IDL file defines the interface. In this way, interface is created as an abstract class, and its member functions are pure virtual function. The class is called as an interface class. Resource classes that abstract each resource in CAO engine are named as Cao<resource name>, and their interface is defined as ICao<resource name>. Resource classes that abstract each resource in CAO providers are named as CaoProv<resource name>, and their interface is defined as ICao<resource name>. Resource classes provide common interface by inheriting corresponding interface class and implement their action. Table2-1 Class name of implementation and interface CAO object implementation class interface class CAO Engine Cao< resource name > ICao< resource name > CAO Provider CaoProv< resource name > ICaoProv< resource name >

12 12 3. Structure of CAO object Figure 3-1 shows object layer of CAO. The top of the layer is client applications, and then, CAO engine, CAO provider, and the bottom of the layer is FA devices. CAO client applications access (read and write the resources in FA devices through CAO engine interface. Figure 3-1 Object layer of CAO 3.1. Structure of CAO engine Following figure shows CAO engine class structure. Figure 3-2 Class structure of CAO Engine

13 Structure of CAO provider Following figure shows CAO provider class structure. Figure 3-3 Class structure of CAO Provider Relation between CAO engine and CAO provider Following figure shows relationship between CAO engine and CAO provider.

14 14 Figure3-4: Relationship between Engine and Provider of CAO As shown in Figure3-4, CAO engine and CAO provider is closely linked, and CAO engine resource class and CAO provider recourse class has one-to-one correspondence. CAO engine dynamically relates its classes to CAO provider classes when CAO engine makes connection to a device and provider object is created. CRD provider object is linked to CAO engine resource class. The linkage is used by CAO engine for "static information merge processing with CRD file". Depending on the situation, CAO engine can selectively access device provider or CRD provider. CRD provider is a kind of CAO provider, and it has the same interface as normal providers. Therefore, the selection process is as simple as switching a pointer to the object. For details of CRD provider, please refer to ORiN2.1 Specifications Part3:CRD.

15 15 4. Details of CAO engine 4.1. List of class and interface Table4-1 CAO Engine class list Class name Object resource CaoEngine - Root class. This class is a starting point to generate each class. CaoWorkspace - Workspace class. CaoWorkspaces - Dynamic collection class of workspace class. CaoController Controller Controller class. CaoControllers - Dynamic collection class of controller class. CaoVariable Variable Variable class. CaoVariables - Dynamic collection class of variable class. CaoRobot Robot Robot class. CaoRobots - Dynamic collection class of robot class. CaoFile File File class. CaoFiles - Dynamic collection class of file class. CaoTask Task Task class. CaoTasks - Dynamic collection class of task class. CaoCommand Command Command class. CaoCommands - Dynamic collection class of command class. CaoExtension Extension board Extension board class. CaoExtensions - Dynamic collection class of extension board class. CaoMessage Message Message class. CaoEngineStatus - Status class of CAO. (to watch CAO engine Table4-2 Interface class list of CAO Engine Interface name Implementation class IcaoEngine CaoEngine Engine IF class. IcaoWorkspace CaoWorkspace Workspace IF class. IcaoWorkspaces CaoWorkspaces Dynamic collection class of workspace IF class. IcaoController CaoController Controller IF class. IcaoControllers CaoControllers Dynamic collection class of controller IF class. IcaoVariable CaoVariable Variable IF class.

16 16 IcaoVariables CaoVariables Dynamic collection class of variable IF class. IcaoRobot CaoRobot Robot IF class. IcaoRobots CaoRobots Dynamic collection class of robot IF class. IcaoFile CaoFile File IF class. IcaoFiles CaoFiles Dynamic collection class of file IF class. IcaoTask CaoTask Task IF class. IcaoTasks CaoTasks Dynamic collection class of task IF class. IcaoCommand CaoCommand Command IF class. IcaoCommands CaoCommands Dynamic collection class of command IF class. IcaoExtension CaoEntension Extension board IF class. IcaoExtensions CaoEntensions Dynamic collection class of extension board IF class. IcaoMessage CaoMessage Message IF class. IcaoEngineStatus CaoEngineStatus CAO status IF class. IeventSink EventSink Event IF class _ICaoControllerEvents CaoController Controller event IF class _ICaoCommandsEvents CaoCommands Event IF class of command collection

17 List of method and property CaoEngine Object-engine Class Property and method R/W IN Argument of function OUT RETVAL Remarks CaoEngine EngineStatus P Get engine status R Object: ICaoEngineStatus Workspaces P Get workspace R Collection: ICaoWorkspaces collection AddWorkspace M Add workspace S Workspace name:bstr, Object: ICaoWorkspace Same function as CaoWorkspaces::Add(. object [Option name:bstr] Execute M Execute extension S Command: VARIANT Result: VARIANT For function extension (reserved command Meaning of symbols M:Method Arguments in [] are optional.. P:Property The default value for optional BSTR type argument is a null string. The default value for optional numeric type argument is 0. (note1following is the meaning of the symbols. The ON/OFF setting of CAO engine access limit function (write limit function only affects W attribute methods and properties. R-Read: Get status and configuration of controller, provider, or engine. W-Write: Change status and configuration of controller. Execute method function has S attribute because its function depends on the command to be executed. If necessary, write protection is implemented in provider. S-Setup: Change status and configuration of provider and engine.

18 CaoWorkspace(s Object-workspace Class Property and method R/W IN Argument of function OUT RETVAL Remarks CaoWorkspaces Count P Get number of collections R Number of registration in collection: long Add M Add workspace S Workspace name: BSTR, Object: ICaoWorkspace The workspace name is an arbitrary object [Option: BSTR] character string. When the workspace name is omitted (NULL specification, a unique name is automatically named. The following one can be set to the option as CAO standard. Object automatic operation generation: File passing > Existing object = True/False default value is "False. " Clear M Release all S workspace objects IsMember M Check registration of R Workspace name / Check result: VARIANT_BOOL workspace object number: VARIANT Item M Get workspace R Workspace name / Object: ICaoWorkspace Default member object number: VARIANT Remove M Release workspace S Workspace name / object number: VARIANT CaoWorkspace Controllers P Get controller R Collection: ICaoControllers

19 19 Class Property and method R/W IN Argument of function OUT RETVAL Remarks collection Index P Get workspace index R Workspace index: long Name P Get workspace R Workspace name: BSTR name ProviderNames P Get provider name list R [Option: BSTR] Provider name list: VARIANT(VT_VARIANT VT_ARRAY The option is filter condition etc. AddController M Add controller object S Controller name: BSTR, Provider name: BSTR, [Machine name: BSTR, [Option: BSTR]] Object: ICaoController Same function as CaoControllers::Add(. Execute M Execute extension S Command: VARIANT Result: VARIANT For function extension (reservation command Meaning of symbols M:Method Arguments in [] are optional.. P:Property The default value for optional BSTR type argument is a null string. The default value for optional numeric type argument is 0.

20 CaoController(s Object-controller Class Property and method R/W IN Argument of function OUT RETVAL Remarks CaoControllers Count P Get number of collections R Number of registration in collection: long Add M Add controller object S Controller name: BSTR, Provider name: BSTR, [Machine name: BSTR, [Option: BSTR]] Object: ICaoController The controller name is an arbitrary character string. The following one can be set to the option as CAO standard. Event = True/False default value is "True. " New making: type > default value is 0. Existing object = True/False default value is "False. " Thread priority: Thread priority > default value is three. Clear M Release all controller S objects IsMember M Check registration of R Controller name / number: Check result: VARIANT_BOOL controller object VARIANT Item M Get controller object R Controller name / number: VARIANT Remove M Release controller S controller name / number: Object: ICaoController Default member

21 21 Class Property and method R/W IN Argument of function OUT RETVAL Remarks object VARIANT CaoController Attribute P Get attribute R Attribute: Long CommandNames P Get command name list Commands P Get command collection ExtensionNames P Get extension board name list Extensions P Get extension board collection R [Option: BSTR] Command name list: VARIANT(VT_VARIANT VT_ARRAY R Collection: ICaoCommands R Option: BSTR Extension board name list: VARIANT(VT_VARIANT VT_ARRAY R Collection: ICaoExtensions The option is filter condition etc. The option is filter condition etc. FileNames P Get file name list R [Option: BSTR] File name list: The option is filter condition etc. VARIANT(VT_VARIANT VT_ARRAY Files P Get file collection R Collection: ICaoFiles File collection of root directory. Help P Help R Help character string: BSTR ID P ID R/W ID:VARIANT ID:VARIANT Index P Get controller index R Controller index: long Name P Get controller name R Controller name: BSTR RobotNames P Get robot name list R [Option: BSTR] Robot name list: The option is filter condition etc. VARIANT(VT_VARIANT VT_ARRAY Robots P Get robot collection R Collection: ICaoRobots Tag P Tag R/S Tag data: VARIANT Tag data: VARIANT TaskNames P Get task name list R [Option: BSTR] Task name list: The option is filter condition etc.

22 22 Class Property and method R/W IN Argument of function OUT RETVAL Remarks VARIANT(VT_VARIANT VT_ARRAY Tasks P Get task collection R Collection: ICaoTasks VariableNames P Get variable name list Variables P Get variable collection R [Option: BSTR] Variable name list: VARIANT(VT_VARIANT VT_ARRAY R Collection: ICaoVariables The option is filter condition etc. AddCommand M Add command object S Command name: BSTR, [Option: BSTR] Object: ICaoCommand The same function as CaoCommands::Add(. AddExtension M Add extension board S Extension board name: Object: ICaoExtension The same function as object BSTR, CaoExtensions::Add(. [Option: BSTR] AddFile M Add file object S File name: BSTR, [Option: BSTR] AddRobot M Add robot object S Robot name: BSTR, [Option: BSTR] AddTask M Add task object S Task name: BSTR, [Option: BSTR] AddVariable M Add variable object S Variable name: BSTR, [Option: BSTR] Object: ICaoFile Object: ICaoRobot Object: ICaoTask Object: ICaoVariable The same function as CaoFiles::Add(. The same function as CaoRobots::Add(. The same function as CaoTasks::Add(. The same function as CaoVariables::Add(. Execute M Execute extension S Command: VARIANT Result: VARIANT For function enhancing command GetMessage M Get message R Message: ICaoMessage Get message from message queue in CAO

23 23 Class Property and method R/W IN Argument of function OUT RETVAL Remarks engine. Message can be acquired only if OnMessage event function is disabled. Meaning of symbols M:Method Arguments in [] are optional.. P:Property The default value for optional BSTR type argument is a null string. The default value for optional numeric type argument is 0.

24 CaoVariable(s Object-variable Class Property and method R/W IN Argument of function OUT RETVAL Remarks CaoVariables Count P Get number of collections R Number of registration in collection: long Add M Add variable object S Variable name: BSTR, [Option: BSTR] Object: ICaoVariable The following one can be set to the option as CAO standard. New making: type > default value is 0. Existing object = True/False default value is "False. " Clear M Release all variable S objects IsMember M Check registration of R Variable identifier/number: Check result: VARIANT_BOOL variable object VARIANT Item M Get variable object R Variable identifier/number: VARIANT Object: ICaoVariable Default member Remove M Release variable object S Variable identifier/number: VARIANT CaoVariable Attribute P Get attribute R Attribute: Long DateTime P Get time and date R Time and date stamp: VARIANT stamp Help P Help R Help character string: BSTR ID P ID R/W ID:VARIANT ID:VARIANT

25 25 Class Property and method R/W IN Argument of function OUT RETVAL Remarks Index P Get variable index R Variable index: long Microsecond P Get time and date R Time and date stamp: Long stamp (micro second Name P Get variable name R Variable name: BSTR System variable names start Tag P Tag R/S Tag data: VARIANT Tag data: VARIANT Value P Get value R/W Value:VARIANT Value:VARIANT Default member Meaning of symbols M:Method Arguments in [] are optional.. P:Property The default value for optional BSTR type argument is a null string. The default value for optional numeric type argument is 0.

26 CaoRobot(s Object-robot Class Property and method R/W IN Argument of function OUT RETVAL Remarks CaoRobots Count P Get number of collections R Number of registration in collection: long Add M Add robot object S Robot name: BSTR, [Option: BSTR] Object: ICaoRobot The following one can be set to the option as CAO standard. New making: type > default value is 0. Existing object = True/False default value is "False. " Clear M Release all robot S objects IsMember M Check registration of R Robot name/number: Check result: VARIANT_BOOL robot object VARIANT Item M Get robot object R Robot name/number: VARIANT Remove M Release robot object S Robot name/number: VARIANT Object: ICaoRobot Default member CaoRobot Attribute P Get attribute R Attribute: Long Help P Help R Help character string: BSTR ID P ID R/W ID:VARIANT ID:VARIANT Index P Get robot index R Robot index: long Name P Get robot name R Robot name: BSTR

27 27 Class Property and method R/W IN Argument of function OUT RETVAL Remarks Tag P Tag R/S Tag data: VARIANT Tag data: VARIANT VariableNames P Get variable name list Variables P Get variable collection R [Option: BSTR] Variable name list: VARIANT(VT_VARIANT VT_ARRAY R Collection: ICaoVariables The option is filter condition etc. Accelerate M Refer to ACCEL W Joint number:long, Joint number 1: Tool Center Point(TCP statement Accel:float, acceleration/deceleration specification of [Decel:float] Joint number 0: All joint SLIM. acceleration/deceleration Other joint number is for acceleration / deceleration of specified joint. AddVariable M Add variable object S Variable name: BSTR, [Option: BSTR] Object: ICaoVariable Same function as CaoVariables::Add(. Change M Refer to CHANGE W Hand name: BSTR statement specification of SLIM. Chuck M Refer to GRASP W [Option: BSTR] statement specification of SLIM. Drive M Refer to DRIVE W Joint number:long, Unlike SLIM, multi-joint motion is not

28 28 Class Property and method R/W IN Argument of function OUT RETVAL Remarks statement Distance:float, supported. In the case, MOVE is specification of [Option:BSTR] recommended. SLIM. Execute M Execute extension S Command: VARIANT Result: VARIANT For function enhancing command GoHome M Refer to GOHOME W statement specification of SLIM. Hold M Refer to the specification of the HOLD sentence of W [Option: BSTR] It is a meaning of the temporary stop of the program in SLIM or it means the temporary stop of the robot operation in CAO. SLIM. Halt M Refer to the specification of the HALT sentence of W [Option: BSTR] It is a meaning of the forced outage of the program in SLIM or it means the forced outage of the robot operation in CAO. SLIM. Move M Refer to MOVE W Interpolation:long, - Interpolation specification 1:PTP, 2:CP, statement Pose array: 3:Circle specification of VARIANT, - Pose specification is manufacturer SLIM. [Option:BSTR] dependent. Circle interpolation will use an array of poses.

29 29 Class Property and method R/W IN Argument of function OUT RETVAL Remarks - Default value for option is. Rotate M Refer to ROTATE W Rotation plane: Specification of rotation plane is statement VARIANT, manufacturer dependant. specification of Angle: Float, SLIM. Rotation center: VARIANT, [Option:BSTR] Speed M Refer to SPEED / W Joint number:long, Joint number 1: TCP speed JSPEED statement Speed:float Joint number 0: All joint speed specification of Other joint number is for speed of specified SLIM. joint. Unchuck M Refer to RELEASE statement specification of SLIM. Unhold M Release of HOLD sentence of SLIM W [Option: BSTR] SLIM statement name RELEASE is changed to Chuck/Unchuck, because original SLIM statement name Release is already used in ORiN. W [Option: BSTR] Because it means the temporary stop of the robot operation in CAO, it uses it for the restart though the command of the restart is not provided because the HOLD sentence is a meaning of the temporary stop of the program in SLIM.

30 30 Class Property and method R/W IN Argument of function OUT RETVAL Remarks Meaning of symbols M:Method Arguments in [] are optional.. P:Property The default value for optional BSTR type argument is a null string. The default value for optional numeric type argument is 0.

31 CaoFile(s Object-file Class Property and method R/W IN Argument of function OUT RETVAL Remarks CaoFiles Count P Get number of collections R Number of registration in collection: long Add M Add file object S Variable name: BSTR, [Option: BSTR] Object: ICaoFile The following one can be set to the option as CAO standard. New making: type > default value is 0. Existing object = True/False default value is "False. " Clear M Release all file S objects IsMember M Check registration of R File name/number: Check result: VARIANT_BOOL file object VARIANT Item M Get file object R File name/number: VARIANT Remove M Release file object S File name/number: VARIANT Object: ICaoFile Default member CaoFile Attribute P Get attribute R Attribute: long DateCreated P Get creation date R Creation date: VARIANT. DateLastAccessed P Get last access date R Last access date: VARIANT DateLastModified P Get last change date R Last change date: VARIANT FileNames P Get file name list R [Option: BSTR] File name list: The option is filter condition etc.

32 32 Class Property and method R/W IN Argument of function OUT RETVAL Remarks VARIANT(VT_VARIANT VT_ARRAY Returns child file name list when the attribute is a directory. Files P Get file collection R Collection: ICaoFiles Help P Help R Help character string: BSTR ID P ID R/W ID:VARIANT ID:VARIANT Index P Get file index R File index: long Name P Get file name R File name: BSTR Path P Get file path R Path name: BSTR Returns absolute path. File name is not included. The last delimiter is included.. Size P Get file size R File size: long Tag P Tag R/S Tag data: VARIANT Tag data: VARIANT Type P Get file type R File type: BSTR Value P File data R/W Data: VARIANT Data: VARIANT Default member VariableNames P Get variable name list Variables P Get variable collection R [Option: BSTR] Variable name list: VARIANT(VT_VARIANT VT_ARRAY R Collection: ICaoVariables The option is filter condition etc. AddFile M Add file object S File name: BSTR, [Option: BSTR] AddVariable M Add variable object S Variable name: BSTR, [Option: BSTR] Copy M Copy file W Destination file name: Object: ICaoFile Object: ICaoVariable The same function as CaoFiles::Add(. The same function as CaoVariables::Add(.

33 33 Class Property and method R/W IN Argument of function OUT RETVAL Remarks BSTR [Option: BSTR] Delete M Delete file W [Option: BSTR] Execute M Execute extension S Command: VARIANT Result: VARIANT For function enhancing command Move M Move file W Destination file name: BSTR [Option: BSTR] Run M Create task W [Option: BSTR] Task name: BSTR Meaning of symbols M:Method Arguments in [] are optional.. P:Property The default value for optional BSTR type argument is a null string. The default value for optional numeric type argument is 0.

34 CaoTask(s Object-task Class Property and method R/W IN Argument of function OUT RETVAL Remarks CaoTasks Count P Get number of collections R Number of registration in collection: long Add M Add task object S Task name: BSTR, [Option: BSTR] Object: ICaoTask オプションには,CAO 標準として以下のようなものを設定できます. 新規作成 作成タイプ > デフォルト値は 0 既存オブジェクト取得 デフォルト値は "False" Clear M Release all task S objects IsMember M Check registration of R Task name/number: Check result: VARIANT_BOOL task object VARIANT Item M Get task object R Task name/number: VARIANT Remove M Release task object S Task name/number: VARIANT Object: ICaoTask Default member CaoTask Attribute P Get attribute R Attribute: long FileName P Get corresponding R File name: BSTR file name Help P Help R Help character string: BSTR

35 35 Class Property and method R/W IN Argument of function OUT RETVAL Remarks ID P ID R/W ID:VARIANT ID:VARIANT Index P Get task index R Task index: long Name P Get task name R Task name: BSTR Tag P Tag R/S Tag data: VARIANT Tag data: VARIANT VariableNames P Get variable name list Variables P Get variable collection R [Option: BSTR] Variable identifier list: VARIANT(VT_VARIANT VT_ARRAY R Collection: ICaoVariables The option is filter condition etc. AddVariable M Add variable object S Variable name: BSTR, [Option: BSTR] Delete M Delete task W [Option: BSTR] Object: ICaoVariable Same function as CaoVariables::Add(. Execute M Execute extension S Command: VARIANT Result: VARIANT For function enhancing command Start M Start task W Mode: long, [Option: BSTR] Mode=1: One cycle execution Mode=2: Continuous cycle execution Mode=3: One step forward execution Mode=4: One step backward execution Option specifies start position, etc. Stop M Stop task W Mode: long, [Option: BSTR] Mode=0: Default stop Mode=1: Immediate stop Mode=2: Step stop Mode=3: Cycle stop

36 36 Class Property and method R/W IN Argument of function OUT RETVAL Remarks Mode=4: Initialization stop (Note Default stop is one of above mentioned stop type. Meaning of symbols M:Method Arguments in [] are optional.. P:Property The default value for optional BSTR type argument is a null string. The default value for optional numeric type argument is 0.

37 CaoCommand(s Object-command Class Property and method R/W IN Argument of function OUT RETVAL Remarks CaoCommands Count P Get number of collections R Number of registration in collection: long Add M Add command object S Command name: BSTR, [Option: BSTR] Object: ICaoCommand The following one can be set to the option as CAO standard. New making: type > default value is 0. Existing object = True/False default value is "False. " Clear M Release all S command objects IsMember M Check registration of R Command name/number: Check result: VARIANT_BOOL command object VARIANT Item M Get command object R Command name/number: VARIANT Object: ICaoCommand Default member Remove M Release command object S Command name/number: VARIANT CaoCommand Attribute P Get attribute R Attribute: long Help P Help R Help character string: BSTR ID P ID R/W ID:VARIANT ID:VARIANT Index P Get command index R Command index: long Name P Get command name R Command name: BSTR

38 38 Class Property and method R/W IN Argument of function OUT RETVAL Remarks s P Command R/W Command parameter: Command parameter: VARIANT parameter VARIANT Result P Execution result of R Execution result: VARIANT latest Execute( State P Get state R State: long Status-bit1 0: Waiting, 1: Running Meanings of other bits are provider dependent. Tag P Tag R/S Tag data: VARIANT Tag data: VARIANT Timeout P Time-out R/W Time-out: Long Time-out: Long Cancel M Cancel execution of S command Execute M Execute command S Mode: long Mode=0: synchronous execution Mode=1: asynchronous execution Returns S_FALSE when command is executed asynchronously. Meaning of symbols M:Method Arguments in [] are optional.. P:Property The default value for optional BSTR type argument is a null string. The default value for optional numeric type argument is 0.

39 CaoExtension(s Object-enhancing board Class Property and method R/W IN Argument of function OUT RETVAL Remarks CaoExtensions Count P Get number of collections R Number of registration in collection: long Add M Add extension board S Extension board name: Object: ICaoExtension The following one can be set to the option as object BSTR, CAO standard. [Option: BSTR] New making: type > default value is 0. Existing object = True/False default value is "False. " Clear M Clear of all extension S board objects IsMember M Check registration of extension board object R Extension board name / number: VARIANT Check result: VARIANT_BOOL Item M Get extension board R Extension board Object: ICaoExtension Default member object name/number: VARIANT Remove M Release extension board object S Extension board name / number: VARIANT CaoExtension Attribute P Get attribute R Attribute: long Help P Help R Help character string: BSTR ID P ID R/W ID:VARIANT ID:VARIANT Index P Get extension board R Extension board index: long

40 40 Class Property and method R/W IN Argument of function OUT RETVAL Remarks index Name P Get extension board R Extension board name: BSTR name Tag P Tag R/S Tag data: VARIANT Tag data: VARIANT VariableNames P Get variable name list Variables P Get variable collection R [Option: BSTR] Variable name list: VARIANT(VT_VARIANT VT_ARRAY R Collection: ICaoVariables The option is filter condition etc. AddVariable M Add variable object S Variable name: BSTR, [Option: BSTR] Object: ICaoVariable Same function as CaoVariables::Add(. Execute M Execute extension S Command: VARIANT Result: VARIANT For function enhancing command Meaning of symbols M:Method Arguments in [] are optional.. P:Property The default value for optional BSTR type argument is a null string. The default value for optional numeric type argument is 0.

41 CaoMessage Object-message Class Property and method R/W IN Argument of function OUT RETVAL Remarks CaoMessage DateTime P Creation date R Creation: VARIANT Description P Message description R Description: BSTR Destination P Message destination R Destination: BSTR Number P Message number R Message number: long SerialNumber P Message serial number R Message serial number: long CAO engine automatically assign serial number from 0 to LONG_MAX. Serial number is cleared to 0 when it reaches LONG_MAX. Source P Message source R Message source: BSTR Value P Message text R Message text: VARIANT Clear M Clear message W Reply M Reply message W Meaning of symbols M:Method Arguments in [] are optional.. P:Property The default value for optional BSTR type argument is a null string. The default value for optional numeric type argument is 0.

42 CaoEngineStatus Object-engine status Class Property and method R/W IN Argument of function OUT RETVAL Remarks CaoEngineStatus CurrentDateTime P Current date and time R Current date and time: VARIANT ComputerName P Computer name R Computer name: BSTR ObjectCounts P Number of objects in R Class name/number: Number of objects: long each class VARIANT StartDateTime P Start date and time R Start date and time: VARIANT Values P (reservation for R Status name/number: Data: VARIANT future VARIANT enhancement Version P Get CAO engine R Version: BSTR <Major Ver.>. <Minor Ver.>. <Revision> version Meaning of symbols M:Method Arguments in [] are optional.. P:Property The default value for optional BSTR type argument is a null string. The default value for optional numeric type argument is 0.

43 List of event CaoController Object-controller Class Property and method R/W IN Argument of function OUT RETVAL Remarks CaoController OnMessage E Message reception event R Message: ICaoMessage - Realizes Provider(controller -> CAO engine -> Client calling event. - Negative message number is reserved in ORiN. - Nullification of event is specified by the option of AddController(. Meaning of a E:Event symbol CaoCommands Object-command Class Property and method R/W IN Argument of function OUT RETVAL Remarks CaoCommands ExecuteComplete E Command execution Command number: long Get execution result from Result property. completion event Meaning of a E:Event Arguments in [] are optional.. symbol

44 specifications ICaoEngine get_enginestatus Format HRESULT ICaoEngine::get_EngineStatus ( [out, retval] ICaoEngineStatus** ppicaoenginestatus Get engine status [out] ppicaoenginestatus Address of CaoEngineStatus IF pointer Get ICaoEngineStatus object. Reference counter of the acquired object is incremented by one. Execute Release method to release the object. get_workspaces Format HRESULT ICaoEngine::get_Workspaces ( [out, retval] ICaoWorkspaces** ppicaowss Get workspace collection [out] ppicaowss Address of CaoWorkspaces IF pointer Get ICaoWorkspaces object. Reference counter of the acquired object is incremented by one. Execute Release method to release the object. AddWorkspace Format HRESULT ICaoEngine::AddWorkspace ( [in] BSTR bstrname, [in, defaultvalue(""] BSTR bstroption,

45 45 [out, retval] ICaoWorkspace** ppicaows Add workspace object [in] bstrname Workspace name. When NULL is specified, the workspace name is automatically assigned. [in] bstroption Option Currently not used. All setting is neglected. [out] ppicaows Address of CaoWorkspace IF pointer Create ICaoWorkspaces object, and acquire it. The created object is automatically registered in ICaoWorkspaces. Reference counter of the created object is incremented by one. Execute Release method to release the object. Execute the ICaoWorkspaces::Remove method to delete from IcaoWorkspaces registration. Execute Format HRESULT ICaoEngine::Execute ( [in] VARIANT vntcommand, [out, retval] VARIANT* pval Execute extension command [in] vntcommand Command Execution result Currently not implemented. When executed, do nothing and always return S_OK.

46 ICaoWorkspaces get_count Format HRESULT ICaoWorkspaces::get_Count ( [out, retval] long* pval Get number of collections Number of registration in collections Get number of registered objects in the collection Add Format HRESULT ICaoWorkspaces::Add ( [in] BSTR bstrname, [in, defaultvalue(""] BSTR bstroption, [out, retval] ICaoWorkspace** ppicaows Add workspace object [in] bstrname Workspace name. When NULL is specified, the workspace name is automatically assigned. [in] bstroption Option Currently not used. All setting is neglected. [out] ppicaowss Address of CaoWorkspaces IF pointer Create ICaoWorkspaces object, and acquire it. The created object is automatically registered in ICaoWorkspaces. Reference counter of the created object is incremented by one. Execute Release method to release the object.

47 47 Execute the ICaoWorkspaces::Remove method to delete from IcaoWorkspaces registration. Clear Format HRESULT ICaoWorkspaces::Clear ( Release all workspace objects None. Release all objects registered in ICaoWorkspaces. When clients hold released ICaoWorkspace object, the object is not released from memory. To release them execute ICaoWorkspace::Release method. Objects released from the collection always return E_ACCESSDENIED when the method is executed. IsMember Format HRESULT ICaoWorkspaces::IsMember ( [in] VARIANT Index, [out, retval] VARIANT_BOOL* pval Check registration of workspace object [in] bstrname Workspace name/index Registration reference result VARIANT_TRUE: Registered VARIANT_FALSE: Not registered Confirm whether specified workspace index or workspace name is registered in the collection. Item Format HRESULT ICaoControllers::Item (

48 48 [in] VARIANT Index, [out, retval] ICaoWorkspace** ppicaowss Get controller object [in] bstrname Controller name/ index [out] ppicaowss Address of CaoWorkspace IF pointer Get ICaoController object corresponding to the specified controller index or controller name. Reference counter of the created object is incremented by one. Execute Release method to release the object. Remove Format HRESULT ICaoWorkspaces::Remove ( [in] VARIANT Index Release workspace object [in] bstrname Workspace name/ index Release the ICaoWorkspace object corresponding to specified workspace index or workspace name. When clients hold released ICaoWorkspace object, the object is not released from memory. To release them execute ICaoWorkspace::Release method. Objects released from the collection always return E_ACCESSDENIED when the method is executed ICaoWorkspace get_controllers Format HRESULT ICaoWorkspace::get_Controllers ( [out, retval] ICaoControllers** ppicaoctrls

49 49 Get controller collection [out] ppicaoctrls Address of CaoControllers IF pointer Get ICaoControllers object. Reference counter of the created object is incremented by one. Execute Release method to release the object. get_index Format HRESULT ICaoWorkspace::get_Index ( [out, retval] long* pval Get workspace index Workspace index Get workspace index of the object. get_name Format HRESULT ICaoWorkspace::get_Name ( [out, retval] BSTR* pval Get workspace name Workspace name Get workspace name of the object.

50 50 get_providernames Format HRESULT ICaoWorkspace::get_ProviderNames ( [in, defaultvalue(""] BSTR bstroption, [out, retval] VARIANT* pval Get provider name list [in] bstroption Option Currently not used. All setting is neglected. Provider name list Get list of the CAO provider registered in a local machine. AddController Format HRESULT ICaoWorkspace::AddController ( [in] BSTR bstrcontroller, [in] BSTR bstrprovider, [in, defaultvalue(""] BSTR bstrmachine, [in, defaultvalue(""] BSTR bstroption, [out, retval] ICaoController** ppicaoctrl Add controller object [in] bstrcontroller Controller name. When NULL is specified, the workspace name is automatically assigned. [in] bstrprovider Provider name. Specify program ID of the CAO provider to start. Following is how to start CAO engine in remote machine and specify CAO provider. < provider name >:< remote machine name >

51 51 [in] bstrmachine Machine name. To start CAO provider in remote machine, specify the machine name or IP address. [in] bstroption Option Currently not used. All settings are neglected. [out] ppicaoctrl Address of CaoWorkspace IF pointer Create ICaoController object, and acquire it. The created object is automatically registered in ICaoControllers. When the object is created, a provider specified by bstrprovider is started, and it wraps CAO provider controller. At the time, CaoProvController::Connect method of CAO provider is executed. Reference counter of the created object is incremented by one. Execute ICaoWorkspaces::Release method to release the object. Execute the ICaoWorkspaces::Remove method to delete from IcaoWorkspaces registration. Execute Format HRESULT ICaoWorkspace::Execute ( [in] VARIANT vntcommand, [out, retval] VARIANT* pval Execute extension command [in] vntcommand Command Execution result Currently not implemented. When executed, do nothing and always return S_OK.

52 ICaoControllers get_count Format HRESULT ICaoControllers::get_Count ( [out, retval] long* pval Get number of collections Number of registration in collection Get number of registrated objects in the collection Add Format HRESULT ICaoControllers::Add ( [in] BSTR bstrcontroller, [in] BSTR bstrprovider, [in, defaultvalue(""] BSTR bstrmachine, [in, defaultvalue(""] BSTR bstroption, [out, retval] ICaoController** ppicaoctrl Add controller object [in] bstrcontroller Controller name. When NULL is specified, the controller name is automatically assigned. [in] bstrprovider Provider name. Specify program ID of the CAO provider to start. Following is how to start CAO engine in remote machine and specify CAO provider. < provider name >:< remote machine name > [in] bstrmachine Machine name. To start CAO provider in remote machine, specify the machine name or IP address. [in] bstroption

53 53 Option Currently not used. All setting is neglected. [out] ppicaoctrl Address of CaoWorkspace IF pointer Create ICaoController object, and acquire it. The created object is automatically registered in ICaoControllers. When the object is created, a provider specified by bstrprovider is started, and it wraps CAO provider controller. At the time, CaoProvController::Connect method of CAO provider is executed. Reference counter of the created object is incremented by one. Execute ICaoWorkspaces::Release method to release the object. Execute the ICaoWorkspaces::Remove method to delete from IcaoWorkspaces registration. Clear Format HRESULT ICaoControllers::Clear ( Release all controller objects None. Release all objects registered in ICaoControllers. When clients hold released ICaoController object, the object is not released from memory. To release them execute ICaoController::Release method. Objects released from the collection always return E_ACCESSDENIED when the method is executed. IsMember Format HRESULT ICaoControllers::IsMember ( [in] VARIANT Index, [out, retval] VARIANT_BOOL* pval Check registration of controller object

54 54 [in] bstrname Controller name/ index Registration reference result VARIANT_TRUE: Registered VARIANT_FALSE: Not registered Confirm whether specified controller number or controller name is registered in the collection. Item Format HRESULT ICaoControllers::Item ( [in] VARIANT Index, [out, retval] ICaoController** ppicaoctrl Get controller object [in] bstrname Controller name/ index [out] ppicaoctrl Address of CaoWorkspace IF pointer Get ICaoController object corresponding to the specified controller index or controller name. Reference counter of the created object is incremented by one. Execute Release method to release the object. Remove Format HRESULT ICaoControllers::Remove ( [in] VARIANT Index Release controller object [in] bstrname