flexiv::rdk::Device Class Reference

Interface with the robot device(s). More...

#include <device.hpp>

Public Member Functions
	Device (const Robot &robot)
	[Non-blocking] Create an instance and initialize device control interface. More...
const std::map< std::string, bool >	list () const
	[Blocking] Request a list of existing devices and their status (enabled/disabled). More...
bool	exist (const std::string &name) const
	[Blocking] Whether the specified device already exists. More...
void	Enable (const std::string &name)
	[Blocking] Enable the specified device. More...
void	Disable (const std::string &name)
	[Blocking] Disable the specified device. More...
void	Command (const std::string &name, const std::map< std::string, std::variant< int, double >> &cmds)
	[Blocking] Send command(s) for the specified device. More...

Detailed Description

Interface with the robot device(s).

Definition at line 19 of file device.hpp.

Constructor & Destructor Documentation

Device()

flexiv::rdk::Device::Device

(

const Robot &

robot

)

[Non-blocking] Create an instance and initialize device control interface.

Parameters

[in]

robot

Reference to the instance of flexiv::rdk::Robot.

Exceptions

std::runtime_error

if the initialization sequence failed.

Member Function Documentation

Command()

void flexiv::rdk::Device::Command	(	const std::string &	name,
		const std::map< std::string, std::variant< int, double >> &	cmds
	)

[Blocking] Send command(s) for the specified device.

Parameters

[in]	name	Name of the device to send command(s) for, must be an existing device.
[in]	cmds	A map of {command_name, command_value}. Use int 1 and 0 to represent booleans. For example, {{"setSpeed", 6000}, {"startMotor", 1}}.

Exceptions

std::logic_error	if the specified device does not exist or not enabled yet.
std::runtime_error	if failed to deliver the request to the connected robot.

Note

This function blocks until the request is successfully delivered.

Warning

Commanding a disabled or nonexistent device will trigger an error on the robot.

Disable()

void flexiv::rdk::Device::Disable

(

const std::string &

name

)

[Blocking] Disable the specified device.

Parameters

[in]

name

Name of the device to disable, must be an existing device.

Exceptions

std::logic_error	if the specified device does not exist.
std::runtime_error	if failed to deliver the request to the connected robot.

Note

This function blocks until the request is successfully delivered.

Warning

Disabling a nonexistent device will trigger an error on the connected robot.

Enable()

void flexiv::rdk::Device::Enable

(

const std::string &

name

)

[Blocking] Enable the specified device.

Parameters

[in]

name

Name of the device to enable, must be an existing device.

Exceptions

std::logic_error	if the specified device does not exist.
std::runtime_error	if failed to deliver the request to the connected robot.

Note

This function blocks until the request is successfully delivered.

Warning

Enabling a nonexistent device will trigger an error on the connected robot.

exist()

bool flexiv::rdk::Device::exist

(

const std::string &

name

)

const

[Blocking] Whether the specified device already exists.

Parameters

[in]

name

Name of the device to check.

Returns

True if the specified device exists.

Exceptions

std::runtime_error

if failed to get a reply from the connected robot.

Note

This function blocks until a reply is received.

list()

const std::map<std::string, bool> flexiv::rdk::Device::list

(

)

const

[Blocking] Request a list of existing devices and their status (enabled/disabled).

Returns

A map of {device_name, is_enabled}. For example, {{"Mirka-AIROS-550CV", true}, {"LinearRail", false}}.

Exceptions

std::runtime_error

if failed to get a reply from the connected robot.

Note

This function blocks until a reply is received.

---

The documentation for this class was generated from the following file:

• include/flexiv/rdk/device.hpp