flexiv::rdk::Device Class Reference

Interface to control the peripheral device(s) connected to the robot. More...

#include <device.hpp>

Public Member Functions
	Device (const Robot &robot)
	[Non-blocking] Instantiate the device control interface. More...
std::map< std::string, bool >	list () const
	[Blocking] 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...
std::map< std::string, DeviceParamDataTypes >	params (const std::string &name) const
	[Blocking] Configuration parameters of the specified device. 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< bool, int, double >> &commands)
	[Blocking] Send command(s) to the specified device. More...

Detailed Description

Interface to control the peripheral device(s) connected to the robot.

Definition at line 22 of file device.hpp.

Constructor & Destructor Documentation

Device()

flexiv::rdk::Device::Device

(

const Robot &

robot

)

[Non-blocking] Instantiate the 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< bool, int, double >> &	commands
	)

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

Parameters

[in]	name	Name of the device to send command(s) to.
[in]	commands	A map of {command_name, command_value}. For example, {{"setSpeed", 6000}, {"openLaser", true}}. All commands in the map will be sent to the device simultaneously. Make sure the command name(s) are valid and can be accepted by the specified device.

Exceptions

std::invalid_argument	if the specified device does not exist.
std::logic_error	if the specified device is 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.

Disable()

void flexiv::rdk::Device::Disable

(

const std::string &

name

)

[Blocking] Disable the specified device.

Parameters

[in]

name

Name of the device to disable.

Exceptions

std::invalid_argument	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.

Enable()

void flexiv::rdk::Device::Enable

(

const std::string &

name

)

[Blocking] Enable the specified device.

Parameters

[in]

name

Name of the device to enable.

Exceptions

std::invalid_argument	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.

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()

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

(

)

const

[Blocking] 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.

params()

std::map<std::string, DeviceParamDataTypes> flexiv::rdk::Device::params

(

const std::string &

name

)

const

[Blocking] Configuration parameters of the specified device.

Parameters

[in]

name

Name of the device to get parameters for.

Returns

A map of {param_name, param_value}. Booleans are represented by int 1 and 0. For example, {{"maxVel", 0.5}, {"absolutePosition", {0.7, -0.4, 0.05}}, {"conveyorName", "conveyor0"}}.

Exceptions

std::invalid_argument	if the specified device does not exist.
std::runtime_error	if failed to get a reply from the connected robot.

Note

This function blocks until a reply is received.

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

• include/flexiv/rdk/device.hpp