shared_robot_control.h File Reference

RobotSystem-Lite clients request/receive interface. More...

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Enumerations
enum	RobotControlCode {   ROBOT_REQ_LIST_CONFIGS = 1 , ROBOT_REP_CONFIGS_LISTED = ROBOT_REQ_LIST_CONFIGS , ROBOT_REQ_GET_CONFIG , ROBOT_REP_GOT_CONFIG = ROBOT_REQ_GET_CONFIG ,   ROBOT_REQ_SET_CONFIG , ROBOT_REP_CONFIG_SET = ROBOT_REQ_SET_CONFIG , ROBOT_REQ_SET_USER , ROBOT_REP_USER_SET = ROBOT_REQ_SET_USER ,   ROBOT_REQ_DISABLE , ROBOT_REP_DISABLED = ROBOT_REQ_DISABLE , ROBOT_REQ_ENABLE , ROBOT_REP_ENABLED = ROBOT_REQ_ENABLE ,   ROBOT_REQ_PASSIVATE , ROBOT_REP_PASSIVE = ROBOT_REQ_PASSIVATE , ROBOT_REQ_OFFSET , ROBOT_REP_OFFSETTING = ROBOT_REQ_OFFSET ,   ROBOT_REQ_CALIBRATE , ROBOT_REP_CALIBRATING = ROBOT_REQ_CALIBRATE , ROBOT_REQ_OPERATE , ROBOT_REP_OPERATING = ROBOT_REQ_OPERATE ,   ROBOT_REQ_PREPROCESS , ROBOT_REP_PREPROCESSING = ROBOT_REQ_PREPROCESS , ROBOT_REQ_RESET , ROBOT_REP_ERROR = ROBOT_REQ_RESET }
	Single byte codes used in request/receive messages for robot state/configuration control. More...

Detailed Description

RobotSystem-Lite clients request/receive interface.

Messages requesting state changes or information about the robot are sent by clients occasionally and their arrival should be as guaranteed as possible. Therefore, these messages are transmitted to the server through TCP sockets, on port 50000.

Enumeration Type Documentation

RobotControlCode

enum RobotControlCode

Single byte codes used in request/receive messages for robot state/configuration control.

Enumerator
ROBOT_REQ_LIST_CONFIGS	Request information about available robot configurations.
ROBOT_REP_CONFIGS_LISTED	Reply code for ROBOT_REQ_LIST_CONFIGS. Followed, in the same message, by a JSON-format string like: { "robots":[ "<available_robot1_name>", "<available_robot2_name>", :"<available_robot3_name>" ] }
ROBOT_REQ_GET_CONFIG	Request information about current robot configuration, its available axes and joints)
ROBOT_REP_GOT_CONFIG	Reply code for ROBOT_REQ_GET_CONFIG. Followed, in the same message, by a JSON-format string like: { "id":"<robot_name>", "axes":[ "<axis1_name>", "<axis2_name>" ], "joints":[ "<joint1_name>", "<joint2_name>" ] }
ROBOT_REQ_SET_CONFIG	Request setting new Robot Configuration, reloading all parameters. Must be followed, in the same message, by a string with the new Robot Configuration name.
ROBOT_REP_CONFIG_SET	Confirmation reply to ROBOT_REQ_SET_CONFIG. Followed by the same JSON string type as in ROBOT_REP_GOT_CONFIG.
ROBOT_REQ_SET_USER	Request setting new user/folder name for data logging. Must be followed, in the same message, by a string with the name.
ROBOT_REP_USER_SET	Confirmation reply to ROBOT_REQ_SET_USER.
ROBOT_REQ_DISABLE	Request turning off the robot and stopping its control thread.
ROBOT_REP_DISABLED	Confirmation reply to ROBOT_REQ_DISABLE.
ROBOT_REQ_ENABLE	Request turning on the robot and starting its control thread.
ROBOT_REP_ENABLED	Confirmation reply to ROBOT_REQ_ENABLE.
ROBOT_REQ_PASSIVATE	Request setting robot to a fully compliant control state (passed on to control implementation)
ROBOT_REP_PASSIVE	Confirmation reply to ROBOT_REQ_PASSIVATE.
ROBOT_REQ_OFFSET	Request setting robot to offset measurement state (passed on to control implementation)
ROBOT_REP_OFFSETTING	Confirmation reply to ROBOT_REQ_OFFSET.
ROBOT_REQ_CALIBRATE	Request setting robot to motion range measurement state (passed on to control implementation)
ROBOT_REP_CALIBRATING	Confirmation reply to ROBOT_REQ_CALIBRATE.
ROBOT_REQ_OPERATE	Request setting robot to normal operation state (passed on to control implementation)
ROBOT_REP_OPERATING	Confirmation reply to ROBOT_REQ_OPERATE.
ROBOT_REQ_PREPROCESS	Request setting robot to implementation-specific pre-operation state (passed on to control implementation)
ROBOT_REP_PREPROCESSING	Confirmation reply to ROBOT_REQ_PREPROCESS.
ROBOT_REQ_RESET	Clear errors and calibration values for the robot of corresponding index.
ROBOT_REP_ERROR	Robot error/failure signal, can come before ROBOT_REQ_RESET.