cc_client.CCClient Class Reference

Public Member Functions
def	__init__ (self, ip_address=_SOCKET_IP_ADDRESS)
def	abortm (self)
def	check_connect_status (self)
def	close (self)
def	exec_program (self, path, param='', delete_flag=0)
def	get_adc (self, output_data)
def	get_io (self, start_addr, end_addr, output_data)
def	get_operation_permission (self)
def	get_posture (self, output_data)
def	position_to_joint (self, x, y, z, rx, ry, rz, output_data)
def	qjmove (self, ax1, ax2, ax3, ax4, ax5, ax6, speed=None)
def	set_adc (self, ch, mode)
def	set_io (self, address, signal)
def	set_jspeed (self, s)
def	set_posture (self, posture)
def	set_tool (self, x, y, z, rz, ry, rx)
def	syssts (self, stat_type, output_data)

Private Member Functions
def	_create_send_data (self, cmd_id, data, data_type=_DATA_TYPE_CMD)
def	_send_data (self, send_data, return_data={})

Private Attributes
	_sock

Static Private Attributes
int	_CMD_ABORTM = 0x10F
int	_CMD_GETADC = 0x203
int	_CMD_GETIO = 0x201
int	_CMD_GETPOSTURE = 0x10C
int	_CMD_HOME = 0x100
int	_CMD_JSPEED = 0x103
int	_CMD_NOCOMMAND = 0xFFF
int	_CMD_P2J = 0x105
int	_CMD_PROGRAM = 0x000
int	_CMD_QJMOVE = 0x106
int	_CMD_SETADC = 0x202
int	_CMD_SETIO = 0x200
int	_CMD_SETPOSTURE = 0x10B
int	_CMD_SETTOOL = 0x107
int	_CMD_SYSSTS = 0x110
int	_CONNECTING_PROCCES_ROS = 0x02
int	_DATA_TYPE_CMD = 0x00
int	_DATA_TYPE_CONNECT_CHECK = 0x02
int	_DATA_TYPE_OPERATION_GET = 0x03
int	_DATA_TYPE_PROGRAM = 0x01
string	_SOCKET_IP_ADDRESS = "192.168.0.23"
int	_SOCKET_PORT_NUMBER = 5500
int	_SOCKET_RECV_BUFF_SIZE = 4096

Detailed Description

Definition at line 36 of file fsrobo_r_controller/cc_client.py.

Constructor & Destructor Documentation

def cc_client.CCClient.__init__	(		self,
			ip_address = _SOCKET_IP_ADDRESS
	)

Definition at line 68 of file fsrobo_r_controller/cc_client.py.

Member Function Documentation

def cc_client.CCClient._create_send_data (   self,   cmd_id,   data,   data_type = _DATA_TYPE_CMD  )

private

Definition at line 85 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient._send_data (   self,   send_data,   return_data = {}  )

private

Definition at line 75 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.abortm

(

self

)

Definition at line 137 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.check_connect_status

(

self

)

Definition at line 97 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.close

(

self

)

Definition at line 248 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.exec_program	(		self,
			path,
			param = '',
			delete_flag = 0
	)

Definition at line 109 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.get_adc	(		self,
			output_data
	)

Definition at line 239 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.get_io	(		self,
			start_addr,
			end_addr,
			output_data
	)

Definition at line 216 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.get_operation_permission

(

self

)

Definition at line 103 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.get_posture	(		self,
			output_data
	)

Definition at line 179 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.position_to_joint	(		self,
			x,
			y,
			z,
			rx,
			ry,
			rz,
			output_data
	)

Definition at line 189 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.qjmove	(		self,
			ax1,
			ax2,
			ax3,
			ax4,
			ax5,
			ax6,
			speed = None
	)

Definition at line 119 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.set_adc	(		self,
			ch,
			mode
	)

Definition at line 228 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.set_io	(		self,
			address,
			signal
	)

Definition at line 205 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.set_jspeed	(		self,
			s
	)

Definition at line 157 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.set_posture	(		self,
			posture
	)

Definition at line 169 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.set_tool	(		self,
			x,
			y,
			z,
			rz,
			ry,
			rx
	)

Definition at line 251 of file fsrobo_r_controller/cc_client.py.

def cc_client.CCClient.syssts	(		self,
			stat_type,
			output_data
	)

Definition at line 146 of file fsrobo_r_controller/cc_client.py.

Member Data Documentation

int cc_client.CCClient._CMD_ABORTM = 0x10F

staticprivate

Definition at line 49 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CMD_GETADC = 0x203

staticprivate

Definition at line 55 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CMD_GETIO = 0x201

staticprivate

Definition at line 53 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CMD_GETPOSTURE = 0x10C

staticprivate

Definition at line 48 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CMD_HOME = 0x100

staticprivate

Definition at line 42 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CMD_JSPEED = 0x103

staticprivate

Definition at line 43 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CMD_NOCOMMAND = 0xFFF

staticprivate

Definition at line 57 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CMD_P2J = 0x105

staticprivate

Definition at line 44 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CMD_PROGRAM = 0x000

staticprivate

Definition at line 41 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CMD_QJMOVE = 0x106

staticprivate

Definition at line 45 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CMD_SETADC = 0x202

staticprivate

Definition at line 54 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CMD_SETIO = 0x200

staticprivate

Definition at line 52 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CMD_SETPOSTURE = 0x10B

staticprivate

Definition at line 47 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CMD_SETTOOL = 0x107

staticprivate

Definition at line 46 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CMD_SYSSTS = 0x110

staticprivate

Definition at line 50 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._CONNECTING_PROCCES_ROS = 0x02

staticprivate

Definition at line 59 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._DATA_TYPE_CMD = 0x00

staticprivate

Definition at line 61 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._DATA_TYPE_CONNECT_CHECK = 0x02

staticprivate

Definition at line 63 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._DATA_TYPE_OPERATION_GET = 0x03

staticprivate

Definition at line 64 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._DATA_TYPE_PROGRAM = 0x01

staticprivate

Definition at line 62 of file fsrobo_r_controller/cc_client.py.

cc_client.CCClient._sock

private

Definition at line 70 of file fsrobo_r_controller/cc_client.py.

string cc_client.CCClient._SOCKET_IP_ADDRESS = "192.168.0.23"

staticprivate

Definition at line 38 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._SOCKET_PORT_NUMBER = 5500

staticprivate

Definition at line 39 of file fsrobo_r_controller/cc_client.py.

int cc_client.CCClient._SOCKET_RECV_BUFF_SIZE = 4096

staticprivate

Definition at line 66 of file fsrobo_r_controller/cc_client.py.

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

• fsrobo_r_controller/cc_client.py