Classes
class	AbstractPrimaryConsumer
	Base consumer for primary packages. More...

class	KinematicsInfo
	This messages contains information about the robot's calibration. The DH parameters are a combination between the perfect model parameters and the correction deltas as noted in the configuration files on the robot controller. More...

class	PackageHeader
	This class represents the header for primary packages. More...

class	PrimaryPackage
	The PrimaryPackage is solely an abstraction level. It inherits form the URPackage and is also a parent class for primary_interface::RobotMessage, primary_interface::RobotState. More...

class	PrimaryParser
	The primary specific parser. Interprets a given byte stream as serialized primary packages and parses it accordingly. More...

class	RobotMessage
	The RobotMessage class is a parent class for the different received robot messages. More...

class	RobotState
	Base class for a RobotState data packages will be used directly. More...

class	VersionMessage
	The VersionMessage class handles the version messages sent via the primary UR interface. More...

Enumerations
enum	RobotMessagePackageType : uint8_t { RobotMessagePackageType::ROBOT_MESSAGE_TEXT = 0, RobotMessagePackageType::ROBOT_MESSAGE_PROGRAM_LABEL = 1, RobotMessagePackageType::PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2, RobotMessagePackageType::ROBOT_MESSAGE_VERSION = 3, RobotMessagePackageType::ROBOT_MESSAGE_SAFETY_MODE = 5, RobotMessagePackageType::ROBOT_MESSAGE_ERROR_CODE = 6, RobotMessagePackageType::ROBOT_MESSAGE_KEY = 7, RobotMessagePackageType::ROBOT_MESSAGE_REQUEST_VALUE = 9, RobotMessagePackageType::ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10 }
	Possible RobotMessage types. More...

enum	RobotPackageType : int8_t { RobotPackageType::DISCONNECT = -1, RobotPackageType::ROBOT_STATE = 16, RobotPackageType::ROBOT_MESSAGE = 20, RobotPackageType::HMC_MESSAGE = 22, RobotPackageType::MODBUS_INFO_MESSAGE = 5, RobotPackageType::SAFETY_SETUP_BROADCAST_MESSAGE = 23, RobotPackageType::SAFETY_COMPLIANCE_TOLERANCES_MESSAGE = 24, RobotPackageType::PROGRAM_STATE_MESSAGE = 25 }
	Possible RobotPackage types. More...

enum	RobotStateType : uint8_t { RobotStateType::ROBOT_MODE_DATA = 0, RobotStateType::JOINT_DATA = 1, RobotStateType::TOOL_DATA = 2, RobotStateType::MASTERBOARD_DATA = 3, RobotStateType::CARTESIAN_INFO = 4, RobotStateType::KINEMATICS_INFO = 5, RobotStateType::CONFIGURATION_DATA = 6, RobotStateType::FORCE_MODE_DATA = 7, RobotStateType::ADDITIONAL_INFO = 8, RobotStateType::CALIBRATION_DATA = 9 }
	Possible RobotState types. More...

Enumeration Type Documentation

strong

Possible RobotMessage types.

Enumerator
ROBOT_MESSAGE_TEXT
ROBOT_MESSAGE_PROGRAM_LABEL
PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE
ROBOT_MESSAGE_VERSION
ROBOT_MESSAGE_SAFETY_MODE
ROBOT_MESSAGE_ERROR_CODE
ROBOT_MESSAGE_KEY
ROBOT_MESSAGE_REQUEST_VALUE
ROBOT_MESSAGE_RUNTIME_EXCEPTION

Definition at line 40 of file robot_message.h.

strong

Possible RobotPackage types.

Enumerator
DISCONNECT
ROBOT_STATE
ROBOT_MESSAGE
HMC_MESSAGE
MODBUS_INFO_MESSAGE
SAFETY_SETUP_BROADCAST_MESSAGE
SAFETY_COMPLIANCE_TOLERANCES_MESSAGE
PROGRAM_STATE_MESSAGE

Definition at line 46 of file primary/package_header.h.

strong

Possible RobotState types.

Definition at line 41 of file robot_state.h.

Variable Documentation

const int urcl::primary_interface::UR_PRIMARY_PORT = 30001

static

Definition at line 41 of file primary/package_header.h.

const int urcl::primary_interface::UR_SECONDARY_PORT = 30002

static

Definition at line 42 of file primary/package_header.h.