rtde_client.h File Reference

#include "ur_client_library/comm/pipeline.h"
#include "ur_client_library/rtde/package_header.h"
#include "ur_client_library/rtde/rtde_package.h"
#include "ur_client_library/comm/stream.h"
#include "ur_client_library/rtde/rtde_parser.h"
#include "ur_client_library/comm/producer.h"
#include "ur_client_library/rtde/data_package.h"
#include "ur_client_library/rtde/request_protocol_version.h"
#include "ur_client_library/rtde/control_package_setup_outputs.h"
#include "ur_client_library/rtde/control_package_start.h"
#include "ur_client_library/log.h"
#include "ur_client_library/rtde/rtde_writer.h"

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Classes
class	urcl::rtde_interface::RTDEClient
	The RTDEClient class manages communication over the RTDE interface. It contains the RTDE handshake and read and write functionality to and from the robot. More...

Namespaces
	urcl
	urcl::rtde_interface

Enumerations
enum	urcl::rtde_interface::UrRtdeRobotStatusBits { urcl::rtde_interface::UrRtdeRobotStatusBits::IS_POWER_ON = 0, urcl::rtde_interface::UrRtdeRobotStatusBits::IS_PROGRAM_RUNNING = 1, urcl::rtde_interface::UrRtdeRobotStatusBits::IS_TEACH_BUTTON_PRESSED = 2, urcl::rtde_interface::UrRtdeRobotStatusBits::IS_POWER_BUTTON_PRESSED = 3 }
enum	urcl::rtde_interface::UrRtdeSafetyStatusBits {   urcl::rtde_interface::UrRtdeSafetyStatusBits::IS_NORMAL_MODE = 0, urcl::rtde_interface::UrRtdeSafetyStatusBits::IS_REDUCED_MODE = 1, urcl::rtde_interface::UrRtdeSafetyStatusBits::IS_PROTECTIVE_STOPPED = 2, urcl::rtde_interface::UrRtdeSafetyStatusBits::IS_RECOVERY_MODE = 3,   urcl::rtde_interface::UrRtdeSafetyStatusBits::IS_SAFEGUARD_STOPPED = 4, urcl::rtde_interface::UrRtdeSafetyStatusBits::IS_SYSTEM_EMERGENCY_STOPPED = 5, urcl::rtde_interface::UrRtdeSafetyStatusBits::IS_ROBOT_EMERGENCY_STOPPED = 6, urcl::rtde_interface::UrRtdeSafetyStatusBits::IS_EMERGENCY_STOPPED = 7,   urcl::rtde_interface::UrRtdeSafetyStatusBits::IS_VIOLATION = 8, urcl::rtde_interface::UrRtdeSafetyStatusBits::IS_FAULT = 9, urcl::rtde_interface::UrRtdeSafetyStatusBits::IS_STOPPED_DUE_TO_SAFETY = 10 }

Variables
static const unsigned	urcl::rtde_interface::MAX_REQUEST_RETRIES = 5
static const uint16_t	urcl::rtde_interface::MAX_RTDE_PROTOCOL_VERSION = 2
static const std::string	PIPELINE_NAME = "RTDE Data Pipeline"
static const int	UR_RTDE_PORT = 30004

Detailed Description

Author

Tristan Schnell schne.nosp@m.ll@f.nosp@m.zi.de

Date

2019-04-10

Definition in file rtde_client.h.

Variable Documentation

const std::string PIPELINE_NAME = "RTDE Data Pipeline"

static

Definition at line 45 of file rtde_client.h.

const int UR_RTDE_PORT = 30004

static

Definition at line 44 of file rtde_client.h.