The ScriptCommandInterface class starts a TCPServer for a robot to connect to and this connection is then used to forward script commands to the robot, which will be executed locally on the robot. More...

#include <script_command_interface.h>

Inheritance diagram for urcl::control::ScriptCommandInterface:

[legend]

Public Member Functions
bool	clientConnected ()
	Returns whether a client/robot is connected to this server. More...

bool	endForceMode ()
	Stop force mode and put the robot into normal operation mode. More...

bool	endToolContact ()
	This will stop the robot from looking for a tool contact, it will also enable sending move commands to the robot again if the robot's tool is in contact. More...

	ScriptCommandInterface ()=delete

	ScriptCommandInterface (uint32_t port)
	Creates a ScriptCommandInterface object, including a new TCPServer. More...

bool	setPayload (const double mass, const vector3d_t *cog)
	Set the active payload mass and center of gravity. More...

void	setToolContactResultCallback (std::function< void(ToolContactResult)> callback)
	Set the tool contact result callback object. More...

bool	setToolVoltage (const ToolVoltage voltage)
	Set the tool voltage. More...

bool	startForceMode (const vector6d_t task_frame, const vector6uint32_t selection_vector, const vector6d_t wrench, const unsigned int type, const vector6d_t limits)
	Set robot to be controlled in force mode. More...

bool	startToolContact ()
	This will make the robot look for tool contact in the tcp directions that the robot is currently moving. Once a tool contact has been detected all movements will be canceled. Call endToolContact to enable movements again. More...

bool	zeroFTSensor ()
	Zero the force torque sensor. More...

Public Member Functions inherited from urcl::control::ReverseInterface
	ReverseInterface ()=delete

	ReverseInterface (uint32_t port, std::function< void(bool)> handle_program_state)
	Creates a ReverseInterface object including a TCPServer. More...

virtual void	setKeepaliveCount (const uint32_t &count)
	Set the Keepalive count. This will set the number of allowed timeout reads on the robot. More...

virtual bool	write (const vector6d_t *positions, const comm::ControlMode control_mode=comm::ControlMode::MODE_IDLE)
	Writes needed information to the robot to be read by the URCaps program. More...

bool	writeFreedriveControlMessage (const FreedriveControlMessage freedrive_action)
	Writes needed information to the robot to be read by the URScript program. More...

bool	writeTrajectoryControlMessage (const TrajectoryControlMessage trajectory_action, const int point_number=0)
	Writes needed information to the robot to be read by the URScript program. More...

virtual	~ReverseInterface ()=default
	Disconnects possible clients so the reverse interface object can be safely destroyed. More...

Protected Member Functions
virtual void	connectionCallback (const int filedescriptor) override

virtual void	disconnectionCallback (const int filedescriptor) override

virtual void	messageCallback (const int filedescriptor, char *buffer, int nbytesrecv) override

Protected Member Functions inherited from urcl::control::ReverseInterface
template<typename T >
size_t	append (uint8_t *buffer, T &val)

Private Types
enum	ScriptCommand : int32_t { ScriptCommand::ZERO_FTSENSOR = 0, ScriptCommand::SET_PAYLOAD = 1, ScriptCommand::SET_TOOL_VOLTAGE = 2, ScriptCommand::START_FORCE_MODE = 3, ScriptCommand::END_FORCE_MODE = 4, ScriptCommand::START_TOOL_CONTACT = 5, ScriptCommand::END_TOOL_CONTACT = 6 }
	Available script commands. More...

Private Attributes
bool	client_connected_

std::function< void(ToolContactResult)>	handle_tool_contact_result_

Static Private Attributes
static const int	MAX_MESSAGE_LENGTH = 26

Additional Inherited Members
Static Public Attributes inherited from urcl::control::ReverseInterface
static const int32_t	MULT_JOINTSTATE = 1000000

Protected Attributes inherited from urcl::control::ReverseInterface
int	client_fd_

std::function< void(bool)>	handle_program_state_

uint32_t	keepalive_count_

comm::TCPServer	server_

Static Protected Attributes inherited from urcl::control::ReverseInterface
static const int	MAX_MESSAGE_LENGTH = 8

Detailed Description

The ScriptCommandInterface class starts a TCPServer for a robot to connect to and this connection is then used to forward script commands to the robot, which will be executed locally on the robot.

The script commands will be executed in a separate thread in the external control script.

Definition at line 55 of file script_command_interface.h.

Member Enumeration Documentation

◆ ScriptCommand

enum urcl::control::ScriptCommandInterface::ScriptCommand : int32_t

strongprivate

Available script commands.

Enumerator
ZERO_FTSENSOR	Zero force torque sensor.
SET_PAYLOAD	Set payload.
SET_TOOL_VOLTAGE	Set tool voltage.
START_FORCE_MODE	Start force mode.
END_FORCE_MODE	End force mode.
START_TOOL_CONTACT	Start detecting tool contact.
END_TOOL_CONTACT	End detecting tool contact.

Definition at line 168 of file script_command_interface.h.

Constructor & Destructor Documentation

◆ ScriptCommandInterface() [1/2]

urcl::control::ScriptCommandInterface::ScriptCommandInterface ( )

delete

◆ ScriptCommandInterface() [2/2]

urcl::control::ScriptCommandInterface::ScriptCommandInterface ( uint32_t port )

Creates a ScriptCommandInterface object, including a new TCPServer.

Parameters

port	Port to start the server on

Definition at line 35 of file script_command_interface.cpp.

Member Function Documentation

◆ clientConnected()

bool urcl::control::ScriptCommandInterface::clientConnected ( )

Returns whether a client/robot is connected to this server.

Definition at line 217 of file script_command_interface.cpp.

◆ connectionCallback()

void urcl::control::ScriptCommandInterface::connectionCallback ( const int filedescriptor )

overrideprotectedvirtual

Reimplemented from urcl::control::ReverseInterface.

Definition at line 222 of file script_command_interface.cpp.

◆ disconnectionCallback()

void urcl::control::ScriptCommandInterface::disconnectionCallback ( const int filedescriptor )

overrideprotectedvirtual

Reimplemented from urcl::control::ReverseInterface.

Definition at line 237 of file script_command_interface.cpp.

◆ endForceMode()

bool urcl::control::ScriptCommandInterface::endForceMode ( )

Stop force mode and put the robot into normal operation mode.

Returns: True, if the write was performed successfully, false otherwise.

Definition at line 157 of file script_command_interface.cpp.

◆ endToolContact()

bool urcl::control::ScriptCommandInterface::endToolContact ( )

This will stop the robot from looking for a tool contact, it will also enable sending move commands to the robot again if the robot's tool is in contact.

Returns: True, if the write was performed successfully, false otherwise.

Definition at line 197 of file script_command_interface.cpp.

◆ messageCallback()

void urcl::control::ScriptCommandInterface::messageCallback	(	const int	filedescriptor,
		char *	buffer,
		int	nbytesrecv
	)

overrideprotectedvirtual

Reimplemented from urcl::control::ReverseInterface.

Definition at line 244 of file script_command_interface.cpp.

◆ setPayload()

bool urcl::control::ScriptCommandInterface::setPayload	(	const double	mass,
		const vector3d_t *	cog
	)

Set the active payload mass and center of gravity.

Parameters

mass	mass in kilograms
cog	Center of Gravity, a vector [CoGx, CoGy, CoGz] specifying the displacement (in meters) from the toolmount

Returns: True, if the write was performed successfully, false otherwise.

Definition at line 59 of file script_command_interface.cpp.

◆ setToolContactResultCallback()

void urcl::control::ScriptCommandInterface::setToolContactResultCallback ( std::function< void(ToolContactResult)> callback )

inline

Set the tool contact result callback object.

Parameters

callback Callback function that will be triggered when the robot enters tool contact

Definition at line 152 of file script_command_interface.h.

◆ setToolVoltage()

bool urcl::control::ScriptCommandInterface::setToolVoltage ( const ToolVoltage voltage )

Set the tool voltage.

Parameters

voltage Tool voltage

Returns: True, if the write was performed successfully, false otherwise.

Definition at line 87 of file script_command_interface.cpp.

◆ startForceMode()

bool urcl::control::ScriptCommandInterface::startForceMode	(	const vector6d_t *	task_frame,
		const vector6uint32_t *	selection_vector,
		const vector6d_t *	wrench,
		const unsigned int	type,
		const vector6d_t *	limits
	)

Set robot to be controlled in force mode.

Parameters

task_frame	A pose vector that defines the force frame relative to the base frame
selection_vector	A 6d vector of 0s and 1s. 1 means that the robot will be compliant in the corresponding axis of the task frame
wrench	The forces/torques the robot will apply to its environment. The robot adjusts its position along/about compliant axis in order to achieve the specified force/torque. Values have no effect for non-compliant axes
type	An integer [1;3] specifying how the robot interprets the force frame 1: The force frame is transformed in a way such that its y-axis is aligned with a vector pointing from the robot tcp towards the origin of the force frame 2: The force frame is not transformed. 3: The force frame is transformed in a way such that its x-axis is the projection of the robot tcp velocity vector onto the x-y plane of the force frame
limits	(Float) 6d vector. For compliant axes, these values are the maximum allowed tcp speed along/about the axis. For non-compliant axes, these values are the maximum allowed deviation along/about an axis between the actual tcp position and the one set by the program

Returns: True, if the write was performed successfully, false otherwise.

Definition at line 109 of file script_command_interface.cpp.

◆ startToolContact()

bool urcl::control::ScriptCommandInterface::startToolContact ( )

This will make the robot look for tool contact in the tcp directions that the robot is currently moving. Once a tool contact has been detected all movements will be canceled. Call endToolContact to enable movements again.

Returns: True, if the write was performed successfully, false otherwise.

Definition at line 177 of file script_command_interface.cpp.

◆ zeroFTSensor()

bool urcl::control::ScriptCommandInterface::zeroFTSensor ( )

Zero the force torque sensor.

Returns: True, if the write was performed successfully, false otherwise.

Definition at line 40 of file script_command_interface.cpp.

Member Data Documentation

◆ client_connected_

bool urcl::control::ScriptCommandInterface::client_connected_

private

Definition at line 180 of file script_command_interface.h.

◆ handle_tool_contact_result_

std::function<void(ToolContactResult)> urcl::control::ScriptCommandInterface::handle_tool_contact_result_

private

Definition at line 183 of file script_command_interface.h.

◆ MAX_MESSAGE_LENGTH

const int urcl::control::ScriptCommandInterface::MAX_MESSAGE_LENGTH = 26

staticprivate

Definition at line 181 of file script_command_interface.h.

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

Public Member Functions

Protected Member Functions

Private Types

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ScriptCommand

Constructor & Destructor Documentation

◆ ScriptCommandInterface() [1/2]

◆ ScriptCommandInterface() [2/2]

Member Function Documentation

◆ clientConnected()

◆ connectionCallback()

◆ disconnectionCallback()

◆ endForceMode()

◆ endToolContact()

◆ messageCallback()

◆ setPayload()

◆ setToolContactResultCallback()

◆ setToolVoltage()

◆ startForceMode()

◆ startToolContact()

◆ zeroFTSensor()

Member Data Documentation

◆ client_connected_

◆ handle_tool_contact_result_

◆ MAX_MESSAGE_LENGTH