C++ API

Page Hierarchy

• • LICENSE

File Hierarchy

• • Directory include
    • Directory ur_client_library
      • Directory comm
        • File bin_parser.h
        • File control_mode.h
        • File package.h
        • File package_serializer.h
        • File parser.h
        • File pipeline.h
        • File producer.h
        • File shell_consumer.h
        • File stream.h
        • File tcp_server.h
        • File tcp_socket.h
      • Directory control
        • File reverse_interface.h
        • File script_command_interface.h
        • File script_sender.h
        • File trajectory_point_interface.h
      • Directory primary
        • Directory robot_message
          • File version_message.h
        • Directory robot_state
          • File kinematics_info.h
        • File abstract_primary_consumer.h
        • File package_header.h
        • File primary_package.h
        • File primary_parser.h
        • File robot_message.h
        • File robot_state.h
      • Directory queue
        • File atomicops.h
        • File LICENSE.md
        • File readerwriterqueue.h
      • Directory rtde
        • File control_package_pause.h
        • File control_package_setup_inputs.h
        • File control_package_setup_outputs.h
        • File control_package_start.h
        • File data_package.h
        • File get_urcontrol_version.h
        • File package_header.h
        • File request_protocol_version.h
        • File rtde_client.h
        • File rtde_package.h
        • File rtde_parser.h
        • File rtde_writer.h
        • File text_message.h
      • Directory ur
        • File calibration_checker.h
        • File dashboard_client.h
        • File datatypes.h
        • File robot_receive_timeout.h
        • File tool_communication.h
        • File ur_driver.h
        • File version_information.h
      • File default_log_handler.h
      • File exceptions.h
      • File helpers.h
      • File log.h
      • File types.h

Full C++ API

Namespaces

• Namespace moodycamel

• Namespace moodycamel::spsc_sema

• Namespace std

• Namespace urcl

• Namespace urcl::comm

• Namespace urcl::control

• Namespace urcl::primary_interface

• Namespace urcl::rtde_interface

Classes and Structs

• Struct ReaderWriterQueue::Block

• Struct ReaderWriterQueue::ReentrantGuard

• Template Class BlockingReaderWriterQueue

• Template Class ReaderWriterQueue

• Class LightweightSemaphore

• Template Class WeakAtomic

• Class CalibrationChecker

• Class BinParser

• Class ControlModeTypes

• Template Class IConsumer

• Class INotifier

• Template Class IProducer

• Template Class MultiConsumer

• Class PackageSerializer

• Template Class Parser

• Template Class Pipeline

• Template Class ShellConsumer

• Class TCPServer

• Class TCPSocket

• Template Class URPackage

• Template Class URProducer

• Template Class URStream

• Class ReverseInterface

• Class ScriptCommandInterface

• Class ScriptSender

• Class TrajectoryPointInterface

• Class DashboardClient

• Class DefaultLogHandler

• Template Class Limited

• Class LogHandler

• Class AbstractPrimaryConsumer

• Class KinematicsInfo

• Class PackageHeader

• Class PrimaryPackage

• Class PrimaryParser

• Class RobotMessage

• Class RobotState

• Class VersionMessage

• Class RobotReceiveTimeout

• Class ControlPackagePause

• Class ControlPackagePauseRequest

• Class ControlPackageSetupInputs

• Class ControlPackageSetupInputsRequest

• Class ControlPackageSetupOutputs

• Class ControlPackageSetupOutputsRequest

• Class ControlPackageStart

• Class ControlPackageStartRequest

• Class DataPackage

• Class GetUrcontrolVersion

• Class GetUrcontrolVersionRequest

• Class PackageHeader

• Class RequestProtocolVersion

• Class RequestProtocolVersionRequest

• Class RTDEClient

• Class RTDEPackage

• Class RTDEParser

• Class RTDEWriter

• Class TextMessage

• Class TimeoutException

• Class ToolCommNotAvailable

• Class ToolCommSetup

• Class UrDriver

• Class UrException

• Class VersionInformation

• Class VersionMismatch

Enums

• Enum memory_order

• Enum ControlMode

• Enum SocketState

• Enum FreedriveControlMessage

• Enum ToolContactResult

• Enum TrajectoryControlMessage

• Enum TrajectoryMotionType

• Enum TrajectoryResult

• Enum TrajectorySplineType

• Enum LogLevel

• Enum Parity

• Enum RobotMessagePackageType

• Enum RobotPackageType

• Enum RobotStateType

• Enum RobotMode

• Enum ClientState

• Enum PackageType

• Enum RUNTIME_STATE

• Enum UrRtdeRobotStatusBits

• Enum UrRtdeSafetyStatusBits

• Enum SafetyMode

• Enum SafetyStatus

• Enum ToolVoltage

Functions

• Function moodycamel::compilerFence

• Function moodycamel::fence

• Function urcl::log

• Template Function urcl::operator<<

• Function urcl::registerLogHandler

• Function urcl::robotModeString

• Function urcl::safetyModeString

• Function urcl::safetyStatusString

• Function urcl::setFiFoScheduling

• Function urcl::setLogLevel

• Function urcl::splitString

• Template Function urcl::toUnderlying

• Function urcl::unregisterLogHandler

Variables

• Variable PIPELINE_NAME

• Variable UR_RTDE_PORT

• Variable urcl::primary_interface::UR_PRIMARY_PORT

• Variable urcl::primary_interface::UR_SECONDARY_PORT

• Variable urcl::rtde_interface::MAX_INITIALIZE_ATTEMPTS

• Variable urcl::rtde_interface::MAX_REQUEST_RETRIES

• Variable urcl::rtde_interface::MAX_RTDE_PROTOCOL_VERSION

Defines

• Define AE_ALIGN

• Define AE_ARCH_UNKNOWN

• Define AE_FORCEINLINE

• Define AE_UNUSED

• Define AE_USE_STD_ATOMIC_FOR_WEAK_ATOMIC

• Define MOODYCAMEL_CACHE_LINE_SIZE

• Define MOODYCAMEL_EXCEPTIONS_ENABLED

• Define URCL_LOG_DEBUG

• Define URCL_LOG_ERROR

• Define URCL_LOG_FATAL

• Define URCL_LOG_INFO

• Define URCL_LOG_WARN

Typedefs

• Typedef urcl::vector3d_t

• Typedef urcl::vector6d_t

• Typedef urcl::vector6int32_t

• Typedef urcl::vector6uint32_t

Directories

• Directory include

• Directory ur_client_library

• Directory comm

• Directory control

• Directory primary

• Directory robot_message

• Directory robot_state

• Directory queue

• Directory rtde

• Directory ur

Files

• File abstract_primary_consumer.h

• File atomicops.h

• File bin_parser.h

• File calibration_checker.h

• File control_mode.h

• File control_package_pause.h

• File control_package_setup_inputs.h

• File control_package_setup_outputs.h

• File control_package_start.h

• File dashboard_client.h

• File data_package.h

• File datatypes.h

• File default_log_handler.h

• File exceptions.h

• File get_urcontrol_version.h

• File helpers.h

• File kinematics_info.h

• File LICENSE.md

• File log.h

• File package.h

• File package_header.h

• File package_header.h

• File package_serializer.h

• File parser.h

• File pipeline.h

• File primary_package.h

• File primary_parser.h

• File producer.h

• File readerwriterqueue.h

• File request_protocol_version.h

• File reverse_interface.h

• File robot_message.h

• File robot_receive_timeout.h

• File robot_state.h

• File rtde_client.h

• File rtde_package.h

• File rtde_parser.h

• File rtde_writer.h

• File script_command_interface.h

• File script_sender.h

• File shell_consumer.h

• File stream.h

• File tcp_server.h

• File tcp_socket.h

• File text_message.h

• File tool_communication.h

• File trajectory_point_interface.h

• File types.h

• File ur_driver.h

• File version_information.h

• File version_message.h

Pages

• LICENSE