Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes | List of all members
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.


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


fsrobo_r_driver
Author(s): F-ROSROBO
autogenerated on Sun Feb 9 2020 03:58:29