Class DashboardClientImplX

Inheritance Relationships

Base Type

Class Documentation

class DashboardClientImplX : public urcl::DashboardClientImpl

Public Functions

DashboardClientImplX() = delete
DashboardClientImplX(const std::string &host)
~DashboardClientImplX() override
virtual std::string sendAndReceive(const std::string &command) override

Sends a command through the socket and waits for an answer.

Parameters:

command – Command that will be sent to the server.

Throws:

UrException – if no response was read from the dashboard server

Returns:

Answer as received by the server cut off any trailing newlines.

virtual bool connect(const size_t max_num_tries = 0, const std::chrono::milliseconds reconnection_time = std::chrono::seconds(10)) override

Checks whether there is a Robot API endpoint at the configured IP address.

To determine this, this function makes a test call to the “/system/v1/system-time/” endpoint. If the given IP address doesn’t correspond to a robot with the minimal required software version, this call will fail.

Note: Calling this isn’t required for making dashboard calls for a PolyScope X robot.

Returns:

True on successful test call

virtual void disconnect() override

This function call is effectively not doing anything.

virtual timeval getConfiguredReceiveTimeout() const override

This function call is effectively not doing anything.

virtual bool sendRequest(const std::string &command, const std::string &expected_response_pattern = "", const std::string &payload = "") override

Sends command and verifies that a valid answer is received.

Parameters:

  • command – Command that will be sent to the server.

  • expected_response_pattern – Expected response as a regex string.

  • payload – Optional payload to be sent with the command.

Returns:

True if the reply to the command is as expected

virtual std::string sendRequestString(const std::string &command, const std::string &expected = "", const std::string &payload = "") override

Sends command and compare it with the expected answer.

Parameters:

  • command – Command that will be sent to the server.

  • expected – Expected response as a regex string

  • payload – Optional payload to be sent with the command.

Throws:

UrException – if the received answer does not match the expected one.

Returns:

Answer string as received by the server

bool waitForReply(const std::string &command, const std::string &expected, std::chrono::duration<double> timeout = std::chrono::seconds(30))

brief Sends a command and wait until it returns the expected answer

Parameters:

  • command – Command that will be sent to the server

  • expected – Expected replay

  • timeout – Timeout to wait before the command is considered failed.

Returns:

True if the reply was as expected within the timeout time

bool retryCommand(const std::string &requestCommand, const std::string &requestExpectedResponse, const std::string &waitRequest, const std::string &waitExpectedResponse, const std::chrono::duration<double> timeout, const std::chrono::duration<double> retry_period = std::chrono::seconds(1))

Keep Sending the requesting Command and wait until it returns the expected answer.

Parameters:

  • requestCommand – Request command that will be sent to the server

  • requestExpectedResponse – The expected reply to the request

  • waitRequest – The status request

  • waitExpectedResponse – The expected reply on the status

  • timeout – Timeout before the command is ultimately considered failed

  • retry_period – Retries will be done with this period

Returns:

True when both the requested command was receive with the expected reply as well as the resulting status also is as expected within the timeout time

virtual DashboardResponse commandAddToLog(const std::string &log_text) override

Send text to log.

Parameters:

log_text – The text to be sent to the log

virtual DashboardResponse commandBrakeRelease() override

Send Brake release command.

virtual DashboardResponse commandClearOperationalMode() override

Send Clear operational mode command.

Throws:

an – UrException when called on CB3 robots

virtual DashboardResponse commandClosePopup() override

Send Close popup command.

virtual DashboardResponse commandCloseSafetyPopup() override

Send Close safety popup command.

virtual DashboardResponse commandGenerateFlightReport(const std::string &report_type) override

Send Generate flight report command.

Parameters:

report_type – The report type to set for the flight report

virtual DashboardResponse commandGenerateSupportFile(const std::string &dir_path) override

Send Generate support file command.

Parameters:

dir_path – The path to the directory of an already existing directory location inside the programs directory, where the support file is saved

virtual DashboardResponse commandGetLoadedProgram() override

Get Loaded Program.

Stores the following entries in the data field:

  • ‘program_name’: std::string

virtual DashboardResponse commandGetOperationalMode() override

Get Operational mode.

Stores the following entries in the data field:

  • ‘operational_mode’: std::string

Throws:

an – UrException when called on CB3 robots

virtual DashboardResponse commandGetRobotModel() override

Get Robot model.

Stores the following entries in the data field:

  • ‘robot_model’: std::string

virtual DashboardResponse commandGetSerialNumber() override

Get Serial number.

Stores the following entries in the data field:

  • ‘serial_number’: std::string

virtual DashboardResponse commandGetUserRole() override

Send Get user role command (Only available for CB3)

Throws:

an – UrException when called on e-series robots

virtual DashboardResponse commandIsInRemoteControl() override

Send “Is in remote control” query command.

Stores the following entries in the data field:

  • ‘remote_control’: bool

Throws:

an – UrException when called on CB3 robots

virtual DashboardResponse commandIsProgramSaved() override

Send “Is program saved” request command.

Stores the following entries in the data field:

  • ‘saved’: bool

virtual DashboardResponse commandLoadInstallation(const std::string &installation_file_name) override

Send Load installation command.

Stores the following entries in the data field:

  • ‘installation_name’: std::string

Parameters:

installation_file_name – The installation file name with the installation extension

virtual DashboardResponse commandLoadProgram(const std::string &program_file_name) override

Send Load program command.

Stores the following entries in the data field:

  • ‘program_name’: std::string

Parameters:

program_file_name – The urp program file name with the urp extension

virtual DashboardResponse commandPause() override

Send Pause program command.

virtual DashboardResponse commandResume() override

Send resume command.

This does only exist for PolyScope X, for e-Series robots “play” is used also for resuming a paused program.

virtual DashboardResponse commandPlay() override

Send Play program command.

virtual DashboardResponse commandPolyscopeVersion() override

Get Polyscope version.

Stores the following entries in the data field:

  • ‘polyscope_version’: std::string

virtual DashboardResponse commandPopup(const std::string &popup_text) override

Send popup command.

Parameters:

popup_text – The text to be shown in the popup

virtual DashboardResponse commandPowerOff() override

Send Power off command.

virtual DashboardResponse commandPowerOn(const std::chrono::duration<double> timeout = std::chrono::seconds(300)) override

Send Power on command.

Parameters:

timeout – Timeout in seconds - The robot might take some time to boot before this call can be made successfully.

virtual DashboardResponse commandProgramState() override

Get Program state.

Stores the following entries in the data field:

  • ‘program_state’: std::string

  • ’program_name’: std::string

virtual DashboardResponse commandQuit() override

Send Quit command.

virtual DashboardResponse commandRestartSafety() override

Send Restart Safety command.

virtual DashboardResponse commandRobotMode() override

Get Robot mode.

Stores the following entries in the data field:

  • ‘robot_mode’: std::string

virtual DashboardResponse commandRunning() override

Send Running command.

Stores the following entries in the data field:

  • ‘running’: bool

virtual DashboardResponse commandSafetyMode() override

Get Safety mode.

Stores the following entries in the data field:

  • ‘safety_mode’: std::string

virtual DashboardResponse commandSafetyStatus() override

Get Safety status.

Stores the following entries in the data field:

  • ‘safety_status’: std::string

virtual DashboardResponse commandSaveLog() override

Flush the polyscope log to the log_history.txt file.

virtual DashboardResponse commandSetOperationalMode(const std::string &operational_mode) override

Send Set operational mode command (Only available for e-series)

Parameters:

operational_mode – The operational mode to set on the robot

Throws:

an – UrException when called on CB3 robots

virtual DashboardResponse commandSetUserRole(const std::string &user_role) override

Send Set user role command (Only available for CB3)

Parameters:

user_role – The user role to set on the robot

Throws:

an – UrException when called on e-series robots

virtual DashboardResponse commandShutdown() override

Send Shutdown command.

virtual DashboardResponse commandStop() override

Send Stop program command.

virtual DashboardResponse commandUnlockProtectiveStop() override

Send Unlock Protective stop popup command.

inline virtual void setReceiveTimeout(const timeval &timeout) override

Sets the receive timeout for the socket.

Parameters:

timeout – The timeout to be set

Public Static Attributes

static constexpr int DASHBOARD_SERVER_PORT = 29999

Protected Functions

DashboardResponse put(const std::string &endpoint, const std::string &json_data)
DashboardResponse get(const std::string &endpoint)
virtual VersionInformation queryPolyScopeVersion()
virtual void assertHasCommand(const std::string &command) const override

Protected Attributes

const std::string base_url_ = "/universal-robots/robot-api"
std::unique_ptr<httplib::Client> cli_