Class DashboardClient

• Defined in File dashboard_client.h

Inheritance Relationships

Base Type

• public urcl::comm::TCPSocket (Class TCPSocket)

Class Documentation

class DashboardClient : public urcl::comm::TCPSocket

This class is a wrapper around the dashboard server.

For every Dashboard command there exists a wrapper function that will send the request and wait for the server’s response.

For documentation about the dashboard server, please see

• https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/dashboard-server-cb-series-port-29999-15690/

• https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/dashboard-server-e-series-port-29999-42728/

Public Functions

DashboardClient(const std::string &host)

Constructor that shall be used by default.

Parameters:

host – IP address of the robot

DashboardClient() = delete

virtual ~DashboardClient() = default

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

Opens a connection to the dashboard server on the host as specified in the constructor.

Parameters:

• max_num_tries – Maximum number of connection attempts before counting the connection as failed. Unlimited number of attempts when set to 0.

• reconnection_time – time in between connection attempts to the server

Returns:

True on successful connection, false otherwise.

void disconnect()

Makes sure no connection to the dashboard server is held inside the object.

std::string sendAndReceive(const std::string &command)

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.

bool sendRequest(const std::string &command, const std::string &expected)

Sends command and compare it with the expected answer.

Parameters:

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

• expected – Expected response

Returns:

True if the reply to the command is as expected

std::string sendRequestString(const std::string &command, const std::string &expected)

Sends command and compare it with the expected answer.

Parameters:

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

• expected – Expected response

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

bool commandPowerOff()

Send Power off command.

Returns:

True succeeded

bool commandPowerOn(const std::chrono::duration<double> timeout = std::chrono::seconds(300))

Send Power on command.

Parameters:

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

Returns:

True succeeded

bool commandBrakeRelease()

Send Brake release command.

Returns:

True succeeded

bool commandLoadProgram(const std::string &program_file_name)

Send Load program command.

Parameters:

program_file_name – The urp program file name with the urp extension

Returns:

True succeeded

bool commandLoadInstallation(const std::string &installation_file_name)

Send Load installation command.

Parameters:

installation_file_name – The installation file name with the installation extension

Returns:

True succeeded

bool commandPlay()

Send Play program command.

Returns:

True succeeded

bool commandPause()

Send Pause program command.

Returns:

True succeeded

bool commandStop()

Send Stop program command.

Returns:

True succeeded

bool commandClosePopup()

Send Close popup command.

Returns:

True succeeded

bool commandCloseSafetyPopup()

Send Close safety popup command.

Returns:

True succeeded

bool commandRestartSafety()

Send Restart Safety command.

Returns:

True succeeded

bool commandUnlockProtectiveStop()

Send Unlock Protective stop popup command.

Returns:

True succeeded

bool commandShutdown()

Send Shutdown command.

Returns:

True succeeded

bool commandQuit()

Send Quit command.

Returns:

True succeeded

bool commandRunning()

Send Running command.

Returns:

True succeeded

bool commandIsProgramSaved()

Send “Is program saved” request command.

Returns:

True if the program is saved correctly

bool commandIsInRemoteControl()

Send “Is in remote control” query command.

Throws:

an – UrException when called on CB3 robots

Returns:

True if the robot is currently in remote control

bool commandPopup(const std::string &popup_text)

Send popup command.

Parameters:

popup_text – The text to be shown in the popup

Returns:

True succeeded

bool commandAddToLog(const std::string &log_text)

Send text to log.

Parameters:

log_text – The text to be sent to the log

Returns:

True succeeded

bool commandPolyscopeVersion(std::string &polyscope_version)

Get Polyscope version.

Parameters:

polyscope_version – The string for the polyscope version number returned

Returns:

True succeeded

bool commandGetRobotModel(std::string &robot_model)

Get Robot model.

Parameters:

robot_model – The string for the robot model returned

Returns:

True succeeded

bool commandGetSerialNumber(std::string &serial_number)

Get Serial number.

Parameters:

serial_number – The serial number of the robot returned

Returns:

True succeeded

bool commandRobotMode(std::string &robot_mode)

Get Robot mode.

Parameters:

robot_mode – The mode of the robot returned

Returns:

True succeeded

bool commandGetLoadedProgram(std::string &loaded_program)

Get Loaded Program.

Parameters:

loaded_program – The path to the loaded program

Returns:

True succeeded

bool commandSafetyMode(std::string &safety_mode)

Get Safety mode.

Parameters:

safety_mode – The safety mode of the robot returned

Returns:

True succeeded

bool commandSafetyStatus(std::string &safety_status)

Get Safety status.

Parameters:

safety_status – The safety status of the robot returned

Returns:

True succeeded

bool commandProgramState(std::string &program_state)

Get Program state.

Parameters:

program_state – The program state of the robot returned

Returns:

True succeeded

bool commandGetOperationalMode(std::string &operational_mode)

Get Operational mode.

Parameters:

operational_mode – The operational mode of the robot returned (Only available for e-series)

Throws:

an – UrException when called on CB3 robots

Returns:

True succeeded

bool commandSetOperationalMode(const std::string &operational_mode)

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

Returns:

True succeeded

bool commandClearOperationalMode()

Send Clear operational mode command.

Throws:

an – UrException when called on CB3 robots

Returns:

True succeeded

bool commandSetUserRole(const std::string &user_role)

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

Returns:

True succeeded

bool commandGetUserRole(std::string &user_role)

Send Get user role command (Only available for CB3)

Parameters:

user_role – The user role on the robot

Throws:

an – UrException when called on e-series robots

Returns:

True succeeded

bool commandGenerateFlightReport(const std::string &report_type)

Send Generate flight report command.

Parameters:

report_type – The report type to set for the flight report

Returns:

True succeeded

bool commandGenerateSupportFile(const std::string &dir_path)

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

Returns:

True succeeded

bool commandSaveLog()

Flush the polyscope log to the log_history.txt file.

Returns:

True succeeded

Public Static Attributes

static constexpr int DASHBOARD_SERVER_PORT = 29999