Class ToolCommSetup

Class Documentation

class ToolCommSetup

Class holding a tool communication configuration.

Public Types

using StopBitsT = Limited<uint32_t>
using RxIdleCharsT = Limited<float>
using TxIdleCharsT = Limited<float>

Public Functions

ToolCommSetup()
~ToolCommSetup() = default
inline void setToolVoltage(const ToolVoltage tool_voltage)

Setup the tool voltage that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object.

inline ToolVoltage getToolVoltage() const

Return the tool voltage currently stored.

inline void setParity(const Parity parity)

Setup the tool communication parity that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object.

inline Parity getParity() const

Return the parity currently stored.

void setBaudRate(const uint32_t baud_rate)

Setup the tool communication baud rate that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object.

Parameters:

baud_rate – must be one of baud_rates_allowed_ or an exception will be thrown

inline uint32_t getBaudRate() const

Return the baud rate currently stored.

inline void setStopBits(const StopBitsT::Datatype stop_bits)

Setup the tool communication number of stop bits that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object.

Parameters:

stop_bits – must be inside [1,2] or this will throw an exception.

inline StopBitsT::Datatype getStopBits() const

Return the number of stop bits currently stored.

inline void setRxIdleChars(const RxIdleCharsT::Datatype rx_idle_chars)

Setup the tool communication number of idle chars for the rx channel that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object.

Parameters:

rx_idle_chars – must be inside [1.0, 40] or this will throw an exception.

inline RxIdleCharsT::Datatype getRxIdleChars() const

Return the number of rx idle chars currently stored.

inline void setTxIdleChars(const TxIdleCharsT::Datatype tx_idle_chars)

Setup the tool communication number of idle chars for the tx channel that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object.

Parameters:

tx_idle_chars – must be inside [0.0, 40] or this will throw an exception.

inline TxIdleCharsT::Datatype getTxIdleChars() const

Return the number of tx idle chars currently stored.