urcl::comm Namespace Reference

Classes
class	BinParser
	The BinParser class handles a byte buffer and functionality to iteratively parse the content. More...
class	IConsumer
	Parent class for for arbitrary consumers. More...
class	INotifier
	Parent class for notifiers. More...
class	IProducer
	Parent class for arbitrary producers of packages. More...
class	MultiConsumer
	Consumer, that allows one product to be consumed by multiple arbitrary conusmers. More...
class	PackageSerializer
	A helper class to serialize packages. Contains methods for serializing all relevant datatypes. More...
class	Parser
	The parser is a general paser. The namsepace rtde_interface and primary_interface both iclude classes which inherit from it (rtdeParser and primaryParser). The parser functionality also embodies a factory function taking in an uint8. More...
class	Pipeline
	The Pipepline manages the production and optionally consumption of packages. Cyclically the producer is called and returned packages are saved in a queue. This queue is then either also cyclically utilized by the registered consumer or can be externally used. More...
class	ReverseInterface
	The ReverseInterface class handles communication to the robot. It starts a server and waits for the robot to connect via its URCaps program. More...
class	ScriptSender
	The ScriptSender class starts a TCPServer for a robot to connect to and waits for a request to receive a program. This program is then delivered to the requesting robot. More...
class	ShellConsumer
	The ShellConsumer class is a simple consumer that writes a readable representation to the logging info channel. More...
class	TCPServer
	Wrapper class for a TCP socket server. More...
class	TCPSocket
	Class for TCP socket abstraction. More...
class	URPackage
	The URPackage a parent class. From that two implementations are inherited, one for the primary, one for the rtde interface (primary_interface::primaryPackage; rtde_interface::rtdePackage). The URPackage makes use of the template HeaderT. More...
class	URProducer
	A general producer for URPackages. Implements funcionality to produce packages by reading and parsing from a byte stream. More...
class	URStream
	The stream is an abstraction of the TCPSocket that offers reading a full UR data package out of the socket. This means, it has to have some knowledge about the package structure to peek at the field defining the package length. This is why it is templated with the package header type. More...

Enumerations
enum	ControlMode : int32_t {   ControlMode::MODE_STOPPED = -2, ControlMode::MODE_UNINITIALIZED = -1, ControlMode::MODE_IDLE = 0, ControlMode::MODE_SERVOJ = 1,   ControlMode::MODE_SPEEDJ = 2 }
	Control modes as interpreted from the script runnning on the robot. More...
enum	SocketState { SocketState::Invalid, SocketState::Connected, SocketState::Disconnected, SocketState::Closed }
	State the socket can be in. More...

Enumeration Type Documentation

enum urcl::comm::ControlMode : int32_t

strong

Control modes as interpreted from the script runnning on the robot.

Enumerator
MODE_STOPPED	When this is set, the program is expected to stop and exit.
MODE_UNINITIALIZED	Startup default until another mode is sent to the script.
MODE_IDLE	Set when no controller is currently active controlling the robot.
MODE_SERVOJ	Set when servoj control is active.
MODE_SPEEDJ	Set when speedj control is active.

Definition at line 45 of file reverse_interface.h.

enum urcl::comm::SocketState

strong

State the socket can be in.

Enumerator
Invalid	Socket is initialized or setup failed.
Connected	Socket is connected and ready to use.
Disconnected	Socket is disconnected and cannot be used.
Closed	Connection to socket got closed.

Definition at line 37 of file tcp_socket.h.