urcl::rtde_interface Namespace Reference

Classes
class	ControlPackagePause
	This class handles the robot's response to a requested stop in RTDE data package communication. More...
class	ControlPackagePauseRequest
	This class is used to request a stop in RTDE data package communication. More...
class	ControlPackageSetupInputs
	This class handles the robot's response to a requested input recipe setup. More...
class	ControlPackageSetupInputsRequest
	This class is used to setup the input recipe as part of the initial RTDE handshake. More...
class	ControlPackageSetupOutputs
	This class handles the robot's response to a requested output recipe setup. More...
class	ControlPackageSetupOutputsRequest
	This class is used to setup the output recipe as part of the initial RTDE handshake. More...
class	ControlPackageStart
	This class handles the robot's response to a requested start in RTDE data package communication. More...
class	ControlPackageStartRequest
	This class is used to request a stop in RTDE data package communication. More...
class	DataPackage
	The DataPackage class handles communication in the form of RTDE data packages both to and from the robot. It contains functionality to parse and serialize packages for arbitrary recipes. More...
class	GetUrcontrolVersion
	This class handles the package detailing the UR control version sent by the robot. More...
class	GetUrcontrolVersionRequest
	This class is used to request the used UR control version from the robot. More...
class	PackageHeader
	This class represents the header for RTDE packages. More...
class	RequestProtocolVersion
	This class handles the robot's response after trying to set the used RTDE protocol version. More...
class	RequestProtocolVersionRequest
	This class handles producing a request towards the robot to use a specific RTDE protocol version. More...
class	RTDEClient
	The RTDEClient class manages communication over the RTDE interface. It contains the RTDE handshake and read and write functionality to and from the robot. More...
class	RTDEPackage
class	RTDEParser
	The RTDE specific parser. Interprets a given byte stream as serialized RTDE packages and parses it accordingly. More...
class	RTDEWriter
	The RTDEWriter class offers an abstraction layer to send data to the robot via the RTDE interface. Several simple to use functions to create data packages to send exist, which are then sent to the robot in an additional thread. More...
class	TextMessage
	This class handles RTDE text messages sent by the robot. More...

Enumerations
enum	PackageType : uint8_t {   PackageType::RTDE_REQUEST_PROTOCOL_VERSION = 86, PackageType::RTDE_GET_URCONTROL_VERSION = 118, PackageType::RTDE_TEXT_MESSAGE = 77, PackageType::RTDE_DATA_PACKAGE = 85,   PackageType::RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS = 79, PackageType::RTDE_CONTROL_PACKAGE_SETUP_INPUTS = 73, PackageType::RTDE_CONTROL_PACKAGE_START = 83, PackageType::RTDE_CONTROL_PACKAGE_PAUSE = 80 }
	Possible package types. More...
enum	RUNTIME_STATE : uint32_t {   RUNTIME_STATE::STOPPING = 0, RUNTIME_STATE::STOPPED = 1, RUNTIME_STATE::PLAYING = 2, RUNTIME_STATE::PAUSING = 3,   RUNTIME_STATE::PAUSED = 4, RUNTIME_STATE::RESUMING = 5 }
	Possible values for the runtime state. More...
enum	UrRtdeRobotStatusBits { UrRtdeRobotStatusBits::IS_POWER_ON = 0, UrRtdeRobotStatusBits::IS_PROGRAM_RUNNING = 1, UrRtdeRobotStatusBits::IS_TEACH_BUTTON_PRESSED = 2, UrRtdeRobotStatusBits::IS_POWER_BUTTON_PRESSED = 3 }
enum	UrRtdeSafetyStatusBits {   UrRtdeSafetyStatusBits::IS_NORMAL_MODE = 0, UrRtdeSafetyStatusBits::IS_REDUCED_MODE = 1, UrRtdeSafetyStatusBits::IS_PROTECTIVE_STOPPED = 2, UrRtdeSafetyStatusBits::IS_RECOVERY_MODE = 3,   UrRtdeSafetyStatusBits::IS_SAFEGUARD_STOPPED = 4, UrRtdeSafetyStatusBits::IS_SYSTEM_EMERGENCY_STOPPED = 5, UrRtdeSafetyStatusBits::IS_ROBOT_EMERGENCY_STOPPED = 6, UrRtdeSafetyStatusBits::IS_EMERGENCY_STOPPED = 7,   UrRtdeSafetyStatusBits::IS_VIOLATION = 8, UrRtdeSafetyStatusBits::IS_FAULT = 9, UrRtdeSafetyStatusBits::IS_STOPPED_DUE_TO_SAFETY = 10 }

Variables
static const unsigned	MAX_REQUEST_RETRIES = 5
static const uint16_t	MAX_RTDE_PROTOCOL_VERSION = 2

Enumeration Type Documentation

enum urcl::rtde_interface::PackageType : uint8_t

strong

Possible package types.

Enumerator
RTDE_REQUEST_PROTOCOL_VERSION
RTDE_GET_URCONTROL_VERSION
RTDE_TEXT_MESSAGE
RTDE_DATA_PACKAGE
RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS
RTDE_CONTROL_PACKAGE_SETUP_INPUTS
RTDE_CONTROL_PACKAGE_START
RTDE_CONTROL_PACKAGE_PAUSE

Definition at line 44 of file rtde/package_header.h.

enum urcl::rtde_interface::RUNTIME_STATE : uint32_t

strong

Possible values for the runtime state.

Enumerator
STOPPING
STOPPED
PLAYING
PAUSING
PAUSED
RESUMING

Definition at line 45 of file data_package.h.

enum urcl::rtde_interface::UrRtdeRobotStatusBits

strong

Enumerator
IS_POWER_ON
IS_PROGRAM_RUNNING
IS_TEACH_BUTTON_PRESSED
IS_POWER_BUTTON_PRESSED

Definition at line 54 of file rtde_client.h.

enum urcl::rtde_interface::UrRtdeSafetyStatusBits

strong

Enumerator
IS_NORMAL_MODE
IS_REDUCED_MODE
IS_PROTECTIVE_STOPPED
IS_RECOVERY_MODE
IS_SAFEGUARD_STOPPED
IS_SYSTEM_EMERGENCY_STOPPED
IS_ROBOT_EMERGENCY_STOPPED
IS_EMERGENCY_STOPPED
IS_VIOLATION
IS_FAULT
IS_STOPPED_DUE_TO_SAFETY

Definition at line 62 of file rtde_client.h.

Variable Documentation

const unsigned urcl::rtde_interface::MAX_REQUEST_RETRIES = 5

static

Definition at line 52 of file rtde_client.h.

const uint16_t urcl::rtde_interface::MAX_RTDE_PROTOCOL_VERSION = 2

static

Definition at line 51 of file rtde_client.h.