This class is a wrapper around the dashboard server. More...

#include <dashboard_client.h>

Inheritance diagram for urcl::DashboardClient:

Public Member Functions
void	assertVersion (const std::string &e_series_min_ver, const std::string &cb3_min_ver, const std::string &required_call)
	Makes sure that the dashboard_server's version is above the required version. More...

bool	commandAddToLog (const std::string &log_text)
	Send text to log. More...

bool	commandBrakeRelease ()
	Send Brake release command. More...

bool	commandClearOperationalMode ()
	Send Clear operational mode command. More...

bool	commandClosePopup ()
	Send Close popup command. More...

bool	commandCloseSafetyPopup ()
	Send Close safety popup command. More...

bool	commandGenerateFlightReport (const std::string &report_type)
	Send Generate flight report command. More...

bool	commandGenerateSupportFile (const std::string &dir_path)
	Send Generate support file command. More...

bool	commandGetLoadedProgram (std::string &loaded_program)
	Get Loaded Program. More...

bool	commandGetOperationalMode (std::string &operational_mode)
	Get Operational mode. More...

bool	commandGetRobotModel (std::string &robot_model)
	Get Robot model. More...

bool	commandGetSerialNumber (std::string &serial_number)
	Get Serial number. More...

bool	commandGetUserRole (std::string &user_role)
	Send Get user role command (Only available for CB3) More...

bool	commandIsInRemoteControl ()
	Send "Is in remote control" query command. More...

bool	commandIsProgramSaved ()
	Send "Is program saved" request command. More...

bool	commandLoadInstallation (const std::string &installation_file_name)
	Send Load installation command. More...

bool	commandLoadProgram (const std::string &program_file_name)
	Send Load program command. More...

bool	commandPause ()
	Send Pause program command. More...

bool	commandPlay ()
	Send Play program command. More...

bool	commandPolyscopeVersion (std::string &polyscope_version)
	Get Polyscope version. More...

bool	commandPopup (const std::string &popup_text)
	Send popup command. More...

bool	commandPowerOff ()
	Send Power off command. More...

bool	commandPowerOn (const std::chrono::duration< double > timeout=std::chrono::seconds(300))
	Send Power on command. More...

bool	commandProgramState (std::string &program_state)
	Get Program state. More...

bool	commandQuit ()
	Send Quit command. More...

bool	commandRestartSafety ()
	Send Restart Safety command. More...

bool	commandRobotMode (std::string &robot_mode)
	Get Robot mode. More...

bool	commandRunning ()
	Send Running command. More...

bool	commandSafetyMode (std::string &safety_mode)
	Get Safety mode. More...

bool	commandSafetyStatus (std::string &safety_status)
	Get Safety status. More...

bool	commandSaveLog ()
	Flush the polyscope log to the log_history.txt file. More...

bool	commandSetOperationalMode (const std::string &operational_mode)
	Send Set operational mode command (Only available for e-series) More...

bool	commandSetUserRole (const std::string &user_role)
	Send Set user role command (Only available for CB3) More...

bool	commandShutdown ()
	Send Shutdown command. More...

bool	commandStop ()
	Send Stop program command. More...

bool	commandUnlockProtectiveStop ()
	Send Unlock Protective stop popup command. More...

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. More...

	DashboardClient ()=delete

	DashboardClient (const std::string &host)
	Constructor that shall be used by default. More...

void	disconnect ()
	Makes sure no connection to the dashboard server is held inside the object. More...

timeval	getConfiguredReceiveTimeout () const
	Gets the configured receive timeout. If receive timeout is unconfigured "normal" socket timeout of 1 second will be returned. More...

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. More...

std::string	sendAndReceive (const std::string &command)
	Sends a command through the socket and waits for an answer. More...

bool	sendRequest (const std::string &command, const std::string &expected)
	Sends command and compare it with the expected answer. More...

std::string	sendRequestString (const std::string &command, const std::string &expected)
	Sends command and compare it with the expected answer. More...

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 More...

virtual	~DashboardClient ()=default

Public Member Functions inherited from urcl::comm::TCPSocket
void	close ()
	Closes the connection to the socket. More...

std::string	getIP () const
	Determines the local IP address of the currently configured socket. More...

socket_t	getSocketFD ()
	Getter for the file descriptor of the socket. More...

SocketState	getState ()
	Getter for the state of the socket. More...

bool	read (char *character)
	Reads one byte from the socket. More...

bool	read (uint8_t *buf, const size_t buf_len, size_t &read)
	Reads data from the socket. More...

void	setReceiveTimeout (const timeval &timeout)
	Setup Receive timeout used for this socket. More...

void	setReconnectionTime (const std::chrono::milliseconds reconnection_time)
	Set reconnection time, if the server is unavailable during connection this will set the time before trying connect to the server again. More...

	TCPSocket ()
	Creates a TCPSocket object. More...

bool	write (const uint8_t *buf, const size_t buf_len, size_t &written)
	Writes to the socket. More...

virtual	~TCPSocket ()

Static Public Attributes
static constexpr int	DASHBOARD_SERVER_PORT = 29999

Static Public Attributes inherited from urcl::comm::TCPSocket
static constexpr std::chrono::milliseconds	DEFAULT_RECONNECTION_TIME { 10000 }

Protected Attributes
VersionInformation	polyscope_version_

Protected Attributes inherited from urcl::comm::TCPSocket
std::unique_ptr< timeval >	recv_timeout_

Private Member Functions
std::string	read ()

void	rtrim (std::string &str, const std::string &chars="\t\n\v\f\r ")

bool	send (const std::string &text)

Private Attributes
std::string	host_

int	port_

std::mutex	write_mutex_

Additional Inherited Members
Protected Member Functions inherited from urcl::comm::TCPSocket
bool	setup (const std::string &host, const int port, const size_t max_num_tries=0, const std::chrono::milliseconds reconnection_time=DEFAULT_RECONNECTION_TIME)

Static Protected Member Functions inherited from urcl::comm::TCPSocket
static bool	open (socket_t socket_fd, struct sockaddr *address, size_t address_len)

Detailed Description

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

Definition at line 46 of file dashboard_client.h.

Constructor & Destructor Documentation

◆ DashboardClient() [1/2]

urcl::DashboardClient::DashboardClient ( const std::string & host )

Constructor that shall be used by default.

Parameters

host	IP address of the robot

Definition at line 45 of file dashboard_client.cpp.

◆ DashboardClient() [2/2]

urcl::DashboardClient::DashboardClient ( )

delete

◆ ~DashboardClient()

virtual urcl::DashboardClient::~DashboardClient ( )

virtualdefault

Member Function Documentation

◆ assertVersion()

void urcl::DashboardClient::assertVersion	(	const std::string &	e_series_min_ver,
		const std::string &	cb3_min_ver,
		const std::string &	required_call
	)

Makes sure that the dashboard_server's version is above the required version.

Parameters

e_series_min_ver	SW version for e-Series
cb3_min_ver	SW version for cb3
required_call	The dashboard call that should be checked

Exceptions

UrException if the robot's version isn't large enough

Definition at line 488 of file dashboard_client.cpp.

◆ commandAddToLog()

bool urcl::DashboardClient::commandAddToLog ( const std::string & log_text )

Send text to log.

Parameters

log_text The text to be sent to the log

Returns: True succeeded

Definition at line 349 of file dashboard_client.cpp.

◆ commandBrakeRelease()

bool urcl::DashboardClient::commandBrakeRelease ( )

Send Brake release command.

Returns: True succeeded

Definition at line 244 of file dashboard_client.cpp.

◆ commandClearOperationalMode()

bool urcl::DashboardClient::commandClearOperationalMode ( )

Send Clear operational mode command.

Exceptions

an	UrException when called on CB3 robots

Returns: True succeeded

Definition at line 436 of file dashboard_client.cpp.

◆ commandClosePopup()

bool urcl::DashboardClient::commandClosePopup ( )

Send Close popup command.

Returns: True succeeded

Definition at line 286 of file dashboard_client.cpp.

◆ commandCloseSafetyPopup()

bool urcl::DashboardClient::commandCloseSafetyPopup ( )

Send Close safety popup command.

Returns: True succeeded

Definition at line 292 of file dashboard_client.cpp.

◆ commandGenerateFlightReport()

bool urcl::DashboardClient::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

Definition at line 456 of file dashboard_client.cpp.

◆ commandGenerateSupportFile()

bool urcl::DashboardClient::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

Definition at line 469 of file dashboard_client.cpp.

◆ commandGetLoadedProgram()

bool urcl::DashboardClient::commandGetLoadedProgram ( std::string & loaded_program )

Get Loaded Program.

Parameters

loaded_program The path to the loaded program

Returns: True succeeded

Definition at line 389 of file dashboard_client.cpp.

◆ commandGetOperationalMode()

bool urcl::DashboardClient::commandGetOperationalMode ( std::string & operational_mode )

Get Operational mode.

Parameters

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

Exceptions

an	UrException when called on CB3 robots

Returns: True succeeded

Definition at line 421 of file dashboard_client.cpp.

◆ commandGetRobotModel()

bool urcl::DashboardClient::commandGetRobotModel ( std::string & robot_model )

Get Robot model.

Parameters

robot_model The string for the robot model returned

Returns: True succeeded

Definition at line 365 of file dashboard_client.cpp.

◆ commandGetSerialNumber()

bool urcl::DashboardClient::commandGetSerialNumber ( std::string & serial_number )

Get Serial number.

Parameters

serial_number The serial number of the robot returned

Returns: True succeeded

Definition at line 373 of file dashboard_client.cpp.

◆ commandGetUserRole()

bool urcl::DashboardClient::commandGetUserRole ( std::string & user_role )

Send Get user role command (Only available for CB3)

Parameters

user_role The user role on the robot

Exceptions

an	UrException when called on e-series robots

Returns: True succeeded

Definition at line 448 of file dashboard_client.cpp.

◆ commandIsInRemoteControl()

bool urcl::DashboardClient::commandIsInRemoteControl ( )

Send "Is in remote control" query command.

Exceptions

an	UrException when called on CB3 robots

Returns: True if the robot is currently in remote control

Definition at line 335 of file dashboard_client.cpp.

◆ commandIsProgramSaved()

bool urcl::DashboardClient::commandIsProgramSaved ( )

Send "Is program saved" request command.

Returns: True if the program is saved correctly

Definition at line 329 of file dashboard_client.cpp.

◆ commandLoadInstallation()

bool urcl::DashboardClient::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

Definition at line 261 of file dashboard_client.cpp.

◆ commandLoadProgram()

bool urcl::DashboardClient::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

Definition at line 250 of file dashboard_client.cpp.

◆ commandPause()

bool urcl::DashboardClient::commandPause ( )

Send Pause program command.

Returns: True succeeded

Definition at line 274 of file dashboard_client.cpp.

◆ commandPlay()

bool urcl::DashboardClient::commandPlay ( )

Send Play program command.

Returns: True succeeded

Definition at line 268 of file dashboard_client.cpp.

◆ commandPolyscopeVersion()

bool urcl::DashboardClient::commandPolyscopeVersion ( std::string & polyscope_version )

Get Polyscope version.

Parameters

polyscope_version The string for the polyscope version number returned

Returns: True succeeded

Definition at line 355 of file dashboard_client.cpp.

◆ commandPopup()

bool urcl::DashboardClient::commandPopup ( const std::string & popup_text )

Send popup command.

Parameters

popup_text The text to be shown in the popup

Returns: True succeeded

Definition at line 343 of file dashboard_client.cpp.

◆ commandPowerOff()

bool urcl::DashboardClient::commandPowerOff ( )

Send Power off command.

Returns: True succeeded

Definition at line 232 of file dashboard_client.cpp.

◆ commandPowerOn()

bool urcl::DashboardClient::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

Definition at line 238 of file dashboard_client.cpp.

◆ commandProgramState()

bool urcl::DashboardClient::commandProgramState ( std::string & program_state )

Get Program state.

Parameters

program_state The program state of the robot returned

Returns: True succeeded

Definition at line 413 of file dashboard_client.cpp.

◆ commandQuit()

bool urcl::DashboardClient::commandQuit ( )

Send Quit command.

Returns: True succeeded

Definition at line 316 of file dashboard_client.cpp.

◆ commandRestartSafety()

bool urcl::DashboardClient::commandRestartSafety ( )

Send Restart Safety command.

Returns: True succeeded

Definition at line 298 of file dashboard_client.cpp.

◆ commandRobotMode()

bool urcl::DashboardClient::commandRobotMode ( std::string & robot_mode )

Get Robot mode.

Parameters

robot_mode The mode of the robot returned

Returns: True succeeded

Definition at line 381 of file dashboard_client.cpp.

◆ commandRunning()

bool urcl::DashboardClient::commandRunning ( )

Send Running command.

Returns: True succeeded

Definition at line 322 of file dashboard_client.cpp.

◆ commandSafetyMode()

bool urcl::DashboardClient::commandSafetyMode ( std::string & safety_mode )

Get Safety mode.

Parameters

safety_mode The safety mode of the robot returned

Returns: True succeeded

Definition at line 397 of file dashboard_client.cpp.

◆ commandSafetyStatus()

bool urcl::DashboardClient::commandSafetyStatus ( std::string & safety_status )

Get Safety status.

Parameters

safety_status The safety status of the robot returned

Returns: True succeeded

Definition at line 405 of file dashboard_client.cpp.

◆ commandSaveLog()

bool urcl::DashboardClient::commandSaveLog ( )

Flush the polyscope log to the log_history.txt file.

Returns: True succeeded

Definition at line 482 of file dashboard_client.cpp.

◆ commandSetOperationalMode()

bool urcl::DashboardClient::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

Exceptions

an	UrException when called on CB3 robots

Returns: True succeeded

Definition at line 429 of file dashboard_client.cpp.

◆ commandSetUserRole()

bool urcl::DashboardClient::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

Exceptions

an	UrException when called on e-series robots

Returns: True succeeded

Definition at line 442 of file dashboard_client.cpp.

◆ commandShutdown()

bool urcl::DashboardClient::commandShutdown ( )

Send Shutdown command.

Returns: True succeeded

Definition at line 310 of file dashboard_client.cpp.

◆ commandStop()

bool urcl::DashboardClient::commandStop ( )

Send Stop program command.

Returns: True succeeded

Definition at line 280 of file dashboard_client.cpp.

◆ commandUnlockProtectiveStop()

bool urcl::DashboardClient::commandUnlockProtectiveStop ( )

Send Unlock Protective stop popup command.

Returns: True succeeded

Definition at line 304 of file dashboard_client.cpp.

◆ connect()

bool urcl::DashboardClient::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.

Definition at line 54 of file dashboard_client.cpp.

◆ disconnect()

void urcl::DashboardClient::disconnect ( )

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

Definition at line 100 of file dashboard_client.cpp.

◆ getConfiguredReceiveTimeout()

timeval urcl::DashboardClient::getConfiguredReceiveTimeout ( ) const

Gets the configured receive timeout. If receive timeout is unconfigured "normal" socket timeout of 1 second will be returned.

Returns: configured receive timeout

Definition at line 519 of file dashboard_client.cpp.

◆ read()

std::string urcl::DashboardClient::read ( )

private

Definition at line 114 of file dashboard_client.cpp.

◆ retryCommand()

bool urcl::DashboardClient::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

Definition at line 213 of file dashboard_client.cpp.

◆ rtrim()

void urcl::DashboardClient::rtrim	(	std::string &	str,
		const std::string &	chars = `"\t\n\v\f\r "`
	)

private

Definition at line 49 of file dashboard_client.cpp.

◆ send()

bool urcl::DashboardClient::send ( const std::string & text )

private

Definition at line 106 of file dashboard_client.cpp.

◆ sendAndReceive()

std::string urcl::DashboardClient::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.

Exceptions

UrException if no response was read from the dashboard server

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

Definition at line 137 of file dashboard_client.cpp.

◆ sendRequest()

bool urcl::DashboardClient::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 as a regex string

Returns: True if the reply to the command is as expected

Definition at line 159 of file dashboard_client.cpp.

◆ sendRequestString()

std::string urcl::DashboardClient::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 as a regex string

Exceptions

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

Returns: Answer string as received by the server

Definition at line 172 of file dashboard_client.cpp.

◆ waitForReply()

bool urcl::DashboardClient::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

Definition at line 184 of file dashboard_client.cpp.

Member Data Documentation

◆ DASHBOARD_SERVER_PORT

constexpr int urcl::DashboardClient::DASHBOARD_SERVER_PORT = 29999

staticconstexpr

Definition at line 58 of file dashboard_client.h.

◆ host_

std::string urcl::DashboardClient::host_

private

Definition at line 465 of file dashboard_client.h.

◆ polyscope_version_

VersionInformation urcl::DashboardClient::polyscope_version_

protected

Definition at line 458 of file dashboard_client.h.

◆ port_

int urcl::DashboardClient::port_

private

Definition at line 466 of file dashboard_client.h.

◆ write_mutex_

std::mutex urcl::DashboardClient::write_mutex_

private

Definition at line 467 of file dashboard_client.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Attributes

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DashboardClient() [1/2]

◆ DashboardClient() [2/2]

◆ ~DashboardClient()

Member Function Documentation

◆ assertVersion()

◆ commandAddToLog()

◆ commandBrakeRelease()

◆ commandClearOperationalMode()

◆ commandClosePopup()

◆ commandCloseSafetyPopup()

◆ commandGenerateFlightReport()

◆ commandGenerateSupportFile()

◆ commandGetLoadedProgram()

◆ commandGetOperationalMode()

◆ commandGetRobotModel()

◆ commandGetSerialNumber()

◆ commandGetUserRole()

◆ commandIsInRemoteControl()

◆ commandIsProgramSaved()

◆ commandLoadInstallation()

◆ commandLoadProgram()

◆ commandPause()

◆ commandPlay()

◆ commandPolyscopeVersion()

◆ commandPopup()

◆ commandPowerOff()

◆ commandPowerOn()

◆ commandProgramState()

◆ commandQuit()

◆ commandRestartSafety()

◆ commandRobotMode()

◆ commandRunning()

◆ commandSafetyMode()

◆ commandSafetyStatus()

◆ commandSaveLog()

◆ commandSetOperationalMode()

◆ commandSetUserRole()

◆ commandShutdown()

◆ commandStop()

◆ commandUnlockProtectiveStop()

◆ connect()

◆ disconnect()

◆ getConfiguredReceiveTimeout()

◆ read()

◆ retryCommand()

◆ rtrim()

◆ send()

◆ sendAndReceive()

◆ sendRequest()

◆ sendRequestString()

◆ waitForReply()

Member Data Documentation

◆ DASHBOARD_SERVER_PORT

◆ host_

◆ polyscope_version_

◆ port_

◆ write_mutex_