|
| enum | AnalogOutputType : int8_t { AnalogOutputType::SET_ON_TEACH_PENDANT = -1,
AnalogOutputType::CURRENT = 0,
AnalogOutputType::VOLTAGE = 1
} |
| |
| enum | LogLevel {
LogLevel::DEBUG = 0,
LogLevel::INFO,
LogLevel::WARN,
LogLevel::ERROR,
LogLevel::FATAL,
LogLevel::NONE
} |
| | Different log levels. More...
|
| |
| enum | Parity : int { Parity::NONE = 0,
Parity::ODD = 1,
Parity::EVEN = 2
} |
| | Possible values for th parity flag. More...
|
| |
| enum | RobotMode : int8_t {
RobotMode::UNKNOWN = -128,
RobotMode::NO_CONTROLLER = -1,
RobotMode::DISCONNECTED = 0,
RobotMode::CONFIRM_SAFETY = 1,
RobotMode::BOOTING = 2,
RobotMode::POWER_OFF = 3,
RobotMode::POWER_ON = 4,
RobotMode::IDLE = 5,
RobotMode::BACKDRIVE = 6,
RobotMode::RUNNING = 7,
RobotMode::UPDATING_FIRMWARE = 8
} |
| |
| enum | RobotType : int8_t {
RobotType::UNDEFINED = -128,
RobotType::UR5 = 1,
RobotType::UR10 = 2,
RobotType::UR3 = 3,
RobotType::UR16 = 4,
RobotType::UR20 = 7,
RobotType::UR30 = 8,
RobotType::UR15 = 9
} |
| |
| enum | SafetyMode : int8_t {
SafetyMode::NORMAL = 1,
SafetyMode::REDUCED = 2,
SafetyMode::PROTECTIVE_STOP = 3,
SafetyMode::RECOVERY = 4,
SafetyMode::SAFEGUARD_STOP = 5,
SafetyMode::SYSTEM_EMERGENCY_STOP = 6,
SafetyMode::ROBOT_EMERGENCY_STOP = 7,
SafetyMode::VIOLATION = 8,
SafetyMode::FAULT = 9,
SafetyMode::VALIDATE_JOINT_ID = 10,
SafetyMode::UNDEFINED_SAFETY_MODE = 11
} |
| |
| enum | SafetyStatus : int8_t {
SafetyStatus::NORMAL = 1,
SafetyStatus::REDUCED = 2,
SafetyStatus::PROTECTIVE_STOP = 3,
SafetyStatus::RECOVERY = 4,
SafetyStatus::SAFEGUARD_STOP = 5,
SafetyStatus::SYSTEM_EMERGENCY_STOP = 6,
SafetyStatus::ROBOT_EMERGENCY_STOP = 7,
SafetyStatus::VIOLATION = 8,
SafetyStatus::FAULT = 9,
SafetyStatus::VALIDATE_JOINT_ID = 10,
SafetyStatus::UNDEFINED_SAFETY_MODE = 11,
SafetyStatus::AUTOMATIC_MODE_SAFEGUARD_STOP = 12,
SafetyStatus::SYSTEM_THREE_POSITION_ENABLING_STOP = 13
} |
| |
| enum | ToolVoltage : int { ToolVoltage::OFF = 0,
ToolVoltage::_12V = 12,
ToolVoltage::_24V = 24
} |
| | Possible values for the tool voltage. More...
|
| |
|
| static const std::string | BEGIN_REPLACE ("{{BEGIN_REPLACE}}") |
| |
| static const std::string | FORCE_MODE_SET_DAMPING_REPLACE ("{{FORCE_MODE_SET_DAMPING_REPLACE}}") |
| |
| static const std::string | FORCE_MODE_SET_GAIN_SCALING_REPLACE ("{{FORCE_MODE_SET_GAIN_SCALING_REPLACE}}") |
| |
| static const std::string | JOINT_STATE_REPLACE ("{{JOINT_STATE_REPLACE}}") |
| |
| void | log (const char *file, int line, LogLevel level, const char *fmt,...) |
| | Log a message, this is used internally by the macros to unpack the log message. Use the macros instead of this function directly. More...
|
| |
| bool | operator!= (const VersionInformation &v1, const VersionInformation &v2) |
| |
| bool | operator< (const VersionInformation &v1, const VersionInformation &v2) |
| |
| template<class T , std::size_t N> |
| std::ostream & | operator<< (std::ostream &out, const std::array< T, N > &item) |
| |
| bool | operator<= (const VersionInformation &v1, const VersionInformation &v2) |
| |
| bool | operator== (const VersionInformation &v1, const VersionInformation &v2) |
| |
| bool | operator> (const VersionInformation &v1, const VersionInformation &v2) |
| |
| bool | operator>= (const VersionInformation &v1, const VersionInformation &v2) |
| |
| void | registerLogHandler (std::unique_ptr< LogHandler > loghandler) |
| | Register a new LogHandler object, for handling log messages. More...
|
| |
| std::string | robotModeString (const RobotMode &mode) |
| |
| std::string | robotTypeString (const RobotType &type) |
| |
| std::string | safetyModeString (const SafetyMode &mode) |
| |
| std::string | safetyStatusString (const SafetyStatus &status) |
| |
| static const std::string | SCRIPT_COMMAND_PORT_REPLACE ("{{SCRIPT_COMMAND_SERVER_PORT_REPLACE}}") |
| |
| static const std::string | SERVER_IP_REPLACE ("{{SERVER_IP_REPLACE}}") |
| |
| static const std::string | SERVER_PORT_REPLACE ("{{SERVER_PORT_REPLACE}}") |
| |
| static const std::string | SERVO_J_REPLACE ("{{SERVO_J_REPLACE}}") |
| |
| bool | setFiFoScheduling (pthread_t &thread, const int priority) |
| |
| void | setLogLevel (LogLevel level) |
| | Set log level this will disable messages with lower log level. More...
|
| |
| std::vector< std::string > | splitString (std::string input, const std::string &delimiter=".") |
| |
| static const std::string | TIME_REPLACE ("{{TIME_REPLACE}}") |
| |
| template<typename E > |
| constexpr std::underlying_type< E >::type | toUnderlying (const E e) noexcept |
| | Converts an enum type to its underlying type. More...
|
| |
| static const std::string | TRAJECTORY_PORT_REPLACE ("{{TRAJECTORY_SERVER_PORT_REPLACE}}") |
| |
| void | unregisterLogHandler () |
| | Unregister current log handler, this will enable default log handler. More...
|
| |
| void | waitFor (std::function< bool()> condition, const std::chrono::milliseconds timeout, const std::chrono::milliseconds check_interval=std::chrono::milliseconds(50)) |
| | Wait for a condition to be true. More...
|
| |