DashboardClient

For CB3 robots and PolyScope 5 the DashboardClient wraps the calls on the Dashboard server directly into C++ functions.

For PolyScope X the so-called Robot API released with PolyScope X 10.11.0 is used. It offers a subset of the Dashboard Server from previous software versions.

After connecting to the dashboard server by using the connect() function, dashboard calls can be done using the command...() functions such as commandCloseSafetyPopup(). These functions are blocking and will wait for the necessary action being done. This can involve querying another call to the dashboard server until the action is done. For example, commandPowerOn() will block until the robot reports “Robotmode: RUNNING” or the given timeout is reached.

The return value of those functions indicate whether or not the call was successful. If you want to get the call’s full response, use the command...WithResponse() calls, instead. They will return a response struct

The data dictionary of that response struct is populated by each command individually. See the commands’ docstrings for details.

The dashboard_example.cpp shows how to use the dashboard client:

CB 3 and PolyScope 5 only

All commands are blocking and will wait for the necessary action being done. The dashboard server’s response will be compared with an expected response. For example, when calling commandPowerOn(timeout), it is checked that the dashboard server is answering "Powering on" and then it is queried until the robot reports "Robotmode: IDLE" or until the timeout is reached. The example contains more commands that follow the same scheme.

If you want to send a query / command to the dashboard server and only want to receive the response, you can use the sendAndReceive() function:

For checking the response against an expected regular expression use sendRequest():

PolyScope X only

Internally, the dashboard client makes calls against a RESTful (Representational State Transfer) API. Hence, all responses contain a JSON-encoded string of the received answer. For example, an answer to a pause request could be

{"state":"PAUSED","message":"Program state changed: PAUSED","details":"Pause successful"}