Class DashboardClient

Defined in File dashboard_client.h

Class Documentation

class DashboardClient

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

Public Types

enum class ClientPolicy

Values:

enumerator G5

enumerator POLYSCOPE_X

Public Functions

DashboardClient(const std::string &host, const ClientPolicy client_policy = ClientPolicy::G5)

Constructor that shall be used by default.

Parameters:: host – IP address of the robot

DashboardClient() = delete

virtual ~DashboardClient() = default

virtual 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.

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.

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

std::string 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.
Throws:: UrException – if no response was read from the dashboard server
Returns:: Answer as received by the server cut off any trailing newlines.

bool 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

std::string 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

Throws:

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

Returns:

Answer string as received by the server

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

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

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.

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

bool commandPowerOff()

Send Power off command.

Returns:: True succeeded

DashboardResponse commandPowerOffWithResponse(): Send Power off command.

bool 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

DashboardResponse commandPowerOnWithResponse(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.

bool commandBrakeRelease()

Send Brake release command.

Returns:: True succeeded

DashboardResponse commandBrakeReleaseWithResponse(): Send Brake release command.

bool 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

DashboardResponse commandLoadProgramWithResponse(const std::string &program_file_name)

Send Load program command and wait for a response.

Stores the following entries in the data field:

‘program_name’: std::string

Parameters:: program_file_name – The urp program file name with the urp extension

bool 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

DashboardResponse commandLoadInstallationWithResponse(const std::string &installation_file_name)

Send Load installation command.

Parameters:: installation_file_name – The installation file name with the installation extension

bool commandPlay()

Send Play program command.

Returns:: True succeeded

DashboardResponse commandPlayWithResponse(): Send Play program command.

bool commandPause()

Send Pause program command.

Returns:: True succeeded

DashboardResponse commandPauseWithResponse(): Send Pause program command.

bool commandResume()

Send resume command.

This does only exist for PolyScope X, for e-Series robots “play” is used also for resuming a paused program.

Returns:: True succeeded

DashboardResponse commandResumeWithResponse()

Send resume command.

This does only exist for PolyScope X, for e-Series robots “play” is used also for resuming a paused program.

bool commandStop()

Send Stop program command.

Returns:: True succeeded

DashboardResponse commandStopWithResponse(): Send Stop program command.

bool commandClosePopup()

Send Stop program command.

Returns:: True succeeded

DashboardResponse commandClosePopupWithResponse(): Send Close popup command.

bool commandCloseSafetyPopup()

Send Close safety popup command.

Returns:: True succeeded

DashboardResponse commandCloseSafetyPopupWithResponse(): Send Close safety popup command.

bool commandRestartSafety()

Send Restart Safety command.

Returns:: True succeeded

DashboardResponse commandRestartSafetyWithResponse(): Send Restart Safety command.

bool commandUnlockProtectiveStop()

Send Unlock Protective stop popup command.

Returns:: True succeeded

DashboardResponse commandUnlockProtectiveStopWithResponse(): Send Unlock Protective stop popup command.

bool commandShutdown()

Send Shutdown command.

Returns:: True succeeded

DashboardResponse commandShutdownWithResponse(): Send Shutdown command.

bool commandQuit()

Send Quit command.

Returns:: True succeeded

DashboardResponse commandQuitWithResponse(): Send Quit command.

bool commandRunning()

Send Running command.

Returns:: True succeeded

DashboardResponse commandRunningWithResponse()

Send Running command.

Stores the following entries in the data field:

‘running’: bool

bool commandIsProgramSaved()

Send “Is program saved” request command.

Returns:: True if the program is saved correctly

DashboardResponse commandIsProgramSavedWithResponse()

Send “Is program saved” request command.

Stores the following entries in the data field:

‘saved’: bool
’program_name’: std::string (PolyScope 5 only)

bool commandIsInRemoteControl()

Send “Is in remote control” query command.

Throws:: an – UrException when called on CB3 robots
Returns:: True if the robot is currently in remote control

DashboardResponse commandIsInRemoteControlWithResponse()

Send “Is in remote control” query command.

Stores the following entries in the data field:

‘remote_control’: bool

bool commandPopup(const std::string &popup_text)

Send popup command.

Parameters:: popup_text – The text to be shown in the popup
Returns:: True succeeded

DashboardResponse commandPopupWithResponse(const std::string &popup_text): Send popup command.

bool commandAddToLog(const std::string &log_text)

Send text to log.

Parameters:: log_text – The text to be sent to the log
Returns:: True succeeded

DashboardResponse commandAddToLogWithResponse(const std::string &log_text)

Send text to log.

Parameters:: log_text – The text to be sent to the log

bool commandPolyscopeVersion(std::string &polyscope_version)

Get Polyscope version.

Parameters:: polyscope_version – The string for the polyscope version number returned
Returns:: True succeeded

DashboardResponse commandPolyscopeVersionWithResponse()

Get Polyscope version.

Stores the following entries in the data field:

‘polyscope_version’: std::string

bool commandGetRobotModel(std::string &robot_model)

Get Robot model.

Parameters:: robot_model – The string for the robot model returned
Returns:: True succeeded

DashboardResponse commandGetRobotModelWithResponse()

Get Robot model.

Stores the following entries in the data field:

‘robot_model’: std::string

bool commandGetSerialNumber(std::string &serial_number)

Get Serial number.

Parameters:: serial_number – The serial number of the robot returned
Returns:: True succeeded

DashboardResponse commandGetSerialNumberWithResponse()

Get Serial number.

Stores the following entries in the data field:

‘serial_number’: std::string

bool commandRobotMode(std::string &robot_mode)

Get Robot mode.

Parameters:: robot_mode – The mode of the robot returned
Returns:: True succeeded

DashboardResponse commandRobotModeWithResponse()

Get Robot mode.

Stores the following entries in the data field:

‘robot_mode’: std::string

bool commandGetLoadedProgram(std::string &loaded_program)

Get Loaded Program.

Parameters:: loaded_program – The path to the loaded program
Returns:: True succeeded

DashboardResponse commandGetLoadedProgramWithResponse()

Get Loaded Program.

Stores the following entries in the data field:

‘program_name’: std::string

bool commandSafetyMode(std::string &safety_mode)

Get Safety mode.

Parameters:: safety_mode – The safety mode of the robot returned
Returns:: True succeeded

DashboardResponse commandSafetyModeWithResponse()

Get Safety mode.

Stores the following entries in the data field:

‘safety_mode’: std::string

bool commandSafetyStatus(std::string &safety_status)

Get Safety status.

Parameters:: safety_status – The safety status of the robot returned
Returns:: True succeeded

DashboardResponse commandSafetyStatusWithResponse()

Get Safety status.

Stores the following entries in the data field:

‘safety_status’: std::string

bool commandProgramState(std::string &program_state)

Get Program state.

Parameters:: program_state – The program state of the robot returned
Returns:: True succeeded

DashboardResponse commandProgramStateWithResponse()

Get Program state.

Stores the following entries in the data field:

‘program_state’: std::string
’program_name’: std::string

bool commandGetOperationalMode(std::string &operational_mode)

Get Operational mode.

Parameters:: operational_mode – The operational mode of the robot returned (Only available for e-series)
Throws:: an – UrException when called on CB3 robots
Returns:: True succeeded

DashboardResponse commandGetOperationalModeWithResponse()

Get Operational mode.

Stores the following entries in the data field:

‘operational_mode’: std::string

bool 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
Throws:: an – UrException when called on CB3 robots
Returns:: True succeeded

DashboardResponse commandSetOperationalModeWithResponse(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

bool commandClearOperationalMode()

Send Clear operational mode command.

Throws:: an – UrException when called on CB3 robots
Returns:: True succeeded

DashboardResponse commandClearOperationalModeWithResponse()

Send Clear operational mode command.

Throws:: an – UrException when called on CB3 robots

bool 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
Throws:: an – UrException when called on e-series robots
Returns:: True succeeded

DashboardResponse commandSetUserRoleWithResponse(const std::string &user_role)

Send Set user role command (Only available for CB3)

Throws:: an – UrException when called on e-series robots

bool commandGetUserRole(std::string &user_role)

Send Get user role command (Only available for CB3)

Parameters:: user_role – The user role on the robot
Throws:: an – UrException when called on e-series robots
Returns:: True succeeded

DashboardResponse commandGetUserRoleWithResponse()

Send Get user role command (Only available for CB3)

Stores the following entries in the data field:

‘user_role’: std::string

Throws:: an – UrException when called on e-series robots

bool commandGenerateFlightReport(const std::string &report_type)

Send Generate flight report command.

Note

This may take a long time to run.

Parameters:: report_type – The report type to set for the flight report
Returns:: True succeeded

DashboardResponse commandGenerateFlightReportWithResponse(const std::string &report_type)

Send Generate flight report command.

Note

This may take a long time to run.

Parameters:: report_type – The report type to set for the flight report

bool commandGenerateSupportFile(const std::string &dir_path)

Send Generate support file command.

Note

This may take a long time to run.

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

DashboardResponse commandGenerateSupportFileWithResponse(const std::string &dir_path)

Send Generate support file command.

Note

This may take a long time to run.

Parameters:: dir_path – The path to the directory of an already existing directory location inside the programs directory, where the support file is saved

bool commandSaveLog()

Flush the polyscope log to the log_history.txt file.

Returns:: True succeeded

DashboardResponse commandSaveLogWithResponse(): Flush the polyscope log to the log_history.txt file.

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.

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

Throws:

UrException – if the robot’s version isn’t large enough

timeval 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

void setReceiveTimeout(const timeval &timeout)

Setup Receive timeout used for this socket.

Parameters:: timeout – Timeout used for setting things up

Protected Attributes

std::shared_ptr<DashboardClientImpl> impl_