staubli_robot_driver::MockRobotServer Class Reference

Mock robot server to simulate a Staubli robot for testing purposes. More...

#include <mock_robot_server.hpp>

Classes
struct	NetworkConfig
	Configuration structure for the communication. More...

Public Member Functions
	MockRobotServer ()
	Constructor.
	~MockRobotServer ()
	Destructor.
bool	init (const NetworkConfig &config)
	Initialize the mock robot server with the given network configuration.
bool	is_ready () const
	Check if mock robot server is initialized and ready.
bool	disconnect ()
	Disconnect the mock robot server.
bool	send_mock_robot_state (const RobotStateMessage &state)
	Send a robot state message from the mock robot server.
bool	send_mock_diagnostic_data (const DiagnosticDataMessage &data)
	Send a diagnostic data message from the mock robot server.
bool	get_last_received_command (RobotCommandMessage &command, MessageStatus &status)
	Receive a command message sent to the mock robot server.

Detailed Description

Mock robot server to simulate a Staubli robot for testing purposes.

Warning

This class is a mock and does not implement all functionalities of the real Robot...

Constructor & Destructor Documentation

MockRobotServer()

staubli_robot_driver::MockRobotServer::MockRobotServer

(

)

Constructor.

~MockRobotServer()

staubli_robot_driver::MockRobotServer::~MockRobotServer

(

)

Destructor.

Member Function Documentation

init()

bool staubli_robot_driver::MockRobotServer::init

(

const NetworkConfig &

config

)

Initialize the mock robot server with the given network configuration.

Parameters

config

Network configuration

Returns

True if initialization was successful, false otherwise

is_ready()

bool staubli_robot_driver::MockRobotServer::is_ready

(

)

const

Check if mock robot server is initialized and ready.

Returns

True if ready, false otherwise

disconnect()

bool staubli_robot_driver::MockRobotServer::disconnect

(

)

Disconnect the mock robot server.

Returns

True if disconnected successfully, false otherwise

send_mock_robot_state()

bool staubli_robot_driver::MockRobotServer::send_mock_robot_state

(

const RobotStateMessage &

state

)

Send a robot state message from the mock robot server.

Parameters

state

Mock robot state message to send

Returns

true if the message was sent successfully, false otherwise

send_mock_diagnostic_data()

bool staubli_robot_driver::MockRobotServer::send_mock_diagnostic_data

(

const DiagnosticDataMessage &

data

)

Send a diagnostic data message from the mock robot server.

Parameters

data	Mock diagnostic data message to send

Returns

true if the message was sent successfully, false otherwise

get_last_received_command()

bool staubli_robot_driver::MockRobotServer::get_last_received_command	(	RobotCommandMessage &	command,
		MessageStatus &	status
	)

Receive a command message sent to the mock robot server.

Parameters

command

Output command message

Returns

True if a message was received successfully, false otherwise

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

• /home/runner/work/staubli_driver_ros2/staubli_driver_ros2/staubli_robot_driver/include/staubli_robot_driver/mock_robot_server.hpp