staubli_robot_driver Namespace Reference

Classes
class	DiagnosticDataMessage
	Diagnostic data. More...
struct	FrameHeader
	Frame header structure. More...
class	Message
	Generic message structure. More...
struct	MessageStatus
	Status struct to hold message status information. More...
class	MockRobotServer
	Mock robot server to simulate a Staubli robot for testing purposes. More...
class	RealTimeSocketInterface
	Bilateral real-time socket interface for pub/sub communication. More...
class	RealTimeSocketSubscriber
	Real-time socket subscriber class template. More...
class	RobotCommandMessage
	Robot command message. More...
class	RobotDriver
	Main interface for controlling Staubli robots. More...
class	RobotStateMessage
	Robot state message. More...
class	Socket
	Abstract interface for communication with the robot. More...
class	SocketFactory
	Factory for creating communication interfaces. More...
class	StaubliHardwareInterface
class	TCPSocket
	Class for handling bidirectional TCP communication. More...
class	TCPSocketFactory
	Factory implementation for TCP communication. More...
class	UDPSocket
	Class for handling bidirectional UDP communication. More...
class	UDPSocketFactory
	Factory implementation for UDP communication. More...

Enumerations
enum class	MessageType : uint8_t { INVALID = 0x00 , ROBOT_STATE = 0x01 , ROBOT_COMMAND = 0x02 , DIAGNOSTIC_DATA = 0x03 }
	Message types for communication. More...
enum class	CommandType : uint8_t {   INVALID = 0x00 , STOP = 0x01 , JOINT_POSITION = 0x02 , JOINT_VELOCITY = 0x03 ,   JOINT_TORQUE = 0x04 , DECELERATION_JOINT_POSITION = 0x0A , DECELERATION_JOINT_VELOCITY = 0x0B }
	Command types. More...
enum class	OperationMode : uint8_t { UNKNOWN = 0x00 , MANUAL = 0x01 , AUTOMATIC = 0x02 , REMOTE = 0x03 }
	Operation modes. More...
enum class	SafetyStatus : uint8_t {   NO_SAFETY_STOP = 0x00 , WAIT_FOR_RESTART = 0x01 , SS1 = 0x02 , SS2 = 0x03 ,   WAIT_FOR_WMS = 0x04 }
	Safety status. More...
enum class	StatusFlag : uint16_t {   POWER_ON = 0x0001 , BRAKES_RELEASED = 0x0002 , MOTION_POSSIBLE = 0x0004 , IN_MOTION = 0x0008 ,   ERROR_STATE = 0x0010 , ESTOP_PRESSED = 0x0020 }
	Status flag (bit masks) More...
enum class	ValidFieldFlag : uint16_t {   JOINT_POSITIONS = 0x0001 , JOINT_VELOCITIES = 0x0002 , JOINT_TORQUES = 0x0004 , FT_SENSOR = 0x0008 ,   DIGITAL_INPUTS = 0x0010 , ANALOG_INPUTS = 0x0020 }
	Valid fields (bit masks) More...

Functions
size_t	serialize_type (const uint8_t &value, uint8_t *buffer)
size_t	serialize_type (const uint16_t &value, uint8_t *buffer)
size_t	serialize_type (const uint32_t &value, uint8_t *buffer)
size_t	serialize_type (const float &value, uint8_t *buffer)
size_t	serialize_type (const double &value, uint8_t *buffer)
	Specialization for double: serialize_type as float to save space.
size_t	deserialize_type (const uint8_t *buffer, uint8_t &value)
size_t	deserialize_type (const uint8_t *buffer, uint16_t &value)
size_t	deserialize_type (const uint8_t *buffer, uint32_t &value)
size_t	deserialize_type (const uint8_t *buffer, float &value)
size_t	deserialize_type (const uint8_t *buffer, double &value)
	Specialization for double: deserialize_type from float.
template<typename T , std::size_t N>
size_t	serialize_array (const std::array< T, N > &arr, uint8_t *buffer)
	Serialize an array of type T into a byte buffer.
template<typename T , std::size_t N>
size_t	deserialize_array (const uint8_t *buffer, std::array< T, N > &arr)
	Deserialize an array of type T from a byte buffer.
bool	set_command_stop (RobotCommandMessage &msg)
bool	set_command_joint_position (RobotCommandMessage &msg, std::vector< double > joint_positions)
bool	set_command_joint_velocity (RobotCommandMessage &msg, std::vector< double > joint_velocities)
bool	set_sequence_number (RobotCommandMessage &msg, RobotStateMessage &state)
bool	prepare_robot_command_message (RobotCommandMessage &msg, RobotStateMessage &state)
	Clear and prepare a RobotCommandMessage.

Variables
constexpr uint16_t	MAGIC_NUMBER = 0xABCD
	Magic number to identify the protocol.
constexpr uint8_t	PROTOCOL_VERSION = 1
	Protocol version.
constexpr uint16_t	DEFAULT_CONTROL_PORT = 8080
	Default port for the control socket.
constexpr uint16_t	DEFAULT_DIAGNOSTICS_PORT = 8081
	Default port for the diagnostics socket.
constexpr size_t	MAX_FRAME_SEQUENCE_NUMBER = std::numeric_limits<uint16_t>::max()
	Maximal sequence number before wrap-around.
constexpr size_t	MAX_SOCKET_PACKET_SIZE = 1024
	Maximum packet size (bytes) for socket communication.

Enumeration Type Documentation

MessageType

enum class staubli_robot_driver::MessageType : uint8_t

strong

Message types for communication.

Enumerator
INVALID
ROBOT_STATE
ROBOT_COMMAND
DIAGNOSTIC_DATA

CommandType

enum class staubli_robot_driver::CommandType : uint8_t

strong

Command types.

Enumerator
INVALID
STOP
JOINT_POSITION
JOINT_VELOCITY
JOINT_TORQUE
DECELERATION_JOINT_POSITION
DECELERATION_JOINT_VELOCITY

OperationMode

enum class staubli_robot_driver::OperationMode : uint8_t

strong

Operation modes.

Enumerator
UNKNOWN
MANUAL
AUTOMATIC
REMOTE

SafetyStatus

enum class staubli_robot_driver::SafetyStatus : uint8_t

strong

Safety status.

Enumerator
NO_SAFETY_STOP
WAIT_FOR_RESTART
SS1
SS2
WAIT_FOR_WMS

StatusFlag

enum class staubli_robot_driver::StatusFlag : uint16_t

strong

Status flag (bit masks)

Enumerator
POWER_ON
BRAKES_RELEASED
MOTION_POSSIBLE
IN_MOTION
ERROR_STATE
ESTOP_PRESSED

ValidFieldFlag

enum class staubli_robot_driver::ValidFieldFlag : uint16_t

strong

Valid fields (bit masks)

Enumerator
JOINT_POSITIONS
JOINT_VELOCITIES
JOINT_TORQUES
FT_SENSOR
DIGITAL_INPUTS
ANALOG_INPUTS

Function Documentation

serialize_type() [1/5]

size_t staubli_robot_driver::serialize_type ( const uint8_t &  value, uint8_t *  buffer  )

inline

serialize_type() [2/5]

size_t staubli_robot_driver::serialize_type ( const uint16_t &  value, uint8_t *  buffer  )

inline

serialize_type() [3/5]

size_t staubli_robot_driver::serialize_type ( const uint32_t &  value, uint8_t *  buffer  )

inline

serialize_type() [4/5]

size_t staubli_robot_driver::serialize_type ( const float &  value, uint8_t *  buffer  )

inline

serialize_type() [5/5]

size_t staubli_robot_driver::serialize_type ( const double &  value, uint8_t *  buffer  )

inline

Specialization for double: serialize_type as float to save space.

deserialize_type() [1/5]

size_t staubli_robot_driver::deserialize_type ( const uint8_t *  buffer, uint8_t &  value  )

inline

deserialize_type() [2/5]

size_t staubli_robot_driver::deserialize_type ( const uint8_t *  buffer, uint16_t &  value  )

inline

deserialize_type() [3/5]

size_t staubli_robot_driver::deserialize_type ( const uint8_t *  buffer, uint32_t &  value  )

inline

deserialize_type() [4/5]

size_t staubli_robot_driver::deserialize_type ( const uint8_t *  buffer, float &  value  )

inline

deserialize_type() [5/5]

size_t staubli_robot_driver::deserialize_type ( const uint8_t *  buffer, double &  value  )

inline

Specialization for double: deserialize_type from float.

serialize_array()

template<typename T , std::size_t N>

size_t staubli_robot_driver::serialize_array	(	const std::array< T, N > &	arr,
		uint8_t *	buffer
	)

Serialize an array of type T into a byte buffer.

Warning

The size of the buffer is not checked...

Template Parameters

T	Underlying type of the array elements
N	Number of elements in the array

Parameters

arr	Array to serialize
buffer	Buffer to write to

Returns

size_t Number of bytes written to the buffer

deserialize_array()

template<typename T , std::size_t N>

size_t staubli_robot_driver::deserialize_array	(	const uint8_t *	buffer,
		std::array< T, N > &	arr
	)

Deserialize an array of type T from a byte buffer.

Warning

The size of the buffer is not checked...

Template Parameters

T	Underlying type of the array elements
N	Number of elements in the array

Parameters

buffer	Buffer to read from
arr	Array to deserialize

Returns

size_t Number of bytes read from the buffer

set_command_stop()

bool staubli_robot_driver::set_command_stop

(

RobotCommandMessage &

msg

)

set_command_joint_position()

bool staubli_robot_driver::set_command_joint_position	(	RobotCommandMessage &	msg,
		std::vector< double >	joint_positions
	)

set_command_joint_velocity()

bool staubli_robot_driver::set_command_joint_velocity	(	RobotCommandMessage &	msg,
		std::vector< double >	joint_velocities
	)

set_sequence_number()

bool staubli_robot_driver::set_sequence_number	(	RobotCommandMessage &	msg,
		RobotStateMessage &	state
	)

prepare_robot_command_message()

bool staubli_robot_driver::prepare_robot_command_message	(	RobotCommandMessage &	msg,
		RobotStateMessage &	state
	)

Clear and prepare a RobotCommandMessage.

Parameters

msg	Message to clear
state	Last read robot state (to set sequence number)

Variable Documentation

MAGIC_NUMBER

constexpr uint16_t staubli_robot_driver::MAGIC_NUMBER = 0xABCD

constexpr

Magic number to identify the protocol.

PROTOCOL_VERSION

constexpr uint8_t staubli_robot_driver::PROTOCOL_VERSION = 1

constexpr

Protocol version.

DEFAULT_CONTROL_PORT

constexpr uint16_t staubli_robot_driver::DEFAULT_CONTROL_PORT = 8080

constexpr

Default port for the control socket.

DEFAULT_DIAGNOSTICS_PORT

constexpr uint16_t staubli_robot_driver::DEFAULT_DIAGNOSTICS_PORT = 8081

constexpr

Default port for the diagnostics socket.

MAX_FRAME_SEQUENCE_NUMBER

constexpr size_t staubli_robot_driver::MAX_FRAME_SEQUENCE_NUMBER = std::numeric_limits<uint16_t>::max()

constexpr

Maximal sequence number before wrap-around.

MAX_SOCKET_PACKET_SIZE

constexpr size_t staubli_robot_driver::MAX_SOCKET_PACKET_SIZE = 1024

constexpr

Maximum packet size (bytes) for socket communication.