This tutorial clears minor or critical faults, if any, of the connected robot.
- Copyright
- Copyright (C) 2016-2024 Flexiv Ltd. All Rights Reserved.
- Author
- Flexiv
#include <spdlog/spdlog.h>
#include <iostream>
#include <string>
#include <thread>
void PrintHelp()
{
std::cout << "Required arguments: [robot SN]" << std::endl;
std::cout << " robot SN: Serial number of the robot to connect to. "
"Remove any space, for example: Rizon4s-123456" << std::endl;
std::cout << "Optional arguments: None" << std::endl;
std::cout << std::endl;
}
int main(int argc, char* argv[])
{
if (argc < 2 ||
flexiv::rdk::utility::ProgramArgsExistAny(argc, argv, {
"-h",
"--help"})) {
PrintHelp();
return 1;
}
std::string robot_sn = argv[1];
spdlog::info(
">>> Tutorial description <<<\nThis tutorial clears minor or critical faults, if any, of "
"the connected robot.");
try {
if (robot.fault()) {
spdlog::warn("Fault occurred on the connected robot, trying to clear ...");
if (!robot.ClearFault()) {
spdlog::error("Fault cannot be cleared, exiting ...");
return 1;
}
spdlog::info("Fault on the connected robot is cleared");
} else {
spdlog::info("No fault on the connected robot");
}
} catch (const std::exception& e) {
spdlog::error(e.what());
return 1;
}
return 0;
}
Main interface with the robot, containing several function categories and background services.