Interface to online update and interact with the robot tools. All changes made to the robot tool system will take effect immediately without needing to reboot. However, the robot must be put into IDLE mode when making these changes. More...

#include <tool.hpp>

Public Member Functions
	Tool (const Robot &robot)
	[Non-blocking] Create an instance and initialize tool update interface. More...

const std::vector< std::string >	list () const
	[Blocking] Get a name list of all tools currently in the tools pool. More...

const std::string	name () const
	[Blocking] Get name of the tool that the robot is currently using. More...

bool	exist (const std::string &name) const
	[Blocking] Whether the specified tool exists in the tools pool. More...

const ToolParams	params () const
	[Blocking] Get parameters of the tool that the robot is currently using. More...

const ToolParams	params (const std::string &name) const
	[Blocking] Get parameters of an existing tool. More...

void	Add (const std::string &name, const ToolParams &params)
	[Blocking] Add a new tool with user-specified parameters to the tools pool. More...

void	Switch (const std::string &name)
	[Blocking] Switch to an existing tool. All following robot operations will default to use this tool. More...

void	Update (const std::string &name, const ToolParams &params)
	[Blocking] Update the parameters of an existing tool. More...

void	Remove (const std::string &name)
	[Blocking] Remove an existing tool. More...

Detailed Description

Interface to online update and interact with the robot tools. All changes made to the robot tool system will take effect immediately without needing to reboot. However, the robot must be put into IDLE mode when making these changes.

Examples: basics8_update_robot_tool.cpp.

Definition at line 20 of file tool.hpp.

Constructor & Destructor Documentation

◆ Tool()

flexiv::rdk::Tool::Tool ( const Robot & robot )

[Non-blocking] Create an instance and initialize tool update interface.

Parameters

[in] robot Reference to the instance of flexiv::rdk::Robot.

Exceptions

std::runtime_error if the initialization sequence failed.

Member Function Documentation

◆ Add()

void flexiv::rdk::Tool::Add	(	const std::string &	name,
		const ToolParams &	params
	)

[Blocking] Add a new tool with user-specified parameters to the tools pool.

Parameters

[in]	name	Name of the new tool, must be unique.
[in]	params	Parameters of the new tool.

Exceptions

std::logic_error	if robot is not in the correct control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: IDLE.; This function blocks until the request is successfully delivered.

◆ exist()

bool flexiv::rdk::Tool::exist ( const std::string & name ) const

[Blocking] Whether the specified tool exists in the tools pool.

Parameters

[in] name Name of the tool to check.

Returns: True if the specified tool exists.

Exceptions

std::runtime_error if failed to get a reply from the connected robot.

Note: This function blocks until a reply is received.

◆ list()

const std::vector<std::string> flexiv::rdk::Tool::list ( ) const

[Blocking] Get a name list of all tools currently in the tools pool.

Returns: Tool names in the format of a string list.

Exceptions

std::runtime_error if failed to get a reply from the connected robot.

Note: This function blocks until a reply is received.

◆ name()

const std::string flexiv::rdk::Tool::name ( ) const

[Blocking] Get name of the tool that the robot is currently using.

Returns: Name of the current tool. Return "Flange" if there's no active tool.

Exceptions

std::runtime_error if failed to get a reply from the connected robot.

Note: Applicable control modes: All.; This function blocks until a reply is received.

◆ params() [1/2]

const ToolParams flexiv::rdk::Tool::params ( ) const

[Blocking] Get parameters of the tool that the robot is currently using.

Returns: Parameters result.

Exceptions

std::runtime_error if failed to get a reply from the connected robot.

Note: Applicable control modes: All.; This function blocks until a reply is received.

◆ params() [2/2]

const ToolParams flexiv::rdk::Tool::params ( const std::string & name ) const

[Blocking] Get parameters of an existing tool.

Parameters

[in] name Name of the tool to get parameters for, must exist in the tools pool.

Returns: Parameters result.

Exceptions

std::runtime_error if failed to get a reply from the connected robot.

Note: Applicable control modes: All.; This function blocks until a reply is received.

◆ Remove()

void flexiv::rdk::Tool::Remove ( const std::string & name )

[Blocking] Remove an existing tool.

Parameters

[in] name Name of the tool to remove, must exist in the tools pool.

Exceptions

std::logic_error	if robot is not in the correct control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: IDLE.; This function blocks until the request is successfully delivered.

◆ Switch()

void flexiv::rdk::Tool::Switch ( const std::string & name )

[Blocking] Switch to an existing tool. All following robot operations will default to use this tool.

Parameters

[in] name Name of the tool to switch to, must exist in the tools pool.

Exceptions

std::logic_error	if robot is not in the correct control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: IDLE.; This function blocks until the request is successfully delivered.

◆ Update()

void flexiv::rdk::Tool::Update	(	const std::string &	name,
		const ToolParams &	params
	)

[Blocking] Update the parameters of an existing tool.

Parameters

[in]	name	Name of the tool to update, must exist in the tools pool.
[in]	params	New parameters for the specified tool.

Exceptions

std::logic_error	if robot is not in the correct control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: Applicable control modes: IDLE.; This function blocks until the request is successfully delivered.

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

include/flexiv/rdk/tool.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Tool()

Member Function Documentation

◆ Add()

◆ exist()

◆ list()

◆ name()

◆ params() [1/2]

◆ params() [2/2]

◆ Remove()

◆ Switch()

◆ Update()