Inheritance diagram for sas::RobotDriver:

Public Types
enum class	Functionality { None =0 , PositionControl , VelocityControl , ForceControl , Homing , ClearPositions , Watchdog }
	Enumeration of optional driver functionalities.

Public Member Functions
	~RobotDriver ()
	Virtual destructor for RobotDriver.

virtual VectorXd	get_joint_positions ()=0
	Get current joint positions.

virtual void	set_target_joint_positions (const VectorXd &set_target_joint_positions_rad)=0
	Set target joint positions.

virtual VectorXd	get_joint_velocities ()
	Get current joint velocities.

virtual void	set_target_joint_velocities (const VectorXd &set_target_joint_velocities)
	Set target joint velocities.

virtual VectorXd	get_joint_torques ()
	Get current joint torques.

virtual void	set_target_joint_torques (const VectorXd &set_target_joint_torques)
	Set target joint torques.

virtual std::tuple< VectorXd, VectorXd >	get_joint_limits ()
	Get joint limits (min, max)

virtual void	set_joint_limits (const std::tuple< VectorXd, VectorXd > &joint_limits)
	Set joint limits (min, max)

void	watchdog_start (const std::chrono::nanoseconds &period)
	Start the watchdog thread with the given period.

void	watchdog_trigger (const std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > &time_point_from_the_client, const std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > &time_point_from_the_server, const bool &status)
	Trigger the watchdog with timestamps from client/server and the current status.

void	watchdog_set_maximum_acceptable_delay (const double &max_acceptable_delay)
	Set the maximum acceptable delay for the watchdog (seconds)

void	check_for_watchdog_exceptions ()
	Check for exceptions thrown by the watchdog thread and rethrow if present.

virtual void	connect ()=0
	Connect to the underlying robot/hardware.

virtual void	disconnect ()=0
	Disconnect from the underlying robot/hardware.

virtual void	initialize ()=0
	Initialize the driver resources.

virtual void	deinitialize ()=0
	Deinitialize the driver resources.

Protected Member Functions
void	_watchdog_thread_function ()
	RobotDriver::_watchdog_thread_function throws an exception if the elapsed time since the last trigger exceeds the specified period.

	RobotDriver (const std::shared_ptr< ShutdownSignaler > &shutdown_signaler_)

	RobotDriver (std::atomic_bool *break_loops)

	RobotDriver (const RobotDriver &)=delete

Protected Attributes
std::atomic_bool *	break_loops_

std::shared_ptr< ShutdownSignaler >	shutdown_signaler_

std::tuple< VectorXd, VectorXd >	joint_limits_

VectorXd	joint_velocities_

VectorXd	joint_torques_

std::unique_ptr< sas::Clock >	clock_

std::unique_ptr< std::thread >	watchdog_thread_

std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds >	time_point_from_the_client_

std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds >	time_point_from_the_server_

bool	watchdog_status_

std::mutex	mutex_watchdog_

double	max_acceptable_delay_ = 0.1

double	watchdog_period_

std::exception_ptr	watchdog_exception_ {nullptr}

std::mutex	watchdog_exception_mutex_

Member Function Documentation

◆ check_for_watchdog_exceptions()

void sas::RobotDriver::check_for_watchdog_exceptions ( )

Check for exceptions thrown by the watchdog thread and rethrow if present.

RobotDriver::check_for_watchdog_exceptions this method rethrows any exception thrown in the watchdog thread control loop.

◆ connect()

virtual void sas::RobotDriver::connect ( )

pure virtual

Connect to the underlying robot/hardware.

Implemented in sas::RobotDriverExample, sas::RobotDriverPy, sas::RobotDriverROSComposer, sas::RobotDriverCoppeliaSim, sas::RobotDriverKuka, and sas::RobotDriverUR.

◆ deinitialize()

virtual void sas::RobotDriver::deinitialize ( )

pure virtual

Deinitialize the driver resources.

Implemented in sas::RobotDriverExample, sas::RobotDriverPy, sas::RobotDriverROSComposer, sas::RobotDriverCoppeliaSim, sas::RobotDriverKuka, and sas::RobotDriverUR.

◆ disconnect()

virtual void sas::RobotDriver::disconnect ( )

pure virtual

Disconnect from the underlying robot/hardware.

Implemented in sas::RobotDriverExample, sas::RobotDriverPy, sas::RobotDriverROSComposer, sas::RobotDriverCoppeliaSim, sas::RobotDriverKuka, and sas::RobotDriverUR.

◆ get_joint_limits()

std::tuple< VectorXd, VectorXd > sas::RobotDriver::get_joint_limits ( )

virtual

Get joint limits (min, max)

Returns: Tuple of (min_limits, max_limits)

Reimplemented in sas::RobotDriverROSComposer, and sas::RobotDriverCoppeliaSim.

◆ get_joint_positions()

virtual VectorXd sas::RobotDriver::get_joint_positions ( )

pure virtual

Get current joint positions.

Returns: Vector of joint positions (radians)

Implemented in sas::RobotDriverExample, sas::RobotDriverPy, sas::RobotDriverROSComposer, sas::RobotDriverCoppeliaSim, sas::RobotDriverKuka, and sas::RobotDriverUR.

◆ get_joint_torques()

VectorXd sas::RobotDriver::get_joint_torques ( )

virtual

Get current joint torques.

Returns: Vector of joint torques

Reimplemented in sas::RobotDriverPy, and sas::RobotDriverKuka.

◆ get_joint_velocities()

VectorXd sas::RobotDriver::get_joint_velocities ( )

virtual

Get current joint velocities.

Returns: Vector of joint velocities

Reimplemented in sas::RobotDriverPy, and sas::RobotDriverUR.

◆ initialize()

virtual void sas::RobotDriver::initialize ( )

pure virtual

Initialize the driver resources.

Implemented in sas::RobotDriverExample, sas::RobotDriverPy, sas::RobotDriverROSComposer, sas::RobotDriverCoppeliaSim, sas::RobotDriverKuka, and sas::RobotDriverUR.

◆ set_joint_limits()

void sas::RobotDriver::set_joint_limits ( const std::tuple< VectorXd, VectorXd > & joint_limits )

virtual

Set joint limits (min, max)

Parameters

joint_limits Tuple of (min_limits, max_limits)

Reimplemented in sas::RobotDriverROSComposer, and sas::RobotDriverPy.

◆ set_target_joint_positions()

virtual void sas::RobotDriver::set_target_joint_positions ( const VectorXd & set_target_joint_positions_rad )

pure virtual

Set target joint positions.

Parameters

set_target_joint_positions_rad Target joint positions (radians)

Implemented in sas::RobotDriverCoppeliaSim, sas::RobotDriverKuka, sas::RobotDriverUR, sas::RobotDriverExample, sas::RobotDriverPy, and sas::RobotDriverROSComposer.

◆ set_target_joint_torques()

void sas::RobotDriver::set_target_joint_torques ( const VectorXd & set_target_joint_torques )

virtual

Set target joint torques.

Parameters

set_target_joint_torques Target joint torques

Reimplemented in sas::RobotDriverPy.

◆ set_target_joint_velocities()

void sas::RobotDriver::set_target_joint_velocities ( const VectorXd & set_target_joint_velocities )

virtual

Set target joint velocities.

Parameters

set_target_joint_velocities Target joint velocities

Reimplemented in sas::RobotDriverPy.

◆ watchdog_set_maximum_acceptable_delay()

void sas::RobotDriver::watchdog_set_maximum_acceptable_delay ( const double & max_acceptable_delay )

Set the maximum acceptable delay for the watchdog (seconds)

RobotDriver::watchdog_set_maximum_acceptable_delay sets the maximum acceptable clock skew to check the synchronization or potential delays between the time point of watchdog signal sent by the client and the time point when the watchdog signal was received.

Parameters

max_acceptable_delay	Maximum delay in seconds
max_acceptable_delay

◆ watchdog_start()

void sas::RobotDriver::watchdog_start ( const std::chrono::nanoseconds & period )

Start the watchdog thread with the given period.

RobotDriver::watchdog_start starts the watchdog thread.

Parameters

period	Watchdog period as nanoseconds
period	The period of time.

◆ watchdog_trigger()

void sas::RobotDriver::watchdog_trigger	(	const std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > &	time_point_from_the_client,
		const std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > &	time_point_from_the_server,
		const bool &	status
	)

Trigger the watchdog with timestamps from client/server and the current status.

RobotDriver::watchdog_trigger updates the trigger signal.

Parameters

time_point_from_the_client	Time point provided by the client
time_point_from_the_server	Time point provided by the server
status	Current watchdog status flag
time_point_from_the_client	This time point corresponds to the moment the signal was sent, as recorded by the client computer's clock.
time_point_from_the_server	The time point when the watchdog signal was received. This time point uses the computer's clock on which the server (robot) is running.
status	The desired status. If false, the driver is going to stop.

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

src/sas_core/include/sas_core/sas_robot_driver.hpp
src/sas_core/src/sas_robot_driver.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ check_for_watchdog_exceptions()

◆ connect()

◆ deinitialize()

◆ disconnect()

◆ get_joint_limits()

◆ get_joint_positions()

◆ get_joint_torques()

◆ get_joint_velocities()

◆ initialize()

◆ set_joint_limits()

◆ set_target_joint_positions()

◆ set_target_joint_torques()

◆ set_target_joint_velocities()

◆ watchdog_set_maximum_acceptable_delay()

◆ watchdog_start()

◆ watchdog_trigger()