poulpe_ethercat_grpc::client

Struct PoulpeRemoteClient

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pub struct PoulpeRemoteClient {
    pub ids: Vec<u16>,
    pub names: Vec<String>,
    /* private fields */
}

Fields§

§ids: Vec<u16>§names: Vec<String>

Implementations§

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impl PoulpeRemoteClient

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pub fn connect_with_name( addr: Uri, poulpe_names: Vec<String>, update_period: Duration, ) -> Result<Self, Error>

Connect to the server with the given poulpe names

  • connects to the server and reads the ids of the poulpe slaves
  • checks if the given poulpe names are valid
  • subsrtibes to the states of the given slaves
§Arguments
- addr: Uri: The address of the server
- poulpe_names: Vec<String>: The names of the poulpe slaves to connect to
- update_period: Duration: The update period for the state stream
§Returns
- Result<Self, std::io::Error>: The client if successful, else an error
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pub fn connect( addr: Uri, poulpe_ids: Vec<u16>, update_period: Duration, ) -> Result<Self, Error>

Connect to the server with the given poulpe ids

  • connects to the server and reads the ids of the poulpe slaves
  • checks if the given poulpe ids are valid
  • subsrtibes to the states of the given slaves
§Arguments
  • addr: Uri: The address of the server
  • ids: Vec: The ids of the poulpe slaves to connect to
  • update_period: Duration: The update period for the state stream
§Returns
  • Result<Self, std::io::Error>: The client if successful, else an error
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pub fn get_poulpe_ids_sync( &self, ) -> Result<(Vec<u16>, Vec<String>), Box<dyn Error>>

Get all ids and names of slaves in the network

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pub fn get_poulpe_ids(&self) -> Vec<u16>

get the ids of the slaves the client is connected to

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pub fn get_position_actual_value(&self, slave_id: u16) -> Result<Vec<f32>, ()>

Get the current position of the slave [rad]

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pub fn get_velocity_actual_value(&self, slave_id: u16) -> Result<Vec<f32>, ()>

Get the current velocity of the slave [rad/s]

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pub fn get_torque_actual_value(&self, slave_id: u16) -> Result<Vec<f32>, ()>

Get the current torque of the slave [mA]

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pub fn is_on(&self, slave_id: u16) -> Result<bool, ()>

Check if the slave is on or off

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pub fn get_target_position(&self, slave_id: u16) -> Result<Vec<f32>, ()>

Get the target position of the slave [rad]

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pub fn get_motor_temperatures(&self, slave_id: u16) -> Result<Vec<f32>, ()>

Get the motor temperatures of the slave [°C]

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pub fn get_board_temperatures(&self, slave_id: u16) -> Result<Vec<f32>, ()>

Get the driver board temperatures of the slave [°C]

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pub fn get_mode_of_operation(&self, slave_id: u16) -> Result<u32, ()>

Get the mode of operation of the slave [CiA402 State] 1: Profile Position, 3: Profile Velocity, 4: Profile Torque (see poulpe_ethercat_controller::state_machine)

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pub fn get_state(&self, slave_id: u16) -> Result<u32, ()>

Get the state of the slave [BoardState] (see poulpe_ethercat_controller::register)

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pub fn get_cia402_state(&self, slave_id: u16) -> Result<u32, ()>

Get the state of the slave [CiA402 State] (see poulpe_ethercat_controller::state_machine)

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pub fn get_torque_state(&self, slave_id: u16) -> Result<bool, ()>

Get the current compliance state of the slave (the same as is_on - deprecated)

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pub fn get_axis_sensors(&self, slave_id: u16) -> Result<Vec<f32>, ()>

Get the current axis sensor position [rad]

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pub fn get_axis_sensor_zeros(&self, slave_id: u16) -> Result<Vec<f32>, ()>

Get the axis senosr absolute zeros from the firmware [rad]

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pub fn get_error_codes(&self, slave_id: u16) -> Result<Vec<i32>, ()>

Get the motor and homing error codes (see poulpe_ethercat_controller::state_machine)

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pub fn get_velocity_limit(&self, slave_id: u16) -> Result<Vec<f32>, ()>

Get current velocity limits (relative from 0 to 1)

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pub fn get_torque_limit(&self, slave_id: u16) -> Result<Vec<f32>, ()>

Get current torque limits (relative from 0 to 1)

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pub fn turn_on(&mut self, slave_id: u16)

Turn on the slave (compliance off)

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pub fn turn_off(&mut self, slave_id: u16)

Turn off the slave (compliance on)

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pub fn set_mode_of_operation(&mut self, slave_id: u16, mode: u32)

Set the mode of operation of the slave [CiA402 compliant] 1: Profile Position, 3: Profile Velocity, 4: Profile Torque (see poulpe_ethercat_controller::state_machine)

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pub fn set_target_position(&mut self, slave_id: u16, target_position: Vec<f32>)

Set the target position of the slave [rad]

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pub fn set_target_velocity(&mut self, slave_id: u16, target_velocity: Vec<f32>)

Set the target velocity of the slave [rad/s]

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pub fn set_target_torque(&mut self, slave_id: u16, target_torque: Vec<f32>)

Set the target torque of the slave [mA]

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pub fn set_velocity_limit(&mut self, slave_id: u16, velocity_limit: Vec<f32>)

Set the velocity limit of the slave [relative from 0 to 1]

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pub fn set_torque_limit(&mut self, slave_id: u16, torque_limit: Vec<f32>)

Set the torque limit of the slave [relative from 0 to 1]

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pub fn emergency_stop(&mut self, slave_id: u16)

Emergency stop the slave

Trait Implementations§

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impl Debug for PoulpeRemoteClient

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

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