SafetyFunctions¶

class SafetyFunctionsClient¶

Canonical: kortex_api.autogen.client_stubs.SafetyFunctions.SafetyFunctionsClientRpc

__init__(router, namespace=None)¶

Constructs a SafetyFunctionsClient with an initialized RouterClient and an optional namespace.

Parameters

router (RouterClient) – RouterClient used for the communication
namespace (string) – Optional namespace on which to initialize the SafetyFunctionsClient (defaults to None)

IsAlive(timeoutMs: int = 1000)¶

Returns True if the Service Server is detected online before timeoutMs is expired, False otherwise.

Parameters: timeoutMs (unsigned int) – The maximum time to wait for an answer from the server
Return type: bool

SetJointPositionLimits(jointpositionlimits, deviceId=0, options=RouterClientSendOptions())¶

The SAFETIES permission is necessary to call this RPC.

Sets a safety joint position limits

Parameters

jointpositionlimits (JointPositionLimits) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

SetAllJointPositionLimits(jointpositionlimitslist, deviceId=0, options=RouterClientSendOptions())¶

The SAFETIES permission is necessary to call this RPC.

Sets all safeties joint position limits for every safety system mode of each joint

Parameters

jointpositionlimitslist (JointPositionLimitsList) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

GetJointPositionLimits(jointpositioninfo, deviceId=0, options=RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Retrieves a safety joint position limits for a specific identifier and safety mode

Parameters

jointpositioninfo (JointPositionInfo) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

JointPositionLimits

GetAllJointPositionLimits(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Retrieves all safeties joint position limits for every safety system mode

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

JointPositionLimitsList

SetJointSpeedLimit(jointspeedlimit, deviceId=0, options=RouterClientSendOptions())¶

The SAFETIES permission is necessary to call this RPC.

Sets a safety joint speed limit

Parameters

jointspeedlimit (JointSpeedLimit) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

SetAllJointSpeedLimit(jointspeedlimitlist, deviceId=0, options=RouterClientSendOptions())¶

The SAFETIES permission is necessary to call this RPC.

Sets all safeties joint speed limit for every safety system mode of each joint

Parameters

jointspeedlimitlist (JointSpeedLimitList) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

GetJointSpeedLimit(jointspeedinfo, deviceId=0, options=RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Retrieves a safety joint speed limit for a specific identifier and safety mode

Parameters

jointspeedinfo (JointSpeedInfo) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

JointSpeedLimit

GetAllJointSpeedLimit(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Retrieves all safeties joint speed limit for every safety system mode

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

JointSpeedLimitList

Unsubscribe(notificationhandle, deviceId=0, options=RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Unsubscribes client from receiving notifications for the specified topic

Parameters

notificationhandle (NotificationHandle) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

OnNotificationSafetyFunctionChangeTopic(callback, notificationoptions)¶

The READ_ONLY permission is necessary to call this RPC.

Subscribes to safety function change topic for notifications

Parameters

callback (function) – Function callback taking a SafetyFunctionChangeNotification as only argument, and returning None.
notificationoptions (NotificationOptions) – Notification options

Return type

NotificationHandle

GetSafetyFunctionsStatus(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Retrieves bitmask of safety functions status

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

SafetyFunctionsStatus

SetTcpSpeedLimits(tcpspeedlimits, deviceId=0, options=RouterClientSendOptions())¶

The SAFETIES permission is necessary to call this RPC.

Sets a safety tool center point speed limits

Parameters

tcpspeedlimits (TcpSpeedLimits) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

SetAllTcpSpeedLimits(tcpspeedlimitslist, deviceId=0, options=RouterClientSendOptions())¶

The SAFETIES permission is necessary to call this RPC.

Sets all safeties tool center point speed limits for each safety system mode

Parameters

tcpspeedlimitslist (TcpSpeedLimitsList) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

GetTcpSpeedLimits(tcpinfo, deviceId=0, options=RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Retrieves a safety tool center point speed limits for a specific safety mode

Parameters

tcpinfo (TcpInfo) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

TcpSpeedLimits

GetAllTcpSpeedLimits(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Retrieves all safeties tool center point speed limits for all safety modes

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

TcpSpeedLimitsList

SetElbowSpeedLimit(elbowspeedlimit, deviceId=0, options=RouterClientSendOptions())¶

The SAFETIES permission is necessary to call this RPC.

Sets a safety elbow speed limit

Parameters

elbowspeedlimit (ElbowSpeedLimit) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

SetAllElbowSpeedLimit(elbowspeedlimitlist, deviceId=0, options=RouterClientSendOptions())¶

The SAFETIES permission is necessary to call this RPC.

Sets all safeties elbow speed limit for each safety system mode

Parameters

elbowspeedlimitlist (ElbowSpeedLimitList) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

GetElbowSpeedLimit(elbowinfo, deviceId=0, options=RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Retrieves a safety elbow speed limit for a specific safety mode

Parameters

elbowinfo (ElbowInfo) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

ElbowSpeedLimit

GetAllElbowSpeedLimit(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Retrieves all safeties elbow speed limit for all safety modes

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

ElbowSpeedLimitList

GetSafetyFunctionsLimitsRange(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Retrieves all limits range of all safety functions for each system safety mode

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

SafetyFunctionsLimits

GetSafetyFunctionsLimits(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Retrieves all limits of all safety functions for each system safety mode

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

SafetyFunctionsLimits

GetSafetySystemMode(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Retrieves current safety system mode

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

SafetySystem

SetSafetySystemMode(safetysystem, deviceId=0, options=RouterClientSendOptions())¶

The OPERATE permission is necessary to call this RPC.

Sets the current safety mode

Parameters

safetysystem (SafetySystem) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

OnNotificationSafetyModeChangeTopic(callback, notificationoptions)¶

The READ_ONLY permission is necessary to call this RPC.

Subscribes to safety function change topic for notifications

Parameters

callback (function) – Function callback taking a SafetyModeChangeNotification as only argument, and returning None.
notificationoptions (NotificationOptions) – Notification options

Return type

NotificationHandle

GetProtectiveStopStatus(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Retrieves current protective stop status

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

ProtectiveStopStatus

OnNotificationProtectiveStopChangeTopic(callback, notificationoptions)¶

The READ_ONLY permission is necessary to call this RPC.

Subscribes to protective stop change topic for notifications

Parameters

callback (function) – Function callback taking a ProtectiveStopChangeNotification as only argument, and returning None.
notificationoptions (NotificationOptions) – Notification options

Return type

NotificationHandle