SafetyIO

class SafetyIOClient
Canonical

kortex_api.autogen.client_stubs.SafetyIO.SafetyIOClientRpc

__init__(router, namespace=None)

Constructs a SafetyIOClient 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 SafetyIOClient (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

SetSafetyIOConfiguration(safetyioconfiguration, deviceId=0, options=RouterClientSendOptions())
The SAFETIES permission is necessary to call this RPC.

Sets a safety io
Parameters
SetAllSafetyIOConfiguration(safetyioconfigurationlist, deviceId=0, options=RouterClientSendOptions())
The SAFETIES permission is necessary to call this RPC.

Sets all safeties io
Parameters
GetSafetyIOConfiguration(safetyioinfo, deviceId=0, options=RouterClientSendOptions())
The READ_ONLY permission is necessary to call this RPC.

Retrieves a safety io
Parameters
Return type

SafetyIOConfiguration

GetAllSafetyIOConfiguration(deviceId = 0, options = RouterClientSendOptions())
The READ_ONLY permission is necessary to call this RPC.

Retrieves all safeties io
Parameters

  • deviceId (int) – Device’s Id called by rpc (optional)

  • options (RouterClientSendOptions) – Router options for sending the message

Return type

SafetyIOConfigurationList

GetSafetyIOStatus(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

SafetyIOChannelStatus

OnNotificationSafetyIOChangeTopic(callback, notificationoptions)
The READ_ONLY permission is necessary to call this RPC.

Subscribes to safety io change topic for notifications
Parameters
Return type

NotificationHandle

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