ToolPlugin

class ToolPluginClient
Canonical

kortex_api.autogen.client_stubs.ToolPluginClientRpc

__init__(router, namespace)

Constructs a ToolPluginClient with an initialized RouterClient and a namespace.

Parameters

  • router (RouterClient) – RouterClient used for the communication

  • namespace (string) – Namespace on which to initialize the ToolPluginClient

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

Jog(jogmessage, deviceId=0, options=RouterClientSendOptions())
The OPERATE permission is necessary to call this RPC.

Sends a jog command.
The jog_value must be between -100 and 100, or else an error ERROR_DEVICE, METHOD_FAILED is thrown.

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

Gets the tool information.
If the tool information is empty, an error ERROR_DEVICE, METHOD_FAILED is raised.
If the ToolHandle is not one from an existing tool, an error ERROR_DEVICE, INVALID_PARAM is thrown.

Parameters
Return type

ToolInformation

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

Gets the list of tool information.
Parameters

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

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

Return type

ToolInformationList

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

Gets the tool feedback.
The identifier of the targeted tool needs to match one from an existing tool, or else an error ERROR_DEVICE, INVALID_PARAM is thrown.

Parameters
Return type

CustomData

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

Subscribes to tool information notifications
Parameters

  • callback (function) – Function callback taking a Kinova.Api.ToolPlugin.ToolInformationNotification as only argument, and returning None.

  • notificationoptions (NotificationOptions) – Notification options

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
MoveRelative(movemessage, deviceId=0, options=RouterClientSendOptions())
The OPERATE permission is necessary to call this RPC.

Sends a move command that is relative to the current position.
The target_position value must be between -100 and 100 or else an error ERROR_DEVICE, METHOD_FAILED is thrown.
The target_position value must not contain decimal numbers.
The identifier of the targeted tool needs to match one from an existing tool.

Parameters