WristConfigC61

class WristConfigC61Client
Canonical

kortex_api.autogen.client_stubs.Wrist.Config.WristConfigC61ClientRpc

__init__(router, namespace=None)

Constructs a WristConfigC61Client 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 WristConfigC61Client (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

SetDigitalIOConfiguration(digitalioconfiguration, deviceId, options=RouterClientSendOptions())
The CONFIGURE permission is necessary to call this RPC.

Configures a digital I/O channel.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.
The channel.identifier parameter must be between 1 and 8.
Filling the input_configuration parameter will set the pin as input and filling the output_configuration parameter will set the pin as output.

Parameters
GetDigitalIOConfiguration(digitalchannelidentifier, deviceId, options=RouterClientSendOptions())
The READ_ONLY permission is necessary to call this RPC.

Retrieves a digital I/O configuration for a specific channel.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.
The identifier parameter must be between 1 and 8.

Parameters
Return type

DigitalIOConfiguration

SetDigitalOutputHighState(digitalchannelidentifier, deviceId, options=RouterClientSendOptions())
The OPERATE permission is necessary to call this RPC.

Sets a digital output channel to a high state.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.
The identifier parameter must be between 1 and 8.

Parameters
SetDigitalOutputLowState(digitalchannelidentifier, deviceId, options=RouterClientSendOptions())
The OPERATE permission is necessary to call this RPC.

Sets a digital output channel to a low state.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.
The identifier parameter must be between 1 and 8.

Parameters
GetDigitalIOInfo(digitalchannelidentifier, deviceId, options=RouterClientSendOptions())
The READ_ONLY permission is necessary to call this RPC.

Retrieves a digital I/O channel information.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.
The identifier parameter must be between 1 and 8.

Parameters
Return type

DigitalIOInfo

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

Retrieves all digital I/O channel information.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.

Parameters

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

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

Return type

DigitalIOInfoList

SetAnalogIOConfiguration(analogioconfiguration, deviceId, options=RouterClientSendOptions())
The CONFIGURE permission is necessary to call this RPC.

Configures a analog channel.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.
The channel.identifier parameter must be either ANALOG_CHANNEL_C or ANALOG_CHANNEL_D.

Parameters
GetAnalogIOConfiguration(analogiochannelidentifier, deviceId, options=RouterClientSendOptions())
The READ_ONLY permission is necessary to call this RPC.

Retrieves a analog input/output configuration for a specific channel.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.
The identifier parameter must be either ANALOG_CHANNEL_C or ANALOG_CHANNEL_D.

Parameters
Return type

AnalogIOConfiguration

SetAnalogValue(analogoutput, deviceId, options=RouterClientSendOptions())
The OPERATE permission is necessary to call this RPC.

Sets a analog value on a channel.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.
The identifier parameter must be either ANALOG_CHANNEL_C or ANALOG_CHANNEL_D.
An UNSUPPORTED_ACTION error will be thrown when setting an analog value to a pin configured as input.
Warning : sending a dac_value over the maximum value will cause a fault to be reported by the Wrist and power off the arm.

Parameters
GetAnalogIOInfo(analogiochannelidentifier, deviceId, options=RouterClientSendOptions())
The READ_ONLY permission is necessary to call this RPC.

Retrieves a analog input/output channel information.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.
The identifier parameter must be either ANALOG_CHANNEL_C or ANALOG_CHANNEL_D.

Parameters
Return type

AnalogIOInfo

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

Retrieves all analog input/output channels information.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.

Parameters

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

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

Return type

AnalogIOInfoList

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

Clears Digital and Analog I/O faults.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.

Parameters

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

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

GetRS485Configuration(rs485deviceidentification, deviceId, options=RouterClientSendOptions())
The READ_ONLY permission is necessary to call this RPC.

Retrieves RS485 configuration.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.
The port_id parameter must be set to RS485_PORT_FLANGE.

Parameters
Return type

RS485Configuration

SetRS485Configuration(rs485configuration, deviceId, options=RouterClientSendOptions())
The CONFIGURE permission is necessary to call this RPC.

Configures RS485.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.
The port_id parameter must be set to RS485_PORT_FLANGE.

Parameters
GetPowerSupply24VState(deviceId, options = RouterClientSendOptions())
The READ_ONLY permission is necessary to call this RPC.

Gets the power supply +24V state.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.

Parameters

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

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

Return type

PowerSupply24VState

SetPowerSupply24VState(powersupply24vstate, deviceId, options=RouterClientSendOptions())
The OPERATE permission is necessary to call this RPC.

Sets the power supply +24V state.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.

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

Gets the arm serial number.
The arm must be powered on and the wrist’s device identifier must be supplied as an input parameter.

Parameters

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

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

Return type

SerialNumber