ur-kotlin/com.wolfscowl.ur_client.core/URInterface

URInterface

interface URInterface

Inheritors

Properties

abstract val additionalInfo: AdditionalInfo?

additionalInfoFlow

abstract val additionalInfoFlow: StateFlow<AdditionalInfo?>

abstract val arm: URArm

abstract val cartesianInfo: CartesianInfo?

cartesianInfoFlow

abstract val cartesianInfoFlow: StateFlow<CartesianInfo?>

configurationData

abstract val configurationData: ConfigurationData?

configurationDataFlow

abstract val configurationDataFlow: StateFlow<ConfigurationData?>

abstract val forceModeData: ForceModeData?

forceModeDataFlow

abstract val forceModeDataFlow: StateFlow<ForceModeData?>

abstract val isConnected: Boolean

isConnectedFlow

abstract val isConnectedFlow: StateFlow<Boolean>

abstract val jointData: JointData?

abstract val jointDataFlow: StateFlow<JointData?>

abstract val jointPosition: JointPosition?

jointPositionFlow

abstract val jointPositionFlow: StateFlow<JointPosition?>

abstract val kinematicsInfo: KinematicsInfo?

kinematicsInfoFlow

abstract val kinematicsInfoFlow: StateFlow<KinematicsInfo?>

masterBoardData

abstract val masterBoardData: MasterBoardData?

masterBoardDataFlow

abstract val masterBoardDataFlow: StateFlow<MasterBoardData?>

abstract val robotMessages: List<RobotMessage>

robotMessagesFlow

abstract val robotMessagesFlow: SharedFlow<RobotMessage>

abstract val robotModeData: RobotModeData?

robotModeDataFlow

abstract val robotModeDataFlow: StateFlow<RobotModeData?>

abstract val tcpOffset: Pose?

abstract val tcpOffsetFlow: StateFlow<Pose?>

abstract val tcpPose: Pose?

abstract val tcpPoseFlow: StateFlow<Pose?>

toolCommunicationInfo

abstract val toolCommunicationInfo: ToolCommunicationInfo?

toolCommunicationInfoFlow

abstract val toolCommunicationInfoFlow: StateFlow<ToolCommunicationInfo?>

abstract val toolData: ToolData?

abstract val toolDataFlow: StateFlow<ToolData?>

abstract val toolModeInfo: ToolModeInfo?

toolModeInfoFlow

abstract val toolModeInfoFlow: StateFlow<ToolModeInfo?>

abstract val versionMessage: VersionMessage?

Functions

attachToolOnRobotRG

abstract fun attachToolOnRobotRG(host: String, toolIndex: Int): OnRobotRG

Attaches an OnRobot RG gripper to the cobot.

attachToolOnRobotTFG

abstract fun attachToolOnRobotTFG(host: String, toolIndex: Int): OnRobotTFG

Attaches an OnRobot TFG gripper to the cobot.

attachToolOnRobotVG

abstract fun attachToolOnRobotVG(host: String, toolIndex: Int): OnRobotVG

Attaches an OnRobot VG gripper to the cobot.

abstract fun connect()

Establishes the connection to the Universal robots cobot via the primary interface

abstract fun disconnect()

Disconnect the Universal Robots cobot (primary interface)

abstract fun runURScript(script: String, cmdTimeout: Long? = null, onChange: (URScriptState) -> Unit? = null, onFinished: (URScriptState) -> Unit? = null): URScriptState

Executes a custom URScript on the cobot.