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Machina.xml
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Machina.xml
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<?xml version="1.0"?>
<doc>
<assembly>
<name>Machina</name>
</assembly>
<members>
<member name="T:Machina.ActionType">
<summary>
Defines an Action Type, like Translation, Rotation, Wait...
Useful to flag base Actions into children classes.
</summary>
</member>
<member name="T:Machina.Action">
<summary>
Actions represent high-level abstract operations such as movements, rotations,
transformations or joint manipulations, both in absolute and relative terms.
They are independent from the device's properties, and their translation into
actual robotic instructions depends on the robot's properties and state.
</summary>
</member>
<member name="M:Machina.Action.#ctor">
<summary>
A base constructor to take care of common setup for all actionss
</summary>
</member>
<member name="T:Machina.ActionSpeed">
<summary>
An Action to change the current speed setting.
</summary>
</member>
<member name="T:Machina.ActionPrecision">
<summary>
An Action to change current precision settings.
</summary>
</member>
<member name="T:Machina.ActionMotion">
<summary>
An Action to change current MotionType.
</summary>
</member>
<member name="T:Machina.ActionCoordinates">
<summary>
An Action to change current Reference Coordinate System.
</summary>
</member>
<member name="T:Machina.ActionPushPop">
<summary>
An Action to Push or Pop current device settings (such as speed, precision, etc.)
</summary>
</member>
<member name="T:Machina.ActionTranslation">
<summary>
An action representing a Translation transform in along a guiding vector.
</summary>
</member>
<member name="T:Machina.ActionRotation">
<summary>
An Action representing a Rotation transformation in Quaternion represnetation.
</summary>
</member>
<member name="T:Machina.ActionTransformation">
<summary>
An Action representing a combined Translation and Rotation Transformation.
</summary>
</member>
<member name="T:Machina.ActionAxes">
<summary>
An Action representing the raw angular values of the device's joint rotations.
</summary>
</member>
<member name="T:Machina.ActionMessage">
<summary>
An Action representing a string message sent to the device to be displayed.
</summary>
</member>
<member name="T:Machina.ActionWait">
<summary>
An Action represening the device staying idle for a period of time.
</summary>
</member>
<member name="T:Machina.ActionComment">
<summary>
Adds a line comment to the compiled code
</summary>
</member>
<member name="T:Machina.ActionAttach">
<summary>
Attaches a Tool to the robot flange.
If the robot already had a tool, this will be substituted.
</summary>
</member>
<member name="T:Machina.ActionDetach">
<summary>
Detaches any tool currently attached to the robot.
</summary>
</member>
<member name="T:Machina.ActionIODigital">
<summary>
Turns digital pin # on or off.
</summary>
</member>
<member name="T:Machina.ActionIOAnalog">
<summary>
Writes a value to analog pin #.
</summary>
</member>
<member name="T:Machina.ActionTemperature">
<summary>
Sets the temperature of the 3D printer part, and optionally waits for the part to reach the temp to resume eexecution.
</summary>
</member>
<member name="T:Machina.ActionExtrusion">
<summary>
Turns extrusion on/off in 3D printers.
</summary>
</member>
<member name="T:Machina.ActionExtrusionRate">
<summary>
Sets the extrusion rate in 3D printers in mm of filament per mm of lineal travel.
</summary>
</member>
<member name="T:Machina.ActionBuffer">
<summary>
A class that manages a FIFO list of Actions.
</summary>
</member>
<member name="F:Machina.ActionBuffer.pending">
<summary>
Actions pending to be released.
</summary>
</member>
<member name="F:Machina.ActionBuffer.released">
<summary>
Keep track of past released actions.
</summary>
</member>
<member name="F:Machina.ActionBuffer.blockCounts">
<summary>
Stores the amount of Actions per 'block'.
A 'block' is a set of Actions flagged to be released as a group,
like in Execute mode.
</summary>
</member>
<member name="M:Machina.ActionBuffer.#ctor">
<summary>
Main constructor.
</summary>
</member>
<member name="M:Machina.ActionBuffer.Add(Machina.Action)">
<summary>
Add an Action to the pending buffer.
</summary>
<param name="act"></param>
<returns></returns>
</member>
<member name="M:Machina.ActionBuffer.GetNext">
<summary>
Release the next pending Action with the highest priority.
</summary>
<returns></returns>
</member>
<member name="M:Machina.ActionBuffer.GetLast">
<summary>
Returns the last Action that was released by the buffer
</summary>
<returns></returns>
</member>
<member name="M:Machina.ActionBuffer.GetAllPending(System.Boolean)">
<summary>
Release all pending Actions in the order they were issued.
</summary>
<param name="flush">If true, pending actions will be flushed from the buffer and flagged as released</param>
<returns></returns>
</member>
<member name="M:Machina.ActionBuffer.GetAllPending">
<summary>
Release all pending Actions in the order they were issued.
</summary>
<returns></returns>
</member>
<member name="M:Machina.ActionBuffer.GetAllUpToId(System.Int32)">
<summary>
Returns all Actions in the pending buffer until the one with given id inclusive.
This assumes ids are correlative and ascending, will stop if it finds an
id larger than the given one.
</summary>
<param name="id"></param>
<returns></returns>
</member>
<member name="M:Machina.ActionBuffer.SetBlock">
<summary>
Wraps all pending actions outside release blocks into one.
</summary>
</member>
<member name="M:Machina.ActionBuffer.GetBlockPending(System.Boolean)">
<summary>
Returns the next block of Actions to be released. If no block
is present, it will return all pending Actions.
</summary>
<param name="flush">If true, this block will be moved
from pending to released.</param>
<returns></returns>
</member>
<member name="M:Machina.ActionBuffer.AreActionsPending">
<summary>
Is there any Action pending in the buffer?
</summary>
<returns></returns>
</member>
<member name="M:Machina.ActionBuffer.ActionsPending">
<summary>
How many Actions are pending in the buffer?
</summary>
<returns></returns>
</member>
<member name="M:Machina.ActionBuffer.IsVirgin">
<summary>
Has any Action ever been issued to this buffer?
</summary>
<returns></returns>
</member>
<member name="M:Machina.ActionBuffer.Flush">
<summary>
Clear all buffered and past released Actions.
</summary>
</member>
<member name="M:Machina.ActionBuffer.LogBufferedActions">
<summary>
Writes a description of each pending Action to the Console.
</summary>
</member>
<member name="T:Machina.CompilerZMORPH">
<summary>
A compiler for ZMorph 3D printers.
</summary>
</member>
<member name="M:Machina.CompilerZMORPH.UNSAFEProgramFromBuffer(System.String,Machina.RobotCursor,System.Boolean,System.Boolean,System.Boolean)">
<summary>
Creates a textual program representation of a set of Actions using native RAPID Laguage.
WARNING: this method is EXTREMELY UNSAFE; it performs no IK calculations, assigns default [0,0,0,0]
robot configuration and assumes the robot controller will figure out the correct one.
</summary>
<param name="programName"></param>
<param name="writePointer"></param>
<param name="block">Use actions in waiting queue or buffer?</param>
<returns></returns>
</member>
<member name="M:Machina.CompilerZMORPH.GetPositionTargetValue(Machina.RobotCursor)">
<summary>
Returns a simple XYZ position.
</summary>
<param name="cursor"></param>
<returns></returns>
</member>
<member name="M:Machina.CompilerZMORPH.GetExtrusionTargetValue(Machina.RobotCursor)">
<summary>
Computes how much the cursor has moved in this action, and returns how much
filament it should extrude based on extrusion rate.
</summary>
<param name="cursor"></param>
<param name="action"></param>
<returns></returns>
</member>
<member name="M:Machina.CompilerZMORPH.StartCodeBoilerplate(Machina.RobotCursor)">
<summary>
Dumps a bunch of initilazation boilerplate
</summary>
<param name="cursor"></param>
</member>
<member name="M:Machina.CompilerZMORPH.EndCodeBoilerplate(Machina.RobotCursor)">
<summary>
Dumps a bunch of termination boilerplate
</summary>
<param name="cursor"></param>
</member>
<member name="T:Machina.CompilerKUKA">
<summary>
A compiler for KUKA 6-axis industrial robotic arms.
</summary>
</member>
<member name="M:Machina.CompilerKUKA.UNSAFEProgramFromBuffer(System.String,Machina.RobotCursor,System.Boolean,System.Boolean,System.Boolean)">
<summary>
Creates a textual program representation of a set of Actions using native KUKA Robot Language.
</summary>
<param name="programName"></param>
<param name="writePointer"></param>
<param name="block">Use actions in waiting queue or buffer?</param>
<returns></returns>
</member>
<member name="M:Machina.CompilerKUKA.GetPositionTargetValue(Machina.RobotCursor)">
<summary>
Returns a KRL FRAME representation of the current state of the cursor.
Note POS also accept T and S parameters for unambiguous arm configuration def. @TODO: implement?
</summary>
<returns></returns>
</member>
<member name="M:Machina.CompilerKUKA.GetAxisTargetValue(Machina.RobotCursor)">
<summary>
Returns a KRL AXIS joint representation of the current state of the cursor.
</summary>
<returns></returns>
</member>
<member name="M:Machina.CompilerKUKA.GetToolValue(Machina.RobotCursor)">
<summary>
Returns a KRL representation of a Tool object
</summary>
<param name="cursor"></param>
<returns></returns>
</member>
<member name="T:Machina.CompilerUR">
<summary>
A compiler for Universal Robots 6-axis robotic arms.
</summary>
</member>
<member name="M:Machina.CompilerUR.UNSAFEProgramFromBuffer(System.String,Machina.RobotCursor,System.Boolean,System.Boolean,System.Boolean)">
<summary>
Creates a textual program representation of a set of Actions using native UR Script.
</summary>
<param name="programName"></param>
<param name="writePointer"></param>
<param name="block">Use actions in waiting queue or buffer?</param>
<returns></returns>
</member>
<member name="M:Machina.CompilerUR.GetPoseTargetValue(Machina.RobotCursor)">
<summary>
Returns an UR pose representation of the current state of the cursor.
</summary>
<returns></returns>
</member>
<member name="M:Machina.CompilerUR.GetJointTargetValue(Machina.RobotCursor)">
<summary>
Returns a UR joint representation of the current state of the cursor.
</summary>
<returns></returns>
</member>
<member name="M:Machina.CompilerUR.GetToolValue(Machina.RobotCursor)">
<summary>
Returns a UR representation of a Tool object.
</summary>
<param name="cursor"></param>
<returns></returns>
</member>
<member name="T:Machina.CompilerABB">
<summary>
A compiler for ABB 6-axis industrial robotic arms.
</summary>
</member>
<member name="F:Machina.CompilerABB.PredefinedZones">
<summary>
A Set of RAPID's predefined zone values.
</summary>
</member>
<member name="M:Machina.CompilerABB.UNSAFEProgramFromBuffer(System.String,Machina.RobotCursor,System.Boolean,System.Boolean,System.Boolean)">
<summary>
Creates a textual program representation of a set of Actions using native RAPID Laguage.
WARNING: this method is EXTREMELY UNSAFE; it performs no IK calculations, assigns default [0,0,0,0]
robot configuration and assumes the robot controller will figure out the correct one.
</summary>
<param name="programName"></param>
<param name="writePointer"></param>
<param name="block">Use actions in waiting queue or buffer?</param>
<returns></returns>
</member>
<member name="M:Machina.CompilerABB.GetUNSAFERobTargetValue(Machina.RobotCursor)">
<summary>
Returns an RAPID robtarget representation of the current state of the cursor.
WARNING: this method is EXTREMELY UNSAFE; it performs no IK calculations, assigns default [0,0,0,0]
robot configuration and assumes the robot controller will figure out the correct one.
</summary>
<returns></returns>
</member>
<member name="M:Machina.CompilerABB.GetJointTargetValue(Machina.RobotCursor)">
<summary>
Returns an RAPID jointtarget representation of the current state of the cursor.
</summary>
<returns></returns>
</member>
<member name="M:Machina.CompilerABB.GetSpeedValue(Machina.RobotCursor)">
<summary>
Returns a RAPID representation of cursor speed.
</summary>
<param name="speed"></param>
<returns></returns>
</member>
<member name="M:Machina.CompilerABB.GetZoneValue(Machina.RobotCursor)">
<summary>
Returns a RAPID representatiton of cursor zone.
</summary>
<param name="cursor"></param>
<returns></returns>
</member>
<member name="M:Machina.CompilerABB.GetToolValue(Machina.RobotCursor)">
<summary>
Returns a RAPID representation of a Tool object.
</summary>
<param name="cursor"></param>
<returns></returns>
</member>
<member name="T:Machina.CompilerHuman">
<summary>
A quick compiler for human-readable instructions.
</summary>
</member>
<member name="T:Machina.Controllers.ControlFactory">
<summary>
A static factory class that creates ControlManagers based on ControlType.
</summary>
</member>
<member name="T:Machina.Controllers.ControlManager">
<summary>
A an abstract class that manages setup and initialization of Control objects based on ControlType.
</summary>
</member>
<member name="M:Machina.Controllers.ControlManager.Initialize">
<summary>
Initialize the managed Control object by setting Comm, WriteCursor, StateCursor, etc.
</summary>
<returns></returns>
</member>
<member name="T:Machina.Controllers.StreamControlManager">
<summary>
A manager for Control objects running ControlType.Stream
</summary>
</member>
<member name="M:Machina.Drivers.Communication.Protocols.URCommunicationProtocol.GetActionMessages(Machina.Action,Machina.RobotCursor)">
<summary>
Given an Action and a RobotCursor representing the state of the robot after application,
return a List of strings with the messages necessary to perform this Action adhering to
the Machina-ABB-Server protocol.
</summary>
<param name="action"></param>
<param name="cursor"></param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.Protocols.ABBCommunicationProtocol.GetActionMessages(Machina.Action,Machina.RobotCursor)">
<summary>
Given an Action and a RobotCursor representing the state of the robot after application,
return a List of strings with the messages necessary to perform this Action adhering to
the Machina-ABB-Server protocol.
</summary>
<param name="action"></param>
<param name="cursor"></param>
<returns></returns>
</member>
<member name="T:Machina.Drivers.Communication.Protocols.Base">
<summary>
A base class representing a translator from abstract Machina Actions + Cursors
to messages in the communication protocol used by the device's server/firmata.
</summary>
</member>
<member name="M:Machina.Drivers.Communication.Protocols.Base.GetMessagesForNextAction(Machina.RobotCursor)">
<summary>
Given a (write) cursor, apply next Action in the buffer and return a List of messages
for the device's driver/firmata.
</summary>
<param name="cursor"></param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.Protocols.Base.GetBytesForNextAction(Machina.RobotCursor)">
<summary>
Given a (write cursor, apply next Action in the buffer and return a byte[] representation
of the message for the device's driver/firmata.
</summary>
<param name="cursor"></param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.Protocols.Base.GetActionMessages(Machina.Action,Machina.RobotCursor)">
<summary>
Given an Action and a RobotCursor representing the state of the robot after application,
return a List of strings with the messages necessary to perform this Action adhering to
the device's communication protocol.
</summary>
<param name="action"></param>
<param name="cursor"></param>
<returns></returns>
</member>
<member name="T:Machina.Drivers.Communication.RobotStudioManager">
<summary>
This class acts as a bridge between Machina and the ABB controller,
using RobotStudio's SDK.
Ideally, this will be abstracted somewhere else in the future, so that
Machina doesn't have this dependencies...
</summary>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.Disconnect">
<summary>
Reverts the Comm object to a blank state before any connection attempt.
</summary>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.Connect(System.Int32)">
<summary>
Performs all necessary steps to successfuly connect to the device using the RobotStudio API.
</summary>
<param name="deviceId"></param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.LoadController(System.Int32)">
<summary>
Searches the network for a robot controller and establishes a connection with the specified one by position.
Performs no LogOn actions or similar.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.ReleaseController">
<summary>
Disposes the controller object. This has to be done manually, since COM objects are not
automatically garbage collected.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.LoadIP">
<summary>
Load the controller's IP address into the object.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.ReleaseIP">
<summary>
Resets IP address.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.LogOn">
<summary>
Logs on to the controller with a default user.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.LogOff">
<summary>
Logs off from the controller.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.IsControllerInAutoMode">
<summary>
Returns true if controller is in automatic mode.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.IsControllerMotorsOn">
<summary>
Returns true if controller has Motors On
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.LoadMainTask">
<summary>
Retrieves the main task from the ABB controller, typically 't_rob1'.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.ReleaseMainTask">
<summary>
Disposes the task object. This has to be done manually, since COM objects are not
automatically garbage collected.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.TestMastershipRapid">
<summary>
Pings the controller's Rapid resource with a bogus request to check if it is available for
Mastership, or it is held by someone else.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.SubscribeToEvents">
<summary>
Subscribe to relevant events in the controller and assign them handlers.
</summary>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.ClearAllModules">
<summary>
Deletes all existing modules from main task in the controller.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.ResetProgramPointer">
<summary>
Resets the program pointer in the controller to the main entry point. Needs to be called
before starting execution of a program, otherwise the controller will throw an error.
</summary>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.LoadRobotWareOptions">
<summary>
Try to fetch RW options from this robot.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.HasMultiTaskOption(ABB.Robotics.Controllers.RobotWareOptionCollection)">
<summary>
Does this robot have the MultiTask option?
</summary>
<param name="options"></param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.HasEGMOption(ABB.Robotics.Controllers.RobotWareOptionCollection)">
<summary>
Does this robot have the Externally Guided Motion option?
</summary>
<param name="options"></param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.StartProgramExecution">
<summary>
Requests start executing the program in the main task. Remember to call ResetProgramPointer() before.
</summary>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.StopProgramExecution(System.Boolean)">
<summary>
Requests stop executing the program in the main task.
</summary>
<param name="immediate">Stop right now or wait for current cycle to complete?</param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.SetRunMode(Machina.CycleType)">
<summary>
Sets the Rapid ExecutionCycle to Once, Forever or None.
</summary>
<param name="mode"></param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.SetupStreamingModules">
<summary>
Read
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.UploadStreamingModules">
<summary>
Loads the default StreamModule designed for streaming.
</summary>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.LoadModuleToController(System.String,System.String)">
<summary>
Loads a module to the device from a text resource in the assembly, with a target name on the controller.
</summary>
<param name="resourceName"></param>
<param name="targetName"></param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.LoadFileToDevice(System.String,System.Boolean)">
<summary>
Loads a module into de controller from a local file.
@TODO: This is an expensive operation, should probably become threaded.
</summary>
<param name="fullPath"></param>
<param name="wipeout"></param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.GetCurrentPosition">
<summary>
Returns a Vector object representing the current robot's TCP position.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.GetCurrentOrientation">
<summary>
Returns a Rotation object representing the current robot's TCP orientation.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.GetCurrentJoints">
<summary>
Returns a Joints object representing the rotations of the 6 axes of this robot.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.DebugDump">
<summary>
Dumps a bunch of controller info to the console.
</summary>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.OnRapidExecutionStatusChanged(System.Object,ABB.Robotics.Controllers.RapidDomain.ExecutionStatusChangedEventArgs)">
<summary>
What to do when the robot starts running or stops.
@TODO: add new behavior here when execution changes
</summary>
<param name="sender"></param>
<param name="e"></param>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.OnRapidMastershipChanged(System.Object,ABB.Robotics.Controllers.MastershipChangedEventArgs)">
<summary>
What to do when Mastership changes.
@TODO: add behaviors...
</summary>
<param name="sender"></param>
<param name="e"></param>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.OnRapidTaskEnabledChanged(System.Object,ABB.Robotics.Controllers.RapidDomain.TaskEnabledChangedEventArgs)">
<summary>
What to do when the Task Enabled property changes.
</summary>
<param name="sender"></param>
<param name="e"></param>
</member>
<member name="M:Machina.Drivers.Communication.RobotStudioManager.OnOperatingModeChanged(System.Object,ABB.Robotics.Controllers.OperatingModeChangeEventArgs)">
<summary>
What to do when the controller changes Operating Mode.
</summary>
<param name="sender"></param>
<param name="e"></param>
</member>
<member name="T:Machina.Drivers.Communication.TCPCommunicationManagerUR">
<summary>
A class that manages TCP communication with UR devices, including sending/receiving messages,
queuing them, releasing them to the TCP server when appropriate, and raising events on
buffer empty.
</summary>
</member>
<member name="P:Machina.Drivers.Communication.TCPCommunicationManagerUR.ClientSocketStatus">
Machina communication with UR robots:
- Machina will connect via TCP/IP socket client to the robot's real time client at port 30003.
- From this port, it will receive a buffer with information about the robot state at 125Hz.
- To this port, Machina will send string buffers with compiled programs containing a number of actions
determined by _maxStreamCount.
- Machina will also establish a TCP server to receive acknowledgement messages from the robot. Every uplaoded
program contains instructions to connect to this server, and send an acknowledgement. This will help
Machina track program execution at runtime.
- Machina will listens to these acknowledgements, and when, upon remining _sendNewBatchOn, compile and upload
a new program with the next batch of actions. If _sendNewBatchOn is less than 2, Machina will
duplicate the remaining actions.
References:
https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/remote-control-via-tcpip-16496/
</member>
<member name="F:Machina.Drivers.Communication.TCPCommunicationManagerUR._clientSocket">
<summary>
The client socket that connects to the robot's secondary client.
</summary>
</member>
<member name="M:Machina.Drivers.Communication.TCPCommunicationManagerUR.ClientReceivingMethod(System.Object)">
<summary>
This method reads the buffer coming from the robot socket server and parses it into state info.
</summary>
<param name="obj"></param>
</member>
<member name="M:Machina.Drivers.Communication.TCPCommunicationManagerUR.ServerSendingMethod(System.Object)">
<summary>
This method sends buffered instructions to the client socket on the robot whenever necessary
</summary>
<param name="obj"></param>
</member>
<member name="M:Machina.Drivers.Communication.TCPCommunicationManagerUR.ServerReceivingMethod(System.Object)">
<summary>
This method listens to int messages from the client socket on the robots, and parses them as ids
of completed actions.
</summary>
<param name="obj"></param>
</member>
<member name="T:Machina.Drivers.Communication.TCPCommunicationManagerABB">
<summary>
A class that manages TCP communication with ABB devices, including sending/receiving messages,
queuing them, releasing them to the TCP server when appropriate, and raising events on
buffer empty.
</summary>
</member>
<member name="M:Machina.Drivers.Communication.TCPCommunicationManagerABB.ParseResponse(System.String)">
<summary>
Parse the response and decide what to do with it.
</summary>
<param name="res"></param>
</member>
<member name="T:Machina.Drivers.Driver">
<summary>
A class to handle communication with external controllers, real or virtual
</summary>
</member>
<member name="F:Machina.Drivers.Driver.parentControl">
<summary>
A reference to parent Machina Control object commanding this Driver.
</summary>
</member>
<member name="P:Machina.Drivers.Driver.WriteCursor">
<summary>
A reference to the shared Write RobotCursor object
</summary>
</member>
<member name="P:Machina.Drivers.Driver.Connected">
<summary>
Is connected to device?
</summary>
</member>
<member name="P:Machina.Drivers.Driver.IP">
<summary>
Device's IP
</summary>
</member>
<member name="P:Machina.Drivers.Driver.Port">
<summary>
Device's port
</summary>
</member>
<member name="P:Machina.Drivers.Driver.User">
<summary>
The User profile used to log into the controller
</summary>
</member>
<member name="M:Machina.Drivers.Driver.#ctor(Machina.Control)">
<summary>
Create a new instance of a Driver object given a Controller.
</summary>
<param name="ctrl"></param>
</member>
<member name="M:Machina.Drivers.Driver.Reset">
<summary>
Reverts the Driver object to a blank state before any connection attempt, objects retrieved, subscriptions, etc,
</summary>
</member>
<member name="M:Machina.Drivers.Driver.ConnectToDevice(System.Int32)">
<summary>
Performs all necessary operations for a successful real-time connection to a real/virtual device.
</summary>
<param name="deviceId"></param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Driver.DisconnectFromDevice">
<summary>
Performs all necessary operations and disposals for a full disconnection (and reset) from a real/virtual device.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Driver.SetRunMode(Machina.CycleType)">
<summary>
Sets the execution mode on the device to once or loop (useful for ControlMode.Execute)
</summary>
<param name="mode"></param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Driver.GetCurrentPosition">
<summary>
Returns a Vector object representing the current robot's TCP position.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Driver.GetCurrentOrientation">
<summary>
Returns a Rotation object representing the current robot's TCP orientation.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Driver.GetCurrentJoints">
<summary>
Returns a Joints object representing the rotations of the 6 axes of this robot.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.Driver.DebugDump">
<summary>
Dumps a bunch of info to the console.
</summary>
</member>
<member name="M:Machina.Drivers.Driver.SetUser(System.String,System.String)">
<summary>
Change the user profile usedfor logging operations.
</summary>
<param name="name"></param>
<param name="password"></param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.DriverUR.#ctor(Machina.Control)">
<summary>
Main constructor
</summary>
</member>
<member name="M:Machina.Drivers.DriverUR.ConnectToDevice(System.String,System.Int32)">
<summary>
Start a TCP connection to device via its address on the network.
</summary>
<param name="ip"></param>
<param name="port"></param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.DriverUR.ConnectToDevice(System.Int32)">
<summary>
Performs all necessary actions to establish a connection to a real/virtual device,
including connecting to the controller, loggin in, checking required states, etc.
</summary>
<param name="deviceId"></param>
</member>
<member name="M:Machina.Drivers.DriverUR.DisconnectFromDevice">
<summary>
Forces disconnection from current controller and manages associated logoffs, disposals, etc.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.DriverUR.SetupStreamingMode">
<summary>
Performs necessary operations to set up 'stream' control mode in the controller
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.DriverABB.#ctor(Machina.Control)">
<summary>
Main constructor
</summary>
</member>
<member name="M:Machina.Drivers.DriverABB.ConnectToDevice(System.String,System.Int32)">
<summary>
Start a TCP connection to device via its address on the network.
</summary>
<param name="ip"></param>
<param name="port"></param>
<returns></returns>
</member>
<member name="M:Machina.Drivers.DriverABB.ConnectToDevice(System.Int32)">
<summary>
Performs all necessary actions to establish a connection to a real/virtual device,
including connecting to the controller, loggin in, checking required states, etc.
</summary>
<param name="deviceId"></param>
</member>
<member name="M:Machina.Drivers.DriverABB.DisconnectFromDevice">
<summary>
Forces disconnection from current controller and manages associated logoffs, disposals, etc.
</summary>
<returns></returns>
</member>
<member name="M:Machina.Drivers.DriverABB.SetupStreamingMode">
<summary>
Performs necessary operations to set up 'stream' control mode in the controller
</summary>
<returns></returns>
</member>
<member name="T:Machina.Drivers.DriverOffline">
<summary>
A dummy Driver object to use for offline control
</summary>
</member>
<member name="T:Machina.ControlType">
<summary>
Represents the type of control that will be performed over the real/virtual robot.
</summary>
</member>
<member name="F:Machina.ControlType.Offline">
<summary>
Not connected to any controller. Useful for robot code generation and export.
</summary>
</member>
<member name="F:Machina.ControlType.Execute">
<summary>
Online connection to a controller, the library will upload complete programs
and run them. Provides robust and fluid movement, useful on real-time
interactivity where response time is not a priority.
</summary>
</member>
<member name="F:Machina.ControlType.Stream">
<summary>
Online connection to a controller, the library will stream individual targets
at run time as they get priority. Provides the closest approximation to real-time
interaction, useful on situations where low latency is required.
</summary>
</member>
<member name="T:Machina.CycleType">
<summary>
Defines the different cycle type modes a program can be ran.
</summary>
</member>
<member name="F:Machina.CycleType.None">
<summary>
It will not run.
</summary>
</member>
<member name="F:Machina.CycleType.Once">
<summary>
Program will be executed once.
</summary>
</member>
<member name="F:Machina.CycleType.Loop">
<summary>
Program will be executed in a loop.
</summary>
</member>
<member name="T:Machina.ReferenceCS">
<summary>
Defines which reference coordinate system to use for transform actions.
</summary>
</member>
<member name="T:Machina.MotionType">
<summary>
Defines which type of motion to use for translation actions.
</summary>
</member>
<member name="F:Machina.MotionType.Linear">
<summary>
Motion between targets will happen linearly in Euclidean space,
this is, a straight line in 3D space.
</summary>
</member>
<member name="F:Machina.MotionType.Joint">
<summary>
USE WITH CAUTION. Motion between targets will hapen linearly in Configuration space,
this is, a linear interpolation between the joint angular values for
each target. This is much easier for the robot, and generally avoids some
singularity problems. However, it may produce unpredictable trajectories
and reorientations, specially between targets far apart.
</summary>
</member>
<member name="T:Machina.RobotType">
<summary>