Class SafetyService

Service for getting information about Safety

Hierarchy (View Summary)

MessageInvokerService
- SafetyService

Index

Constructors

Properties

communicationChannel eventTarget

Methods

getIOs getMaxToolForce getOperationalMode getPayloadLimits getSafeHomePosition postAndAwait postAndObserve request requestObserve

Constructors

constructor

new SafetyService(eventTarget: EventTargetOrCommChannel): SafetyService
Parameters
- eventTarget: EventTargetOrCommChannel
Returns SafetyService
Overrides MessageInvokerService.constructor
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/safety.service.d.ts:16

Properties

communicationChannel

communicationChannel: CommunicationChannel

`Readonly`eventTarget

eventTarget: EventTargetOrCommChannel

Methods

getIOs

getIOs(): Promise<Record<string, any>>
Returns a list of safety IO's

Returns Promise<Record<string, any>>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/safety.service.d.ts:20

getMaxToolForce

getMaxToolForce(): Promise<number>
Get the maximum allowed tool force for the robot

Returns Promise<number>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/safety.service.d.ts:24

getOperationalMode

getOperationalMode(): Observable<ControlMode>
Get the operational mode of the robot

Returns Observable<ControlMode>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/safety.service.d.ts:32

getPayloadLimits

getPayloadLimits(): Promise<PayloadLimits>
Get the payload limits for the robot

Returns Promise<PayloadLimits>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/safety.service.d.ts:28

getSafeHomePosition

getSafeHomePosition(): Observable<JointPositions | undefined>
Get the Safety Safe Home Position

Returns Observable<JointPositions | undefined>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/robot/safety.service.d.ts:36

postAndAwait

postAndAwait<T>(type: string, data?: any): Promise<T>
returns a reply promise to the specified message
Type Parameters
- T
Parameters
- type: string
  The type of message being sent
- Optionaldata: any
  The message data
Returns Promise<T>
Inherited from MessageInvokerService.postAndAwait
- Defined in node_modules/@universal-robots/contribution-api/lib/services/message-invoker.d.ts:192

postAndObserve

postAndObserve<T>(type: string, data?: any): Observable<T>
returns an observable that will emit any messages replied to the specified message
Type Parameters
- T
Parameters
- type: string
  The type of message being sent
- Optionaldata: any
  The message data
Returns Observable<T>
Inherited from MessageInvokerService.postAndObserve
- Defined in node_modules/@universal-robots/contribution-api/lib/services/message-invoker.d.ts:199

request

request<T>(type: string, data?: any): Promise<T>
returns a reply promise for the requested message
Type Parameters
- T
Parameters
- type: string
  The type of message being sent
- Optionaldata: any
  The message data
Returns Promise<T>
Inherited from MessageInvokerService.request
- Defined in node_modules/@universal-robots/contribution-api/lib/services/message-invoker.d.ts:178

requestObserve

requestObserve<T>(type: string, data?: any): Observable<T>
returns an observable that will emit any messages replied to the requested message
Type Parameters
- T
Parameters
- type: string
  The type of message being sent
- Optionaldata: any
  The message data
Returns Observable<T>
Inherited from MessageInvokerService.requestObserve
- Defined in node_modules/@universal-robots/contribution-api/lib/services/message-invoker.d.ts:185