Class ToolService

Provides access to URScript functions Parameters are aligned with URScript functions, see URScript manual for more info.

Hierarchy (View Summary)

MessageInvokerService
- ToolService

Index

Constructors

Properties

communicationChannel eventTarget

Methods

getActiveTCPName getToolControl getToolControllers postAndAwait postAndObserve request requestObserve setTargetPayload setTcp

Constructors

constructor

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

Properties

communicationChannel

communicationChannel: CommunicationChannel

`Readonly`eventTarget

eventTarget: EventTargetOrCommChannel

Methods

getActiveTCPName

getActiveTCPName(): Observable<string>
Get active TCP name

Returns Observable<string>
Observable<string> emitting the name of the currently active TCP known to the controller. If the TCP has been set without providing a name, this Observable will emit an empty string. For documentation on Observable, see https://rxjs.dev/guide/observable
- Defined in node_modules/@universal-robots/contribution-api/lib/services/tool/tool.service.d.ts:33

getToolControl

getToolControl(): Promise<ToolControl>
Returns the currently selected tool control information

Returns Promise<ToolControl>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/tool/tool.service.d.ts:41

getToolControllers

getToolControllers(): Promise<CategorizedToolController[]>
Returns the list of tool controllers.

Returns Promise<CategorizedToolController[]>
- Defined in node_modules/@universal-robots/contribution-api/lib/services/tool/tool.service.d.ts:37

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

setTargetPayload

setTargetPayload(
    mass: Mass,
    cog: CenterOfGravity,
    inertia?: Inertia,
): Promise<void>
Sets the mass, CoG (center of gravity), the inertia matrix of the active payload
Parameters
- mass: Mass
- cog: CenterOfGravity
- Optionalinertia: Inertia
Returns Promise<void>
See
ScriptBuilder#setTargetPayload
- Defined in node_modules/@universal-robots/contribution-api/lib/services/tool/tool.service.d.ts:26

setTcp

setTcp(tcp: TCP): Promise<void>
Sets the active tcp offset, i.e. the transformation from the output flange coordinate system to the TCP as a pose.
Parameters
- tcp: TCP
Returns Promise<void>
See
ScriptBuilder#setTcp
- Defined in node_modules/@universal-robots/contribution-api/lib/services/tool/tool.service.d.ts:21