flexiv::rdk::FileIO Class Reference

Interface to exchange files with the robot. Only certain types of file can be transferred. More...

#include <file_io.hpp>

Public Member Functions
	FileIO (const Robot &robot)
	[Non-blocking] Instantiate the file exchange interface. More...
std::vector< std::string >	traj_files_list () const
	[Blocking] A list of all trajectory files currently stored in the connected robot. More...
std::vector< std::string >	projects_list () const
	[Blocking] A list of all user projects currently stored in the connected robot. More...
void	UploadTrajFile (const std::string &file_dir, const std::string &file_name)
	[Blocking] Upload a local trajectory file (.traj) to the robot. More...
std::string	DownloadTrajFile (const std::string &file_name)
	[Blocking] Download a trajectory file (.traj) from the robot. More...
void	DownloadTrajFile (const std::string &file_name, const std::string &save_dir)
	[Blocking] Download a trajectory file (.traj) from the robot and save to the specified directory. More...
void	UploadProject (const std::string &project_dir)
	[Blocking] Upload a local project to the robot. More...
void	DownloadProject (const std::string &project_name, const std::string &save_dir)
	[Blocking] Download a project from the robot and save to the specified directory. More...

Detailed Description

Interface to exchange files with the robot. Only certain types of file can be transferred.

Definition at line 18 of file file_io.hpp.

Constructor & Destructor Documentation

FileIO()

flexiv::rdk::FileIO::FileIO

(

const Robot &

robot

)

[Non-blocking] Instantiate the file exchange interface.

Parameters

[in]

robot

Reference to the instance of flexiv::rdk::Robot.

Exceptions

std::runtime_error

if the initialization sequence failed.

Member Function Documentation

DownloadProject()

void flexiv::rdk::FileIO::DownloadProject	(	const std::string &	project_name,
		const std::string &	save_dir
	)

[Blocking] Download a project from the robot and save to the specified directory.

Parameters

[in]	project_name	Full name of the project to download. E.g. "polish_table".
[in]	save_dir	Relative or absolute path of the directory to save the downloaded project. E.g. /home/user/Documents/.

Exceptions

std::invalid_argument	if the specified project does not exist.
std::runtime_error	if failed to download or save the project.
std::filesystem::filesystem_error	if failed to create the specified directory.

Note

This function blocks until the project is successfully downloaded.

DownloadTrajFile() [1/2]

std::string flexiv::rdk::FileIO::DownloadTrajFile

(

const std::string &

file_name

)

[Blocking] Download a trajectory file (.traj) from the robot.

Parameters

[in]

file_name

Full name of the trajectory file to download, including the extension. E.g. PolishSpiral.traj.

Returns

String content of the trajectory file.

Exceptions

std::invalid_argument	if the specified file does not exist.
std::runtime_error	if failed to download the file.

Note

This function blocks until the file is successfully downloaded.

DownloadTrajFile() [2/2]

void flexiv::rdk::FileIO::DownloadTrajFile	(	const std::string &	file_name,
		const std::string &	save_dir
	)

[Blocking] Download a trajectory file (.traj) from the robot and save to the specified directory.

Parameters

[in]	file_name	Full name of the trajectory file to download, including the extension. E.g. "PolishSpiral.traj".
[in]	save_dir	Relative or absolute path of the directory to save the downloaded file. E.g. /home/user/Documents/. Do not include the file name here. The specified directory will be created if not yet exist.

Exceptions

std::invalid_argument	if the specified file does not exist.
std::runtime_error	if failed to download or save the file.
std::filesystem::filesystem_error	if failed to create the specified directory.

Note

This function blocks until the file is successfully downloaded.

projects_list()

std::vector<std::string> flexiv::rdk::FileIO::projects_list

(

)

const

[Blocking] A list of all user projects currently stored in the connected robot.

Returns

Project names as a string list.

Exceptions

std::runtime_error

if failed to get a reply from the connected robot.

Note

This function blocks until a reply is received.

traj_files_list()

std::vector<std::string> flexiv::rdk::FileIO::traj_files_list

(

)

const

[Blocking] A list of all trajectory files currently stored in the connected robot.

Returns

Trajectory filenames as a string list.

Exceptions

std::runtime_error

if failed to get a reply from the connected robot.

Note

This function blocks until a reply is received.

UploadProject()

void flexiv::rdk::FileIO::UploadProject

(

const std::string &

project_dir

)

[Blocking] Upload a local project to the robot.

Parameters

[in]

project_dir

Relative or absolute path of the project directory, which should contain a .proj file and a .plan file.

Exceptions

std::invalid_argument	if failed to find the specified directory or the project files are incomplete.
std::logic_error	if robot is not in the correct control mode.
std::length_error	if any of the project files is too large to transfer. Maximum file size is 1 MB.
std::runtime_error	if failed to upload the project.

Note

Applicable control modes: IDLE.

This function blocks until the project is successfully uploaded.

Warning

If the uploaded project was created by Flexiv Elements with a software package version different from the connected robot, the project might not be executable before it's converted to the compatible version.

UploadTrajFile()

void flexiv::rdk::FileIO::UploadTrajFile	(	const std::string &	file_dir,
		const std::string &	file_name
	)

[Blocking] Upload a local trajectory file (.traj) to the robot.

Parameters

[in]	file_dir	Relative or absolute path of the directory that contains the file to upload, e.g. /home/user/Documents/. Do not include the file name here.
[in]	file_name	Full name of the trajectory file to upload, including the extension. E.g. PolishSpiral.traj. Do not include the directory path here.

Exceptions

std::invalid_argument	if failed to find or load the specified file.
std::length_error	if the file is too large to transfer. Maximum file size is 1 MB.
std::runtime_error	if failed to upload the file.

Note

This function blocks until the file is successfully uploaded.

---

The documentation for this class was generated from the following file:

• include/flexiv/rdk/file_io.hpp