DeviceConfig \(Python\)
June 4, 2021 ยท View on GitHub
This page describes the Python DeviceConfig API.
RPC reference
This section describes the existing RPCs used in this API.
Service to get and set device configuration information
DeviceConfigClient RPCs
| Function name | Return type | Input type | Description |
|---|---|---|---|
| GetRunMode | RunMode | Empty | Returns the run mode for the device |
| SetRunMode | Empty | RunMode | Sets the run mode for the device |
| GetDeviceType | DeviceType | Empty | Retrieves the type for the device |
| GetFirmwareVersion | FirmwareVersion | Empty | Retrieves the device firmware version |
| GetBootloaderVersion | BootloaderVersion | Empty | Retrieves the device bootloader version |
| GetModelNumber | ModelNumber | Empty | Retrieves the device model number |
| GetPartNumber | PartNumber | Empty | Retrieves the device part number |
| GetSerialNumber | SerialNumber | Empty | Retrieves the device serial number |
| GetMACAddress | MACAddress | Empty | Retrieves the device MAC address |
| GetIPv4Settings | IPv4Settings | Empty | Retrieves the device IPv4 settings (not implemented on Base) |
| SetIPv4Settings | Empty | IPv4Settings | Sets the device IPv4 settings (not implemented on Base) |
| GetPartNumberRevision | PartNumberRevision | Empty | Retrieves the device part number revision |
| RebootRequest | Empty | RebootRqst | Sends a request to the device to reboot |
| SetSafetyEnable | Empty | SafetyEnable | Enables (disable) the specified safety |
| SetSafetyErrorThreshold | Empty | SafetyThreshold | Sets the error threshold for the specified safety |
| SetSafetyWarningThreshold | Empty | SafetyThreshold | Sets the warning threshold for the specified safety |
| SetSafetyConfiguration | Empty | SafetyConfiguration | Configures the specified safety (i.e. sets error and warning thresholds) |
| GetSafetyConfiguration | SafetyConfiguration | SafetyHandle | Retrieves configuration about the specified safety |
| GetSafetyInformation | SafetyInformation | SafetyHandle | Retrieves information about the specified safety |
| GetSafetyEnable | SafetyEnable | SafetyHandle | Indicates if specified safety is enabled (or disabled) |
| GetSafetyStatus | SafetyStatus | SafetyHandle | Indicates if the specified safety is raised |
| ClearAllSafetyStatus | Empty | Empty | Clear all safety status for this device if they are no longer raised |
| ClearSafetyStatus | Empty | SafetyHandle | Clear a specific safety status if it is no longer raised |
| GetAllSafetyConfiguration | SafetyConfigurationList | Empty | Retrieves configuration on all safeties |
| GetAllSafetyInformation | SafetyInformationList | Empty | Retrieves information on all safeties |
| ResetSafetyDefaults | Empty | Empty | Restores all safety configurations to factory defaults |
| OnNotificationSafetyTopic | NotificationHandle | NotificationOptions | Subscribes to safety notifications |
| ExecuteCalibration | Empty | Calibration | Starts device calibration (intended for Kinova Production of Pico) |
| GetCalibrationResult | CalibrationResult | CalibrationElement | Retrieves the status/result of device calibration (intended for Kinova Production of Pico) |
| StopCalibration | CalibrationResult | Calibration | Stop calibration in progress |
| SetCapSenseConfig | Empty | CapSenseConfig | Sets the capacitive sensor calibration |
| GetCapSenseConfig | CapSenseConfig | Empty | Retrieves the capacitive sensor calibration |
| ReadCapSenseRegister | CapSenseRegister | CapSenseRegister | Reads low-level register from the capacitive sensor (for Kinova internal use ony, not to be used in the field) |
| WriteCapSenseRegister | Empty | CapSenseRegister | Writes to low-level register of the capacitive sensor (for Kinova internal use ony, not to be used in the field) |
Class reference
This section describes the data classes used in this API.
Messages
| Class | Description |
|---|---|
| BootloaderVersion | Bootloader version for the device |
| Calibration | Calibration information to push to device |
| CalibrationElement | Calibration element |
| CalibrationParameter | Single calibration parameter information |
| CalibrationResult | Result of a calibration |
| CapSenseConfig | Capacitive sensor configuration message |
| CapSenseRegister | Message used to address a register |
| DeviceType | Device type |
| FirmwareVersion | Firmware version for the device |
| IPv4Settings | IPv4 settings for the device, including address, subnet mask, and default gateway |
| MACAddress | MAC address for the device |
| ModelNumber | Model number for the device |
| PartNumber | Part number for the device |
| PartNumberRevision | Part number revision for the device |
| PowerOnSelfTestResult | Result of power on self test |
| RebootRqst | Reboot request with bootloader delay |
| RunMode | Run mode |
| SafetyConfiguration | Configuration for a safety |
| SafetyConfigurationList | Array of safety configurations |
| SafetyEnable | Enable or disable a specific safety |
| SafetyInformation | Information about a specific safety |
| SafetyInformationList | Array of safety information |
| SafetyStatus | Safety status |
| SafetyThreshold | Configure threshold of a specific safety |
| SerialNumber | Serial number for the device |
Enumerators
| Enumerator | Description |
|---|---|
| CalibrationItem | Admissible calibration items |
| CalibrationStatus | Admissible calibration status |
| CapSenseMode | Admissible capacitive sensor mode |
| RunModes | Options for the run mode for the device |
| SafetyLimitType | Types of safeties limits |
| ServiceVersion | Identifies DeviceConfig current version |