This page describes the C++ DeviceConfig API.
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) |
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 |