RTDE Module

class Command

RTDE_CONTROL_PACKAGE_PAUSE = 80

RTDE_CONTROL_PACKAGE_SETUP_INPUTS = 73

RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS = 79

RTDE_CONTROL_PACKAGE_START = 83

RTDE_DATA_PACKAGE = 85

RTDE_GET_URCONTROL_VERSION = 118

RTDE_REQUEST_PROTOCOL_VERSION = 86

RTDE_TEXT_MESSAGE = 77

class ConnectionState

CONNECTED = 1

DISCONNECTED = 0

PAUSED = 3

STARTED = 2

class RTDE(hostname, port=30004)

__list_equals(l1, l2)

__on_packet(cmd, payload)

__recv(command, binary=False)

__recv_from_buffer(command, binary=False)

__recv_to_buffer(timeout)

__sendAndReceive(cmd, payload=b'')

__sendall(command, payload=b'')

__trigger_disconnected()

__unpack_data_package(payload, output_config)

__unpack_pause_package(payload)

__unpack_protocol_version_package(payload)

__unpack_setup_inputs_package(payload)

__unpack_setup_outputs_package(payload)

__unpack_start_package(payload)

__unpack_text_message(payload)

__unpack_urcontrol_version_package(payload)

connect()

disconnect()

get_controller_version()

has_data()

is_connected()

negotiate_protocol_version()

receive(binary=False): Recieve the latest data package. If muliple packages has been received, older ones are discarded and only the newest one will be returned. Will block untill a package is received or the connection is lost

receive_buffered(binary=False, buffer_limit=None): Recieve the next data package. If muliple packages has been received they are buffered and will be returned on subsequent calls to this function. Returns None if no data is available.

send(input_data)

send_input_setup(variables, types=[])

send_message(message, source='Python Client', type=3)

send_output_setup(variables, types=[], frequency=125)

send_pause()

send_start()

property skipped_package_count: The skipped package count, resets on connect

exception RTDEException(msg)

exception RTDETimeoutException(msg)