get_hardware¶

Runs at once Any mode Open to every client

Return what the drives, the CAN bus and the control box report. One read of everything the hardware reports, for checking a build: each drive's identity, supply and faults, the CAN interface's error counters, and the E-stop, the buttons and the isolated inputs and outputs. It moves nothing.

Syntax¶

robot.get_hardware(can=True)

Arguments¶

Name	Type	Default	Description
`can`	`bool`	`True`	Also read the CAN interface's state and error counters, which takes the robot about 5 ms. `False` skips them, for polling.

Returns¶

dict

A dict: drives: one dict per joint, J1 first: name ("J1"), can_id, answered_scan (it answered the scan at start-up), answering (its data is fresh now), lost (its lost-connection error is latched), firmware, hardware, serial, batch, voltage_v (its supply, in volts), temperature_c (in degrees Celsius), fault (a fault is reported), flags (each fault flag: temperature, encoder, supply_voltage, driver, velocity, current, estop and watchdog), calibrated, driver_type, firmware_supported ("ok", "too_old", "too_new", "undeclared", or None before the drive reports) and supported_range. gripper: the same for a CAN gripper's drive, without batch, or None. scan_unexpected_ids: the CAN ids that answered the start-up scan although this robot does not use them. can_link: the CAN interface's interface, state, restart_ms and its counters restarts, bus_errors, arbitration_lost, error_warning, error_passive and bus_off; None with can=False or when the robot cannot read them. io: the control box: estop_pressed, per E-stop channel estop_raw (the level, 0 = pressed) and estop_channel_pressed, estop_channels_used, software_estop, buttons_pressed (B1 and B2), inputs and outputs (the three isolated pins' levels) and pcb_version. joint_num, has_gripper, tick (the control tick of the read) and time (in seconds since 1970, UTC).

Examples¶

hardware = robot.get_hardware(can=False)
[d["voltage_v"] for d in hardware["drives"]]

Usage restrictions never refused

This command runs at once; it is not queued. The robot accepts it in any mode and state, from every client.

It never answers with an error code.

In Python, the call raises:

RobotTimeout: The robot did not answer within 5 s.
RobotConnectionError: The client is not connected.

If the connection drops while the call waits for the robot's answer, it raises CommandRejected with the code CONNECTION_LOST (DISCONNECTED after disconnect()); while it waits for the robot's status, RobotConnectionError.

Like every immediate command, it also answers BAD_ARGS when a raw client sends a value the robot cannot read at all, and INTERNAL when it fails inside the robot.

Protocol¶

A client that does not use robotclient sends this over the TCP command protocol (port 29000) for the example above:

{"id": "c1", "cmd": "get_hardware", "args": [0]}