Activation & Recovery

The blocking activation / fault-recovery procedures built on top of Command and Status, and the polling helpers they are built from.

Members

Enumerations
enum class	ActivationResult { ... }
Functions
ActivationResult	activate (Gripper &gripper, std::chrono::milliseconds timeout=std::chrono::seconds(15))
	Ensure the gripper is activated, blocking until it reports completion. More...
ActivationResult	recoverFromFault (Gripper &gripper, std::chrono::milliseconds timeout=std::chrono::seconds(15))
	Run the manual's fault-recovery handshake, unconditionally. More...
constexpr std::string_view	toString (ActivationResult result)

Enumerations

ActivationResult

enum class Robotiq::ActivationResult

strong

Enumeration values

Activated
AlreadyActive	already activated and fault-free; nothing was sent
FaultLatched	a major fault is latched; activate() refuses the reset
Timeout

Result of the blocking activation procedures activate() and recoverFromFault().

Functions

activate()

ActivationResult Robotiq::activate ( Gripper & gripper, std::chrono::milliseconds timeout = std::chrono::seconds(15) )

Ensure the gripper is activated, blocking until it reports completion.

A healthy, already-activated gripper is left undisturbed, and an activation already in progress is waited on rather than restarted. rGTO is cleared when the handshake runs.

Parameters

gripper	The gripper to activate.
timeout	How long to wait for the handshake to complete.

Returns

ActivationResult

Example

  ActivationResult activation = Robotiq::activate(*gripper);

  if(activation == ActivationResult::FaultLatched)

  {

  // Recovery releases any grip and sweeps the fingers, so the SDK

  // never runs it implicitly; this example has no part to drop.

  logger->log(Robotiq::Logger::Level::Warn, "fault latched; recovering (the fingers will move)");

  activation = Robotiq::recoverFromFault(*gripper);

  }

recoverFromFault()

ActivationResult Robotiq::recoverFromFault ( Gripper & gripper, std::chrono::milliseconds timeout = std::chrono::seconds(15) )

Run the manual's fault-recovery handshake, unconditionally.

Clearing rACT resets the gripper — clearing its fault status — and setting it back runs the calibration sweep.

warning

Releases any grip and moves the fingers through their full range. rGTO is cleared, as for activate().

Parameters

gripper	The gripper to recover.
timeout	How long to wait for the handshake to complete.

Returns

Activated on success; Timeout if completion never arrived in time.

toString()

constexpr std::string_view Robotiq::toString ( ActivationResult result )

constexpr

Parameters

result

Outcome of activate() or recoverFromFault().

Returns

A short name for result.

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