Testing & CI Utilities
Tools for exercising the SDK without a physical gripper attached.
Not part of the real control path — see Core API for that.
Members
| Functions | |
| std::unique_ptr< Gripper > | makeFakeGripper (const ConnectionConfig &config={}, std::shared_ptr< Logger > logger=nullptr) |
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Build a Gripper for testing and CI, backed by an in-process fake device instead of real hardware. More... | |
Functions
makeFakeGripper()
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Build a Gripper for testing and CI, backed by an in-process fake device instead of real hardware.
The returned Gripper is the real one, driving a real Modbus client, against an in-process device that implements the documented register map. Everything above the wire — the typed blocks, the exchange cycle, the process image, activate()/recoverFromFault() — behaves exactly as against hardware.
The fake device is deliberately minimal, and matches what integrators expect of a dummy gripper: activation completes instantly, and the fingers are wherever they were last commanded to be. There is no motion profile, no travel time, no object detection and no fault injection.
- Parameters
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config Only modbusSlaveAddress and connectionFrequency apply; the serial settings are ignored, as there is no port to configure. connectionFrequency is clamped to [0.1, 1000] Hz — a real link paces itself against the wire, a fake one has to be bounded — and 0, meaning free-run, gets the top of that range. Clamping is logged.
logger Log sink; pass null to use the default stderr logger.
- Returns
A Gripper driving the in-process fake device.
- Exceptions
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<a href="/docs/drivers/2F hande/SDK/C++/API/classes/robotiq/driverexception">DriverException</a> if the fake device cannot be created, or if connectionFrequency is negative.
- Example
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auto gripper = Robotiq::makeFakeGripper(); // no hardware neededRobotiq::activate(*gripper);
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