:::tip Experimental This documents unreleased main — not a released, committed API. See the API stability policy and use Stable instead. :::

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)
	Build a Gripper for testing and CI, backed by an in-process fake device instead of real hardware. More...

Functions

makeFakeGripper()

std::unique_ptr< Gripper > Robotiq::makeFakeGripper ( const ConnectionConfig & config = {}, std::shared_ptr< Logger > logger = nullptr )

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

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

<a href="/docs/drivers/Adaptive grippers/Libraries/C++/next/API/classes/robotiq/driverexception">DriverException</a>

if the fake device cannot be created, or if connectionFrequency is negative.

Example

  auto gripper = Robotiq::makeFakeGripper(); // no hardware needed

  Robotiq::activate(*gripper);

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