@robotical/roboticaljs/dist/SystemTypeMarty/RICSystemUtils.d.ts

Javascript/TS library for Robotical products

import { RaftOKFail, RaftMsgHandler } from "@robotical/raftjs";
import { RICConfiguredAddOns } from "./RICAddOn";
import RICAddOnManager from "./RICAddOnManager";
import { RICHWElem } from "./RICHWElem";
import { RICCalibInfo } from "./RICTypes";
export default class RICSystemUtils {
    private _msgHandler;
    private _addOnManager;
    private _hwElemsExcludingAddOns;
    private _connectedAddOns;
    private _calibInfo;
    /**
     * constructor
     * @param raftMsgHandler
     * @param addOnManager
     */
    constructor(msgHandler: RaftMsgHandler, addOnManager: RICAddOnManager);
    /**
     * invalidate
     */
    invalidate(): void;
    /**
     *  getSystemInfo - get system info
     * @returns Promise<RICSystemInfo>
     *
     */
    retrieveInfo(): Promise<boolean>;
    /**
   * Get information Marty system
   *
   *  @return void
   *
   */
    retrieveMartySystemInfo(): Promise<boolean>;
    calibrate(cmd: string, jointList: Array<string>, jointNames: {
        [key: string]: string;
    }): Promise<false | RaftOKFail>;
    /**
     *
     * getRICCalibInfo
     * @returns Promise<RICCalibInfo>
     *
     */
    getRICCalibInfo(forceGetFromRIC?: boolean): Promise<RICCalibInfo>;
    /**
     *
     * getHWElemList - get the list of hardware elements connected to the robot
     *               - the result (if successful) is processed as follows:
     *                       = if no filter is applied then all non-add-ons found are stored in
     *                         this._hwElemsExcludingAddOns and all addons are stored in this._connectedAddOns
     *                       = if a filter is applied and this filter is RSAddOns then this._connectedAddOns is
     *                         updated with the new list of addons
     *                       = in all cases the discovered list is returned
     *
     * @returns Promise<RICHWElemList>
     *
     */
    getHWElemList(filterByType?: string): Promise<Array<RICHWElem>>;
    /**
     *
     * getAddOnConfigs - get list of add-ons configured on the robot
     * @returns Promise<RICConfiguredAddOns>
     *
     */
    getAddOnConfigs(): Promise<RICConfiguredAddOns>;
    /**
       *
       * runCommand
       * @param commandName command API string
       * @param params parameters (simple name value pairs only) to parameterize trajectory
       * @returns Promise<RaftOKFail>
       *
       */
    runCommand(commandName: string, params: object): Promise<RaftOKFail>;
    getCachedAddOnList(): Array<RICHWElem>;
    getCachedAllHWElems(): Array<RICHWElem>;
    getCachedCalibInfo(): RICCalibInfo | null;
}