package Kinova.Api.Common

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Admissible robot arm states

Used in: Base.ArmStateInformation, Base.ArmStateNotification, BaseCyclic.BaseFeedback

ARMSTATE_UNSPECIFIED = 0
Unspecified arm state
ARMSTATE_BASE_INITIALIZATION = 1
Cannot be reported as the Base initialization must be completed before allowing user connection
ARMSTATE_IDLE = 2
Base initialization succeeded
ARMSTATE_INITIALIZATION = 3
Arm is being initialized
ARMSTATE_IN_FAULT = 4
Arm is in fault
ARMSTATE_MAINTENANCE = 5
Arm is in maintenance
ARMSTATE_SERVOING_LOW_LEVEL = 6
Arm is in low-level servoing mode
ARMSTATE_SERVOING_READY = 7
Arm is ready to be controlled
ARMSTATE_SERVOING_PLAYING_SEQUENCE = 8
Arm is currently being controlled via a sequence
ARMSTATE_SERVOING_MANUALLY_CONTROLLED = 9
Arm is currently being controlled manually
ARMSTATE_BRAKE_RELEASING = 10
Arm brakes are being released
ARMSTATE_RESERVED = 255
For debugging, this state must never be reported outside the base. this means that a state is not mapped correctly

Admissible Cartesian reference frame modes

Used in: Base.CartesianWaypoint, Base.TwistCommand, Base.WrenchCommand, ControlConfig.CartesianReferenceFrameInfo

CARTESIAN_REFERENCE_FRAME_UNSPECIFIED = 0
Unspecified Cartesian reference frame
CARTESIAN_REFERENCE_FRAME_MIXED = 1
Mixed reference frame where translation reference = base and orientation reference = tool
CARTESIAN_REFERENCE_FRAME_TOOL = 2
Tool reference frame where translation reference = tool and orientation reference = tool
CARTESIAN_REFERENCE_FRAME_BASE = 3
Base reference frame where the translation reference = base and orientation reference = base

Connection between a user and the robot

Used in: Base.ActionNotification, Base.ArmStateInformation, Base.ArmStateNotification, Base.ConfigurationChangeNotification, Base.ControlModeNotification, Base.ControllerNotification, Base.FactoryNotification, Base.MappingInfoNotification, Base.NetworkNotification, Base.OperatingModeNotification, Base.ProtectionZoneNotification, Base.RobotEventNotification, Base.SequenceInfoNotification, Base.ServoingModeNotification, Base.UserNotification, SafetyNotification, ControlConfig.ControlConfigurationNotification, ControlConfig.ControlModeNotification

optional UserProfileHandle user_handle = 1
User profile handle, or set to zero if no user logged in
string connection_information = 2
Connection info (e.g. IP address with port number)
uint32 connection_identifier = 3
Connection identifier

Country code

Used as request type in: Base.Base.SetWifiCountryCode

Used as response type in: Base.Base.GetWifiCountryCode

Used as field type in: ProductConfiguration.CompleteProductConfiguration

CountryCodeIdentifier identifier = 1
ISO3166 country code identifier

Supported ISO3166 country identifiers

Used in: CountryCode

UNSPECIFIED_COUNTRY_CODE = 0
UNITED_ARAB_EMIRATES_AE = 1
ANTIGUA_AND_BARBUDA_AG = 2
ANGUILLA_AI = 3
ALBANIA_AL = 4
AMERICAN_SAMOA_AS = 5
AUSTRIA_AT = 6
AUSTRALIA_AU = 7
ARUBA_AW = 8
AZERBAIJAN_AZ = 9
BOSNIA_AND_HERZEGOVINA_BA = 10
BANGLADESH_BD = 11
BELGIUM_BE = 12
BULGARIA_BG = 13
BAHRAIN_BH = 14
BERMUDA_BM = 15
BRUNEI_DARUSSALAM_BN = 16
BRAZIL_BR = 17
BAHAMAS_BS = 18
BELARUS_BY = 19
SWITZERLAND_CH = 20
CANADA_CA = 21
CHINA_CN = 22
COLOMBIA_CO = 23
COSTA_RICA_CR = 24
CYPRUS_CY = 25
CZECH_REPUBLIC_CZ = 26
GERMANY_DE = 27
DENMARK_DK = 28
ECUADOR_EC = 29
ESTONIA_EE = 30
EGYPT_EG = 31
SPAIN_ES = 32
ETHIOPIA_ET = 33
FINLAND_FI = 34
FRANCE_FR = 35
UNITED_KINGDOM_GB = 36
GRENADA_GD = 37
FRENCH_GUIANA_GF = 38
GUADELOUPE_GP = 39
GREECE_GR = 40
GUATEMALA_GT = 41
GUAM_GU = 42
HONG_KONG_HK = 43
CROATIA_HR = 44
HUNGARY_HU = 45
INDIA_IN = 46
INDONESIA_ID = 47
IRELAND_IE = 48
ISRAEL_IL = 49
ICELAND_IS = 50
ITALY_IT = 51
JORDAN_JO = 52
JAPAN_JP = 53
CAMBODIA_KH = 54
REPUBLIC_OF_KOREA_KR = 55
KUWAIT_KW = 56
CAYMAN_ISLANDS_KY = 57
LAO_PDR_LA = 58
LEBANON_LB = 59
LIECHTENSTEIN_LI = 60
SRI_LANKA_LK = 61
LESOTHO_LS = 62
LITHUANIA_LT = 63
LUXEMBOURG_LU = 64
LATVIA_LV = 65
MOROCCO_MA = 66
MONACO_MC = 67
MOLDOVA_MD = 68
MONTENEGRO_ME = 69
REPUBLIC_OF_MACEDONIA_MK = 70
MONGOLIA_MN = 71
MARTINIQUE_MQ = 72
MAURITANIA_MR = 73
MALTA_MT = 74
MAURITIUS_MU = 75
MALDIVES_MV = 76
MALAWI_MW = 77
MEXICO_MX = 78
MALAYSIA_MY = 79
NICARAGUA_NI = 80
NETHERLANDS_NL = 81
NORWAY_NO = 82
NEW_ZEALAND_NZ = 83
OMAN_OM = 84
PANAMA_PA = 85
PERU_PE = 86
PHILIPPINES_PH = 87
POLAND_PL = 88
PUERTO_RICO_PR = 89
PORTUGAL_PT = 90
PARAGUAY_PY = 91
REUNION_RE = 92
ROMANIA_RO = 93
SERBIA_RS = 94
RUSSIAN_FEDERATION_RU = 95
SWEDEN_SE = 96
SINGAPORE_SI = 97
SLOVAKIA_SK = 98
EL_SALVADOR_SV = 99
THAILAND_TH = 100
TUNISIA_TN = 101
TURKEY_TR = 102
TRINIDAD_AND_TOBAGO_TT = 103
TAIWAN_PROVINCE_OF_CHINA_TW = 104
UKRAINE_UA = 105
UNITED_STATES_US = 106
HOLY_SEE_VATICAN_CITY_STATE_VA = 107
BOLIVARIAN_REPUBLIC_OF_VENEZUELA_VE = 108
BRITISH_VIRGIN_ISLANDS_VG = 109
VIETNAM_VN = 110
MAYOTTE_YT = 111
SOUTH_AFRICA_ZA = 112

Reference to a specific device

Used in: Base.OperatingModeInformation, Base.OperatingModeNotification, Base.RobotEventNotification, DeviceManager.DeviceHandles

DeviceTypes device_type = 1
Device type
uint32 device_identifier = 2
Unique device identifier (used with other services)
uint32 order = 3
Unique value indicating the order of that device versus the others to facilitate representation

Admissible device types

Used in: DeviceHandle, DeviceConfig.DeviceType

UNSPECIFIED_DEVICE_TYPE = 0
Unspecified device type
BASE = 1
Base module
VISION = 2
Vision module
BIG_ACTUATOR = 3
Big actuator module
SMALL_ACTUATOR = 4
Small actuator module
INTERCONNECT = 5
Interface module
GRIPPER = 6
Gripper module
MEDIUM_ACTUATOR = 7
Medium actuator module
XBIG_ACTUATOR = 8
XBig actuator module

Message used when no information needs to be exchanged between client application and robot, and vice versa

(message has no fields)

Reference to a specific notification topic

Used as request type in: Base.Base.Unsubscribe, ControlConfig.ControlConfig.Unsubscribe

Used as response type in: Base.Base.ActionTopic, Base.Base.ArmStateTopic, Base.Base.ConfigurationChangeTopic, Base.Base.ControlModeTopic, Base.Base.ControllerTopic, Base.Base.FactoryTopic, Base.Base.MappingInfoTopic, Base.Base.NetworkTopic, Base.Base.OperatingModeTopic, Base.Base.ProtectionZoneTopic, Base.Base.RobotEventTopic, Base.Base.SequenceInfoTopic, Base.Base.ServoingModeTopic, Base.Base.UserTopic, ControlConfig.ControlConfig.ControlConfigurationTopic, ControlConfig.ControlConfig.ControlModeTopic, DeviceConfig.DeviceConfig.SafetyTopic, VisionConfig.VisionConfig.VisionTopic

uint32 identifier = 1
Notification identifier

Specifies options associated to a notification

Used as request type in: Base.Base.ActionTopic, Base.Base.ArmStateTopic, Base.Base.ConfigurationChangeTopic, Base.Base.ControlModeTopic, Base.Base.ControllerTopic, Base.Base.FactoryTopic, Base.Base.MappingInfoTopic, Base.Base.NetworkTopic, Base.Base.OperatingModeTopic, Base.Base.ProtectionZoneTopic, Base.Base.RobotEventTopic, Base.Base.SequenceInfoTopic, Base.Base.ServoingModeTopic, Base.Base.UserTopic, ControlConfig.ControlConfig.ControlConfigurationTopic, ControlConfig.ControlConfig.ControlModeTopic, DeviceConfig.DeviceConfig.SafetyTopic, VisionConfig.VisionConfig.VisionTopic

NotificationType type = 1
Type of notification
uint32 rate_m_sec = 2
Rate value (in meters per second) (if applicable)
float threshold_value = 3
Threshold value (if applicable)

Admissible notification types

Used in: NotificationOptions

NOTIFICATION_TYPE_UNSPECIFIED = 0
Unspecified notification
NOTIFICATION_TYPE_THRESHOLD = 1
Threshold notification. Refers to a notification sent beyond a specific threshold (not implemented yet)
NOTIFICATION_TYPE_FIX_RATE = 2
Fix rate notification. Refers to a notification sent at a predetermined fix rate (not implemented yet)
NOTIFICATION_TYPE_EVENT = 3
Event type notification. Refers to a notification sent in response to an event

Admissible permissions. Used as bitfields

NO_PERMISSION = 0
No permission
READ_PERMISSION = 1
Read permission. Refers to an entity that can be read
UPDATE_PERMISSION = 2
Update permission. Refers to an entity that can be modified
DELETE_PERMISSION = 4
Delete permission. Refers to an entity that can be deleted

Reference to a specific safety

Used as request type in: DeviceConfig.DeviceConfig.ClearSafetyStatus, DeviceConfig.DeviceConfig.GetSafetyConfiguration, DeviceConfig.DeviceConfig.GetSafetyEnable, DeviceConfig.DeviceConfig.GetSafetyInformation, DeviceConfig.DeviceConfig.GetSafetyStatus

Used as field type in: Base.ConfigurationChangeNotification, Base.SafetyEvent, SafetyNotification, DeviceConfig.SafetyConfiguration, DeviceConfig.SafetyEnable, DeviceConfig.SafetyInformation, DeviceConfig.SafetyThreshold

uint32 identifier = 1
Safety identifier

Notification about a single safety event

Used in: Base.SafetyNotificationList

optional SafetyHandle safety_handle = 1
Safety handle
SafetyStatusValue value = 2
New safety status
optional Timestamp timestamp = 3
Event timestamp
optional UserProfileHandle user_handle = 4
User that caused the safety event
optional Connection connection = 5
Connection that caused the safety event

Admissible safety statuses

Used in: SafetyNotification, DeviceConfig.SafetyInformation, DeviceConfig.SafetyStatus

SAFETY_STATUS_UNSPECIFIED = 0
Unspecified safety status
SAFETY_STATUS_WARNING = 1
Warning safety reached
SAFETY_STATUS_ERROR = 2
Error safety reached
SAFETY_STATUS_NORMAL = 3
Safety is off

Timestamp based on Epoch (00:00:00 Thursday, January 1, 1970)

Used in: Base.ActionNotification, Base.ArmStateNotification, Base.ConfigurationChangeNotification, Base.ControlModeNotification, Base.ControllerNotification, Base.FactoryNotification, Base.MappingInfoNotification, Base.NetworkNotification, Base.OperatingModeNotification, Base.ProtectionZoneNotification, Base.Query, Base.RobotEventNotification, Base.SequenceInfoNotification, Base.ServoingModeNotification, Base.UserNotification, SafetyNotification, ControlConfig.ControlConfigurationNotification, ControlConfig.ControlModeNotification

uint32 sec = 1
Number of seconds that have elapsed since Epoch
uint32 usec = 2
Number of microseconds that have elapsed since the last second (0-999999)

UART configuration details

Used as request type in: InterconnectConfig.InterconnectConfig.SetUARTConfiguration

Used as response type in: InterconnectConfig.InterconnectConfig.GetUARTConfiguration

uint32 port_id = 1
UART port identification
bool enabled = 2
True if UART device is enabled, false otherwise
UARTSpeed speed = 3
Speed selection
UARTWordLength word_length = 4
Word length
UARTStopBits stop_bits = 5
Stop bits
UARTParity parity = 6
Parity mode

UART port id identification

Used as request type in: InterconnectConfig.InterconnectConfig.GetUARTConfiguration

uint32 port_id = 1
UART device port id

Admissible UART parity mode

Used in: UARTConfiguration

UART_PARITY_UNSPECIFIED = 0
Unspecified UART parity
UART_PARITY_NONE = 1
No parity
UART_PARITY_ODD = 2
Odd parity
UART_PARITY_EVEN = 3
Even parity

Admissible UART baudrates

Used in: UARTConfiguration

UART_SPEED_UNSPECIFIED = 0
Unspecified UART speed
UART_SPEED_4800 = 1
4800 bps
UART_SPEED_9600 = 2
9600 bps
UART_SPEED_19200 = 3
19200 bps
UART_SPEED_38400 = 4
38400 bps
UART_SPEED_57600 = 5
57600 bps
UART_SPEED_115200 = 6
115200 bps
UART_SPEED_230400 = 7
230400 bps
UART_SPEED_460800 = 8
460800 bps
UART_SPEED_921600 = 9
921600 bps
UART_SPEED_1382400 = 10
1382400 bps
UART_SPEED_1612800 = 11
1612800 bps
UART_SPEED_1843200 = 12
1843200 bps
UART_SPEED_2073600 = 13
2073600 bps
UART_SPEED_2188800 = 14
2188800 bps
UART_SPEED_2246400 = 15
2246400 bps

Admissible UART stop bits

Used in: UARTConfiguration

UART_STOP_BITS_UNSPECIFIED = 0
Unspecified UART stop bits
UART_STOP_BITS_0_5 = 1
0.5 stop bit
UART_STOP_BITS_1 = 2
1 stop bit
UART_STOP_BITS_1_5 = 3
1.5 stop bits
UART_STOP_BITS_2 = 4
2 stop bits

Admissible UART word lengths

Used in: UARTConfiguration

UART_WORD_LENGTH_UNSPECIFIED = 0
Unspecified UART word length
UART_WORD_LENGTH_7 = 1
7 bits
UART_WORD_LENGTH_8 = 2
8 bits
UART_WORD_LENGTH_9 = 3
9 bits

Admissible units used throughout API methods

Used in: DeviceConfig.SafetyInformation

UNSPECIFIED_UNIT = 0
Unspecified unit
CELSIUS = 1
Degree Celsius
AMPERE = 2
Ampere
VOLT = 3
Volt
METER_PER_SECOND = 4
Meter per second
DEGREE_PER_SECOND = 5
Degree per second
METER_PER_SECOND_2 = 6
Meter per second squared
DEGREE_PER_SECOND_2 = 7
Degree per second squared
NEWTON = 8
Newton
NEWTON_METER = 9
Newton * meter
KILOGRAM = 10
Kilogram
DEGREE = 11
Degree
TICK = 12
Tick
DEGREE_PER_MILLISECOND = 13
Degre per millisecond

Reference to a user profile

Used as request type in: Base.Base.DeleteUserProfile, Base.Base.ReadUserProfile

Used as response type in: Base.Base.CreateUserProfile

Used as field type in: Base.ActionNotification, Base.ConfigurationChangeNotification, Base.ControlModeNotification, Base.ControllerNotification, Base.FactoryNotification, Base.MappingInfoNotification, Base.NetworkNotification, Base.OperatingModeNotification, Base.PasswordChange, Base.ProtectionZoneNotification, Base.RobotEventNotification, Base.SequenceInfoNotification, Base.ServoingModeNotification, Base.UserList, Base.UserNotification, Base.UserProfile, Connection, SafetyNotification, ControlConfig.ControlConfigurationNotification, ControlConfig.ControlModeNotification

uint32 identifier = 1
User profile identifier
fixed32 permission = 2
Must use 'Permission' as bitwise

package Kinova.Api.Common

enum ArmState

ARMSTATE_UNSPECIFIED = 0

ARMSTATE_BASE_INITIALIZATION = 1

ARMSTATE_IDLE = 2

ARMSTATE_INITIALIZATION = 3

ARMSTATE_IN_FAULT = 4

ARMSTATE_MAINTENANCE = 5

ARMSTATE_SERVOING_LOW_LEVEL = 6

ARMSTATE_SERVOING_READY = 7

ARMSTATE_SERVOING_PLAYING_SEQUENCE = 8

ARMSTATE_SERVOING_MANUALLY_CONTROLLED = 9

ARMSTATE_BRAKE_RELEASING = 10

ARMSTATE_RESERVED = 255

enum CartesianReferenceFrame

CARTESIAN_REFERENCE_FRAME_UNSPECIFIED = 0

CARTESIAN_REFERENCE_FRAME_MIXED = 1

CARTESIAN_REFERENCE_FRAME_TOOL = 2

CARTESIAN_REFERENCE_FRAME_BASE = 3

message Connection

optional UserProfileHandle user_handle = 1

string connection_information = 2

uint32 connection_identifier = 3

message CountryCode

CountryCodeIdentifier identifier = 1

enum CountryCodeIdentifier

UNSPECIFIED_COUNTRY_CODE = 0

UNITED_ARAB_EMIRATES_AE = 1

ANTIGUA_AND_BARBUDA_AG = 2

ANGUILLA_AI = 3

ALBANIA_AL = 4

AMERICAN_SAMOA_AS = 5

AUSTRIA_AT = 6

AUSTRALIA_AU = 7

ARUBA_AW = 8

AZERBAIJAN_AZ = 9

BOSNIA_AND_HERZEGOVINA_BA = 10

BANGLADESH_BD = 11

BELGIUM_BE = 12

BULGARIA_BG = 13

BAHRAIN_BH = 14

BERMUDA_BM = 15

BRUNEI_DARUSSALAM_BN = 16

BRAZIL_BR = 17

BAHAMAS_BS = 18

BELARUS_BY = 19

SWITZERLAND_CH = 20

CANADA_CA = 21

CHINA_CN = 22

COLOMBIA_CO = 23

COSTA_RICA_CR = 24

CYPRUS_CY = 25

CZECH_REPUBLIC_CZ = 26

GERMANY_DE = 27

DENMARK_DK = 28

ECUADOR_EC = 29

ESTONIA_EE = 30

EGYPT_EG = 31

SPAIN_ES = 32

ETHIOPIA_ET = 33

FINLAND_FI = 34

FRANCE_FR = 35

UNITED_KINGDOM_GB = 36

GRENADA_GD = 37

FRENCH_GUIANA_GF = 38

GUADELOUPE_GP = 39

GREECE_GR = 40

GUATEMALA_GT = 41

GUAM_GU = 42

HONG_KONG_HK = 43

CROATIA_HR = 44

HUNGARY_HU = 45

INDIA_IN = 46

INDONESIA_ID = 47

IRELAND_IE = 48

ISRAEL_IL = 49

ICELAND_IS = 50

ITALY_IT = 51

JORDAN_JO = 52

JAPAN_JP = 53