package Kinova.Api.InterconnectCyclic

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Service to exchange cyclic data with interface module

@PROXY_ID=15 @ERROR=Kinova.Api.Error

• rpc Refresh (Command, Feedback)

  InterconnectCyclic.proto:24

  Sends a command to the interface module and receive feedback about the actual status

  @RPC_ID=1

• rpc RefreshCommand (Command, Common.Empty)

  InterconnectCyclic.proto:27

  Sends a command to the interface module without receiving feedback

  @RPC_ID=2

• rpc RefreshFeedback (MessageId, Feedback)

  InterconnectCyclic.proto:30

  Obtains feedback from the interface module on its status

  @RPC_ID=3

• rpc RefreshCustomData (MessageId, CustomData)

  InterconnectCyclic.proto:33

  Obtains custom data from the interface module

  @RPC_ID=4

Interface module command

Used as request type in: InterconnectCyclic.Refresh, InterconnectCyclic.RefreshCommand

Used as field type in: BaseCyclic.Command

• optional MessageId command_id = 1

  MessageId

• fixed32 flags = 2

  Flags

• oneof tool_command

  • GripperCyclic.Command gripper_command = 3

    Gripper command

Custom development data, content varies according to debugging needs

Used as response type in: InterconnectCyclic.RefreshCustomData

Used as field type in: BaseCyclic.CustomData

• optional MessageId custom_data_id = 1

  MessageId

• fixed32 custom_data_0 = 2

  Custom data word 0

• fixed32 custom_data_1 = 3

  Custom data word 1

• fixed32 custom_data_2 = 4

  Custom data word 2

• fixed32 custom_data_3 = 5

  Custom data word 3

• fixed32 custom_data_4 = 6

  Custom data word 4

• fixed32 custom_data_5 = 7

  Custom data word 5

• fixed32 custom_data_6 = 8

  Custom data word 6

• fixed32 custom_data_7 = 9

  Custom data word 7

• fixed32 custom_data_8 = 10

  Custom data word 8

• fixed32 custom_data_9 = 11

  Custom data word 9

• fixed32 custom_data_10 = 12

  Custom data word 10

• fixed32 custom_data_11 = 13

  Custom data word 11

• fixed32 custom_data_12 = 14

  Custom data word 12

• fixed32 custom_data_13 = 15

  Custom data word 13

• fixed32 custom_data_14 = 16

  Custom data word 14

• fixed32 custom_data_15 = 17

  Custom data word 15

• oneof tool_customData

  • GripperCyclic.CustomData gripper_custom_data = 18

Defines the feedback provided by interface module

Used as response type in: InterconnectCyclic.Refresh, InterconnectCyclic.RefreshFeedback

Used as field type in: BaseCyclic.Feedback

• optional MessageId feedback_id = 1

  MessageId

• fixed32 status_flags = 2

  Status flags

• fixed32 jitter_comm = 3

  Jitter from the communication (in microseconds)

• float imu_acceleration_x = 4

  IMU Measured acceleration (X-Axis) of the interface module (in meters per second ^ squared)

• float imu_acceleration_y = 5

  IMU Measured acceleration (Y-Axis) of the interface module (in meters per second ^ squared)

• float imu_acceleration_z = 6

  IMU Measured acceleration (Z-Axis) of the interface module (in meters per second ^ squared)

• float imu_angular_velocity_x = 7

  IMU Measured angular velocity (X-Axis) of the interface module (in degrees per second)

• float imu_angular_velocity_y = 8

  IMU Measured angular velocity (Y-Axis) of the interface module (in degrees per second)

• float imu_angular_velocity_z = 9

  IMU Measured angular velocity (Z-Axis) of the interface module (in degrees per second)

• float voltage = 10

  Voltage of the main board (in Volt)

• float temperature_core = 11

  Microcontroller temperature (in degrees Celsius)

• fixed32 fault_bank_a = 12

  Fault bank A (see InterconnectConfig.SafetyIdentifier)

• fixed32 fault_bank_b = 13

  Fault bank B (see InterconnectConfig.SafetyIdentifier)

• fixed32 warning_bank_a = 14

  Warning bank A (see InterconnectConfig.SafetyIdentifier)

• fixed32 warning_bank_b = 15

  Warning bank B (see InterconnectConfig.SafetyIdentifier)

• oneof tool_feedback

  • GripperCyclic.Feedback gripper_feedback = 18

    Gripper model tool feedback

Identifies a message

Used as request type in: InterconnectCyclic.RefreshCustomData, InterconnectCyclic.RefreshFeedback

Used as field type in: Command, CustomData, Feedback

• fixed32 identifier = 1

  Message ID (first 2 bytes : device ID, last 2 bytes : sequence number)

Identifies InterconnectCyclic service current version

• RESERVED_0 = 0

  Reserved

• CURRENT_VERSION = 1

  Current version