RobotCommandHandler#

rb::RobotCommandHandler<T> is the one-shot command handle returned by Robot::SendCommand(). It is the simplest way to wait for completion, cancel the request, or retrieve the resulting feedback object.

Header

#include <rby1-sdk/robot.h>

Declaration

Namespace	`rb`
Kind	`class template`
Primary role	Track one submitted command until completion and expose its feedback.

Public Member Functions

Method	Purpose	Notes
`Get()` and `GetStatus()`	Retrieve the final feedback object or the current command status.	Use `GetStatus()` while polling.
`Wait()` and `WaitFor(...)`	Block until the command finishes.	`WaitFor(...)` is the timed variant.
`IsDone()` and `Cancel()`	Check for completion or cancel an in-flight command.	Cancellation affects the underlying execution request.

Numeric Parameters & Returns

Method	Unit / encoding	Notes
`WaitFor(timeout_ms)`	`ms`	Timeout used while waiting for one-shot command completion.

Detailed Reference

template<typename T> class RobotCommandHandler#

Robot command handler.

Handles robot command execution and provides status monitoring.

Template Parameters:: T – Robot model type

Public Functions

~RobotCommandHandler()#

void Cancel()#: Cancel the command execution.

RobotCommandFeedback Get()#

Wait for the command execution and get feedback.

Waits for command completion and returns detailed controller feedback including position errors, control status, and final execution results.

Returns:: RobotCommandFeedback Final controller state and execution results.

bool GetStatus() const#

Get gRPC status.

Returns:: bool Status information.

bool IsDone() const#

Check if the command execution is complete.

Returns:: True if command is complete, false otherwise.

void Wait()#

Wait for the command execution to complete.

This method blocks until the command is done or cancelled.

bool WaitFor(int timeout_ms)#

Wait for the command execution with timeout.

Parameters:: timeout_ms – Timeout [ms].
Returns:: True if command completed, false if timeout.

Related Types

Examples

demo_motion.cpp uses the one-shot command path.
stop_command.cpp is a compact example of submitting one command and waiting for it to finish.