Robot

rb::Robot<T> is the main application-facing client in the SDK. It owns the network session to the robot and exposes the operational flow most user code follows: connect, power and servo devices, enable the control manager, submit commands, and read state or logs.

Header

Header

#include <rby1-sdk/robot.h>

Declaration

Namespace	rb
Kind	class template
Template parameter	T is one of the model descriptors from Model Descriptors.
Primary role	Own the robot connection, state streams, command submission, time sync, parameters, and advanced real-time control entry points.

Public Member Functions

Method	Purpose	Notes
Create(...), Connect(...), Disconnect(), IsConnected()	Construct the client and manage the robot connection lifecycle.	Create() is the usual entry point.
GetRobotInfo(), GetRobotModel(), GetDynamics(...)	Retrieve static metadata, the imported model, or a dynamics helper.	Use before building model-based control logic.
PowerOn(), PowerOff(), ServoOn(), ServoOff()	Manage device power and servo state.	Device names accept regex-style patterns.
BreakRelease() and BreakEngage()	Manage brakes on the selected devices.	Useful in bring-up and service workflows.
EnableControlManager(), DisableControlManager(), ResetFaultControlManager(), WaitForControlReady()	Control the execution subsystem and clear control-manager faults.	Check ControlManagerState first when faults are active.
SendCommand(...) and CreateCommandStream(...)	Submit one-shot commands or open a command stream.	Use Command Builder API to construct the payload.
StartStateUpdate(...), StopStateUpdate(), GetState()	Receive or poll live state snapshots.	See RobotState.
StartLogStream(...), StopLogStream(), GetLastLog(...)	Receive or fetch structured logs from the robot.	See Log.
Control(...) and CancelControl()	Enter or leave the UDP-based real-time control path.	Uses ControlInput & ControlState.
GetParameter*(), SetParameter*(), ResetParameter*()	Inspect, set, or reset named configuration parameters.	Includes full reset and factory reset helpers.
ConnectWifi(), ScanWifi(), OpenSerialStream(...), ResetOdometry(...)	Cover networking, serial-device access, and mobility-adjacent utilities.	These are secondary but still part of the public client.

Numeric Parameters & Returns

Method or family	Unit / encoding	Notes
Connect(max_retries, timeout_ms)	Retries, ms	max_retries is a retry count. timeout_ms is the per-attempt connection timeout.
GetTimeScale(), SetTimeScale(...)	Dimensionless	Motion-time scaling factor.
SetPosition*Gain(...), Get*PositionPIDGain*()	Register value	PIDGain::p_gain, i_gain, and d_gain are raw uint16 values, not SI units.
SetToolFlangeOutputVoltage(...)	V	Common values called out by the headers are 0, 12, and 24.
StartStateUpdate(..., rate), StartLogStream(..., rate)	Hz	Callback frequency requested from the robot.
Control(..., port, priority)	Port number, priority	port is a UDP port number. priority is an integer scheduling priority/command priority, not a physical unit.
ResetOdometry(angle, position)	rad, m	angle is the planar heading reset. position carries [x, y] in meters.
StartTimeSync(period_sec)	s	Period between time-synchronization attempts.
SetLEDColor(color, duration, transition_time, blinking_freq)	[0,255], s, Hz	Color::r/g/b are 8-bit channel values. Duration and transition are in seconds; blink frequency is in hertz.
SetBatteryLevel(level)	%	Public headers document the battery-level range as 0.0 to 100.0.
SetBatteryConfig(cutoff_voltage, fully_charged_voltage)	V	Battery cutoff and full-charge thresholds.
WaitForControlReady(timeout_ms)	ms	Timed wait before control commands are accepted.

Detailed Reference

template<typename T>
class Robot : public std::enable_shared_from_this<Robot<T>>

Robot control interface.

Provides high-level control interface for robot operations including connection management, power control, and command execution.

Template Parameters:

T – Robot model type

Public Types

using ModelType = T

Public Functions

~Robot()

bool BreakEngage(const std::string &dev_name) const

Engage the brake for a device.

Parameters:

dev_name – Device name (joint name) to engage brake. Supports regex patterns.

Returns:

True if successful, false otherwise.

bool BreakRelease(const std::string &dev_name) const

Release the brake for a device.

Parameters:

dev_name – Device name (joint name) to release brake. Supports regex patterns.

Returns:

True if successful, false otherwise.

bool CancelControl() const

Cancel current control operation.

Returns:

True if successful, false otherwise.

bool Connect(int max_retries = 5, int timeout_ms = 1000, std::function<bool()> signal_check = nullptr)

Attempts to establish a connection with the robot.

Parameters:

• max_retries – Maximum number of retries to connect (default: 5).

• timeout_ms – Timeout in milliseconds for each connection attempt (default: 1000).

• signal_check – Optional function to check for a signal (e.g., Ctrl+C). If provided, the connection will be aborted if this function returns false.

Returns:

True if the connection was successful, false otherwise.

bool ConnectWifi(const std::string &ssid, const std::string &password = "", bool use_dhcp = true, const std::string &ip_address = "", const std::string &gateway = "", const std::vector<std::string> &dns = {}) const

Connect to WiFi network.

Parameters:

• ssid – WiFi network name.

• password – WiFi password (default: empty string).

• use_dhcp – Use DHCP for automatic IP configuration (default: true).

• ip_address – Static IP address (default: empty string).

• gateway – Gateway address (default: empty string).

• dns – DNS servers (default: empty vector).

Returns:

True if successful, false otherwise.

bool Control(std::function<ControlInput<T>(const ControlState<T>&)> control, int port = 0, int priority = 1)

Start a blocking real-time control loop using a custom control callback.

This function runs a UDP-based real-time loop that repeatedly calls the user-provided control callback. The loop exits when the callback returns a ControlInput with finish=true, or when an error/abort occurs.

Parameters:

• control – A callable that accepts a ControlState and returns a ControlInput.

• port – UDP port to bind for the RT server. Use 0 to let the OS choose an available port (default: 0).

• priority – Command priority sent with the RT control request (default: 1).

Returns:

True if the loop terminated because the callback set finish=true in ControlInput, false if the loop ended due to an error or abort.

std::unique_ptr<RobotCommandStreamHandler<T>> CreateCommandStream(int priority = 1)

Create a command stream for continuous command sending.

Parameters:

priority – Command priority (default: 1).

Returns:

std::unique_ptr<RobotCommandStreamHandler<T>> Command stream handler.

bool DisableControlManager() const

Disable the control manager.

Returns:

True if successful, false otherwise.

void Disconnect()

Disconnect from the robot.

bool DisconnectWifi() const

Disconnect from WiFi network.

Returns:

True if successful, false otherwise.

bool DownloadFile(const std::string &path, std::ostream &output) const

Download a file from the robot.

Parameters:

• path – File path on the robot.

• output – Output stream to write the file content.

Returns:

True if successful, false otherwise.

bool DownloadFileToCallback(const std::string &path, std::function<void(const char*, size_t)> on_chunk) const

Download a file from the robot using a callback function.

Parameters:

• path – File path on the robot.

• on_chunk – Callback function called for each chunk of data.

Returns:

True if successful, false otherwise.

bool EnableControlManager(bool unlimited_mode_enabled = false) const

Enable the control manager.

Must be called before sending commands to the robot.

Parameters:

unlimited_mode_enabled – Whether to enable unlimited mode (default: false).

Returns:

True if successful, false otherwise.

void FactoryResetAllParameters() const

Factory reset all parameters to their default values.

bool FactoryResetParameter(const std::string &name) const

Factory reset a parameter to its default value.

Parameters:

name – Parameter name.

Returns:

True if successful, false otherwise.

std::string GetAddress()

Get the robot’s network address.

Returns:

std::string The robot’s address.

ControlManagerState GetControlManagerState() const

Get control manager state.

Returns:

ControlManagerState Current control manager state.

std::shared_ptr<dyn::Robot<T::kRobotDOF>> GetDynamics(const std::string &urdf_model = "")

Get robot dynamics model.

Parameters:

urdf_model – URDF model path (default: empty string to use robot’s model).

Returns:

std::shared_ptr<dyn::Robot<T::kRobotDOF>> Robot dynamics model.

std::vector<std::string> GetFaultLogList() const

Get fault log list.

Returns:

std::vector<std::string> List of fault log entries.

std::vector<rb::PIDGain> GetHeadPositionPIDGains() const

Get head position PID gains.

Returns:

std::vector<rb::PIDGain> Vector of PID gains for head joints.

std::vector<Log> GetLastLog(unsigned int count) const

Get last log entries.

Parameters:

count – Number of log entries to retrieve.

Returns:

std::vector<Log> List of log entries.

std::vector<rb::PIDGain> GetLeftArmPositionPIDGains() const

Get left arm position PID gains.

Returns:

std::vector<rb::PIDGain> Vector of PID gains for left arm joints.

std::string GetParameter(const std::string &name) const

Get a robot parameter value.

Parameters:

name – Parameter name.

Returns:

std::string Parameter value.

std::vector<std::pair<std::string, int>> GetParameterList() const

Get list of available parameters.

Returns:

std::vector<std::pair<std::string, int>> List of parameter names and their types.

rb::PIDGain GetPositionPIDGain(const std::string &dev_name) const

Get position PID gain for a specific device.

Parameters:

dev_name – Device name.

Returns:

rb::PIDGain PID gain for the specified device.

std::vector<rb::PIDGain> GetRightArmPositionPIDGains() const

Get right arm position PID gains.

Returns:

std::vector<rb::PIDGain> Vector of PID gains for right arm joints.

RobotInfo GetRobotInfo() const

Retrieves static information about the robot.

Gets structured metadata including joint details, device names, robot model information, SDK version, and joint configuration.

Returns:

RobotInfo Robot information structure.

std::string GetRobotModel() const

Get robot model information.

Returns:

std::string Robot model string.

std::vector<SerialDevice> GetSerialDeviceList() const

Get list of available serial devices on the robot.

Returns:

std::vector<SerialDevice> List of available serial devices.

RobotState<T> GetState() const

Get current robot state.

Returns:

RobotState<T> Current robot state.

std::tuple<struct timespec, std::string, std::string> GetSystemTime() const

Get robot system time.

Returns:

std::tuple<struct timespec, std::string, std::string> Robot system time, timezone string, and local time string.

double GetTimeScale() const

Get the current time scale factor.

Returns:

double Current time scale factor.

std::vector<rb::PIDGain> GetTorsoPositionPIDGains() const

Get torso position PID gains.

Returns:

std::vector<rb::PIDGain> Vector of PID gains for torso joints.

std::optional<WifiStatus> GetWifiStatus() const

Get WiFi connection status.

Returns:

std::optional<WifiStatus> Current WiFi status.

bool HasEstablishedTimeSync()

Check if time synchronization has been established.

Returns:

True if time sync is established, false otherwise.

bool HomeOffsetReset(const std::string &dev_name) const

Reset home offset for a device.

Parameters:

dev_name – Device name to reset home offset. Supports regex patterns.

Returns:

True if successful, false otherwise.

bool ImportRobotModel(const std::string &name, const std::string &model) const

Import robot model.

Parameters:

• name – Model name.

• model – Model data.

Returns:

True if successful, false otherwise.

bool IsConnected() const

Checks whether the robot is currently connected.

Returns:

True if the robot is connected, false otherwise.

bool IsPowerOn(const std::string &dev_name) const

Check if a device is powered on.

Parameters:

dev_name – Device name to check. Supports regex patterns.

Returns:

True if device is powered on, false otherwise.

bool IsServoOn(const std::string &dev_name) const

Check if servo control is enabled for a device.

Parameters:

dev_name – Device name to check. Supports regex patterns.

Returns:

True if servo control is enabled, false otherwise.

std::unique_ptr<SerialStream> OpenSerialStream(const std::string &device_path, int buadrate, int bytesize, char parity, int stopbits) const

Open a serial stream.

Parameters:

• device_path – Serial device path.

• buadrate – Baud rate.

• bytesize – Byte size.

• parity – Parity.

• stopbits – Stop bits.

Returns:

std::unique_ptr<SerialStream> Serial stream instance.

bool PowerOff(const std::string &dev_name) const

Power off a device.

Parameters:

dev_name – Device name to power off. Supports regex patterns (e.g., “.*” for all devices).

Returns:

True if successful, false otherwise.

bool PowerOn(const std::string &dev_name) const

Power on a device.

Parameters:

dev_name – Device name to power on. Supports regex patterns (e.g., “.*” for all devices).

Returns:

True if successful, false otherwise.

void ResetAllParameters() const

Reset all parameters to their default values.

void ResetAllParametersToDefault() const

bool ResetBatteryConfig() const

Reset battery configuration to default.

Returns:

True if successful, false otherwise.

bool ResetFaultControlManager() const

Reset fault in the control manager.

Returns:

True if successful, false otherwise.

bool ResetNetworkSetting() const

Reset network settings to default.

Returns:

True if successful, false otherwise.

bool ResetOdometry(double angle, const Eigen::Vector<double, 2> &position)

Reset odometry to specified values.

Parameters:

• angle – New angle [rad].

• position – New position [m]. Position is [x, y] in meters.

Returns:

True if successful, false otherwise.

bool ResetParameter(const std::string &name) const

Reset a parameter to its default value.

Parameters:

name – Parameter name.

Returns:

True if successful, false otherwise.

bool ResetParameterToDefault(const std::string &name) const

std::vector<WifiNetwork> ScanWifi() const

Scan for available WiFi networks.

Returns:

std::vector<WifiNetwork> List of available WiFi networks.

std::unique_ptr<RobotCommandHandler<T>> SendCommand(const RobotCommandBuilder &builder, int priority = 1)

Send a command to the robot.

Parameters:

• builder – Command builder to send.

• priority – Command priority (default: 1).

Returns:

std::unique_ptr<RobotCommandHandler<T>> Command handler for monitoring execution.

bool ServoOff(const std::string &dev_name) const

Disable servo control for a device.

Parameters:

dev_name – Device name to disable servo control. Supports regex patterns.

Returns:

True if successful, false otherwise.

bool ServoOn(const std::string &dev_name) const

Enable servo control for a device.

Parameters:

dev_name – Device name to enable servo control. Supports regex patterns (e.g., “.*” for all devices).

Returns:

True if successful, false otherwise.

bool SetBatteryConfig(double cutoff_voltage, double fully_charged_voltage, const std::array<double, 4> &coefficients)

Set battery configuration.

Parameters:

• cutoff_voltage – Cutoff voltage [V].

• fully_charged_voltage – Fully charged voltage [V].

• coefficients – Battery coefficients array.

Returns:

True if successful, false otherwise.

bool SetBatteryLevel(double level) const

Set battery level.

Parameters:

level – Battery level percentage (0.0 to 100.0).

Returns:

True if successful, false otherwise.

bool SetLEDColor(const Color &color, double duration = 1, double transition_time = 0, bool blinking = false, double blinking_freq = 1)

Set LED color.

Parameters:

• color – LED color.

• duration – Duration [s] (default: 1).

• transition_time – Transition time [s] (default: 0).

• blinking – Whether to blink (default: false).

• blinking_freq – Blinking frequency [Hz] (default: 1).

Returns:

True if successful, false otherwise.

bool SetParameter(const std::string &name, const std::string &value, bool write_db = true)

Set a robot parameter.

Parameters:

• name – Parameter name.

• value – Parameter value.

• write_db – Whether to write to database (default: true).

Returns:

True if successful, false if matching parameter not found.

bool SetPositionDGain(const std::string &dev_name, uint16_t d_gain) const

Set position derivative gain for a device.

Parameters:

• dev_name – Device name. Supports regex patterns.

• d_gain – Derivative gain value.

Returns:

True if successful, false otherwise.

bool SetPositionIGain(const std::string &dev_name, uint16_t i_gain) const

Set position integral gain for a device.

Parameters:

• dev_name – Device name. Supports regex patterns.

• i_gain – Integral gain value.

Returns:

True if successful, false otherwise.

bool SetPositionPGain(const std::string &dev_name, uint16_t p_gain) const

Set position proportional gain for a device.

Parameters:

• dev_name – Device name. Supports regex patterns.

• p_gain – Proportional gain value.

Returns:

True if successful, false otherwise.

bool SetPositionPIDGain(const std::string &dev_name, const rb::PIDGain &pid_gain) const

Set position PID gains for a device.

Parameters:

• dev_name – Device name. Supports regex patterns.

• pid_gain – PID gain structure.

Returns:

True if successful, false otherwise.

bool SetPositionPIDGain(const std::string &dev_name, uint16_t p_gain, uint16_t i_gain, uint16_t d_gain) const

Set position PID gains for a device.

Parameters:

• dev_name – Device name. Supports regex patterns.

• p_gain – Proportional gain value.

• i_gain – Integral gain value.

• d_gain – Derivative gain value.

Returns:

True if successful, false otherwise.

bool SetPresetPosition(const std::string &joint_name) const

Set preset position for a joint (only available for PVL-based motors).

Parameters:

joint_name – Joint name to set preset position.

Returns:

True if successful, false otherwise.

bool SetSystemTime(struct timespec utc_time, std::optional<std::string> time_zone = std::nullopt) const

Set robot system time.

Parameters:

• utc_time – New system time in UTC.

• time_zone – Time zone (optional).

Returns:

True if successful, false otherwise.

double SetTimeScale(double time_scale) const

Set the time scale for motion execution.

Parameters:

time_scale – Time scale value (0.0 to 1.0). 0.0 stops motion, 1.0 is full speed.

Returns:

double The set time scale factor.

bool SetToolFlangeDigitalOutput(const std::string &name, unsigned int channel, bool state) const

Set the digital output state of a specific channel on the tool flange.

Parameters:

• name – Arm identifier (“right” or “left”).

• channel – Digital output channel index.

• state – Desired state of the digital output (true = ON, false = OFF).

Returns:

True if the command was successfully sent, false otherwise.

bool SetToolFlangeDigitalOutputDual(const std::string &name, bool state_0, bool state_1) const

Set the digital output states of two channels on the tool flange simultaneously.

Parameters:

• name – Arm identifier (“right” or “left”).

• state_0 – Desired state for digital output channel 0 (true = ON, false = OFF).

• state_1 – Desired state for digital output channel 1 (true = ON, false = OFF).

Returns:

True if the command was successfully sent, false otherwise.

bool SetToolFlangeOutputVoltage(const std::string &name, int voltage) const

Set tool flange output voltage.

Parameters:

• name – Tool flange name (“right” or “left”).

• voltage – Output voltage [V]. Common voltages: 12V, 24V. Use 0V to turn off output.

Returns:

True if successful, false otherwise.

void StartLogStream(const std::function<void(const std::vector<Log>&)> &cb, double rate)

Start log stream callback.

Parameters:

• cb – Callback function for log updates.

• rate – Update rate [Hz].

void StartStateUpdate(const std::function<void(const RobotState<T>&)> &cb, double rate)

Start state update callback.

Parameters:

• cb – Callback function for robot state updates.

• rate – Update rate [Hz].

void StartStateUpdate(const std::function<void(const RobotState<T>&, const ControlManagerState&)> &cb, double rate)

Start state update callback with control manager state.

Parameters:

• cb – Callback function for robot state and control manager state updates.

• rate – Update rate [Hz].

bool StartTimeSync(long period_sec = 10)

Start time synchronization.

Parameters:

period_sec – Synchronization period [s] (default: 10).

Returns:

True if successful, false otherwise.

void StopLogStream()

Stop log stream callback.

void StopStateUpdate()

Stop state update callback.

bool StopTimeSync()

Stop time synchronization.

Returns:

True if successful, false otherwise.

bool SyncTime()

Synchronize time with the robot.

Returns:

True if successful, false otherwise.

bool WaitForControlReady(long timeout_ms) const

Wait until the robot is ready to accept control commands.

Call after servo_on() and before sending control commands.

Parameters:

timeout_ms – Timeout [ms].

Returns:

True if the robot is ready to accept control, false if timeout expired.

Public Static Functions

static std::shared_ptr<Robot<T>> Create(std::string address)

Create a robot instance.

Parameters:

address – Robot network address, e.g. “192.168.1.100:50051”.

Returns:

std::shared_ptr<Robot<T>> Robot instance.

Related Types

• RobotCommandHandler

• RobotCommandStreamHandler

• ControlInput & ControlState

• RobotCommandBuilder

Examples

• get_robot_state.cpp for the smallest connection and state flow.

• demo_motion.cpp for a full connect-power-servo-command cycle.

• real_time_control_command.cpp for the advanced Control() path.