Enum MoveStatus 

pub enum MoveStatus {
    Success,
    MotionStarted,
    Preempted,
    PreemptedDueToActivatedSafetyFunctions,
    CommandRejectedDueToActivatedSafetyFunctions,
    CommandNotPossibleRejected,
    StartAtSingularPoseRejected,
    InvalidArgumentRejected,
    ReflexAborted,
    EmergencyAborted,
    InputErrorAborted,
    Aborted,
}

Terminal status of a Move command (research_interface::robot::Move::Status).

Variants

Success

The motion ended regularly; this is the only reply that makes a control loop return Ok(()) (kSuccess).

MotionStarted

The robot accepted the Move and the motion is now running (kMotionStarted). Sent once, as the first reply.

Preempted

The motion was pre-empted by another command, typically StopMove (kPreempted).

PreemptedDueToActivatedSafetyFunctions

The motion was pre-empted because a safety function became active (kPreemptedDueToActivatedSafetyFunctions, FCI v10 only).

CommandRejectedDueToActivatedSafetyFunctions

The Move was refused because a safety function is active (kCommandRejectedDueToActivatedSafetyFunctions, FCI v10 only).

CommandNotPossibleRejected

The robot is not in a mode that allows a motion, e.g. it is still in a reflex or guiding mode (kCommandNotPossibleRejected).

StartAtSingularPoseRejected

The Move was refused because the robot starts at a singular pose (kStartAtSingularPoseRejected).

InvalidArgumentRejected

The Move arguments were out of range (kInvalidArgumentRejected).

ReflexAborted

A reflex (collision, joint or Cartesian limit violation) aborted the motion (kReflexAborted); ControlException::last_motion_errors names which.

EmergencyAborted

The external emergency stop or the user stop aborted the motion (kEmergencyAborted).

InputErrorAborted

The robot rejected a command the client sent during the motion (kInputErrorAborted), e.g. a setpoint that violates the rate limits.

Aborted

The motion was aborted for a reason none of the above covers (kAborted).

Implementations

impl MoveStatus

pub const fn to_u8(self) -> u8

Wire value (u8).

pub const fn from_u8(v: u8) -> Option<MoveStatus>

Parses the wire value.

Trait Implementations

impl Clone for MoveStatus

fn clone(&self) -> MoveStatus

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for MoveStatus

impl Debug for MoveStatus

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Eq for MoveStatus

impl PartialEq for MoveStatus

fn eq(&self, other: &MoveStatus) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for MoveStatus