Module network 

The two sockets of an FCI session and the Connect handshake.

Port of franka::Network (libfranka 0.21.2 src/network.{h,cpp}) split into a TCP command channel (TcpSession) and a UDP state/command channel (UdpChannel).

Re-exports

pub use tcp::TcpSession;

pub use tcp::DEFAULT_CONNECT_TIMEOUT;

pub use tcp::POLL_TIMEOUT;

pub use udp::UdpChannel;

pub use udp::DEFAULT_UDP_TIMEOUT;

Modules

tcp

TCP command channel: framing plus command-id demultiplexing.

udp

UDP state/command channel.

Structs

Network

A connected FCI session: the command socket, the state socket, and the server’s IP.

Functions

connect_gripper

Connects to a gripper and performs the Connect handshake, returning the session and the server’s gripper protocol version.

connect_handshake

Performs the Connect handshake and returns the server’s protocol version.

connect_robot

Connects to a robot and performs the Connect handshake, returning the session and the server’s FCI version.